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arXiv 2023年

作者： Zhou, Zishun Ma, Liping Liu, Xilong Cao, Zhiqiang Yu, Junzhi The Institute of Automation Chinese Academy of Sciences Beijing100190 China The College of Electrical Engineering and Computer Science Australian National University Canberra2601 Australia The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China The School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100049 China The State Key Laboratory for Turbulence and Complex System Department of Advanced Manufacturing and Robotics BIC-ESAT College of Engineering Peking University Beijing100871 China

Precise calibration is the basis for the vision-guided robot system to achieve high-precision operations. systems with multiple eyes (cameras) and multiple hands (robots) are particularly sensitive to calibration errors, such as micro-assembly systems. Most existing methods focus on the calibration of a single unit of the whole system, such as poses between hand and eye, or between two hands. These methods can be used to determine the relative pose between each unit, but the serialized incremental calibration strategy cannot avoid the problem of error accumulation in a large-scale system. Instead of focusing on a single unit, this paper models the multi-eye and multi-hand system calibration problem as a graph and proposes a method based on the minimum spanning tree and graph optimization. This method can automatically plan the serialized optimal calibration strategy in accordance with the system settings to get coarse calibration results initially. Then, with these initial values, the closed-loop constraints are introduced to carry out global optimization. Simulation experiments demonstrate the performance of the proposed algorithm under different noises and various hand-eye configurations. In addition, experiments on real robot systems are presented to further verify the proposed method. © 2023, CC BY-SA.

关键词： Multipurpose robots

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Multimodal Information-Based Broad and Deep Learning Model for Emotion Understanding

Multimodal Information-Based Broad and Deep Learning Model f...

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第40届中国控制会议

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

Multimodal information-based broad and deep learning model（MIBDL） for emotion understanding is proposed, in which facial expression and body gesture are used to achieve emotional states recognition for emotion understanding. It aims to understand coexistence multimodal information in human-robot interaction by using different processing methods of deep network and broad network, which obtains the features of depth and width dimensions. Moreover, random mapping in the initial broad learning network could cause information loss and its shallow layer network is difficult to cope with complex tasks. To address this problem, we use principal component analysis to generate the nodes of the broad learning, and the stacked broad learning network is adapted to make it easier for the existing broad learning networks to cope with complex tasks by creating deep variations of the existing network. To verify the effectiveness of the proposal, experiments completed on benchmark database of spontaneous emotion expressions are developed, and experimental results show that the proposal outperforms the state-of-theart methods. According to the simulation experiments on the FABO database, by using the proposed method, the multimodal recognition rate is 17,54%, 1.24%, and 0.23% higher than those of the temporal normalized motion and appearance features（TN）,the multi-channel CNN（MCCNN）, and the hierarchical classification fusion strategy（HCFS）, respectively.

关键词： Convolution neural network broad learning emotion understanding facial expression body gesture

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Structural and functional analysis of a potent human neutralizing antibody against enterovirus A71

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Science China(Life Sciences) 2022年第12期65卷 2517-2526页

作者： Zhe Chen Linlin Bao Bin Zhu Hua Fu Shuangli Zhu Tianjiao Ji Ying Xue Chuan Liu Xurong Wang Fengdi Li Qi Lv Feifei Qi Pin Yu Wei Deng Wenbo Xu Chuan Qin Hongrong Liu Qi Jin MOH Key Laboratory of Systems Biology of Pathogens Institute of Pathogen BiologyChinese Academy of Medical Sciences&Peking Union Medical CollegeBeijing 100730China Beijing Key Laboratory for Animal Models of Emerging and Remerging Infectious Diseases NHC Key Laboratory of Human Disease Comparative MedicineInstitute of Laboratory Animal ScienceChinese Academy of Medical Sciences and Comparative Medicine CenterPeking Union Medical CollegeBeijing 100021China School of Computer Science and Engineering Hunan University of Science and TechnologyXiangtan 411201China National Institute for Viral Disease Control and Prevention China CDCBeijing 102206China Ministry of Education Key Laboratory of Protein Sciences Beijing Advanced Innovation Center for Structural BiologyTsinghua UniversityBeijing 100084China Key Laboratory for Matter Microstructure and Function of Hunan Province Key Laboratory of Low-dimensional Quantum Structures and Quantum ControlSchool of Physics and ElectronicsHunan Normal UniversityChangsha 410081China Collaborative Innovation Center for Diagnosis and Treatment of Infectious Diseases Hangzhou 310058China

