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IEEE Transactions on Medical Robotics and Bionics 2025年第2期7卷 550-561页

作者： Ebina, Koki Abe, Takashige Yan, Lingbo Hotta, Kiyohiko Kamijo, Chihiro Higuchi, Madoka Kon, Masafumi Kikuchi, Hiroshi Miyata, Haruka Matsumoto, Ryuji Osawa, Takahiro Murai, Sachiyo Kurashima, Yo Shichinohe, Toshiaki Watanabe, Masahiko Komizunai, Shunsuke Tsujita, Teppei Sase, Kazuya Chen, Xiaoshuai Senoo, Taku Shinohara, Nobuo Konno, Atsushi Hokkaido University Graduate School of Information Science and Technology Sapporo060-0808 Japan Hokkaido University Faculty of Medicine Department of Renal and Genitourinary Surgery Sapporo060-0808 Japan Hokkaido University Clinical Simulation Center Faculty of Medicine Sapporo060-0808 Japan Hokkaido University Faculty of Medicine Department of Gastroenterological Surgery II Sapporo060-0808 Japan Hokkaido University Faculty of Medicine Department of Anatomy Sapporo060-0808 Japan Kagawa University Faculty of Engineering and Design Takamatsu760-0016 Japan National Defense Academy of Japan Department of Mechanical Engineering Yokosuka239-0811 Japan Tohoku Gakuin University Department of Mechanical Engineering and Intelligent Systems Sendai980-0065 Japan Hirosaki University Graduate School of Science and Technology Hirosaki036-8560 Japan

Laparoscopic surgery has become a common surgical technique owing to its minimal invasiveness. However, surgeons require advanced techniques, and several studies have evaluated surgical skills through motion measurements to improve skill proficiency. However, existing measurement systems have a low tolerance for occlusion and are difficult to use in operating rooms with many obstacles. Therefore, a hybrid measurement system was developed for laparoscopic surgery. This system consists of an inertial measurement unit (IMU), a distance sensor, and an optical motion capture (MoCap). When MoCap data are unavailable, surgical instrument motion is calculated using the IMU and distance sensor data, and when it is available, the IMU drift is corrected using MoCap data. The MoCap markers were arranged individually, thus facilitating the measurement of multiple instruments simultaneously. The validation experiment in the wet-lab training confirmed that the error was smaller than that measured using MoCap alone, and the subjects expressed that the subjective disturbance caused by the sensors was very small during the procedure. The measurement experiment was conducted in cadaver surgical training, and 15 cases of nephrectomy were successfully recorded. This system facilitated highly accurate measurements during practical surgical training and surgical skills analysis. © 2018 IEEE.

关键词： Laparoscopy

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Optical fiber-based surface plasmon resonance sensor for simultaneous measurement of relative humidity and temperature

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Applied Optics 2025年第9期64卷 2261-2268页

作者： Zhang, Qi Chen, Xiaopeng Li, Xinghui Wang, Huifang Zhou, Xue Yan, Xin Cheng, Tonglei State Key Laboratory of Synthetical Automation for Process Industries College of Information Science and Engineering National Frontiers Science Center for Industrial Intelligence and Systems Optimization Northeastern University Shenyang110819 China Department of Mechanical Engineering Politecnico di Milano Milan20156 Italy Foshan Graduate School of Innovation Northeastern University Guangdong Foshan528311 China Hebei Key Laboratory of Micro-Nano Precision Optical Sensing and Measurement Technology Qinhuangdao066004 China

