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arXiv 2024年

作者： Chen, Bingjie Fan, Keyu Yang, Qi Cheng, Yi Liu, Houde Dong, Kangkang Xia, Chongkun Han, Liang Liang, Bin Center for Artificial Intelligence and Robotics Shenzhen International Graduate School Tsinghua University Shenzhen518055 China Jianghuai Advanced Technology Center Hefei230000 China University of Science and Technology of China Hefei23000 China School of Advanced Manufacturing Sun Yat-Sen University Shenzhen518055 China School of Electrical and Automation Engineering Hefei University of Technology Hefei230009 China Navigation and Control Research Center Department of Automation Tsinghua University Beijing100084 China

Catching flying objects with a cushioning process is a skill commonly performed by humans, yet it remains a significant challenge for robots. In this paper, we present a framework that combines optimization and learning to achieve compliant catching on mobile manipulators (CCMM). First, we propose a high-level capture planner for mobile manipulators (MM) that calculates the optimal capture point and joint configuration. Next, the pre-catching (PRC) planner ensures the robot reaches the target joint configuration as quickly as possible. To learn compliant catching strategies, we propose a network that leverages the strengths of LSTM for capturing temporal dependencies and positional encoding for spatial context (P-LSTM). This network is designed to effectively learn compliant strategies from human demonstrations. Following this, the post-catching (POC) planner tracks the compliant sequence output by the P-LSTM while avoiding potential collisions due to structural differences between humans and robots. We validate the CCMM framework through both simulated and real-world ball-catching scenarios, achieving a success rate of 98.70% in simulation, 92.59% in real-world tests, and a 28.7% reduction in impact torques. The open source code will be released for the reference of the community1 Copyright © 2024, The Authors. All rights reserved.

关键词： Open source software

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MambaXCTrack: Mamba-based Tracker with SSM Cross-correlation and Motion Prompt for Ultrasound Needle Tracking

arXiv

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arXiv 2024年

作者： Zhang, Yuelin Ding, Qingpeng Lei, Long Shan, Jiwei Xie, Wenxuan Zhang, Tianyi Yan, Wanquan Tang, Raymond Shing-Yan Cheng, Shing Shin Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong Department of Computer Science and Engineering The Chinese University of Hong Kong Hong Kong Medical Physics Graduate Program Duke Kunshan University Jiangsu Kunshan China Department of Medicine and Therapeutics Institute of Digestive Disease The Chinese University of Hong Kong Hong Kong Department of Mechanical and Automation Engineering T Stone Robotics Institute Shun Hing Institute of Advanced Engineering Multi-Scale Medical Robotics Center Institute of Medical Intelligence and XR The Chinese University of Hong Kong Hong Kong

Ultrasound (US)-guided needle insertion is widely employed in percutaneous interventions. However, providing feedback on the needle tip position via US image presents challenges due to noise, artifacts, and the thin imaging plane of US, which degrades needle features and leads to intermittent tip visibility. In this paper, a Mamba-based US needle tracker MambaXCTrack utilizing structured state space models crosscorrelation (SSMX-Corr) and implicit motion prompt is proposed, which is the first application of Mamba in US needle tracking. The SSMX-Corr enhances cross-correlation by longrange modeling and global searching of distant semantic features between template and search maps, benefiting the tracking under noise and artifacts by implicitly learning potential distant semantic cues. By combining with cross-map interleaved scan (CIS), local pixel-wise interaction with positional inductive bias can also be introduced to SSMX-Corr. The implicit lowlevel motion descriptor is proposed as a non-visual prompt to enhance tracking robustness, addressing the intermittent tip visibility problem. Extensive experiments on a dataset with motorized needle insertion in both phantom and tissue samples demonstrate that the proposed tracker outperforms other stateof- the-art trackers while ablation studies further highlight the effectiveness of each proposed tracking module. © 2024, CC BY.

关键词： Needles

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Variational Hierarchical Mixtures for Probabilistic Learning of Inverse Dynamics

arXiv

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arXiv 2022年

作者： Abdulsamad, Hany Nickl, Peter Klink, Pascal Peters, Jan The Department of Electrical Engineering and Automation Aalto University Finland The RIKEN Center for Advanced Intelligence Project Japan The Department of Computer Science The Technical University Darmstadt Germany

