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IEEE Symposium (IUS) Ultrasonics

作者： Hongbei Xiang Yue Zhao Hao Huang Kuo Miao Xiaoqiu Dong Control Theory and Engineering School of Astronautics Harbin Institute of Technology Harbin China Department of Ultrasound Fourth Affiliated Hospital of Harbin Medical University Harbin Heilongjiang China

A deep learning framework based on generative adversarial networks (GAN) for ovarian ultrasound (US) images synthesis is investigated. This method offers an effective solution for addressing the issue of insufficient and unbalanced data in ovarian disease research. The proposed network, built on the Triple-GAN model, can synthesize a large number of medical ovarian US images which are difficult to distinguish from the real ones. This approach effectively increases the available volume of the ultrasound images of ovarian diseases and facilitates deep learning applications in ovarian ultrasound images. It provides reliable training data replacements. The generated data were validated through professional appraisal, classification method and image metrics. The results demonstrated high credibility and quality. The feasibility of using the generated data in the intelligent classification algorithm of ovarian diseases is verified, which has important practical significance for the research and development of artificial intelligence diagnosis algorithms for various diseases in the future.

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Ultrafast multi-target control of tightly focused light fields

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Opto-Electronic Advances 2022年第3期5卷 76-87页

作者： Yanxiang Zhang Xiaofei Liu Han Lin Dan Wang Ensi Cao Shaoding Liu Zhongquan Nie Baohua Jia Key Lab of Advanced Transducers and Intelligent Control System Ministry of Education and Shanxi ProvinceCollege of Physics and OptoelectronicsTaiyuan University of TechnologyTaiyuan 030024China Department of Physics Harbin Institute of TechnologyHarbin 150001China Centre of Translational Atomaterials(CTAM) Faculty of ScienceEngineering and TechnologySwinburne University of TechnologyHawthornVIC 3122Australia

The control of ultrafast optical field is of great interest in developing ultrafast optics as well as the investigation on vari-ous light-matter interactions with ultrashort ***,conventional spatial encoding approaches have only lim-ited steerable targets usually neglecting the temporal effect,thus hindering their broad *** we present a new concept for realizing ultrafast modulation of multi-target focal fields based on the facile combination of time-depend-ent vectorial diffraction theory with fast Fourier *** is achieved by focusing femtosecond pulsed light carrying vectorial-vortex by a single objective lens under tight focusing *** is uncovered that the ultrafast temporal de-gree of freedom within a configurable temporal duration(~400 fs)plays a pivotal role in determining the rich and exotic features of the focused optical field at one time,namely,bright-dark alternation,periodic rotation,and longitudinal/trans-verse polarization *** underlying control mechanisms have been *** being of academic in-terest in diverse ultrafast spectral regimes,these peculiar behaviors of the space-time evolutionary beams may underpin prolific ultrafast-related applications such as multifunctional integrated optical chip,high-efficiency laser trapping,micro-structure rotation,super-resolution optical microscopy,precise optical measurement,and liveness tracking.

关键词： ultrafast optical field vectorial diffraction theory fast Fourier transform vectorial vortex beam space-time shaping

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Research on an Intelligent Routing Strategy for Industrial Internet of Things 2nd

Research on an Intelligent Routing Strategy for Industrial I...

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2nd EAI International Conference on Artificial Intelligence for Communications and Networks, AICON 2020

作者： Zhang, Xu Department of Control Science and Engineering Harbin Institute of Technology Harbin150080 China

ISBN: (纸本)9783030690656

The Industrial Internet of Things is considered to be an important cornerstone of future industrial development and has broad development prospects. It is being deployed to the society on a large scale. Sensor nodes in the Internet of Things will inevitably face many challenges. Due to the limitations of the existing sensor nodes, the traditional energy measurement methods for wireless sensor networks have been difficult to meet. Therefore, this article proposes a new routing protocol for low-power and low-power networks (RPL). The routing measurement method EEM meets the requirements of low-power lossy networks for link quality and energy consumption, and then uses the modified simulation software to test the EEM routing measurement, and performs performance verification on the packet loss rate and network load. The experimental results show that EEM retains the requirements of ETX routing metrics for link quality, realizes the awareness of node energy consumption, and optimizes network load. © 2021, ICST institute for Computer Sciences, Social Informatics and Telecommunications engineering.