In this work, an optical fiber sensor based on surface plasmon resonance (SPR) is proposed for simultaneous measurement of relative humidity (RH) and temperature, which is constructed by connecting two segments of thin-core fibers (TCFs) using a multimode fiber (MMF). The gold film was coated on TCFs to excite the SPR effect. One was further coated with carboxymethyl cellulose (CMC) to sense RH (Channel I), and the other was coated with gold nanoparticles (AuNPs) and polydimethylsiloxane (PDMS) to sense temperature (Channel II). The detection was performed via the resonance wavelength shift induced by the refractive index (RI) change of CMC and PDMS in relation to RH variation and temperature variation, respectively. The incorporation of gold nanoparticles enhances the sensitivity of the SPR sensor and shifts the resonance wavelengths, allowing for more outstanding demarcation of the SPR dip between the two portions inside the equivalent spectrum. Experimental results show that the sensor has an RH sensitivity of −1.053 nm/%RH and a temperature sensitivity of −2.306 nm/◦C. Moreover, the cross-sensitivity issue present in RH and temperature measurements was resolved by introducing a dual-wavelength matrix method. The proposed sensor offers high sensitivity, a simple structure, and ease of manufacturing, making it broadly applicable in fields such as food safety, biotechnology, and manufacturing. © 2025 Optica Publishing Group. All rights, including for text and data mining (TDM), Artificial Intelligence (AI) training, and similar technologies, are reserved.

关键词： Gold nanoparticles

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Contraction Analysis of Differentially Positive Discrete-Time Stochastic systems

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IEEE Transactions on Automatic control 2025年

作者： Kawano, Yu Hosoe, Yohei Hiroshima University Graduate School of Advanced Science and Engineering Higashi-Hiroshima Japan Kyoto University Department of Electrical Engineering Nishikyo-ku Kyoto615-8510 Japan

In this paper, we examine the role of differential positivity in the contraction analysis of discrete-time nonlinear systems with parameters that follow stochastic processes. We investigate the concept of almost sure differential positivity, which parallels the positivity of linear systems, and utilize it to derive vector-type sufficient conditions for uniform incremental exponential stability in the first moment. Employing these conditions, we demonstrate that network stability analysis can be made scalable by decomposing it into analysis of sub-components and interconnection structures. Our results are applicable to a range of systems, including nonlinear Markov jump systems, nonlinear deterministic systems, and linear stochastic systems, by specifying the system structures. Additionally, we perform converse analysis for almost surely cooperative systems, i.e., almost surely differentially positive systems with respect to the positive orthant cones. © 1963-2012 IEEE.

关键词： Stochastic systems

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Virtual Contraction Approach to Decentralized Adaptive Stabilization of Nonlinear Time-Delayed Networks

arXiv

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arXiv 2025年

作者： Kawano, Yu Sun, Zhiyong Graduate School of Advanced Science and Engineering Hiroshima University Higashi-Hiroshima739-8527 Japan State Key Laboratory for Turbulence and Complex Systems Department of Mechanics and Engineering Science College of Engineering Peking University Beijing100871 China

In this paper, we utilize a diagonally dominant structure for the decentralized stabilization of unknown nonlinear time-delayed networks. Generalizing the idea of virtual contraction analysis to time-delayed systems, we demonstrate that nonlinear time-delayed networks can be stabilized by diagonal high-gains if the input matrices possess certain generalized (column/row) diagonally dominant properties. To achieve stabilization of unknown networks, we further propose a distributed adaptive tuning rule for each individual gain function, ensuring that all closed-loop trajectories converge to the origin. The effectiveness of the proposed decentralized adaptive control is verified in a case study on epidemic spreading control in SIS networks with transmission delays. © 2025, CC BY-NC-ND.

关键词： Electric delay lines

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Open Wireless Digital Twin: End-to-End 5G Mobility Emulation in O-RAN Framework

arXiv

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arXiv 2025年

作者： Iye, Tetsuya Sakamoto, Masaya Takaya, Shohei Sato, Eisaku Susukida, Yuki Nagaoka, Yu Maruta, Kazuki Nakazato, Jin Kozo Keikaku Engineering Inc. Tokyo Japan Department of Electronics and Computer Systems Graduate School of Engineering Takushoku University Tokyo Japan Department of Electrical Engineering Graduate School of Engineering Tokyo University of Science Tokyo Japan Graduate School of Information Science and Technology The University of Tokyo Tokyo Japan

This paper presents an end-to-end wireless digital twin platform constructed using open-source software and open data to enhance the evaluation of mobile communication systems. The proposed open wireless digital twin (OWDT) integrates OpenAirInterface (OAI) for 5G NR protocol stack emulation and NVIDIA Sionna RT for high-resolution ray tracing based radio propagation modeling. This integration enables realistic emulation of vehicular mobility scenarios, leveraging real-world geographic and building data to bridge the gap between theoretical simulations and real-world deployments. The platform utilizes ORAN’s Near-RT RIC via OAI FlexRIC to dynamically monitor key performance indicators (KPIs) such as RSRP, MCS, BLER, and throughput in real time. Through extensive evaluation in urban environments, this study demonstrates the validity of the emulation framework, revealing its capability to replicate real-world communication dynamics with high fidelity. The results underscore the potential of OWDT in accelerating wireless system development, reducing experimental costs, and optimizing network configurations. Copyright © 2025, The Authors. All rights reserved.

