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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Zheyu Zhuang Ville Kyrki Danica Kragic Robotics Perception and Learning Lab EECS KTH Royal Institute of Technology Stockholm Sweden Department of Electrical Engineering and Automation (EEA) Intelligent Robotics Group Aalto University Espoo Finland

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

We present Robot-centric Pooling (RcP), a novel pooling method designed to enhance end-to-end visuomo-tor policies by enabling differentiation between the robots and similar entities or their surroundings. Given an image-proprioception pair, RcP guides the aggregation of image features by highlighting image regions correlating with the robot’s proprioceptive states, thereby extracting robot-centric image representations for policy learning. Leveraging contrastive learning techniques, RcP integrates seamlessly with existing visuomotor policy learning frameworks and is trained jointly with the policy using the same dataset, requiring no extra data collection involving self-distractors. We evaluate the proposed method with reaching tasks in both simulated and real-world settings. The results demonstrate that RcP significantly enhances the policies’ robustness against various unseen distractors, including self-distractors, positioned at different locations. Additionally, the inherent robot-centric characteristic of RcP enables the learnt policy to be far more resilient to aggressive pixel shifts compared to the baselines. Code available at: https://***/Zheyu-Zhuang/RcP

关键词： Propioception Performance gain Image representation Data collection Feature extraction Robustness History Robots Intelligent robots Resilience

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Design and kinematics analysis of an index finger exoskeleton with elastic actuator

Design and kinematics analysis of an index finger exoskeleto...

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2024 China automation Congress, CAC 2024

作者： Chen, Zhaoang Su, Tingting Li, Guotao Liang, Xu Liu, Shengda Xiao, Wendong Xie, Shoulie Zhang, Jie He, Guangping The Department of Mechanical and Electrical Engineering North China Universily of Technology Beijing100144 China The School of Information Science and Technology Beijing University of Technology Beijing100124 China The State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China School of Automation and Intelligence Beijing Jiaotong University Beijing100044 China School of Automation and Electrical Engineering University of Science and Technology Beijing100083 China Institute for Infocomm Research A*Star Singapore

ISBN: (纸本)9798350368604

Rehabilitation training is vital to patient’s recovery after stroke surgery. However, due to the inability to effectively absorb and buffer external shocks, rigid exoskeletons are more likely to cause damage to the patient’s joints and muscles. In this paper, the index finger exoskeleton with elastic actuator (IFEEA) is studied. First, the IFEEA is designed to realize the flexion-extension (F/E) movements of MCP joint of index finger. Second, the kinematic model of IFEEA is analyzed. Finally, the motion experiment was carried out. The experimental results show that the IFEEA has good spatial motion ability and great potential in future applications. © 2024 IEEE.

关键词： Exoskeleton (robotics)

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GRU-Net: Gaussian Attention Aided Dense Skip Connection Based MultiResUNet for Breast Histopathology Image Segmentation 28th

GRU-Net: Gaussian Attention Aided Dense Skip Connection Base...

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28th Annual Conference on Medical Image Understanding and Analysis, MIUA 2024

作者： Roy, Ayush Pramanik, Payel Ghosal, Sohom Valenkova, Daria Kaplun, Dmitrii Sarkar, Ram Department of Electrical Engineering Jadavpur University Kolkata700032 India Department of Computer Science and Engineering Jadavpur University Kolkata700032 India Department of Electronics and Communication Engineering International Institute of Information Technology Chhattisgarh India Department of Automation and Control Processes Saint Petersburg Electrotechnical University LETI Saint Petersburg Russia Artificial Intelligence Research Institute China University of Mining and Technology Xuzhou China

ISBN: (纸本)9783031669545

Breast cancer is a major global health concern. Pathologists face challenges in analyzing complex features from pathological images, which is a time-consuming and labor-intensive task. Therefore, efficient computer-based diagnostic tools are needed for early detection and treatment planning. This paper presents a modified version of MultiResU-Net for histopathology image segmentation, which is selected as the backbone for its ability to analyze and segment complex features at multiple scales and ensure effective feature flow via skip connections. The modified version also utilizes the Gaussian distribution-based Attention Module (GdAM) to incorporate histopathology-relevant text information in a Gaussian distribution. The sampled features from the Gaussian text feature-guided distribution highlight specific spatial regions based on prior knowledge. Finally, using the Controlled Dense Residual Block (CDRB) on skip connections of MultiResU-Net, the information is transferred from the encoder layers to the decoder layers in a controlled manner using a scaling parameter derived from the extracted spatial features. We validate our approach on two diverse breast cancer histopathology image datasets: TNBC and MonuSeg, demonstrating superior segmentation performance compared to state-of-the-art methods. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.

