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IEEE International Conference on Robotics and Biomimetics

作者： Yeyu Fu Ting Sun Li Wang Shijie Yu Lei Deng Baohua Chen Lin Li Yusen Xie Shuixin Deng Hanxi Yin Joint International Research Laboratory of Advanced Photonics and Elextronics Beijing Information Science & Technology University Beijing China Department of Perception zhong-guancun Open Lab. Space Optoelectronic Measurement and Perception Lab. Beijing Institute of Control Engineering Beijing China Department of Automation Tsinghua University Beijing China

ISBN: (纸本)9781665481106

Suction is a common way for robots to pick objects in industry, which has higher stability and reliability. However, it is necessary to evaluate the suction position on the object's surface when dealing with objects of different shapes. The previous method decouples it into a two-stage suction point detection and objects classification process, making the task more complex and time-consuming. On the other hand, there are significant challenges in acquiring training data. To address that, we propose an object instance segmentation-based suction grasping point detection method. Instance segmentation, as an object pixel-level perception method, can classify objects and find the orientation of objects in the plane, which is more efficient than simple classification. Specifically, our method generate a suction heatmap and object instance segmentation from RGB-D inputs and find the suction grasping position of each object after candidate points screening. To generate the training data, a heatmap mask based on 2D Gaussian-encoded is used to annotate the suction grasping ground truth. We evaluate each object's predicted suction grasping point results and conduct grasping experiments in real environments. The suction grasping success rate of 94% in dense scenes demonstrates the remarkable performance of the proposed method.

关键词： Heating systems Shape Service robots Design methodology Training data Grasping Stability analysis

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Passivation of degradation path enables high performance perovskite nanoplatelet lasers with high operational stability

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Photonics research 2022年第6期10卷 1440-1452页

作者： GUOHUI LI HUIHUI PI YANFU WEI BOLIN ZHOU YA GAO RONG WEN YUYING HAO HAN ZHANG BENG S.ONG YANXIA CUI College of Physics and Optoelectronics Key Laboratory of Interface Science and Engineering in Advanced MaterialsKey Laboratory of Advanced Transducers and Intelligent Control System of Ministry of EducationTaiyuan University of TechnologyTaiyuan 030024China Collaborative Innovation Centre for Optoelectronic Science and Technology Key Laboratory of Optoelectronic Devices and Systems of Ministry of Education and Guangdong ProvinceCollege of Physics and Optoelectronic EngineeringShenzhen Key Laboratory of Micro-Nano Photonic Information TechnologyGuangdong Laboratory of Artificial Intelligence and Digital Economy(SZ)Shenzhen UniversityShenzhen 518060China Department of Chemistry Research Centre of Excellence for Organic ElectronicsInstitute of Advanced MaterialsHong Kong Baptist UniversityKowloon TongHong KongChina

MAPbI_(3)perovskite has attracted widespread interests for developing low-cost near infrared semiconductor gain ***,it faces the instability issue under operation conditions,which remains a critical *** is found that the instability of the MAPbI_(3)nanoplatelet laser comes from the thermal-induced degradation progressing from the surface defects towards neighboring *** using PbI_(2) passivation,the defect-initiated degradation is significantly suppressed and the nanoplatelet degrades in a layer-by-layer way,enabling the MAPbI_(3)laser to sustain for 4500 s(2.7×10^(7) pulses),which is nearly three times longer than that of the nanoplatelet laser without ***,the PbI_(2) passivated MAPbI_(3)nanoplatelet laser with the nanoplatelet cavity displays a maximum quality factor up to∼7800,the highest reported for all MAPbI_(3)nanoplatelet ***,a high stability MAPbI_(3)nanoplatelet laser that can last for 8500 s(5.1×10^(7) pulses)is demonstrated based on a dual passivation strategy,by retarding the defect-initiated degradation and surface-initiated degradation *** work provides in-depth insights for understanding the operating degradation of perovskite lasers,and the dual passivation strategy paves the way for developing high stability near infrared semiconductor laser media.

关键词： stability initiated high

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Output consensus control for linear port-Hamiltonian systems

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IFAC-PapersOnLine 2022年第30期55卷 230-235页

作者： Shuai Feng Yu Kawano Michele Cucuzzella Jacquelien M.A. Scherpen School of Automation Nanjing University of Science and Technology Nanjing 210094 China Graduate School of Advanced Science and Engineering Hiroshima University Higashi-Hiroshima 739-8527 Japan Department of Electrical Computer and Biomedical Engineering University of Pavia 27100 Pavia PV Italy Jan C. Willems Center for Systems and Control ENTEG Faculty of Science and Engineering University of Groningen 9747 AG Groningen the Netherlands

In this paper, we study output consensus of coupled linear port-Hamiltonian systems on graphs in the presence of constant disturbances, where couplings are allowed to be both static and dynamic. Utilizing port-Hamiltonian structures, we present dynamic controllers achieving output consensus where the consensus values are determined by the disturbances. Finally, the utility of the proposed controller is illustrated by applying it to current sharing of DC microgrids.

