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arXiv 2024年

作者： Tao, Qinghua Xi, Xiangming Xu, Jun Suykens, Johan A.K. STA-DIUS ESAT KU Leuven Belgium Research Center for Intelligent Robotics Zhejiang Lab Zhejiang Hangzhou China School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen518055 China

For the linear inverse problem with sparsity constraints, the l0 regularized problem is NP-hard, and existing approaches either utilize greedy algorithms to find almost-optimal solutions or to approximate the l0 regularization with its convex counterparts. In this paper, we propose a novel and concise regularization, namely the sparse group k-max regularization, which can not only simultaneously enhance the group-wise and in-group sparsity, but also casts no additional restraints on the magnitude of variables in each group, which is especially important for variables at different scales, so that it approximate the l0 norm more closely. We also establish an iterative soft thresholding algorithm with local optimality conditions and complexity analysis provided. Through numerical experiments on both synthetic and real-world datasets, we verify the effectiveness and flexibility of the proposed method. © 2024, CC BY-NC-SA.

关键词： Iterative methods

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Trajectory Tracking of Fractional order Quadrotor UAV Based on Adaptive Fuzzy Fractional Order PID Controller

Trajectory Tracking of Fractional order Quadrotor UAV Based ...

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Asian Control Conference

作者： Shiyu Xi Zhihuan Chen Zhiheng Chen Yang Chen Engineering Research Center for Metallurgical Automation and Measurement Technology of Ministry of Education Wuhan University of Science and Technology Wuhan China Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology Wuhan China

ISBN: (数字)9789887581598

ISBN: (纸本)9798331540845

In this paper, the trajectory tracking problem of the quadrotor UAV with fractional order characteristics is studied. First, an accurate fractional order mathematical model is innovatively established, addressing the deficiency of traditional integer order models in modeling precision. Secondly, the prediction-correction algorithm is applied to solve these complex fractional order differential equations. In design of the control system, the adaptive fuzzy fractional order PID (AFFOPID) control strategy is applied to the position subsystem and attitude subsystem of the quadrotor UAV, dealing effectively with the fractional order characteristics and also enhancing control flexibility. Since the AFFOPID controller does not require the integral term of the error as input, it can be more easily applied and tuned in practical situations. Finally, comparative simulation experiments are conducted to confirm the effectiveness of the proposed control strategy and the superiority of fractional order controllers.

关键词： Adaptation models Trajectory tracking Differential operators Autonomous aerial vehicles Control systems Prediction algorithms Mathematical models

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Fixed Time Synchronization for Heterogeneous Complex Network with Time Delay by Soft Variable Structure Control Method

Fixed Time Synchronization for Heterogeneous Complex Network...

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Asian Control Conference

作者： Jie Wei Zhihuan Chen Tinghao Shi XiuJuan Zheng Zhenhua Zhu Mian Hu Engineering Research Center for Metallurgical Automation and Measurement Technology of Ministry of Education Wuhan University of Science and Technology Wuhan China Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology Wuhan China

ISBN: (数字)9789887581598

ISBN: (纸本)9798331540845

Ahstract-This study focuses on the fixed-time synchronization problem of drive-response complex networks with time delay. Distinguish from most of previous works, a more practical complex network is introduced, whose nodes and dimension between drive-response system are different. To achieve fixed time synchronization of the network, a dynamic soft variable structure control with fixed-time strategy is proposed, aiming to achieve higher regulation rate and shorter settling time. Then, the stability of the controller is rigorously proven through mathematical analysis and numerical simulations validate the effectiveness of presented results.

关键词： Delay effects Power system dynamics Stability criteria Complex networks Power system stability Numerical simulation Robustness

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FIRM: Flexible Interactive Reflection ReMoval 39

FIRM: Flexible Interactive Reflection ReMoval

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39th Annual AAAI Conference on Artificial Intelligence, AAAI 2025

作者： Chen, Xiao Jiang, Xudong Tao, Yunkang Lei, Zhen Li, Qing Lei, Chenyang Zhang, Zhaoxiang The Hong Kong Polytechnic University Hong Kong ETH Zurich Switzerland Center for Artificial Intelligence and Robotics HKISI-CAS China Institute of Automation Chinese Academy of Sciences China University of Chinese Academy of Sciences China

ISBN: (纸本)157735897X

Removing reflection from a single image is challenging due to the absence of general reflection priors. Although existing methods incorporate extensive user guidance for satisfactory performance, they often lack the flexibility to adapt user guidance in different modalities, and dense user interactions further limit their practicality. To alleviate these problems, this paper presents FIRM, a novel framework for Flexible Interactive image Reflection reMoval with various forms of guidance, where users can provide sparse visual guidance (e.g., points, boxes, or strokes) or text descriptions for better reflection removal. Firstly, we design a novel user guidance conversion module (UGC) to transform different forms of guidance into unified contrastive masks. The contrastive masks provide explicit cues for identifying reflection and transmission layers in blended images. Secondly, we devise a contrastive mask-guided reflection removal network that comprises a newly proposed contrastive guidance interaction block (CGIB). This block leverages a unique cross-attention mechanism that merges contrastive masks with image features, allowing for precise layer separation. The proposed framework requires only 10% of the guidance time needed by previous interactive methods, which makes a step-change in flexibility. Extensive results on public real-world reflection removal datasets validate that our method demonstrates state-of-the-art reflection removal performance. Copyright © 2025, Association for the Advancement of Artificial Intelligence (***). All rights reserved.