Enterovirus A71(EV-A71) causes major outbreaks of hand,foot,and mouth disease(HFMD) in many countries,most frequently affecting children,and a small proportion of cases may lead to ***,no vaccine is available in most endemic regions,and no licenced treatments for EV-A71 infection are ***,we characterize a human monoclonal antibody(Hu MAb),E1,by screening a Fab antibody phage library derived from patients who recovered from EV-A71 infection.E1 exhibits strong neutralizing activity against EV-A71 virus in *** cryo-electron microscopy(cryo-EM) structures of the EV-A71 virion in complex with E1 Fab fragments demonstrated that E1 recognized an epitope formed by residues in the BC and HI loops of *** a mouse model,E1 effectively protected against lethal EV-A71 challenge in both prophylactic and therapeutic *** particular,E1 significantly reduces virus titers and muscle damage.E1 might represent a potential adjunct to EV-A71 treatment.

关键词： enterovirus A71 antibody mouse models cryo-electron microscopy

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Novel controller design procedure for output based ILC update laws applied to discrete-time polytopic systems

Novel controller design procedure for output based ILC updat...

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IEEE Conference on Decision and control

作者： Robert Maniarski Wojciech Paszke Shoulin Hao Tao Liu Eric Rogers Institute of Automation Electronic and Electrical Engineering University of Zielona Góra Zielona Góra Poland Key Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education and the Institute of Advanced Control Technology Dalian University of Technology Dalian China Electronics and Computer Science University of Southampton Southampton UK

ISBN: (纸本)9781665436601

This paper considers the design of iterative learning control laws for discrete-time linear time-invariant systems with polytopic uncertainty. To avoid state feedback or using an observer, the control law uses static output feedback. These systems’ control law design problem is reformulated in the repetitive process setting to ensure robust stability along the trial property. Hence, monotonic convergence in the trial-to-trial direction is guaranteed over the whole uncertainty domain. This approach results in a linear matrix inequality-based design, and an illustrative example is given.

关键词： State feedback Uncertainty Robust stability Process control Observers Linear matrix inequalities Output feedback

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Network topology detection via uncertainty analysis of an identified static model

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IFAC-PapersOnLine 2021年第7期54卷 595-600页

作者： X. Bombois H. Hjalmarsson Laboratoire Ampére Ecole Centrale de Lyon Université de Lyon Ecully France Centre National de la Recherche Scientifique (CNRS) France Centre for Advanced Bio Production and Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Stockholm Sweden

In this paper, we propose a methodology to detect the topology of a dynamic network that is based on the analysis of the uncertainty of the static characteristic of the matrix of transfer functions between the externa... 详细信息

关键词： Dynamic network identification topology detection

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Large Magnetoresistance in Phosphorus-Sulfur Compounds (Tmps4) Based Temperature Regulated Spin-Caloritronic Devices

SSRN

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SSRN 2022年

作者： Wang, Tongtong Liu, Bin Liu, Sheng Zhu, Sicong Lu, Yan Hubei Province Key Laboratory of Systems Science in Metallurgical Process The State Key Laboratory for Refractories and Metallurgy Collaborative Innovation Center for Advanced Steels International Research Institute for Steel Technology University of Science and Technology Wuhan430081 China Key Laboratory of Metallurgical Equipment and Control Technology Key Laboratory of Mechanical Transmission and Manufacturing Engineering Wuhan University of Science and Technology Wuhan430081 China

Two-dimensional (2D) transition metal phosphorus-sulfur compounds (TMPS4) have attracted great theoretical and experimental attention because of their broadband modulation and high hole mobility that can be used in nanodevices. Therefore, their Curie temperature and thermal properties deserve further study for applications in electronic devices. The electromagnetic properties and spin transport properties of 2D transition metal phosphorus-sulfur compounds are systematically investigated by density function theory (DFT) and DFT combined with the nonequilibrium Green's function method. We find that TMPS4 materials cover almost all spin electronic behaviors, including half-metals, magnetic and nonmagnetic semiconductors, and metals. The simulation results show that the magnetic tunnel junction constructed based on TMPS4has a perfect thermal spin filtering effect and a negative differential resistance effect. Especially, we obtain up to 1010% thermal colossal magnetoresistance and almost 100% spin polarization. Based on these results, it is proved that TMPS4 can be a substrate material for the development of high performance for spin-caloritronic and spintronic devices. © 2022, The Authors. All rights reserved.

