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IEEE International Conference on robotics and Biomimetics

作者： Jixiu Li Yisen Huang Wing Yin Ng Truman Cheng Xixin Wu Qi Dou Helen Meng Pheng Ann Heng Yunhui Liu Shannon Melissa Chan David Navarro-Alarcon Calvin Sze Hang Ng Philip Wai Yan Chiu Zheng Li Department of Surgery The Chinese University of Hong Kong Hong Kong Department of Systems Engineering and Engineering Management The Chinese University of Hong Kong Hong Kong Department of Computer Science and Engineering The Chinese University of Hong Kong Hong Kong The Department of Mechanical and Automation Engineering T stone Robotics Institute The Chinese University of Hong Kong Hong Kong Department of Mechanical Engineering The Hong Kong Polytechnic University Hong Kong Department of Surgery and the Chow Yuk Ho Technology Centre for Innovative Medicine The Chinese University of Hong Kong Hong Kong Department of Surgery Chow Yuk Ho Technology Centre of Innovative Medicine Li Ka Shing Institute of Health Science and Multi-scale Medical Robotics Center Ltd. The Chinese University of Hong Kong Hong Kong

ISBN: (纸本)9781665481106

In minimally invasive surgery (MIS), controlling the endoscope view is crucial for the operation. Many robotic endoscope holders were developed aiming to address this prob-lem,. These systems rely on joystick, foot pedal, simple voice command, etc. to control the robot. These methods requires surgeons extra effort and are not intuitive enough. In this paper, we propose a speech-vision based multi-modal AI approach, which integrates deep learning based instrument detection, automatic speech recognition and robot visual servo control. Surgeons could communicate with the endoscope by speech to indicate their view preference, such as the instrument to be tracked. The instrument is detected by the deep learning neural network. Then the endoscope takes the detected instrument as the target and follows it with the visual servo controller. This method is applied to a magnetic anchored and guided endoscope and evaluated experimentally. Preliminary results demonstrated this approach is effective and requires little efforts for the surgeon to control the endoscope view intuitively.

关键词： Deep learning Visualization Target tracking Endoscopes Instruments Magnetic resonance imaging Surgery

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Optomechanical dissipative solitons (vol 600, pg 75, 2021)

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NATURE 2022年第7896期602卷 E24-E24页

作者： Zhang, Jing Peng, Bo Kim, Seunghwi Monifi, Faraz Jiang, Xuefeng Li, Yihang Yu, Peng Liu, Lianqing Liu, Yu-xi Alu, Andrea Yang, Lan Department of Electrical and Systems Engineering Washington University St. Louis MO USA Department of Automation Tsinghua University Beijing P. R. China Photonics Initiative Advanced Science Research Center City University of New York New York NY USA Physics Program Graduate Center City University of New York New York NY USA State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang P. R. China Institute of Microelectronics Tsinghua University Beijing P. R. China

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Structural controllability on graphs for drifted bilinear systems over Lie groups

arXiv

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arXiv 2021年

作者： Wang, Xing Li, Bo Li, Jr-Shin Petersen, Ian R. Shi, Guodong Key Laboratory of Mathematics Mechanization Institute of Systems Science Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing100190 China School of Mathematical Sciences University of Chinese Academy of Sciences Beijing100049 China Key Laboratory of Mathematics Mechanization Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing100190 China Department of Electrical and Systems Engineering Washington University St. LouisMO63130 United States Research School of Engineering Australian National University CanberraACT0200 Australia Australian Center for Field Robotics School of Aerospace Mechanical and Mechatronic Engineering The University of Sydney NSW2006 Australia