关键词： 5G mobile communication systems

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Internal waste dump stability analysis: insights from numerical simulations

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Discover Geoscience 2025年第1期3卷 1-16页

作者： Enkhbold, Bilguun Ikeda, Hajime Toriya, Hisatoshi Adachi, Tsuyoshi Department of Geosciences Geotechnology and Materials Engineering for Resources Graduate School of International Resource Sciences Akita University Akita Japan Department of Systems Control and Information Engineering National Institute of Technology Asahikawa College Asahikawa Japan

In Mongolia, the “Baganuur” lignite coal mine is one of the largest open-pit mines; however, the stability of its internal dump is very difficult to maintain, which hinders the mine’s normal operation and negatively influences the economy. To solve this internal waste dump slope stability problem, we studied the use of rock materials’ inherent mechanical properties to conduct numerical modelling and analysis on improved internal waste dump parameters using Gaussian Elimination-based Rocscience RS2 software. Finite element methods were used to determine the factors that could impact the stability of an internal waste dump based on the properties of the rock. For this research, we investigated whether single- and multi-dumps impacted internal dump height and dip angle and covered the analytical approach used to determine safety factors. The internal dump capacity can be increased by around 1.9 times at a 50 m height and a 28° dip angle, according to the results of the numerical simulation models. This research offers an optimal strength reduction factor (SRF) at a height of 45 m and a dip angle of 28° in comparable situations. Numerical simulations show that dip angle changes impact internal dump slope stability more than dump height modifications.

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A Study on the Effectiveness of Interactive systems Using Electromyography

A Study on the Effectiveness of Interactive Systems Using El...

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2025 IEEE/SICE International Symposium on System Integration, SII 2025

作者： Hanawa, Shinnosuke Ho, Yihsin Kobayashi, Iciro Sato-Shimokawara, Eri Shibata, Hiroki Obo, Takenori Takushoku University Graduate School of Engineering 815-1 TatemachiHachioji Tokyo Japan Takushoku University Faculty of Engineering 815-1 TatemachiHachioji Tokyo Japan Tokyo Metropolitan University Department of Computer Science 6-6 AsahigaokaHino Tokyo Japan Tokyo Metropolitan University Department of Mechanical Systems Engineering 6-6 AsahigaokaHino Tokyo Japan

ISBN: (纸本)9798331531614

The paper presented an intuitive control system using electromyography (EMG) data that is obtained from the Myo gesture control armband. The aim of this study is to enable users to control multiple devices with a single EMG device in an intuitive way. The presented system shows the ability of EMG-based gestures to control Phillips Hue that allow user to control light bulb by simple hand movements. Moreover, the authors also developed new functionalities, which is according to users' preferences, to register gestures. These functions aim to improve the usability and enhance the naturalness of operations. Additionally, unique gestures, which less common in everyday life, is defined to reduce misrecognition when switching between different devices. Furthermore, to achieve reliable and accurate recognition of multiple gestures, the Support Vector Machine (SVM) models is considered to be a machine learning method for training processed EMG data. The experiment results demonstrate significant improvements in user experience and practical applicability in various interactive scenarios. © 2025 IEEE.

