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IEEE International Symposium on Intelligent control (ISIC)

作者： Z. G. Li C. Y. Wen Y. C. Soh Media Division Institute for Infocomm Research Singapore Center of Modeling and Control of Complex Systems Nanyang Technological University Singapore

In this paper, we study robust stability of a class of switched linear systems (SLSs) that is composed of a finite number of linear continuous variable systems (CVSs) and the switchings of CVSs are predefined and represented by a finite state machine. Each CVS consists of a cluster of unstable matrices, which are simultaneously block-triangularizable. This type of SLSs cannot be addressed by existing results. A decomposition method is used to decompose the original system into several lower dimensional SLSs at the diagonal block positions. Our results show that the original higher dimensional SLS is asymptotically stable if all these lower dimensional SLSs are asymptotically stable. The synergy between the continuous of each lower dimensional SLSs and the discrete dynamics is fully utilized by the cycle analysis method to derive sufficient conditions on the robust stability of each lower dimensional SLS. With our method, all CVSs in a cycle instead of each individual CVS is taken as an analysis unit. The condition on the stability of SLSs can then be relaxed in the sense that Lyapunov functions are only required to be non-increasing along each type of cycle instead of each CVS.

关键词： Robust stability Linear systems Uncertainty Laser sintering Matrix decomposition Lyapunov method Sufficient conditions Intelligent control control systems Automata

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META-IMITATION LEARNING BY WATCHING VIDEO DEMONSTRATIONS 10

META-IMITATION LEARNING BY WATCHING VIDEO DEMONSTRATIONS

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10th International Conference on Learning Representations, ICLR 2022

作者： Li, Jiayi Lu, Tao Cao, Xiaoge Cai, Yinghao Wang, Shuo School of Artificial Intelligence University of Chinese Academy of Sciences China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences China Center for Excellence in Brain Science and Intelligence Technology Chinese Academy of Sciences China

Meta-Imitation Learning is a promising technique for the robot to learn a new task from observing one or a few human demonstrations. However, it usually requires a significant number of demonstrations both from humans and robots during the meta-training phase, which is a laborious and hard work for data collection, especially in recording the actions and specifying the correspondence between human and robot. In this work, we present an approach of meta-imitation learning by watching video demonstrations from humans. In comparison to prior works, our approach is able to translate human videos into practical robot demonstrations and train the meta-policy with adaptive loss based on the quality of the translated data. Our approach relies only on human videos and does not require robot demonstration, which facilitates data collection and is more in line with human imitation behavior. Experiments reveal that our method achieves the comparable performance to the baseline on fast learning a set of vision-based tasks through watching a single video demonstration. © 2022 ICLR 2022 - 10th International Conference on Learning Representationss. All rights reserved.

关键词： Robots

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Macroporous Ni foam-supported Co_3O_4 nanobrush and nanomace hybrid arrays for high-efficiency CO oxidation

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Journal of Environmental Sciences 2019年第1期31卷 136-144页

作者： Shengpeng Mo Hui He Quanming Ren Shuangde Li Weixia Zhang Mingli Fu Limin Chen Junliang Wu Yunfa Chen Daiqi Ye School of Environment and Energy South China University of Technology State Key Laboratory of Multi-phase Complex Systems Institute of Process Engineering Chinese Academy of Sciences Guangdong Provincial Key Laboratory of Atmospheric Environment and Pollution Control (SCUT) Guangdong Provincial Engineering and Technology Research Centre for Environmental Risk Prevention and Emergency Disposal South China University of Technology Center for Excellence in Urban Atmospheric Environment Institute of Urban Environment Chinese Academy of Sciences

Herein, we reported the synthesis of well-defined Co_3O_4 nanoarrays(NAs) supported on a monolithic three-dimensional macroporous nickel(Ni) foam substrate for use in highefficiency CO oxidation. The monolithic Co_3O_4 NAs catalysts were obtained through a generic hydrothermal synthesis route with subsequent calcination. By controlling the reaction time,solvent polarity and deposition agent, these Co_3O_4 NAs catalysts exhibited various novel morphologies(single or hybrid arrays), whose physicochemical properties were further characterized by using several analytical techniques. Based on the catalytic and characterization analyses, it was found that the Co_3O_4 NAs-6 catalyst with nanobrush and nanomace arrays displayed enhanced catalytic activity for CO oxidation, achieving an efficient 100% CO oxidation conversion at a gas hourly space velocity(GHSV) 10,000 hr^(-1) and 150°C with longterm stability. Compared with the other Co_3O_4 NAs catalysts, it had the highest abundance of surface-adsorbed oxygen species, excellent low-temperature reducibility and was rich in surface-active sites(Co^(3+)/Co^(2+)= 1.26).