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Research on Robot Path Planning Algorithm for Filter Plate Cleaning of Plate and Frame Filter Press

Research on Robot Path Planning Algorithm for Filter Plate C...

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Artificial Intelligence and Intelligent Manufacturing (AIIM), International Symposium on

作者： Jie Xu Long Cui Yongguo Zhao Xincheng Tian Center for Robotics School of Control Science and Engineering Shandong University Jinan China Engineering Research Center of Intelligent Unmanned System Ministry of Education Jinan China Shandong Academy of Sciences Institute of Automation Qilu University of Technology Jinan China

ISBN: (数字)9798331541729

ISBN: (纸本)9798331541736

Plate and frame filter press is an important solid-liquid separation equipment that plays an important role in many fields. The filter plate is one of the core components of the frame filter press, and its main function is to support the filter cloth and form a filter chamber. After the filtration process of the filter press is completed, a large number of impurities are often attached to the filter plate, so it is of great value to study the impurity cleaning problem of the filter plate of the plate and frame filter press. In this paper, aiming at the cleaning process of the filter plate of the plate and frame filter press, the image information of the filter plate is obtained by visual means, and then the image is analyzed and processed to obtain the position information of the impurities of the filter plate, the path planning of the obtained position information is carried out, and finally the robot is made to complete the cleaning task efficiently and accurately according to the planned path, which has certain practical value.

关键词： Presses Visualization Impurities Image processing Filtering algorithms Information filters Cleaning Path planning Manufacturing Robots

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Effects of Data Augmentation on the Identification of Cough Sound Using Convolutional Neural Networks 7th

Effects of Data Augmentation on the Identification of Cough ...

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7th International Conference on Science, Technology and Innovation for Society, CITIS 2021

作者： Naranjo, David Chica, Juan Salamea Palacios, Christian Escuela Politécnica Nacional Quito Ecuador Interaction Robotics and Automation Research Group Universidad Politécnica Salesiana Cuenca Ecuador Speech Technology Group Information and Telecommunication Center Universidad Politécnica de Madrid Madrid Spain

ISBN: (纸本)9789811641251

Cough identification employing deep learning models has generated significant interest in fields such as telemedicine. However, it is challenging to have a considerable number of cough sounds to train such models, and consequently, it is necessary to apply techniques to generate more data. In this work, the effect of data augmentation on the identification of cough was studied using convolutional neural networks (CNN). For this, a system composed of Front-End and Back-End was implemented. In the Front-End, the original recordings and those generated by data augmentation by frequency shift and noise injection were processed and transformed into Mel spectrograms. On the Back-End, the spectrograms were analyzed and classified using a CNN. The results show that the transformations proposed to increase the amount of data help reducing the overfitting by 42.5% while bettering accuracy by a relative improvement of 1%. Therefore, applying data augmentation techniques to train CNNs for differentiating coughs from other sound events results in a simple but effective strategy. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Convolutional neural networks

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center tracking for healthy and diseased cardia

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Science China(Information Sciences) 2021年第11期64卷 243-244页

作者： Baiquan SU Yunlai TENG Zehao WANG Yida HU Shaolong KUANG Ye WANG Tingting ZHANG Jie TANG Wei YAO Ye ZONG Medical Robotics Laboratory School of Automation Beijing University of Posts and Telecommunications Brigham and Women's Hospital Harvard Medical School Robotics and Microsystems Center School of Mechanical Engineering Soochow University Gastroenterology Department Peking University Third Hospital Department of Gastroenterology Beijing Friendship Hospital Capital Medical University Neurosurgery Department Xuanwu Hospital Capital Medical University

Dear editor,Autonomous gastrointestinal robots are the future form of traditional manually operated endoscopes for reducing adverse events, such as perforation of the gastrointestinal tract [1–3]. Cardia center detection is a key task for gastrointestinal robots to autonomously enter the stomach to fulfill inspection and therapeutic operations. However, none of the existing studies addresses the problem of finding the center of the cardia, i.e., an image guidance task serving the gastrointestinal robots for passing the cardia.

关键词： Anatomical structure recognition Medical gastrointestinal robot Image guidance Cardia center Realtime tracking

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Value Stream Mapping for Smart Pharmaceutical Management in a Thai Hospital 6

Value Stream Mapping for Smart Pharmaceutical Management in ...