关键词： Internet of things

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Resilient Time-Varying Formation-Tracking of Multi-UAV Systems Against Composite Attacks: A Two-Layered Framework

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IEEE/CAA Journal of Automatica Sinica 2023年第4期10卷 969-984页

作者： Xin Gong Michael V.Basin Zhiguang Feng Tingwen Huang Yukang Cui School of Cyber Science and Engineering Southeast UniversityNanjing 210096the School of AstronauticsNorthwestern Polytechnical UniversityXi’an 710072 Department of Mechanical Engineering The University of Hong KongHong Kong 999077China School of Physical and Mathematical Sciences the Autonomous University of Nuevo LeonNaevo Leon 66455Mexico Ningbo Institute of Intelligent Equipment Technology Ningbo 315299China College of Intelligent Systems Science and Engineering Harbin Engineering UniversityHarbin 150001China Texas A&M University at Qatar Doha 23874Qatar Guangdong Key Laboratory of Electromagnetic Control and Intelligent Robots the College of Mechatronics and Control EngineeringShenzhen UniversityShenzhen 518060 Peng Cheng Laboratory Shenzhen 518000China

This paper studies the countermeasure design problems of distributed resilient time-varying formation-tracking control for multi-UAV systems with single-way communications against composite attacks,including denial-of-services(DoS)attacks,false-data injection attacks,camouflage attacks,and actuation attacks(AAs).Inspired by the concept of digital twin,a new two-layered protocol equipped with a safe and private twin layer(TL)is proposed,which decouples the above problems into the defense scheme against DoS attacks on the TL and the defense scheme against AAs on the cyber-physical ***,a topologyrepairing strategy against frequency-constrained DoS attacks is implemented via a Zeno-free event-triggered estimation scheme,which saves communication resources *** upper bound of the reaction time needed to launch the repaired topology after the occurrence of DoS attacks is ***,a decentralized adaptive and chattering-relief controller against potentially unbounded AAs is ***,this novel adaptive controller can achieve uniformly ultimately bounded convergence,whose error bound can be given *** practicability and validity of this new two-layered protocol are shown via a simulation example and a UAV swarm experiment equipped with both Ultra-WideBand and WiFi communication channels.

关键词： Composite attacks multi-UAV systems resilient control time-varying formation-tracking

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Intelligent photothermal treatment method based on photoacoustic and photothermal probe assistance 4

Intelligent photothermal treatment method based on photoacou...

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4th Optics Young Scientist Summit, OYSS 2020

作者： Ma, Yiming Ma, Liyong Gao, Yuanyuan Sun, Mingjian Department of Control Science and Engineering Harbin Institute of Technology Harbin150000 China

ISBN: (数字)9781510643970

ISBN: (纸本)9781510643963

As a non-invasive, targeted and non-radioactive technology applied to tumor treatment, photothermal therapy is increasingly used in the clinical treatment of tumors due to its high cure rate and few side effects. In order to obtain a better photothermal treatment effect in the actual treatment process, the temperature distribution of the tissue to be treated must be monitored and controlled to prevent unnecessary tissue damage caused by the treatment. Therefore, the photothermal probe and precise control of the treatment temperature become the key to solving the problem. In this paper, a nanoprobe with strong photoacoustic and photothermal properties in one area of near-infrared is designed. At the same time, a photothermal treatment system is designed and combined with nanoprobe for research. This study designed human tissue simulation experiments and found that compared to the case without probe assistance, the photothermal therapy system based on photoacoustic and photothermal probe assistance can achieve temperature control with a temperature error of 1°C, and the temperature control adjustment time has been shortened by 40%, and the overtreatment injury has also been effectively suppressed. More importantly, it is possible to greatly reduce the complexity of the photothermal treatment process in practical applications without the artificial control of continuous laser power. The experimental result shows that the intelligent photothermal treatment method based on the photoacoustic and photothermal nanoprobe is a feasible candidate for tumor treatment and has a good application prospect in the field of tumor treatment. © SPIE. Downloading of the abstract is permitted for personal use only.