关键词： CO oxidation Nanomace Co3O4 Hybrid arrays Macroporous Ni foam

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Remote Operation with Haptic Force and Virtual Proxy for an Underwater Vehicle-Manipulator System 10

Remote Operation with Haptic Force and Virtual Proxy for an ...

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10th IEEE Data Driven control and Learning systems Conference, DDCLS 2021

作者： Ma, Jin Wang, Yu Wang, Rui Wang, Shuo University of Chinese Academy of Sciences Beijing100049 China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China Cas Center for Excellence in Brain Science and Intelligence Technology Shanghai200031 China

ISBN: (纸本)9781665424233

This paper aims to investigate a smooth teleoperation method for the underwater vehicle-manipulator system. First, a coordinated mapping control method for the vehicle is presented. The haptic force is considered to help assist the operation. Then, two mapping modes are used to teleoperate the manipulator: when the end-effector needs to move in a large area, two virtual points and a spring-damping system are implemented to filter the operator's hand jitter and limit the manipulator's speed;when the end-effector needs to move in a small area, a position increment control method with a small proportional coefficient is used to improve the precision. Finally, the simulation demonstrates the effectiveness of the proposed teleoperation method. © 2021 IEEE.

关键词： Manipulators

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Learning category-level implicit 3D rotation representations for 6D pose estimation from RGB Images

Learning category-level implicit 3D rotation representations...

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2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019

作者： Li, Xiaocan Cai, Yinghao Wang, Shuo Lu, Tao Chinese Academy of Sciences State Key Laboratory of Management and Control for Complex Systems Beijing100190 China University of Chinese Academy of Sciences Beijing100049 China Center for Excellence in Brain Science and Intelligence Technology Chinese Academy of Sciences Shanghai200031 China

ISBN: (纸本)9781728163215

We exploit the embedding ability of a de-noising autoencoder for an implicit 3D rotation representation learning at the category level. Contrast to the exact 3D reconstruction model of each instance-level physical object, we leverage the inexact CAD/Reconstruction models of an object as the representative model for some category. Under our assumptions that objects within the same category share resemble geometry, we train a de-noising autoencoder on synthetic 3D views of category-level objects to extract the homogenous features at the bottleneck layer. The latent representation is agnostic not only to heterogeneous textures, colors, and illuminations, but also ambiguous pose caused by object symmetry. To extend the instance-level 3D translation estimation to the category level, we considered the 3D diagonal length ratio between the source and target object. We achieved a frame rate of 17Hz. © 2019 IEEE.

关键词： Object detection

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Parameter estimation survey for multi-joint robot dynamic calibration case study

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中国科学:化学（英文版） 2019年第10期62卷 98-112页

作者： Shaolin ZHANG Shuo WANG Fengshui JING Min TAN The State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences Beijing 100190 China University of Chinese Academy of Sciences Beijing 100049 China The State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences Beijing 100190 China University of Chinese Academy of Sciences Beijing 100049 China CAS Center for Excellence in Brain Science and Intelligence Technology Shanghai 200031 China

Accurate model parameters are the basis of robot *** linear and nonlinear models have been proposed to calibrate the inertial parameters and friction parameters of multi-joint ***,methods of choosing a model and calculating its parameters still have few *** paper reviews typical linear/nonlinear models and different calculation methods for robot dynamic *** simulations,the features of different methods are analyzed,including torque error,parameter error,model adaptability,solution time,and anti-interference ability of the calibration ***,an experiment performed on a six-degree-of-freedom industrial manipulator is used as an example to illustrate how to select the model for a specified *** comparisons and experiments provide references for the parameter calibration of multi-joint robots.