Well-calibrated probabilistic regression models are a crucial learning component in robotics applications as datasets grow rapidly and tasks become more complex. Unfortunately, classical regression models are usually either probabilistic kernel machines with a flexible structure that does not scale gracefully with data or deterministic and vastly scalable automata, albeit with a restrictive parametric form and poor regularization. In this paper, we consider a probabilistic hierarchical modeling paradigm that combines the benefits of both worlds to deliver computationally efficient representations with inherent complexity regularization. The presented approaches are probabilistic interpretations of local regression techniques that approximate nonlinear functions through a set of local linear or polynomial units. Importantly, we rely on principles from Bayesian nonparametrics to formulate flexible models that adapt their complexity to the data and can potentially encompass an infinite number of components. We derive two efficient variational inference techniques to learn these representations and highlight the advantages of hierarchical infinite local regression models, such as dealing with non-smooth functions, mitigating catastrophic forgetting, and enabling parameter sharing and fast predictions. Finally, we validate this approach on large inverse dynamics datasets and test the learned models in real-world control scenarios. © 2022, CC BY.

关键词： Inverse problems

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Multimodal Emotion Recognition Based on Multi-Scale Facial Features and Cross-Modal Attention

Multimodal Emotion Recognition Based on Multi-Scale Facial F...

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IEEE International Conference on Industrial Technology (ICIT)

作者： Chengao Bao Luefeng Chen Min Li Min Wu Witold Pedrycz Kaoru Hirota School of Automation China University of Geosciences Wuhan China the Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems School of Automation and the Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education China University of Geosciences Wuhan China Department of Electrical and Computer Engineering University of Alberta Edmonton Canada Tokyo Institute of Technology Yokohama Japan Tokyo Institute of Technology Tokyo Japan

ISBN: (数字)9798331521950

ISBN: (纸本)9798331521967

A multi-modal emotion recognition method based on facial multi-scale features and cross-modal attention (MS-FCA) network is proposed. The MSFCA model improves the traditional single-branch ViT network into a two-branch ViT architecture by using classification tokens in each branch to interact with picture embeddings in the other branch, which facilitates effective interactions between different scales of information. Subsequently, audio features are extracted using ResNet18 network. The cross-modal attention mechanism is used to obtain the weight matrices between different modal features, making full use of inter-modal correlation and effectively fusing visual and audio features for more accurate emotion recognition. Two datasets are used for the experiments: eNTERFACE'05 and REDVESS dataset. The experimental results show that the accuracy of the proposed method on the eNTERFACE'05 and REDVESS datasets is 85.42% and 83.84% respectively, which proves the effectiveness of the proposed method.

关键词： Emotion recognition Visualization Accuracy Service robots Semantics Human-robot interaction Speech recognition Feature extraction Data mining Facial features

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Gesture Control Method for Oral Blood Mixed Liquid Removal Robot∗ 5

Gesture Control Method for Oral Blood Mixed Liquid Removal R...

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5th World Robot Conference Symposium on advanced robotics and automation, WRC SARA 2023

作者： Ma, Xudong Kuang, Ziao Li, Han Chen, Anqi Li, Changsheng Liu, Wenyong Wang, Junchen Hu, Yida David Gao, Li Su, Bai-Quan Beijing University of Posts and Tele-communications Medical Robotics Laboratory School of Automation Beijing100876 China Beijing University of Posts and Tele-communications School of Computer Beijing100876 China Beijing Institute of Technology School of Mechatronical Engineering Beijing100081 China Beihang University Key Laboratory for Biomechanics and Mechanobiology of Chinese Education Ministry Beijing Advanced Innovation Centre for Biomedical Engineering School of Biological Science and Medical Engineering Beijing100083 China Beihang University School of Mechanical Engineering and Automation Beijing100083 China Brigham and Women's Hospital Harvard Medical School BostonMA02115 United States Peking University School and Hospital of Stomatology National Clinical Research Center for Oral Diseases National Stomatological Center Department of Periodontology Beijing China

ISBN: (纸本)9798350307320

All of oral surgeries are accompanied by bleeding. Manual removal of blood is carried out by a nurse and dozens of repetitive blood suction operations are implemented by the nurse during a single oral surgery. In our previous work, a robot for removal of blood-water mixed liquid is designed. However, the robot requires an initial order to autonomous removal of blood mixed liquid. In this paper, a hand gesture control method for typical operations of the robot is developed. Gesture dataset are developed at first and a deep learning neural network is trained for detection of hand gesture. The gesture control procedures for four typical operations are provided in detail. In a group of experiments, it's demonstrated that an oral surgeon controls the robot's motion by presenting prescribed hand gesture. The proposed method could be an alternative manner for blood mixed liquid removal. © 2023 IEEE.