关键词： Nanoprobes

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Dual-Disturbance-Attenuation-Based Adaptive Guidance Law Against Maneuvering Targets With Practically Finite Time Convergence 41

Dual-Disturbance-Attenuation-Based Adaptive Guidance Law Aga...

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第41届中国控制会议

作者： Guiying Li Zhigang Yu Shenmin Song School of Mechanical and Electrical Engineering Heilongjiang University College of Electromechanical Engineering Northeast Forestry University The Key Laboratory of Information Fusion Estimation and Detection of Heilongjiang Province Heilongjiang University Center for Control Theory and Guidance Technology Harbin Institute of technology

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

.The nonlinear disturbance observer is utilized to approximately estimate the target *** adaptive algorithm with the feature of low-pass filter is developed to deal with the effects of the estimation *** concept of practically finite-time stability is introduced to describe the finite-time convergence of guidance system with internal uncertainties and external *** based on adaptive control method and terminal sliding mode,an adaptive guidance law is designed to drive the trajectories of the guidance system into a small set around the origin in finite time and to achieve an acceptable performance in the presence of the lag of actuator and external *** is proved that guidance system for the interception of maneuvering targets is practically finite time ***,numerical simulation results are given to demonstrate the effectiveness of the developed guidance strategies for rapidly maneuvering target.

关键词： Adaptive estimation Sliding mode control Disturbance observer Guidance law Autopilot lag

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In-plane and Out-of-plane Visual Feedback Solution for Automated Zebrafish Larvae Microinjection System

In-plane and Out-of-plane Visual Feedback Solution for Autom...

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第43届中国控制会议

作者： Cheng Qian Chengkang Tang Chuang Li Songlin Zhuang Mingsi Tong Rongnian Tang Department of Mechanical and Electrical Engineering Hainan University Research Institute of Intelligent Control and Systems Harbin Institute of Technology

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

Microinjection for Zebrafish heart is one of the most efficient methods to transfer foreign materials into Zebrafish circulation system. Automated microinjection for Zebrafish heart not only reduces personal involvement during the operation,but also frees technicians from laborious and time-consuming work. However, traditional visual-based detections are in twodimensions, lacking the precise vertical measurement manner for three-dimensional spatial accessibility. Further, the application of the force sensors would lead to complicated mechanical structure to the end-effectors and are extremely sensitive to ***, the contour of the heart is irregular and is difficult to capture, compared to contours of cells and embryos. To overcome these challenges, this paper proposed a reinforced approaching motion detection method for three-dimensional Zebrafish heart detection. The proposed method is composed of two parts, the in-plane heart detection and the approaching motion detection.A local-enhanced consecutive-frame motion-accumulated in-plane motion detection is developed for 2D heart locolization. The height detection of the heart is achieved with the injection pipette approaching the detecting area. The reinforced approach motion detection algorithm is verified not only on the Zebrafish heart area, but also on other important areas, such as brain, ear,tail muscle, and yolk. Experimental results demonstrate the enhanced accuracy, efficiency, and lowered computation time of the tailored visual solutions, which can significantly contribute to the microinjection automation.