关键词： dynamic parameter calibration friction calibration robot dynamics industrial manipulator dynamic models

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modeling and analysis of an underwater biomimetic vehicle-manipulator system

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Science China(Information Sciences) 2022年第3期65卷 255-257页

作者： Xuejian BAI Yu WANG Shuo WANG Rui WANG Min TAN Wei WANG School of Artificial Intelligence University of Chinese Academy of Sciences State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences CAS Center for Excellence in Brain Science and Intelligence Technology School of Control Science and Engineering Shandong University

In recent years, underwater vehicle-manipulator systems(UVMSs) have captured researchers' attention. Inspired by fish, bionic mechanisms were introduced into a *** underwater biomimetic vehicle-manipulator system(UBVMS) is actuated by two symmetrically arranged biomimetic undulatory fin propulsors [1]. Based on the UBVMS, some topics have been researched, such as freefloating autonomous operation [2, 3], three-dimensional helical path following [4], and underwater video processing [5].

关键词： underwater biomimetic vehicle underwater robots underwater vehicle-manipulator system biomimetic robots hydrodynamic modeling

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Programming by visual demonstration for pick-and-place tasks using robot skills

Programming by visual demonstration for pick-and-place tasks...

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2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019

作者： Hao, Peng Lu, Tao Cai, Yinghao Wang, Shuo State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China University of Chinese Academy of Sciences Beijing100049 China Center for Excellence in Brain Science and Intelligence Technology Chinese Academy of Sciences Shanghai200031 China

ISBN: (纸本)9781728163215

In this paper, we present a vision-based robot programming system for pick-and-place tasks that can generate programs from human demonstrations. The system consists of a detection network and a program generation module. The detection network leverages convolutional pose machines to detect the key-points of the objects. The network is trained in a simulation environment in which the train set is collected and auto-labeled. To bridge the gap between reality and simulation, we propose a design method of transform function for mapping a real image to synthesized style. Compared with the unmapped results, the Mean Absolute Error (MAE) of the model completely trained with synthesized images is reduced by 23% and the False Negative Rate FNR (FNR) of the model fine-tuned by the real images is reduced by 42.5% after mapping. The program generation module provides a human-readable program based on the detection results to reproduce a real-world demonstration, in which a longshort memory (LSM) is designed to integrate current and historical information. The system is tested in the real world with a UR5 robot on the task of stacking colored cubes in different orders. © 2019 IEEE.

关键词： Demonstrations

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Lightweight Double Attention-Fused Networks for Intraoperative Stent Segmentation 23rd

Lightweight Double Attention-Fused Networks for Intraoperati...

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23rd International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2020

作者： Zhou, Yan-Jie Xie, Xiao-Liang Hou, Zeng-Guang Zhou, Xiao-Hu Bian, Gui-Bin Liu, Shi-Qi State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China CAS Center for Excellence in Brain Science and Intelligence Technology Beijing100190 China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100049 China

ISBN: (纸本)9783030597245

In endovascular interventional therapy, the fusion of preoperative data with intraoperative X-ray fluoroscopy has demonstrated the potential to reduce radiation dose, contrast agent and processing time. Real-time intraoperative stent segmentation is an important pre-requisite for accurate fusion. Nevertheless, this task often comes with the challenge of the thin stent wires with low contrast in noisy X-ray fluoroscopy. In this paper, a novel and efficient network, termed Lightweight Double Attention-fused Network (LDA-Net), is proposed for end-to-end stent segmentation in intraoperative X-ray fluoroscopy. The proposed LDA-Net consists of three major components, namely feature attention module, relevance attention module and pre-trained MobileNetV2 encoder. Besides, a hybrid loss function of both reinforced focal loss and dice loss is designed to better address the issues of class imbalance and misclassified examples. Quantitative and qualitative evaluations on 175 intraoperative X-ray sequences demonstrate that the proposed LDA-Net significantly outperforms simpler baselines as well as the best previously-published result for this task, achieving the state-of-the-art performance. © 2020, Springer Nature Switzerland AG.

关键词： Stents

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GPR and SPSO-CG based gait pattern generation for subject-specific training

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Science China(Information Sciences) 2021年第8期64卷 244-246页

作者： Weiqun WANG Weiguo SHI Shixin REN Zeng-Guang HOU Xu LIANG Jiaxin WANG Liang PENG The State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences School of Artificial Intelligence University of Chinese Academy of Sciences CAS Center for Excellence in Brain Science and Intelligence Technology

Dear editor,Gait training has been proved effective for recovery of walking ability for nerve injury patients caused by stroke, spinal cord injury(SCI), traumatic brain injury(TBI), etc. The traditional gait training methods, usually carried out by hands, are laborious and time-consuming, and hence, the training intensity is difficult to be maintained and the rehabilitation results are not satisfactory.

关键词： GPR and SPSO-CG based gait pattern generation for subject-specific training

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