关键词： Gaussian distribution

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Observer-based Multirate Feedback Control Design for Two-time-scale System

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International Journal of automation and computing 2021年第6期18卷 1007-1016页

作者： Ravindra Munje Wei-Dong Zhang Department of Electrical Engineering K.K.Wagh Institute of Engineering Education and ResearchNashik 422003India Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China

The use of a lower sampling rate for designing a discrete-time state feedback-based controller fails to capture information of fast states in a two-time-scale system, while the use of a higher sampling rate increases the amount of computation considerably. Thus,the use of single-rate sampling for systems with slow and fast states has evident limitations. In this paper, multirate state feedback(MRSF) control for a linear time-invariant two-time-scale system is proposed. Here, multirate sampling refers to the sampling of slow and fast states at different sampling rates. Firstly, a block-triangular form of the original continuous two-time-scale system is constructed. Then, it is discretized with a smaller sampling period and feedback control is designed for the fast subsystem. Later, the system is block-diagonalized and equivalently represented into a system with a higher sampling period. Subsequently, feedback control is designed for the slow subsystem and overall MRSF control is derived. It is proved that the derived MRSF control stabilizes the full-order system. Being the transformed states of the original system, slow and fast states need to be estimated for the MRSF control ***, a sequential two-stage observer is formulated to estimate these states. Finally, the applicability of the design method is demonstrated with a numerical example and simulation results are compared with the single-rate sampling method. It is found that the proposed MRSF control and observer designs reduce computations without compromising closed-loop performance.

关键词： Feedback control multirate sampling sequential observer two-stage design two-time-scale system

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AI Integrated Dialogic Alphabet Zone Board for Kids in Pre-childhood Education

AI Integrated Dialogic Alphabet Zone Board for Kids in Pre-c...

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International Conference on electrical, Computer and Communication engineering (ECCE)

作者： Asif Mahmud Tahsin Faisal M. Akhtaruzzaman Jamal Uddin Tanvin Sachitra Halder Fahim Shahryer Department of Computer Science and Engineering Military Institute of Science and Technology Dhaka Bangladesh Quantum Robotics and Automation Research Group (QRARG) Dhaka Bangladesh

ISBN: (数字)9798350357509

ISBN: (纸本)9798350357516

The smart Dialogic Alphabet Zone Board (DAZ-Board) aims to address the issue of learning process for pre-childhood education among the children. It is importance to facilitate a healthy and effective environment for early childhood education in shaping a child’s cognitive development, language acquisition, and literacy skills. Traditional teaching methods often fail to engage young learners effectively, leading to limited understanding and retention. On the other hand, dependencies on mobile devices raise the physical and mental health issues. This study introduces an interactive, auditory, and multisensory game board providing a wonderful and healthy experiences in tailoring the developmental needs of children. The objective of this research is to design and develop an interactive alphabet board with necessary sensors, electronics, and controller modules. Moreover, designing a Machine Learning (ML) model for voice-based alphabet recognition is one of the important contributions of this research. Among the results of different ML models, Naïve Bayes Classifier outperforms the most with accuracy ≈ . %. The proposed system will facilitate the preschoolers to learn in modern and interactive way, while keeping away from being addicted to the mobile devices.