In this paper, we study graphical conditions for structural controllability and accessibility of drifted bilinear systems over Lie groups. We consider a bilinear control system with drift and controlled terms that evolves over the special orthogonal group, the general linear group, and the special unitary group. Zero patterns are prescribed for the drift and controlled dynamics with respect to a set of base elements in the corresponding Lie algebra. The drift dynamics must respect a rigid zero-pattern in the sense that the drift takes values as a linear combination of base elements with strictly non-zero coefficients;the controlled dynamics are allowed to follow a free zero pattern with potentially zero coefficients in the configuration of the controlled term by linear combination of the controlled base elements. First of all, for such bilinear systems over the special orthogonal group or the special unitary group, the zero patterns are shown to be associated with two undirected or directed graphs whose connectivity and connected components ensure structural controllability/accessibility. Next, for bilinear systems over the special unitary group, we introduce two edge-colored graphs associated with the drift and controlled zero patterns, and prove structural controllability conditions related to connectivity and the number of edges of a particular color. © 2021, CC BY.

关键词： Lie groups

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Boosting the Efficiency and Mechanical Stability of Organic Solar Cells Through a Polymer Acceptor by Reducing the Elastic Modulus

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Advanced Energy Materials 2025年第0期

作者： Wang, Yan Yu, Han Zhao, Dan Liu, Wei Liu, Baoze Wu, Xin Gao, Danpeng Zhang, Dong Zhang, Shoufeng Sun, Xianglang Zhang, Chunlei Zhao, Chaoyue Fu, Yuchen Song, Wei Gong, Shaokuan Fu, Yuang Kwok, Chung Hang Ge, Ziyi Lu, Xinhui Chen, Xihan Xiao, Shuang Wong, Wai-Yeung Chai, Yu Yan, He Zhu, Zonglong Department of Chemistry City University of Hong Kong Kowloon999077 Hong Kong Department of Chemistry Guangdong-Hong Kong-Macao Joint Laboratory of Optoelectronic and Magnetic Functional Materials Energy Institute and Hong Kong Branch of Chinese National Engineering Research Center for Tissue Restoration & Reconstruction Hong Kong University of Science and Technology Clear Water Bay Kowloon999077 Hong Kong Department of Applied Biology and Chemical Technology and Research Institute for Smart Energy The Hong Kong Polytechnic University Hung Hom 999077 Hong Kong Hong Kong University of Science and Technology-Shenzhen Research Institute No. 9 Yuexing 1st RD Hi-tech Park Nanshan Guangdong Shenzhen518057 China School of Automation Engineering University of Electronic Science and Technology of China Sichuan Chengdu611731 China Department of Physics City University of Hong Kong Kowloon999077 Hong Kong Zhejiang Engineering Research Center for Energy Optoelectronic Materials and Devices Ningbo Institute of Materials Technology & Engineering Chinese Academy of Sciences Ningbo315201 China Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems SUSTech Energy Institute for Carbon Neutrality Department of Mechanical and Energy Engineering Southern University of Science and Technology Guangdong Shenzhen518055 China Department of Physics The Chinese University of Hong Kong Shatin999077 Hong Kong Center for Advanced Material Diagnostic Technology and College of Engineering Physics Shenzhen Technology University Guangdong Shenzhen518118 China Shenzhen Research Institute City University of Hong Kong Shenzhen518057 China

Organic solar cells (OSCs) are regarded as one of the most promising flexible power sources due to their lightweight and flexible properties, with the improvement of photovoltaic and mechanical performance. To improve the current density and power conversion efficiency (PCE), mPh4F-TS (TS) and PYSe2F-T (PA) are introduced into the binary host, PM6/mPh4F-TT (PM6/TT) as third components. It is demonstrated that the corresponding ternary devices, in both rigid and flexible devices, achieved superior efficiencies (19.6%/17.7% for PM6/TT+TS, and 19.2%/17.4% for PM6/TT+PA) outperform the binary counterparts (18.3%/16.4%). However, distinct differences in mechanical performance are observed between the polymer acceptor (PA) and small-molecular acceptor (TS). The PM6/TT+PA significantly improved the mechanical stability of flexible devices with a lower elastic modulus of 3.6 GPa, while the PM6/TT+TS resulted in the opposite effect with a higher elastic modulus of 5.5 GPa. Through in-depth investigation, a clear correlation between the elastic modulus, crack density, and mechanical stability of the active layer blends is successfully established, revealing the key role of reducing the elastic modulus in enhancing the mechanical stability of flexible OSCs. This study provides important guidance for the development of flexible photovoltaic devices with both high efficiency and mechanical robustness. © 2025 The Author(s). Advanced Energy Materials published by Wiley-VCH GmbH.