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6th International Conference on Industry 4.0 and Smart Manufacturing, ISM 2024

作者： Boonsothonsatit, Ganda Silapunt, Rardchawadee Vongbunyong, Supachai Kaemarungsi, Kamol Chanpuypetch, Wirachchaya Chonsawat, Nilubon Graduate School of Management and Innovation King Mongkut's University of Technology Thonburi Thailand Electronic and Telecommunication Engineering King Mongkut's University of Technology Thonburi Thailand Hospital Automation Research Center Institute of Field Robotics King Mongkut's University of Technology Thonburi Thailand National Electronics and Computer Technology Center National Science and Technology Development Agency Thailand Faculty of Agro-Industry Chiang Mai University Thailand Department of Agricultural Economy and Developement Faculty of Agriculture Chiang Mai University Thailand

The evolution of healthcare systems worldwide necessitates continual improvement in hospital management practices, particularly pharmaceutical management. This paper explores transforming traditional pharmaceutical management systems in large and medium-sized hospitals in Thailand into smart systems using Value Stream Mapping (VSM) as a guiding tool. Traditional systems often face challenges such as inefficiencies and medication errors. VSM, rooted in lean management principles, offers a structured approach to visualize and optimize processes. Additionally, smart technologies like automated inventory systems and electronic health records enhance pharmaceutical management effectiveness. Through a comprehensive research methodology encompassing case studies, data collection, and VSM analysis, this study identifies inefficiencies and proposes evidence-based strategies for improvement. Results from a case study highlight the benefits of VSM implementation in enhancing pharmacy operations, emphasizing improved patient care and operational efficiency. The implementation of a smart medication dispensing system shows promising results in reducing workload and accommodating increased patient arrivals. Continued evaluation and refinement are crucial for maximizing benefits and addressing emerging challenges effectively. © 2025 Elsevier B.V.. All rights reserved.

关键词： Electronic health record

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Hybrid Trajectory Optimization for Autonomous Terrain Traversal of Articulated Tracked Robots

arXiv

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arXiv 2023年

作者： Xu, Zhengzhe Chen, Yanbo Jian, Zhuozhu Tan, Junbo Wang, Xueqian Liang, Bin The School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen China The Center for Artificial Intelligence and Robotics Shenzhen International Graduate School Tsinghua University Shenzhen China

Autonomous terrain traversal of articulated tracked robots can reduce operator cognitive load to enhance task efficiency and facilitate extensive deployment. We present a novel hybrid trajectory optimization method aimed at generating efficient, stable, and smooth traversal motions. To achieve this, we develop a planar robot-terrain contact model and divide the robot’s motion into hybrid modes of driving and traversing. By using a generalized coordinate description, the configuration space dimension is reduced, which facilitates real-time planning. The hybrid trajectory optimization is transcribed into a nonlinear programming problem and divided into subproblems to be solved in a receding-horizon planning fashion. Mode switching is facilitated by associating optimized motion durations with a predefined traversal sequence. A multi-objective cost function is formulated to further improve the traversal performance. Additionally, map sampling, terrain simplification, and tracking controller modules are integrated into the autonomous terrain traversal system. Our approach is validated in simulation and real-world scenarios with the Searcher robotic platform. Comparative experiments with expert operator control and state-of-the-art methods show advantages in terms of time and energy efficiency, stability, and smoothness of motion. Copyright © 2023, The Authors. All rights reserved.

关键词： Cost functions

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Towards Exact Interaction Force Control for Underactuated Quadrupedal Systems with Orthogonal Projection and Quadratic Programming

arXiv

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arXiv 2022年

作者： Wang, Shengzhi Chu, Xiangyu Au, K.W. Samuel The Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong The Multiscale Medical Robotics Center

Projected Inverse Dynamics Control (PIDC) is commonly used in robots subject to contact, especially in quadrupedal systems. Many methods based on such dynamics have been developed for quadrupedal locomotion tasks, and only a few works studied simple interactions between the robot and environment, such as pressing an E-stop button. To facilitate the interaction requiring exact force control for safety, we propose a novel interaction force control scheme for underactuated quadrupedal systems relying on projection techniques and Quadratic Programming (QP). This algorithm allows the robot to apply a desired interaction force to the environment without using force sensors while satisfying physical constraints and inducing minimal base motion. Unlike previous projection-based methods, the QP design uses two selection matrices in its hierarchical structure, facilitating the decoupling between force and motion control. The proposed algorithm is verified with a quadrupedal robot in a high-fidelity simulator. Compared to the QP designs without the strategy of using two selection matrices and the PIDC method for contact force control, our method provided more accurate contact force tracking performance with minimal base movement, paving the way to approach the exact interaction force control for underactuated quadrupedal systems. Copyright © 2022, The Authors. All rights reserved.

关键词： Quadratic programming

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