关键词： Machine Vision Automated Microinjection Versual Servo control

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Autotuned Non-Linear Extended-State-Observer Based Fixed-Time control for Motor-Drive Servo Systems

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IEEE Transactions on Power Electronics 2025年

作者： Xu, Ruiqi Liu, Jianxing Lin, Xinpo Liu, Zhuang Yan, Fei Gao, Yabin Harbin Institute of Technology Department of Control Science and Engineering Harbin150001 China Harbin Institute of Technology Department of Control Science and Engineering Weihai264209 China Southwest Jiaotong University School of Information Science and Technology Chengdu611756 China

To enhance the position tracking performance of permanent magnet synchronous motors (PMSMs) under unknown disturbances, this paper proposes a fast fixed-time control strategy based on an improved nonlinear extended state observer (NESO). First, load disturbances and nonlinear friction are considered as lumped disturbance, for which a NESO is designed to estimate the lumped disturbance. The control parameters of the NESO are tuned online using a neural network optimization algorithm, eliminating the need for offline training. Then, a robust fixed-time sliding mode control method is proposed, based on an improved nonsingular fast terminal sliding mode manifold, which offers better convergence performance. The Lyapunov method is used to prove the fixed-time stability of the position tracking error system. Finally, the effectiveness of the proposed method is validated on an experimental platform with PMSMs, and it is compared with other advanced fixed-time position control methods. The comparison results confirm that the proposed method exhibits superior control performance. © 1986-2012 IEEE.

关键词： State estimation

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Event-Triggered H∞ Consensus Secondary Voltage control of AC Microgrids With Sampling Data

Event-Triggered H∞ Consensus Secondary Voltage Control of A...

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International Conference on Power and Energy technology (ICPET)

作者： Chuang Liu Xinsheng Wang Huaqiang Zhang Jingchuan Deng Department of Control Science and Engineering Harbin Institute of Technology Weihai China Department of Electrical Engineering Harbin Institute of Technology Weihai China

In this article, a distributed event-triggered $H_{\infty}$ consensus control strategy is proposed for secondary voltage control of microgrids (MGs) to reduce communication and computational burden. The event-triggered is implemented based on periodic sampling. By using the Lyapunov method to design the triggering conditions and sampling period of the distributed generators (DGs), DGs only communicate with their neighbors under certain specific event conditions, and the event triggering conditions are only calculated at the sampling time. Therefore, it avoids continuous communication and the calculation of continuous event-triggered conditions, thereby reducing the communication and computational burden. The simulation results demonstrate the effectiveness of the control strategy.

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Time-Jerk Optimal Trajectory Planning of Industrial Robot based on Hybrid Particle Swarm Optimization Algorithm

Time-Jerk Optimal Trajectory Planning of Industrial Robot ba...

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2021 China Automation Congress, CAC 2021

作者： Gao, Ying Xie, Weinan Li, Qinghua Li, Xinnian Hu, Meiling Zhao, Liu Space Control and Inertial Technology Research Center Harbin Institute of Technology Harbin150001 China Research Institute of Intelligent Control Systems Harbin Institute of Technology Harbin150001 China Department of Control Science and Engineering Harbin Institute of Technology Harbin150001 China

ISBN: (纸本)9781665426473

Industrial robots need to execute specific trajectories on production lines, which requires rational planning of robot joint trajectories in Cartesian space. To improve the efficiency and control accuracy of industrial robots, time-jerk multi-objective trajectory optimization is required. The main research of this topic is to apply the particle swarm optimization(PSO) algorithm based on crossover and subgroup to complete the trajectory optimization of a six-degree-of-freedom robot in Cartesian space with time-jerk multi-objective function and compare the optimization effect of the hybrid particle swarm optimization algorithm relative to the traditional particle swarm optimization algorithm. Firstly, a seven segment S-Spline interpolation function is applied to complete the trajectory planning and the basic PSO algorithm is applied to optimize the trajectory for the interpolation time. Then based on the shortcomings of the basic PSO algorithm, the particle swarm optimization algorithm based on crossover and subgroup is proposed to improve the speed and effectiveness of the trajectory optimization algorithm. Finally, simulation experiments show that the total time and joint shocks of robot trajectory planning are greatly reduced,which verifies the effectiveness of the hybrid PSO algorithm applied to robot time-shock optimal trajectory optimization. © 2021 IEEE

关键词： Industrial robots

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