关键词： Support vector machines

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Development of an Anomaly Detection System for Rugby Match Based on Majority Rule Using Deep Neural Networks

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IEEJ Transactions on Industry Applications 2025年第4期145卷 238-246页

作者： Tamaki, Kanta Uza, Hirotomo Kudoh, Reo Hirose, Kiyoshi Nojiri, Shuko Nakajima, Kenji Kawasaki, Takayuki Ishijima, Muneaki Nagayama, Itaru Department of Information Engineering University of the Ryukyus 1 Senbaru Okinawa Nishihara903-0213 Japan Graduate School of Science and Engineering University of the Ryukyus 1 Senbaru Okinawa Nishihara903-0213 Japan Department of Production Systems Engineering and Science Komatsu University 4-1-3 Ishikawa Komatsu923-8511 Japan Medical Technology Innovation Center Juntendo University 2-1-1 Hongo Bunkyo-ku Tokyo113-8421 Japan National Institute of Technology Sasebo College 1-1 Okishinmachi Nagasaki Sasebo857-1193 Japan Juntendo University School of Medicine 3-1-3 Hongo Bunkyo-ku Tokyo113-8431 Japan

This paper describes the development of an anomaly detection system for players in a rugby match to provide appropriate aid and avoiding severe injury. In the developed system, deep neural networks with fine tuning and its combination of different types of construction are key techniques for anomaly detection in rugby match footage. Certain appearance-based characteristics are captured from movie streams, and the system uses deep neural networks to automatically classify concerned scenes, especially, lying down scenes. The proposed system performs very well by recognizing many types of appearances of players within occlusion from a free viewpoint. Experimental results show that the system can effectively detect concerned players with high accuracy. © 2025 The Institute of Electrical Engineers of Japan.

关键词： Deep neural networks

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Adaptive Grasping of Moving Objects in Dense Clutter via Global-to-Local Detection and Static-to-Dynamic Planning

arXiv

引用

arXiv 2025年

作者： Chen, Hao Kiyokawa, Takuya Wan, Weiwei Harada, Kensuke The Department of Systems Innovation Graduate School of Engineering Science Osaka University Toyonaka Osaka560-8531 Japan

Robotic grasping is facing a variety of real-world uncertainties caused by non-static object states, unknown object properties, and cluttered object arrangements. The difficulty of grasping increases with the presence of more uncertainties, where commonly used learning-based approaches struggle to perform consistently across varying conditions. In this study, we integrate the idea of similarity matching to tackle the challenge of grasping novel objects that are simultaneously in motion and densely cluttered using a single RGBD camera, where multiple uncertainties coexist. We achieve this by shifting visual detection from global to local states and operating grasp planning from static to dynamic scenes. Notably, we introduce optimization methods to enhance planning efficiency for this time-sensitive task. Our proposed system can adapt to various object types, arrangements and movement speeds without the need for extensive training, as demonstrated by real-world experiments. Copyright © 2025, The Authors. All rights reserved.

关键词： Clutter (information theory)

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Moving-Window Integrated Physics-Data-Based Modeling of Four-Wheel Vehicle Lateral Dynamics

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Automotive Innovation 2025年 1-11页

作者： Wei, Wenpeng Wang, Jinxiang Pi, Dawei Zhuang, Weichao He, Tianyi Yin, Guodong School of Mechanical Engineering Southeast University JiangSu Nanjing211189 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University JiangSu Nanjing211189 China Safety and Intelligence of Vehicle Equipment Research Center Nanjing University of Science and Technology JiangSu Nanjing210094 China Department of Mechanical and Aerospace Engineering Utah State University LoganUT84322 United States

This paper presents an Integrated physics-data-based (IPDB) modeling of lateral vehicle dynamics with moving-window data snapshots. The IPDB model encodes the fundamental physical principle of four-wheel vehicle motions and simultaneously carries out the adaptiveness of the data-driven approach. Specifically, the traditional physics-based lateral dynamics considering four-wheel interaction are first derived into an affine linear-parameter-varying model, in which the vehicle-related parameters and motion variables are separated. Then, by using the Kronecker product, the IPDB model, directly formulated by the data snapshots in the moving-window fashion, is obtained for system representation. As a result, the IPDB technique rendered model is physically interpretable. The impacts of moving window length on modeling performance are numerically studied. The IPDB model accuracy is validated with data from CarSim simulations and experiments with passenger vehicles under various scenarios. It is further demonstrated that the proposed IPDB model is more data-efficient than other data-driven methods since it only uses the data snapshot in the moving window to update the model recursively. This characteristic enables the IPDB method with online modeling capability to adapt to varying driving scenarios. © The Author(s) 2025.

关键词： Autonomous vehicles

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