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Research on workflow recognition for liver rupture repair surgery

Mathematical Biosciences and engineering 2024年第2期21卷 1844-1856页

作者： Men, Yutao Zhao, Zixian Chen, Wei Wu, Hang Zhang, Guang Luo, Feng Yu, Ming Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China Medical Support Technology Research Department Systems Engineering Institute Academy of Military Sciences People’s Liberation Army Tianjin300161 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin300384 China

Liver rupture repair surgery serves as one tool to treat liver rupture, especially beneficial for cases of mild liver rupture hemorrhage. Liver rupture can catalyze critical conditions such as hemorrhage and shock. Surgical workflow recognition in liver rupture repair surgery videos presents a significant task aimed at reducing surgical mistakes and enhancing the quality of surgeries conducted by surgeons. A liver rupture repair simulation surgical dataset is proposed in this paper which consists of 45 videos collaboratively completed by nine surgeons. Furthermore, an end-to-end SA-RLNet, a self attention-based recurrent convolutional neural network, is introduced in this paper. The self-attention mechanism is used to automatically identify the importance of input features in various instances and associate the relationships between input features. The accuracy of the surgical phase classification of the SA-RLNet approach is 90.6%. The present study demonstrates that the SA-RLNet approach shows strong generalization capabilities on the dataset. SA-RLNet has proved to be advantageous in capturing subtle variations between surgical phases. The application of surgical workflow recognition has promising feasibility in liver rupture repair surgery. ©2024 the Author(s), licensee AIMS Press. This is an open access article distributed under the terms of the Creative Commons.

关键词： Image classification

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Vibration Absorption of Nonlinear Energy Sink for Non-resonant Frequency Band of Rectangular Plate

Vibration Absorption of Nonlinear Energy Sink for Non-resona...

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International Conference on Applied Nonlinear Dynamics, Vibration, and control, ICANDVC 2023

作者： Wu, Jie Chen, Jianen Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin300384 China

ISBN: (纸本)9789819705535

In this paper, a nonlinear energy sink (NES) is designed to suppress the vibrations of a rectangular plate, where the vibrations within a non-resonant band of the plate are mainly investigated. The selected frequency range is 9–11 Hz with a loading frequency interval of 0.5 Hz. The harmonic excitation experiments with fixed frequency are conducted within the non-resonant band to obtain its amplitude-frequency curves. The results indicate that the NES always has effective vibration absorption with the variations in NES mass and spring stiffness under low excitation accelerations. However, the rectangular plate exhibits a higher branch of response within the low-frequency range under high excitation accelerations. Metrics such as the effective value of response acceleration and the vibration level are introduced to evaluate the experimental results to analyze the vibration absorption of the NES. The study reveals that optimal performance is achieved when a non-weighted NES with a spring having a wire diameter of 1.2 mm and an external diameter of 10 mm is attached to the rectangular plate. This device yields a reduction of vibration level by 7.29 dB. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Rectangular plate

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HCRI: A ROS2 Human Collision Object Interface for Robotic Manipulation Planning

HCRI: A ROS2 Human Collision Object Interface for Robotic Ma...

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2023 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2023

作者： Wang, Changcong Wei, Chongyi Bai, Shaoping Li, Yibin Tian, Xincheng Zhou, Lelai Shandong University The Center for Robotics School of Control Science and Engineering Jinan250061 China The Engineering Research Center of Intelligent Unmanned System Ministry of Education Jinan250061 China Aalborg University Department of Materials and Production Aalborg9220 Denmark

ISBN: (纸本)9798350327182

Human-Robot Collaboration (HRC) is people and robots work together in the same workspace to achieve shared goals. To ensure safety, robots need to perceive the position of the human body for planning purposes. However, there is no universal method for converting the human body into collision objects. To solve this problem, we propose an interface to convert the human body segments into collision objects in the robot planning scene. The interface estimates the human body Skinned Multi-Person Linear model (SMPL) by RGB image and measures the collision object size of the corresponding body segment. The corresponding size of collision objects are added to the corresponding positions of the human pose estimated by different types of sensors. The accuracy of human size estimation is verified on TotalMocap of AMASS. The interface with OctoMap is compared to evaluate the efficiency and the validity on interface is verified on the robot UR5e. © 2023 IEEE.

关键词： Image segmentation

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Research on intelligent Fault Diagnosis Method of Planetary Gearbox based on ITD and CNN 15

Research on Intelligent Fault Diagnosis Method of Planetary ...