关键词： Organic solar cells

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Automated Controller Placement for Software-Defined Networks to Resist DDoS Attacks

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Computers, Materials & Continua 2021年第9期68卷 3147-3165页

作者： Muhammad Reazul Haque Saw Chin Tan Zulfadzli Yusoff Kashif Nisar Lee Ching Kwang Rizaludin Kaspin Bhawani Shankar Chowdhry Rajkumar Buyya Satya Prasad Majumder Manoj Gupta Shuaib Memon Faculty of Computing&Informatics Multimedia UniversityPersiaran MultimediaCyberjaya63100SelangorMalaysia Faculty of Engineering Multimedia UniversityPersiaran MultimediaCyberjaya63100SelangorMalaysia Faculty of Computing and Informatics University Malaysia SabahJalan UMSKota Kinabalu Sabah88400Malaysia Telekom Malaysia Research&Development TM Innovation CentreCyberjaya63000SelangorMalaysia National Center of Robotics and Automation Mehran University of Engineering&TechnologyJamshoroPakistan Department of Computer Science and Engineering Hanyang UniversitySeoul04763South Korea School of Electrical and Electronic Engineering Nanyang Technological University639798Singapore Cloud Computing and Distributed Systems Laboratory The University of MelbourneMelbourneVIC 3053Australia Department of Electrical and Electronic Engineering Bangladesh University of Engineering and Technology(BUET)Dhaka1205Bangladesh Department of Electronics and Communication Engineering JECRC UniversityVidhaniJaipur303905India Auckland Institute of Studies Mt AlbertAucklandNew Zealand

In software-defined networks(SDNs),controller placement is a critical factor in the design and planning for the future Internet of Things(IoT),telecommunication,and satellite communication *** research has concentrated largely on factors such as reliability,latency,controller capacity,propagation delay,and energy ***,SDNs are vulnerable to distributed denial of service(DDoS)attacks that interfere with legitimate use of the *** ever-increasing frequency of DDoS attacks has made it necessary to consider them in network design,especially in critical applications such as military,health care,and financial services networks requiring high *** propose a mathematical model for planning the deployment of SDN smart backup controllers(SBCs)to preserve service in the presence of DDoS *** a number of input parameters,our model has two distinct ***,it determines the optimal number of primary controllers to place at specific locations or nodes under normal operating ***,it recommends an optimal number of smart backup controllers for use with different levels of DDoS *** goal of the model is to improve resistance to DDoS attacks while optimizing the overall cost based on the *** simulated results demonstrate that the model is useful in planning for SDN reliability in the presence of DDoS attacks while managing the overall cost.

关键词： SDN automated controller placement SBC ILP DDoS attack

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On the Dynamics of the Tavis-Cummings Model

arXiv

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arXiv 2021年

作者： Dong, Zhiyuan Zhang, Guofeng Wu, Ai-Guo Wu, Re-Bing School of Science Harbin Institute of Technology Shenzhen Shenzhen China Department of Applied Mathematics The Hong Kong Polytechnic University Hong Kong The Hong Kong Polytechnic University Shenzhen Research Institute Shenzhen518057 China School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen Shenzhen China Center for Intelligent and Networked Systems Department of Automation Tsinghua University Beijing100084 China