关键词： Pediatrics Visualization Accuracy Scalability Education Games Speech recognition Sensors Smart phones Systematic literature review

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Encrypted Finite-Horizon Energy-to-Peak State Estimation for Time-Varying Systems Under Eavesdropping Attacks: Tackling Secrecy Capacity

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IEEE/CAA Journal of Automatica Sinica 2023年第4期10卷 985-996页

作者： Lei Zou Zidong Wang Bo Shen Hongli Dong Guoping Lu College of Information Science and Technology Donghua UniversityShanghai 201620 Engineering Research Center of Digitalized Textile and Fashion Technology Ministry of EducationShanghai 201620China College of Electrical Engineering and Automation Shandong University of Science and TechnologyQingdao 266590China Department of Computer Science Brunel University LondonUxbridgeMiddlesex UB83PHUK Intelligence Energy Research Institute Northeast Petroleum UniversityDaqing 163318 Heilongjiang Provincial Key Laboratory of Networking and Intelligent Control Northeast Petroleum UniversityDaqing 163318 Sanya Offshore Oil&Gas Research Institute Northeast Petroleum UniversitySanya 572024China School of Electrical Engineering Nantong UniversityNantong 226019China

This paper is concerned with the problem of finitehorizon energy-to-peak state estimation for a class of networked linear time-varying *** to the inherent vulnerability of network-based communication,the measurement signals transmitted over a communication network might be intercepted by potential *** avoid information leakage,by resorting to an artificial-noise-assisted method,we develop a novel encryption-decryption scheme to ensure that the transmitted signal is composed of the raw measurement and an artificial-noise term.A special evaluation index named secrecy capacity is employed to assess the information security of signal transmissions under the developed encryption-decryption *** purpose of the addressed problem is to design an encryptiondecryption scheme and a state estimator such that:1)the desired secrecy capacity is ensured;and 2)the required finite-horizon–l_(2)-l_(∞)performance is *** conditions are established on the existence of the encryption-decryption mechanism and the finite-horizon state ***,simulation results are proposed to show the effectiveness of our proposed encryption-decryption-based state estimation scheme.

关键词： Artificial-noise-assisted technique eavesdropping encryption-decryption scheme energy-to-peak state estimation finitehorizon state estimation

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Exponentially convergent distributed Nash equilibrium seeking for constrained aggregative games

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Autonomous Intelligent Systems 2022年第1期2卷 71-78页

作者： Shu Liang Peng Yi Yiguang Hong Kaixiang Peng Department of Control Science&Engineering Tongji UniversityShanghai200092China Shanghai Research Institute for Intelligent Autonomous Systems Shanghai201210China School of Automation and Electrical Engineering University of Science and Technology BeijingBeijing100083China

Distributed Nash equilibrium seeking of aggregative games is investigated and a continuous-time algorithm is *** algorithm is designed by virtue of projected gradient play dynamics and aggregation tracking dynamics,and is applicable to games with constrained strategy sets and weight-balanced communication *** key feature of our method is that the proposed projected dynamics achieves exponential convergence,whereas such convergence results are only obtained for non-projected dynamics in existing works on distributed optimization and equilibrium *** examples illustrate the effectiveness of our methods.

关键词： Distributed algorithms Aggregative games Projected gradient play Weight-balanced graph Exponential convergence

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Multivariable Decoupling Control of Civil Turbofan Engines Based on Fully Actuated System Approach

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Journal of Systems Science & Complexity 2023年第3期36卷 947-959页

作者： PENG Kai WANG Hongxia ZHANG Huanshui ZHANG Zhaorong YANG Fan School of Power and Energy Northwestern Polytechnical UniversityXi’an 710072China School of Electrical and Automation Engineering Shandong University of Science and TechnologyQingdao 266590China Department of Applied Mathematics The Hong Kong Polytechnic UniversityHung HomKowloonHong KongChina. Xi’an Aeronautics Computing Technique Research Institute AVICXi’an 710068China

Gas turbine engines must be operated by means of control,and how to achieve multivariable control decoupling with aero-engine control constraints is an open thorny issue attracting increasingly more *** paper considers the multivariable decoupling problems of aero-engines by using a compound controller,which originates from the fact that it is impossible to eliminate all the nonlinear dynamics of system to obtain desired constant linear closed-loop system by using full actuated control because of modeling errors and some physical *** controllers are involved in the compound *** is a fully actuated controller and the other is classical feedback *** order to use fully actuated control and maintain the accuracy of engine model,a full state scheduling linear parameter-varying(LPV)modeling method is proposed based on fuzzy neural network *** a general input matrix of the system,its generalized inverse is applied to design fully actuated controller to result in a pseudolinear *** with a feedback controller and control limiter,the control synthesis is *** simulation shows that the proposed method is possessed of a better decoupling and tracking effect compared with traditional control approach.