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15th IEEE Global Reliability and Prognostics and Health Management Conference, PHM-Beijing 2024

作者： Zhu, Songsong Chen, Jiwei Xie, Ruitong Song, Yuhao Zhang, Mian Zhao, Mengxiong Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin300384 China

ISBN: (纸本)9798350354010

Accurate fault diagnosis of planetary gearboxes (PGs) is crucial for preventing equipment failures and extending their lifespan. To enhance the efficiency and accuracy of PG fault diagnosis, this paper proposes a novel method integrating intrinsic time scale decomposition (ITD) with convolutional neural network (CNN). The proposed method leverages the demodulation capability of ITD to decompose and reconstruct the original signal, effectively removing irrelevant noise and isolating core fault features, and the learning ability of CNN to accurately identify the fault features. Compared to methods relying on CNN only, the proposed method not only improves the computational efficiency but also achieves higher fault diagnosis accuracy. © 2024 IEEE.

关键词： Convolutional neural networks

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Dynamic Event-Triggered Consensus on Matrix-Weighted Networks: Leadless Case 42

Dynamic Event-Triggered Consensus on Matrix-Weighted Network...

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42nd Chinese control Conference, CCC 2023

作者： Dou, Lintao Wei, Haoyu Huang, Jian Pan, Lulu Shao, Haibin Li, Dewei College of Intelligent Science National University of Defense Technology Changsha410003 China Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Engineering Research Center of Intelligent Control and Management Department of Automation Shanghai200240 China

ISBN: (纸本)9789887581543

This paper examines the event-triggered consensus of the multi-agent system on matrix-weighted networks, where the interdependencies among higher-dimensional states of neighboring agents are characterized by matrix-weighted edges in the network. Specifically, a novel distributed dynamic event-triggered coordination strategy is proposed for this category of generalized networks, in which an auxiliary system is employed for each agent to dynamically adjust the triggering threshold, which plays an essential role in guaranteeing that the triggering time sequence does not exhibit Zeno behavior. Distributed event-triggered control protocols are proposed to guarantee leaderless consensus for multi-agent systems on matrix-weighted networks, respectively. Remarkably, the spectrum of matrix-valued weights is crucial in event-triggered mechanism design for matrix-weighted networks, generalizing those results only applicable for scalar-weighted networks. The proposed approach allows each agent to broadcast and receive information only at its triggering instants. Finally, simulation examples are provided to demonstrate the theoretical results. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Multi agent systems

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Fault Tolerant control for the Vibration Displacement system of a Continuous Casting Mold Based on a Fault Detection Observer

Fault Tolerant Control for the Vibration Displacement System...

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第43届中国控制会议

作者： Wenqi Hao Yiming Fang Le Liu Xiaonan Liu Key Lab of Industrial Computer Control Engineering of Hebei Province Yanshan University Engineering Research Center of the Education Ministry for Intelligent Control System and Intelligent Equipment Yanshan University

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

In this paper,a fault detection observer and an adaptive sliding mode fault-tolerant controller are designed for the vibration displacement system of a continuous casting mold with actuator faults and load torque ***,a mathematical model of a continuous casting mold vibration displacement system driven by a servo motor with actuator faults and load disturbance uncertainties are ***,a fault detection observer is designed to obtain information on actuator faults,load disturbances,and system state ***,based on the information from the fault detection observer,an adaptive sliding mode fault-tolerant controller is designed,and the stability of the designed system is proved using Lyapunov stability ***,the effectiveness of the designed adaptive sliding mode fault-tolerant controller based on fault observer is verified through simulation.

关键词： Continuous casting mold Fault detection observer Fault tolerant control Actuator fault Vibration displacement system Driven by a servo motor

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A New Island Genetic Algorithm for Path Planning Problems *

A New Island Genetic Algorithm for Path Planning Problems *

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2023 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2023

作者： Zhang, Jinghao Chen, Zhe Li, Ning Ministry of Education of China Key Laboratory of System Control and Information Processing Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China Tsinghua University Department of Automation Beijing100084 China

ISBN: (纸本)9798350327182

Genetic algorithm (GA) is an effective method for path planning problems. As a powerful variant of GA, island genetic algorithm (IGA) has considerable improvement in performance. In this paper, a new island model of GA is proposed to avoid the premature phenomenon and achieve better efficiency. First, a new method of creating subpopulations is presented based on K-means to expand the searching area for the optima. Meanwhile, recombining subpopulations is proposed as a new strategy to improve the diversity of populations and save computational time. Moreover, a method is designed based on Monte Carlo sampling to handle the uncertainty of maps. Comparative experiments are presented to verify the efficiency of the proposed algorithm. Then, a proper number of samples is found by simulation to balance the accuracy and the time cost of Monte Carlo sampling. © 2023 IEEE.

关键词： Genetic algorithms

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Manual Alignment of Dual End-Effectors for Piezo-Driven Microhand

Manual Alignment of Dual End-Effectors for Piezo-Driven Micr...