The purpose of this paper is to present a comprehensive study of the Tavis-Cummings model from a system-theoretic perspective. A typical form of the Tavis-Cummings model is composed of an ensemble of non-interacting two-level systems (TLSs) that are collectively coupled to a common cavity resonator. The associated quantum linear passive system is proposed, whose canonical form reveals typical features of the Tavis-Cummings model, including √N- scaling, dark states, bright states, single-excitation superradiant and subradiant states. The passivity of this linear system is related to the vacuum Rabi mode splitting phenomenon in Tavis-Cummings systems. On the basis of the linear model, an analytic form is presented for the steady-state output state of the Tavis-Cummings model driven by a single-photon state. Master equations are used to study the excitation properties of the Tavis-Cummings model in the multi-excitation scenario. Finally, in terms of the transition matrix for a linear time-varying system, a computational framework is proposed for calculating the state of the Tavis-Cummings model, which is applicable to the multi-excitation case. © 2021, CC BY.

关键词： Linear systems

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Co-localization of two-color rAAV2-retro confirms the dispersion characteristics of efferent projections of mitral cells in mouse accessory olfactory bulb

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Zoological Research 2020年第2期41卷 148-156页

作者： Ning Zheng Zhi-Zhong Wang Song-Wei Wang Fang-Jia Yang Xu-Tao Zhu Chen Lu Anne Manyande Xiao-Ping Rao Fu-Qiang Xu Center of Brain Science State Key Laboratory of Magnetic Resonance and Atomic and Molecular PhysicsNational Center for Magnetic Resonance in WuhanKey Laboratory of Magnetic Resonance in Biological SystemsWuhan Institute of Physics and MathematicsInnovation Academy for Precision Measurement Science and TechnologyChinese Academy of SciencesWuhanHubei 430071China University of the Chinese Academy of Sciences Beijing 100049China Department of Automation School of Electrical EngineeringZhengzhou UniversityZhengzhouHenan 450001China School of Life Science Wuhan UniversityWuhanHubei 430072China School of Human and Social Sciences University of West LondonMiddlesex TW89GAUK Divisions of Biomedical Photonics Wuhan National Laboratory for OptoelectronicsWuhanHubei 430074China

The accessory olfactory bulb(AOB), located at the posterior dorsal aspect of the main olfactory bulb(MOB), is the first brain relay of the accessory olfactory system(AOS), which can parallelly detect and process volatile and nonvolatile social chemosignals and mediate different sexual and social behaviors with the main olfactory system(MOS). However, due to its anatomical location and absence of specific markers, there is a lack of research on the internal and external neural circuits of the AOB. This issue was addressed by singlecolor labeling and fluorescent double labeling using retrograde rAAVs injected into the bed nucleus of the stria terminalis(BST), anterior cortical amygdalar area(ACo), medial amygdaloid nucleus(MeA), and posteromedial cortical amygdaloid area(PMCo) in mice. We demonstrated the effectiveness of this AOB projection neuron labeling method and showed that the mitral cells of the AOB exhibited efferent projection dispersion characteristics similar to those of the MOB. Moreover, there were significant differences in the number of neurons projected to different brain regions, which indicated that each mitral cell in the AOB could project to a different number of neurons in different cortices. These results provide a circuitry basis to help understand the mechanism by which pheromone information is encoded and decoded in the AOS.

关键词： Accessory olfactory bulb Efferent projections Retrograde rAAVs Projection neuron labeling Dispersion characteristics Circuitry basis

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CoordField: Coordination Field for Agentic UAV Task Allocation In Low-altitude Urban Scenarios

arXiv

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arXiv 2025年

作者： Zhang, Tengchao Tian, Yonglin Lin, Fei Huang, Jun Süli, Patrik P. Qin, Rui Wang, Fei-Yue Department of Engineering Science Faculty of Innovation Engineering Macau University of Science and Technology 999078 China State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China Doctoral School of Applied Informatics and Applied Mathematics Óbuda University Hungary Laboratory of Computation and Analytics of Complex Management Systems Tianjin University Tianjin300072 China Research Center for Chinese Economics and Social Security The University of Chinese Academy of Sciences Beijing100190 China