关键词： Blood

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Brain Region Knowledge Based Dual-Stream Transformer for EEG Emotion Recognition

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IEEE Transactions on Consumer Electronics 2025年

作者： Lin, Yichuan Xu, Geng-Xin Liang, Haotian Wang, Yishan Wan, Feng Li, Ye Southern University of Science and Technology Shenzhen518055 China Research Center for Biomedical Information Technology Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China Hangzhou Institute of Advanced Technology Chinese Academy of Sciences China Department of Electrical and Computer Engineering The Faculty of Science and Technology The Centre for Cognitive and Brain Sciences The Centre for Artificial Intelligence and Robotics Institute of Collaborative Innovation University of Macau China

In consumer electronics, affective computing allows devices to recognize and respond to the emotional states of individuals, thereby enhancing personalization and satisfaction. Electroencephalogram (EEG)-based emotion recognition methods have garnered attention for their capability to provide real-time, objective insights into emotional and cognitive states. Existing research mainly focuses on extracting temporal and spectral features from EEG signals for emotion recognition. However, electrode shifts may occur across different experiments during data acquisition, resulting in models with limited robustness and constrained classification performance. To address this challenge, this paper introduces a Brain Region Knowledge based Dual-Stream network (BRKDSnet) for emotion recognition. It employs a dual-stream architecture to effectively fuse the temporal, spectral, and spatial features of EEG signals. By incorporating prior brain region partition knowledge, it efficiently aggregates channel features into distinct brain region features. Such a brain region based partition mitigates noise issues caused by electrode shifts during user wearing in consumer electronic applications, and leading to learn more robust feature representations. The experiments conducted on the widely used emotion recognition datasets SEED and SEED-IV shows that BRKDSnet achieves state-of-the-art results, with accuracies of 97.81% (improved by 0.64%-3.57% compared to existing works) and 90.76% (improved by 3.13%-11.39%) respectively. Finally, through analysis of the visualization results, it is found that EEG channels located in the temporal lobe contributed the most to emotion recognition classification, which also provides the potential for future applications in wearable devices. © 2025 IEEE.

关键词： Electroencephalography

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Review of Inference Time Prediction Approaches of DNN: Emphasis on Service robots with cloud-edge-device architecture

Review of Inference Time Prediction Approaches of DNN: Empha...

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IEEE International Conference on robotics and Biomimetics

作者： Tian Xiang Qiwei Meng Ji Zhang Beibei Zhang Wei Song Anhuan Xie Jason Gu Research Center for Intelligent Robotics Research Institute of Interdisciplinary Innovation Zhejiang Laboratory Hangzhou China Department of Mechanical and Automation Engineering T Stone Robotics Institute The Chinese University of Hong Kong HKSAR China Research Center for Intelligent Computing Software Research Institute of Intelligent Computing Zhejiang Laboratory Hangzhou China Electrical and Computer Engineering Dalhousie University Halifax Canada

In recent years, the global robot market has witnessed substantial growth, particularly in the domain of service robots. Despite their expanding presence, service robots encounter limitations when operating autonomously in unstructured environments, primarily due to their constrained computational capacities. As a solution, the fusion of cloud and edge computing resources becomes imperative to expedite task inference and enhance scenario perception capabilities. The integration of cloud-edge-device models holds significant promise in bolstering the operational efficiency of robots. This entails the dynamic partitioning of intricate robotic tasks, executed collaboratively across cloud, edge, and device resources. In this landscape, deep neural network (DNN) models play a pivotal role in facilitating a wide array of robotic tasks. The inference time for each layer of a DNN model in actual deployment, emerges as a critical determinant in the model’s partitioning strategy. It also serves as an important metric influencing the model’s suitability for a specific hardware platform. This article presents an overview of recent advancements in predicting inference and training time of DNN models, summarizes the related methods, and finally discusses the challenges in this field and the research that can be studied in the future.

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Design and Application of a One-Stop Mobile Application Sharing Platform for Steel Enterprises

Design and Application of a One-Stop Mobile Application Shar...

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Chinese Control Conference (CCC)

作者： Xinzhe Chen Luefeng Chen Jie Hu Qingfeng Yang Min Wu Witold Pedrycz School of Automation China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan China Department of Electrical and Computer Engineering University of Alberta Edmonton AB Canada

As China's steel production accounts for an increasing share of the world's output, the intelligent transformation of the steel industry is becoming increasingly urgent. To address issues such as low levels of mobile informationization in steel enterprises and the lack of an industry-specific mobile application platform, it is of great significance to establish a shared mobile application platform for the steel industry. In this paper, the requirements of the platform were analyzed, and the platform's functions were designed. The software design of the platform was then carried out, and the entire mobile application sharing platform was developed, effectively improving the production management efficiency of steel enterprises. The results indicate that the platform can effectively meet the needs of steel enterprises and has significant engineering significance.