关键词： Compound control decoupling control fully actuated control turbofan engine

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Smart tailoring of molecular catalysts:Mounting approach to oxygen reduction reaction

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Journal of Materials Science & Technology 2024年第1期168卷 169-184页

作者： Anuj Kumar Mohd Ubaidullah Guoxin Zhang Jasvinder Kaur Saira Ajmal Mudassir Hasan Krishna Kumar Yadav Hafiz M.Adeel Sharif Ram K.Gupta Ghulam Yasin Nano-Technology Research Laboratory Department of ChemistryGLA UniversityMathuraUttar Pradesh 281406India Department of Chemistry College of ScienceKing Saud UniversityRiyadh 11451Saudi Arabia Department of Electrical Engineering and Automation Shandong University of Science and TechnologyQingdaoShandong 266590China Institute for Advanced Study Shenzhen UniversityShenzhenGuangdong 518060China Department of Chemistry Kansas Polymer Research CenterPittsburg State UniversityPittsburgKS 66762United States Faculty of Science and Technology Madhyanchal Professional UniversityRatibadBhopal 462044India Environmental and Atmospheric Sciences Research Group Scientific Research CenterAl-Ayen UniversityThi-QarNasiriyah 64001Iraq Department of Chemical Engineering King Khalid University Saudi Arabia Department of Chemistry School of SciencesIFTM UniversityMoradabadUttar Pradesh 244102India Research Center for Eco-Environmental Engineering Dongguan University of TechnologyDongguan 523808China School of Environment and Civil Engineering Dongguan University of TechnologyDongguanGuangdong 523808China

Efficient electrocatalytic rupture of energy-rich molecules(H_(2)and O_(2))is a green approach for gener-ating clean energy for modern *** this context,porphyry-type molecular electrocatalysts act intelligently toward oxygen reduction reaction(ORR),a fundamental process in fuel cells,due to their redox-rich chemistry,which involves core metal ions and macrocyclic *** concerned scientific community has tried many times to correlate the ORR intermediates with their formation kinetics and simplify the associated multi H+/e-stages during the ORR process,constructing several volcano plots be-tween catalytic Tafel data,turnover frequencies,and overpotentials for many *** the fact that many review articles on molecular electrocatalysts for ORR have been published,understanding the strategic implications and molecular catalyst intelligence towards homogenous ORR has been poorly *** review examined the relationships between volcano plots of current *** parameters and the Sabatier principle in order to explain the intelligence of molecular electrocatalysts and approaches for their creation,as well as the difficulties and potential prospects of molecular *** facts distinguish this review from previously published articles and will pique the scien-tific community’s interest in avoiding trial-and-error procedures for catalyst creation while also allowing for more exact evaluations of the molecular catalyst’s performance.

关键词： Electrocatalysis Molecular catalysts Oxygen reduction reaction Sabatier principle

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High-precision Calibration of Camera and IMU on Manipulator for Bio-inspired Robotic System

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Journal of Bionic engineering 2022年第2期19卷 299-313页

作者： Yinlong Zhang Wei Liang Sichao Zhang Xudong Yuan Xiaofang Xia Jindong Tan Zhibo Pang State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Key Laboratory of Networked Control Systems Chinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China The School of Computer Science and Technology Xidian UniversityXi’an 710071China Department of Mechanical Aerospace and Biomedical EngineeringUniversity of TennesseeKonxville 37996USA Department of Automation Technology ABB Corporate Research Sweden72178 VästerasSweden

Inspired by box jellyfish that has distributed and complementary perceptive system,we seek to equip manipulator with a camera and an Inertial Measurement Unit(IMU)to perceive ego motion and surrounding unstructured *** robot perception,a reliable and high-precision calibration between camera,IMU and manipulator is a critical *** paper introduces a novel calibration ***,we seek to correlate the spatial relationship between the sensing units and manipulator in a joint ***,the manipulator moving trajectory is elaborately designed in a spiral pattern that enables full excitations on yaw-pitch-roll rotations and x-y-z translations in a repeatable and consistent *** calibration has been evaluated on our collected visual inertial-manipulator *** systematic comparisons and analysis indicate the consistency,precision and effectiveness of our proposed calibration method.

关键词： Bio-inspired robotic system Monocular camera IMU Manipulator Calibration

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