关键词： port-Hamiltonian systems networked systems output consensus

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Cloud-Fog automation: The New Paradigm towards Autonomous Industrial Cyber-Physical systems

arXiv

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arXiv 2025年

作者： Jin, Jiong Pang, Zhibo Kua, Jonathan Zhu, Quanyan Johansson, Karl H. Marchenko, Nikolaj Cavalcanti, Dave School of Engineering Swinburne University of Technology HawthornVIC3122 Australia Department of Intelligent Systems KTH Royal Institute of Technology Stockholm10044 Sweden Department of Automation Technology ABB Corporate Research Sweden Västerås72226 Sweden School of Information Technology Deakin University GeelongVIC3220 Australia Department of Electrical and Computer Engineering Tandon School of Engineering New York University BrooklynNY11201 United States Division of Decision and Control Systems School of Electrical Engineering and Computer Science and Digital Futures KTH Royal Institute of Technology Stockholm10044 Sweden Corporate Research Robert Bosch GmbH Renningen71272 Germany Intel Corporation Santa ClaraCA95054 United States

Autonomous Industrial Cyber-Physical systems (ICPS) represent a future vision where industrial systems achieve full autonomy, integrating physical processes seamlessly with communication, computing and control technologies while holistically embedding intelligence. Cloud-Fog automation is a new digitalized industrial automation reference architecture that has been recently proposed. This architecture is a fundamental paradigm shift from the traditional International Society of automation (ISA)-95 model to accelerate the convergence and synergy of communication, computing, and control towards a fully autonomous ICPS. With the deployment of new wireless technologies to enable almost-deterministic ultra-reliable low-latency communications, a joint design of optimal control and computing has become increasingly important in modern ICPS. It is also imperative that system-wide cyber-physical security are critically enforced. Despite recent advancements in the field, there are still significant research gaps and open technical challenges. Therefore, a deliberate rethink in co-designing and synergizing communications, computing, and control (which we term "3C co-design") is required. In this paper, we position Cloud-Fog automation with 3C co-design as the new paradigm to realize the vision of autonomous ICPS. We articulate the state-of-the-art and future directions in the field, and specifically discuss how goal-oriented communication, virtualization-empowered computing, and Quality of Service (QoS)-aware control can drive Cloud-Fog automation towards a fully autonomous ICPS, while accounting for system-wide cyber-physical security. © 2025, CC BY-SA.

关键词： Computer control

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Implementation of a Human-Robot Collaboration System Based On Smart Hand Gesture and Speech Recognition

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Journal of the Chinese Society of Mechanical Engineers, Transactions of the Chinese Institute of Engineers, Series C/Chung-Kuo Chi Hsueh Kung Ch'eng Hsuebo Pao 2020年第6期41卷 755-762页

作者： Chen, Shang-Liang Huang, Li-Wu Huang, Chung-Chi Lee, Feng-Chi Huang, Ho-Chuan Chen, Chien-Yu Institute of Manufacturing Information and Systems National Cheng Kung University Tainan70101 Taiwan Department of Automation and Control Engineering Far East University Tainan74448 Taiwan Department of Mechatronics Control Industrial Technology Research Institute Hsinchu310 Taiwan Department of Intelligent Commerce National Kaohsiung University of Applied Sciences Kaohsiung824 Taiwan Computer Science and Information Engineering National University of Tainan Tainan70005 Taiwan

With the development of artificial intelligence technology, the robot arm will be applied in more fields, undertake more work, and become an important assistant of humans. Especially in the manufacturing industry, if a perfect human-robot cooperation (HRC) model can be developed, in which the engineer is responsible for complex operations and monitoring the production process and the robot arm is responsible for highly repetitive and tiring work, the flexibility of the manufacturing process can be improved, the risk of personnel injury can be reduced, and the production line productivity can be improved. To realize the human-robot collaboration system that can be applied in various fields, the technologies of robot arm control, human-robot interaction (HRI), Radio Frequency Identification, machine-to-machine communication, and automatic speech recognition (ASR), etc. are combined in this research. Besides, the HRC in intelligent manufacturing is taken as the demonstration result of this research. In this application example, the human-robot interaction function is realized through smart hand gesture and speech recognition technology, which enables the user to communicate commands to the robot arm most intuitively and easily. The robot arm can execute specific actions, provide processing prompts, or read corresponding motion control command macros according to different commands, to realize various processing contents required by users. © 2020, Chinese Mechanical Engineering Society. All right reserved.