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Cubic boron arsenide: An emerging semiconductor with exceptional thermal conductivity and high carrier mobility

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Matter 2025年第5期8卷

作者： Yue, Shuai Tian, Fei Song, Bai Zhong, Yangguang Bao, Jiming Liu, Xinfeng CAS Key Laboratory of Standardization and Measurement for Nanotechnology National Center for Nanoscience and Technology Beijing100190 China School of Materials Science and Engineering Sun Yat-sen University Guangdong Guangzhou510006 China Department of Energy and Resources Engineering and Department of Advanced Manufacturing and Robotics Peking University Beijing100871 China Department of Electrical and Computer Engineering and Texas Center for Superconductivity University of Houston HoustonTX77204 United States University of Chinese Academy of Sciences Beijing100049 China College of Materials Science and Engineering Hunan University Hunan Changsha410082 China

Over the past decade, cubic boron arsenide (BAs) has emerged as a highly promising semiconductor owing to its extraordinary thermal conductivity (1,200 W/m·K) and high ambipolar mobility (1,600 cm2/V·s). This unique combination has spurred significant research interest in its potential for advanced device applications. However, the challenge of growing uniform, high-quality crystals has hindered its widespread adoption, limiting its realization in high-performance devices. To accelerate the development and utilization of BAs, we systematically review recent theoretical and experimental advancements, focusing on key aspects such as carrier mobility, carrier relaxation, and the impact of defects on thermal conductivity and carrier mobility. Additionally, we explore emerging applications, persistent challenges, and future research directions. By addressing these critical issues, we aim to inspire further research and facilitate the development of next-generation electronic and optoelectronic devices based on BAs. © 2025 Elsevier Inc.

关键词： Carrier mobility

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Unprecedented Smart Algorithm for Uninterrupted SDN Services During DDoS Attack

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computers, Materials & Continua 2022年第1期70卷 875-894页

作者： Muhammad Reazul Haque Saw Chin Tan Zulfadzli Yusoff Kashif Nisar Rizaludin Kaspin Iram Haider Sana Nisar J.P.C.Rodrigues Bhawani Shankar Chowdhry Muhammad AslamUqaili Satya Prasad Majumder Danda B.Rawat Richard Etengu Rajkumar Buyya Faculty of Computing&Informatics Multimedia UniversityPersiaranMultimediaCyberjaya63100SelangorMalaysia Faculty of Engineering Multimedia UniversityPersiaran MultimediaCyberjaya63100SelangorMalaysia Faculty of Computing and Informatics University Malaysia SabahJalan UMSKota Kinabalu Sabah88400Malaysia Telekom Malaysia Research&Development TM Innovation Centre63000CyberjayaSelangorMalaysia Federal University of Piauí(UFPI) TeresinaPIBrazil Instituto de Telecomunica珲es 6201-001Covilh?Portugal National Center of Robotics and Automation-Condition Monitoring Systems Lab MUETJamshoroPakistan Department of Electrical and Electronic Engineering BUETDhaka1205Bangladesh Department of Electrical Engineering and Computer Science Data Science and Cybersecurity CenterHoward UniversityWashingtonDCUSA Cloud Computing and Distributed Systems(CLOUDS)Laboratory School of Computing and Information SystemsThe University of MelbourneMelbourneVIC 3053Australia

In the design and planning of next-generation Internet of Things(IoT),telecommunication,and satellite communication systems,controller placement is crucial in software-defined networking(SDN).The programmability of the SDN controller is sophisticated for the centralized control system of the entire ***,it creates a significant loophole for the manifestation of a distributed denial of service(DDoS)attack ***,recently a Distributed Reflected Denial of Service(DRDoS)attack,an unusual DDoS attack,has been ***,minimal deliberation has given to this forthcoming single point of SDN infrastructure failure ***,recently the high frequencies of DDoS attacks have increased *** this paper,a smart algorithm for planning SDN smart backup controllers under DDoS attack scenarios has *** proposed smart algorithm can recommend single or multiple smart backup controllers in the event of DDoS *** obtained simulated results demonstrate that the validation of the proposed algorithm and the performance analysis achieved 99.99%accuracy in placing the smart backup controller under DDoS attacks within 0.125 to 46508.7 s in SDN.

关键词： SDN smart algorithm RTZLK-DAASCP DDoS attack DRDoS

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