With the increasing demand for heterogeneous Unmanned Aerial Vehicle (UAV) swarms to perform complex tasks in urban environments, system design now faces major challenges, including efficient semantic understanding, flexible task planning, and the ability to dynamically adjust coordination strategies in response to evolving environmental conditions and continuously changing task requirements. To address the limitations of existing approaches, this paper proposes coordination field agentic system for coordinating heterogeneous UAV swarms in complex urban scenarios. In this system, large language models (LLMs) is responsible for interpreting high-level human instructions and converting them into executable commands for the UAV swarms, such as patrol and target tracking. Subsequently, a Coordination field mechanism is proposed to guide UAV motion and task selection, enabling decentralized and adaptive allocation of emergent tasks. A total of 50 rounds of comparative testing were conducted across different models in a 2D simulation space to evaluate their performance. Experimental results demonstrate that the proposed system achieves superior performance in terms of task coverage, response time, and adaptability to dynamic changes. Copyright © 2025, The Authors. All rights reserved.

关键词： Drones

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Consensus in nonlinear multi-agent systems with nonidentical nodes and sampled-data control

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science China(Information sciences) 2018年第12期61卷 141-154页

作者： Zhengxin WANG Jingbo FAN Guo-Ping JIANG Jinde CAO Min XIAO Ahmed ALSAEDI School of Science Nanjing University of Posts and Telecommunications School of Automation Nanjing University of Posts and Telecommunications Research Center for Complex Systems and Network Sciences School of MathematicsSoutheast University Department of Mathematics Faculty of Science King Abdulaziz University

This paper primarily discusses the leader-following consensus problem in nonlinear second-order multi-agent systems with nonidentical nodes. Sampled-data-based protocols are applied to reach *** delay-free and input-delay protocols are proposed. Based on the Lyapunov functional approach and linear matrix inequality(LMI) method, sufficient criteria are obtained to guarantee quasi-consensus for nonlinear heterogeneous multi-agent systems. All the heterogeneous followers can track the leader within a bounded range. Furthermore, the error systems between the leader and each follower eventually converge to a convergence domain that depends on the heterogeneity among the dynamics of the agents. Additionally,leader-following consensus can also be reached as the heterogeneity vanishes. Finally, numerical simulations are provided to illustrate the theoretical results.

关键词： heterogeneous systems multi-agent systems quasi-consensus leader-following consensus sampled-data control

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On PID control for synchronization of complex dynamical network with delayed nodes

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science China(Technological sciences) 2019年第8期62卷 1412-1422页

作者： GU HaiBo Lv JinHu LIN ZongLi Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing 100190 China School of Mathematical Sciences University of Chinese Academy of Sciences Beijing 100049 China School of Automation Science and Electrical Engineering State Key Laboratory of Software Development Environment and Beijing Advanced Innovation Center for Big Data and Brain Machine Intelligence Beihang University Beijing 100083 China Charles L. Brown Department of Electrical and Computer Engineering University of Virginia Charlottesville VA 22904-4743 USA

Over the past two decades, synchronization, as an interesting collective behavior of complex dynamical networks, has been attracting much attention. To reveal and analyze the inherent mechanism of synchronization in complex dynamical networks with time delays in nodes, this paper attempts to use PD and PI control protocols to achieve synchronization. Based on a classical network model, we investigate the PD and PI control for synchronization of complex dynamical networks with delayed nodes and obtain some sufficient conditions. By using Lyapunov functions and appropriate state transformations, we prove that global synchronization can be achieved via the above control protocols. Finally, some simulation examples are illustrated to validate the effectiveness of the proposed theoretical results.

关键词： synchronization PID control complex dynamical network networked control system delayed node

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