关键词： Radio frequency identification (RFID)

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A sensory signature of unaffected biological parents predicts the risk of autism in their offspring

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Psychiatry and Clinical Neurosciences 2024年第1期78卷 60-68页

作者： Chen, Chenyi Cheng, Yawei Wu, Chien-Te Chiang, Chung-Hsin Wong, Ching-Ching Huang, Chih-Mao Martínez, Róger Marcelo Tzeng, Ovid J. L. Fan, Yang-Teng Graduate Institute of Injury Prevention and Control College of Public Health Taipei Medical University Taipei Taiwan Research Center of Brain and Consciousness Shuang-Ho Hospital Taipei Medical University New Taipei City Taiwan Graduate Institute of Mind Brain and Consciousness College of Humanities and Social Sciences Taipei Medical University Taipei Taiwan Psychiatric Research Center Wan Fang Hospital Taipei Medical University Taipei Taiwan Institute of Neuroscience and Brain Research Center National Yang Ming Chiao Tung University Taipei Taiwan Department of Physical Medicine and Rehabilitation National Yang Ming Chiao Tung University Hospital Yilan Taiwan International Research Center for Neurointelligence (WPI-IRCN) The University of Tokyo Institutes for Advanced Study (UTIAS) The University of Tokyo Tokyo Japan Department of Psychology and Research Center for Mind Brain and Learning National Chengchi University Taipei Taiwan Child Developmental Assessment & Intervention Center Department of Child & Adolescent Psychiatry Taipei City Hospital Taipei Taiwan Department of Biological Science and Technology National Yang Ming Chiao Tung University Hsinchu Taiwan Center for Intelligent Drug Systems and Smart Bio-devices (IDS2B) National Yang Ming Chiao Tung University Hsinchu Taiwan School of Psychological Sciences National Autonomous University of Honduras Tegucigalpa Honduras Cognitive Neuroscience Laboratory Institute of Linguistics Academia Sinica Taipei Taiwan College of Humanities and Social Sciences Taipei Medical University Taipei Taiwan Department of Educational Psychology and Counseling National Taiwan Normal University Taipei Taiwan Graduate Institute of Medicine Yuan Ze University Taoyuan Taiwan

Aim: Despite the emphasis on sensory dysfunction phenotypes in the revised diagnostic criteria for autism spectrum disorder (ASD), there has been limited research, particularly in the field of neurobiology, investigating the concordance in sensory features between individuals with ASD and their genetic relatives. Therefore, our objective was to examine whether neurobehavioral sensory patterns could serve as endophenotypic markers for ASD. Methods: We combined questionnaire- and lab-based sensory evaluations with sensory fMRI measures to examine the patterns of sensory responsivity in 30 clinically diagnosed with ASD, 26 matched controls (CON), and 48 biological parents for both groups (27 parents of individuals with ASD [P-ASD] and 21 for individuals with CON [P-CON]). Results: The ASD and P-ASD groups had higher sensory responsivity and rated sensory stimuli as more unpleasant than the CON and P-CON groups, respectively. They also exhibited greater hemodynamic responses within the sensory cortices. Overlapping activations were observed within these sensory cortices in the ASD and P-ASD groups. Using a machine learning approach with robust prediction models across cohorts, we demonstrated that the sensory profile of biological parents accurately predicted the likelihood of their offspring having ASD, achieving a prediction accuracy of 71.4%. Conclusions: These findings provide support for the hereditary basis of sensory alterations in ASD and suggest a potential avenue to improve ASD diagnosis by utilizing the sensory signature of biological parents, especially in families with a high risk of ASD. This approach holds promising prospects for early detection, even before the birth of the offspring. © 2023 The Authors. Psychiatry and Clinical Neurosciences published by John Wiley & Sons Australia, Ltd on behalf of Japanese Society of Psychiatry and Neurology.

关键词： autism spectrum disorder endophenotype machine learning parent–child dyads sensory responsivity

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The 110kV Live-Maintaining Robot control System Design for Substation Equipment in Complex Working Conditions

The 110kV Live-Maintaining Robot Control System Design for S...