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2024 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2024

作者： Pang, Jichao Liu, Dan Tang, Xiaoqing Chen, Yan Huang, Qiang Arai, Tatsuo Liu, Xiaoming Key Laboratory of Biomimetc Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex System Beijing Advanced Innovation Center for Intelligent Robots and Systems School of Mechatronical Engineerin Beijing Institute of Technology Beijing100081 China The University of Electro-Communications Center for Neuroscience and Biomedical Engineering Tokyo182-8585 Japan

ISBN: (纸本)9798350372601

In recent years, micromanipulator with dual end-effectors called microhand has been widely used in industrial and biological fields. Whether the tip positions of the two end-effectors of the microhand can be accurately aligned seriously affects the precise grasping of the microhand. However, few researchers have presented practical ways for precisely aligning the tip positions of a 6-DOF microhand's two end- effectors. This paper proposes a novel, inexpensive, lightweight, robust, and easy-to-use microhand dual end-effectors clamping device that can precisely and quickly align the two end-effectors of a 6-DOF microhand. First, we describe the microhand dual end-effectors clamping device's lightweight structural design. After that, we simplify the microhand dual end-effectors clamping device model and create a mathematical model to determine the relationship between the end-effectors' tip position and the rotation angles of screw No.1, screw No.2, screw No.3 of the microhand dual end-effectors clamping device. Through experimentation, we are able to attain precise alignment of the two end-effectors tip positions of the 6-DOF microhand, so we confirm that our mathematical model is true. Finally, we use the impulse response of PZT in the microhand's lower module to confirm the stability of the microhand dual end- effectors clamping device. We believe that the proposed the microhand dual end-effectors clamping device has great potential in industrial and biological applications as a universal tool for precise alignment of the tip positions of the two end-effectors of a 6-DOF microhand. © 2024 IEEE.

关键词： Clamping devices

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Small-Target Infrastructure Detection with Spatial Tracking and Multi-Level Feature Extraction of Railway Track Scenes

Small-Target Infrastructure Detection with Spatial Tracking ...

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2024 International Conference on intelligent Communication, Sensing and Electromagnetics, ICSE 2024

作者： Du, Heng Cang, Huaiming Bai, Yiwen Wang, Xinyi Beijing Elephant Technology Co. Ltd Beijing China School of Transportation Science and Engineering Beihang University Beijing102206 China State Key Lab of Intelligent Transportation System Beijing100191 China School of Mechanical Engineering Tianjin University of Technology Tianjin Key Laboratory for Advanced Mechanical System Design and Intelligent Control Tianjin China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin300384 China

ISBN: (纸本)9798350354935

In the field of railway transportation, with the continuous improvement of train running speed and the continuous increase of operating mileage, it becomes particularly important to ensure the safety and integrity of small-Target infrastructure along the railway train. Although many small-Target detection methods have been proposed, the research on small-Target infrastructure detection along rail trains is very rare. To solve this problem, this paper proposes a small-Target infrastructure detection network with spatial tracking and multi-level feature extraction based on Yolov8n. The experimental results show that ST-YOLO has a 3.6% mAP improvement on the OSDaR23 dataset compared to the baseline Yolov8n, and shows significant advantages over other state-of-The-Art methods. © 2024 IEEE.

关键词： Railroads

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Color liquid crystal grating based color holographic 3D display system with large viewing angle

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Light(Science & Applications) 2024年第1期13卷 103-112页

作者： Di Wang Yi-Long Li Fan Chu Nan-Nan Li Zhao-Song Li Sin-Doo Lee Zhong-Quan Nie Chao Liu Qiong-Hua Wang School of Instrumentation and Optoelectronic Engineering Beihang UniversityBeijing 100191China State Key Laboratory of Virtual Reality Technology and Systems Beihang UniversityBeijing 100191China Display Technology Research Center Seoul National UniversityGwanak-ro 1Gwanak-guSeoul 08826Republic of Korea Key Lab of Advanced Transducers and Intelligent Control System Ministry of EducationTaiyuan University of TechnologyTaiyuan 030024China

Holographic 3D display is highly desirable for numerous applications ranging from medical treatments to military ***,it is challenging to simultaneously achieve large viewing angle and high-fidelity color reconstruction due to the intractable constraints of existing ***,we conceptually propose and experimentally demonstrate a simple and feasible pathway of using a well-designed color liquid crystal grating to overcome the inevitable chromatic aberration and enlarge the holographic viewing angle,thus enabling large-viewing-angle and color holographic 3D *** use of color liquid crystal grating allows performing secondary diffraction modulation on red,green and blue reproduced images simultaneously and extending the viewing angle in the holographic 3D display *** principle,a chromatic aberration-free hologram generation mechanism in combination with the color liquid crystal grating is proposed to pave the way for on such a superior holographic 3D *** proposed system shows a color viewing angle of~50.12°,which is about 7 times that of the traditional system with a single spatial light *** work presents a paradigm for achieving desirable holographic 3D display,and is expected to provide a new way for the wide application of holographic display.

关键词： holographic angle crystal

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