关键词： Transition metals

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Optimization of Robot End-Effector Load Gravity Compensation for Unmanned Live Work in Electric Power Distribution Networks Based on Improved PSO Algorithm

Optimization of Robot End-Effector Load Gravity Compensation...

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Chinese Automation Congress (CAC)

作者： Jinge Chen Xin Chen Chenyu Hu Guangxian Huang Shu Sun Xu Jian 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 Distribution Department State Grid Hubei Electric Power Co. Ltd. Xianning Power Supply Company Xianning China Equipment Technology Center State Grid Hubei Electric Power Co. Ltd. Electric Power Science Research Institute Wuhan China

In the field of electric power distribution network operation, most tasks involve contact operations. A key technology to enable the flexible operation of robots in live distribution network tasks is the installation of six-dimensional force sensors on the robot's end flange. These sensors allow the robot to perceive external environmental contact forces. However, the presence of the end load interferes with the accurate perception of external forces. Aiming at the gravity compensation of robot end load, an optimization algorithm of gravity compensation based on particle swarm optimization is proposed. In this method, the optimal solution model is established with the objective of minimum sum of squared errors, and the particle swarm optimization algorithm is used to estimate the mounting declination angle of the force sensor and improve the precision of gravity compensation. The experiments show that the proposed method can effectively reduce the maximum gravity compensation error and the average gravity compensation error in each direction after optimization, in which the maximum gravity compensation error of the resultant force is reduced by 9.11% and the average gravity compensation error of the resultant force is reduced by 12.34%.

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V2X-BGN: Camera-based V2X-Collaborative 3D Object Detection with BEV Global Non-Maximum Suppression

V2X-BGN: Camera-based V2X-Collaborative 3D Object Detection ...

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IEEE Symposium on Intelligent Vehicle

作者： Caiji Zhang Bin Tian Shi Meng Shuangying Qi Yang Sun Yunfeng Ai Long Chen School of Artificial Intelligence University of Chinese Academy of Sciences and With the National Key Laboratory for Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences Beijing China Bin Tian is With the National Key Laboratory for Multi-Modal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences and With the School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China National Key Laboratory for Multi-Modal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences and With the School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China Chongqing Iron and Steel Group Mining Co. Ltd. Chongqing China School of Mechanical and Equipment Engineering Hebei University of Engineering Handan China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China Waytous Inc. Qingdao China School of Computer Science and Engineering Sun Yat-Sen University Guangzhou China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Waytous Ltd. Qingdao China

ISBN: (数字)9798350348811

ISBN: (纸本)9798350348828

In recent years, research on Vehicle-to-Everything (V2X) cooperative perception algorithms mainly focuses on the fusion of intermediate features from LiDAR point clouds. Since the emergence of excellent single-vehicle visual perception models like BEVFormer, collaborative perception schemes based on camera and late-fusion have become feasible approaches. This paper proposes a V2X-collaborative 3D object detection structure in Bird's Eye View (BEV) space, based on global non-maximum suppression and late-fusion (V2X-BGN), and conducts experiments on the V2X-Set dataset. Focusing on complex road conditions with extreme occlusion, the paper compares the camera-based algorithm with the LiDAR-based algorithm, validating the effectiveness of pure visual solutions in the collaborative 3D object detection task. Additionally, this paper highlights the complementary potential of camera-based and LiDAR-based approaches and the importance of object-to-ego vehicle distance in the collaborative 3D object detection task.

关键词： Point cloud compression Visualization Three-dimensional displays Laser radar Roads Collaboration Object detection

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Applications of MXenes in human-like sensors and actuators

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Nano Research 2023年第4期16卷 5767-5795页