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Chinese control Conference (CCC)

作者： Chenyu Hu Xin Chen Chengyu Li Guangxian Huang Cheng Zhou 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 School of Future Technology China University of Geosciences Wuhan China Distribution Department State Grid Hubei Electric Power Co. Ltd. Xianning Power Supply Company Xianning China Operations and Maintenance Department State Grid Hubei Electric Power Co. Ltd Xianning Xian'an District Power Supply Company Xianning China Equipment Technology Center State Grid Hubei Electric Power Co. Ltd. Electric Power Science Research Institute Wuhan China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan China

Live-maintaining work is essential for continuous power supply to the substation. To improve the safety and efficiency of live-maintaining work, this paper proposes an equipotential live-maintaining robot system suitable for 110kV voltage levels. Considering the narrow space, complex working conditions and strong electromagnetic interference in substations, binocular vision technology, manipulator trajectory planning algorithm based on time-energy optimization, high voltage electromagnetic shielding technology are utilized to develop the system, and the live-maintaining robot is successfully applied in actual substation. By accurately identifying and locating the joint bolts and insulator, the robot system can achieve equipotential live-disassemble, live-assemble the joint bolts within 18 minutes and live-clean insulator within 5 minutes, demonstrating its the effectiveness and practicability.

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Mechanical Structure and control Methods for Lower-Limb Rehabilitation Robots

Mechanical Structure and Control Methods for Lower-Limb Reha...

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第40届中国控制会议

作者： Wangyang Ge Ruoyu Jiang Juan Zhao Zhentao Liu Zhaohui Yang Jinhua She 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 Rehabilitation Union HospitalTongji Medical CollegeHuazhong Univ.Science & Technology School of Engineering Tokyo University of Technology

As a rehabilitation aid,lower-limb rehabilitation robots help patients recover their walking *** paper presets a review of such a rehabilitation ***,we classify commercially available common types of lower-limb rehabilitation ***,we briefly describe the structure and characteristics of those robots,Then,we present the control methods used in those ***,we explain future research directions.

关键词： rehabilitation robots mechanical structure control method biological signal

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GUEST EDITORIAL

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China Communications 2023年第2期 3-6页

作者： Yuan Wu Xu Chen Feng Lyu Xianfu Chen Xumin Huang Jie Gao Yueyue Dai Tony Q.S.Quek Yan Zhang the State Key Laboratory of Internet of Things for Smart City University of Macau the Department of Computer and Information Science University of Macau Sun Yat-sen University Sun Yat-sen University Institute of Advanced Networking and Computing Systems Sun Yat-sen University National and Local Joint Engineering Laboratory the School of Computer Science and Engineering Central South University the VTT Technical Research Centre of Finland the School of Automation Guangdong University of Technology the School of Information Technology Carleton University Huazhong University of Science and Technology Singapore University of Technology and Design(SUTD) the IEEE Communications Society Technical Committee on Green Communications and Computing(TCGCC)

With the growing maturity of the advanced edge-cloud collaboration and integrated sensing-communication-computing systems, edge intelligence has been envisioned as one of the enabling technologies for ubiquitous and l...

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Coordinated Guiding Vector Field Design for Ordering-Flexible Multi-Robot Surface Navigation

arXiv

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arXiv 2024年

作者： Hu, Bin-Bin Zhang, Hai-Tao Yao, Weijia Sun, Zhiyong Cao, Ming The School of Artificial Intelligence and Automation The Engineering Research Center of Autonomous Intelligent Unmanned Systems The Key Laboratory of Image Processing and Intelligent Control The State Key Lab of Digital Manufacturing Equipment and Technology Huazhong University of Science and Technology Wuhan430074 China The School of Robotics Hunan University Hunan410082 China The Institute of Engineering and Technology University of Groningen Groningen9747 AG Netherlands Department of Electrical Engineering Eindhoven University of Technology Netherlands

We design a distributed coordinated guiding vector field (CGVF) for a group of robots to achieve ordering-flexible motion coordination while maneuvering on a desired two-dimensional (2D) surface. The CGVF is characterized by three terms, i.e., a convergence term to drive the robots to converge to the desired surface, a propagation term to provide a traversing direction for maneuvering on the desired surface, and a coordinated term to achieve the surface motion coordination with an arbitrary ordering of the robotic group. By setting the surface parameters as additional virtual coordinates, the proposed approach eliminates potential singularity of the CGVF and enables both the global convergence to the desired surface and the maneuvering on the surface from all possible initial conditions. The ordering-flexible surface motion coordination is realized by each robot to share with its neighbors only two virtual coordinates, i.e. that of a given target and that of its own, which reduces the communication and computation cost in multi-robot surface navigation. Finally, the effectiveness of the CGVF is substantiated by extensive numerical simulations. Copyright © 2024, The Authors. All rights reserved.

关键词： Navigation

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