作者： Jinbo Pang Songang Peng Chongyang Hou Xiao Wang Ting Wang Yu Cao Weijia Zhou Ding Sun Kai Wang Mark H.Rümmeli Gianaurelio Cuniberti Hong Liu Institute for Advanced Interdisciplinary Research(iAIR) Collaborative Innovation Center of Technology and Equipment for Biological Diagnosis and Therapy in Universities of ShandongUniversity of JinanJinan 250022China Institute for Materials Science and Max Bergmann Center of Biomaterials Technische Universität DresdenDresden 01069Germany Center for Advancing Electronics Dresden Technische Universität DresdenDresden 01069Germany Dresden Center for Computational Materials Science Technische Universität DresdenDresden 01062Germany Dresden Center for Intelligent Materials(GCL DCIM) Technische Universität DresdenDresden 01062Germany High-Frequency High-Voltage Device and Integrated Circuits R&D Center Institute of MicroelectronicsChinese Academy of SciencesBeijing 100029China Key Laboratory of Microelectronic Devices&Integrated Technology Institute of MicroelectronicsChinese Academy of SciencesBeijing 100029China Shenzhen Key Laboratory of Nanobiomechanics Shenzhen Institute of Advanced TechnologyChinese Academy of SciencesShenzhen 518055China State Key Laboratory of Biobased Material and Green Papermaking Qilu University of TechnologyShandong Academy of SciencesJinan 250353China School of Bioengineering Qilu University of TechnologyShandong Academy of ScienceJinan 250353China Key Laboratory of Modern Power System Simulation and Control&Renewable Energy Technology(Ministry of Education) Northeast Electric Power UniversityJilin 132012China School of Electrical Engineering Northeast Electric Power UniversityJilin 132012China School of Electrical Engineering Weihai Innovation Research InstituteQingdao UniversityQingdao 266000China School of Electrical and Computer Engineering Jilin Jianzhu UniversityChangchun 130118China Institute for Complex Materials Leibniz Institute for Solid State and Materials Research Dresden(IFW Dresden)20 Helmholtz StrasseDresden 01069Germany College of Energy Soochow Institute for Energy and Materials Innovations Soochow UniversitySuzhou 215006China Key L

Human beings perceive the world through the senses of sight,hearing,smell,taste,touch,space,and *** first five senses are prerequisites for people to *** sensing organs upload information to the nervous systems,including the brain,for interpreting the surrounding ***,the brain sends commands to muscles reflexively to react to stimuli,including light,gas,chemicals,sound,and ***,as an emerging two-dimensional material,has been intensively adopted in the applications of various sensors and *** this review,we update the sensors to mimic five primary senses and actuators for stimulating muscles,which employ MXene-based film,membrane,and composite with other functional ***,a brief introduction is delivered for the structure,properties,and synthesis methods of ***,we feed the readers the recent reports on the MXene-derived image sensors as artificial retinas,gas sensors,chemical biosensors,acoustic devices,and tactile sensors for electronic ***,the actuators of MXene-based composite are ***,future opportunities are given to MXene research based on the requirements of artificial intelligence and humanoid robot,which may induce prospects in accompanying healthcare and biomedical engineering applications.

关键词： MXenes sensors actuators gas sensors biosensors tactile sensors sound sensors artificial retina

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Wireless Acoustic Sensor Networks and Edge Computing for Rapid Acoustic Monitoring

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IEEE/CAA Journal of Automatica Sinica 2019年第1期6卷 64-74页

作者： Zhengguo Sheng Saskia Pfersich Alice Eldridge Jianshan Zhou Daxin Tian Victor C.M.Leung the Department of Engineering and Design University of Sussex Infineon Technologies AG the Department of Music University of Sussex Beijing Advanced Innovation Center for Big Data and Brain Computing (BDBC) Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems & Safety ControlSchool of Transportation Science and EngineeringBeihang University the Department of Electrical and Computer Engineering The University of British Columbia

Passive acoustic monitoring is emerging as a promising solution to the urgent, global need for new biodiversity assessment methods. The ecological relevance of the soundscape is increasingly recognised, and the affordability of robust hardware for remote audio recording is stimulating international interest in the potential for acoustic methods for biodiversity *** scale of the data involved requires automated methods,however, the development of acoustic sensor networks capable of sampling the soundscape across time and space and relaying the data to an accessible storage location remains a significant technical challenge, with power management at its core. Recording and transmitting large quantities of audio data is power intensive,hampering long-term deployment in remote, off-grid locations of key ecological interest. Rather than transmitting heavy audio data, in this paper, we propose a low-cost and energy efficient wireless acoustic sensor network integrated with edge computing structure for remote acoustic monitoring and in situ *** and computation of acoustic indices are carried out directly on edge devices built from low noise primo condenser microphones and Teensy microcontrollers, using internal FFT hardware support. Resultant indices are transmitted over a ZigBee-based wireless mesh network to a destination *** tests of audio quality, indices computation and power consumption demonstrate acoustic equivalence and significant power savings over current solutions.

关键词： Acoustic sensor networks edge computing energy efficiency

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