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IEEE International Conference on Robotics and Automation (ICRA)

作者： Zhen Li Yawen Deng Qiang Ye Weihong Yu Haoxiang Qi Yaliang Liu Zhangguo Yu Gui-Bin Bian School of Electronic and Information Engineering Tongji University Shanghai China Institute of Automation Chinese Academy of Sciences Beijing China School of Mechatronic Engineering Beijing Institute of Technology Beijing China Department of Ophthalmology Peking Union Medical College Hospital Chinese Academy of Medical Sciences and Peking Union Medical College Beijing China Key Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing China International Joint Research Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing China State Key Laboratory of Intelligent Control and Decision of Complex System Beijing China

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Internal limiting membrane (ILM) peeling is a vital vitreoretinal surgery procedure. However, due to the thickness of just 1-2 micrometers and the intricacies associated with its varying density and adhesion, the difficulty of manipulation exceeds the physiological limits of human perception and operation. Surgical robot is characterized by high precision and stability. However, navigating intricate intraocular environments and handling minuscule high-precision areas remain enormous challenges. These include issues of uneven lighting, field-of-view loss, and motion blur. This paper proposed a perception method named ‘Multimodal Surgical Process Recognition based on Domain Knowledge and Segmentation (MSPR-DKS),’ designed to address these challenges and provide input for the precise control of robots. Moreover, a comprehensive dataset focused on ILM peeling during macular hole surgeries was established. Experimental results underscore the efficacy of this approach, with segmentation accuracies exceeding 99.27% for instruments and macular holes and an average accuracy of 98.97% in recognizing surgical processes. This study paves the way for leveraging domain knowledge and image segmentation to improve robot-assisted manipulation of soft tissues in ophthalmology.

关键词： Image segmentation Visualization Accuracy Medical robotics Motion segmentation Surgery Lighting

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A Cooperation-Aware Lane Change Method for Autonomous Vehicles

arXiv

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arXiv 2022年

作者： Sheng, Zihao Liu, Lin Xue, Shibei Zhao, Dezong Jiang, Min Li, Dewei Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China School of Electronic Information Engineering Shanghai Dianji University Shanghai201306 China James Watt School of Engineering University of Glasgow GlasgowG12 8QQ United Kingdom School of Electronics and Information Engineering Soochow University Suzhou215006 China

Lane change for autonomous vehicles (AVs) is an important but challenging task in complex dynamic traffic environments. Due to difficulties in guarantee safety as well as a high efficiency, AVs are inclined to choose relatively conservative strategies for lane change. To avoid the conservatism, this paper presents a cooperation-aware lane change method utilizing interactions between vehicles. We first propose an interactive trajectory prediction method to explore possible cooperations between an AV and the others. Further, an evaluation is designed to make a decision on lane change, in which safety, efficiency and comfort are taken into consideration. Thereafter, we propose a motion planning algorithm based on model predictive control (MPC), which incorporates AV’s decision and surrounding vehicles’ interactive behaviors into constraints so as to avoid collisions during lane change. Quantitative testing results show that compared with the methods without an interactive prediction, our method enhances driving efficiencies of the AV and other vehicles by 14.8% and 2.6% respectively, which indicates that a proper utilization of vehicle interactions can effectively reduce the conservatism of the AV and promote the cooperation between the AV and others. Copyright © 2022, The Authors. All rights reserved.

关键词： Motion planning

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An Adaptive Data Rate-Based Task Offloading Scheme in Vehicular Networks

An Adaptive Data Rate-Based Task Offloading Scheme in Vehicu...

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International Conference on Mobile Ad-hoc and Sensor Networks, MSN

作者： Chaofan Chen Wendi Nie Yaoxin Duan Victor C.S. Lee Kai Liu Huamin Li School of Automation Chongqing University Chongqing China Key Laboratory of Industrial Internet of Things and Networked Control Ministry of Education Chongqing China Department of Automation Chongqing University of Posts and Telecommunications Chongqing China Institute of Industrial Internet Chongqing University of Posts and Telecommunications Chongqing China Department of Electrical and Electronic Engineering the University of Hong Kong Hong Kong China College of Computer Science Chongqing University Chongqing China

As an important application of Internet of Things (IoT), Internet of Vehicles (IoVs) can provide various valuable services which may require computation-intensive tasks under strict time constraints. Most traditional vehicles may not be able to process all these computation-intensive tasks locally because of the limitation of computing resources. Therefore, task offloading has been proposed, which allows vehicles to offload computation-intensive tasks to Mobile Edge Computing (MEC) servers. With the arising and development of intelligent vehicles, the concept of Vehicle as a Resource (VaaR) has been proposed as an important supplement to MEC, which enables intelligent vehicles to share computation resources with nearby vehicles. Most studies in VaaR generally assume that the transmission data rate of offloading tasks from one vehicle to another is fixed. However, in VaaR, due to the high mobility of vehicles, the communication distance between vehicles may change over time, resulting in changing data rate. Therefore, it is challenging to make offloading decisions (i.e., selecting proper vehicles as computation resource providers) while considering adaptive data rate. In this paper, we study task offloading in vehicular networks while considering adaptive data rate. We propose an Adaptive Data Rate-based Offloading algorithm named ADRO, which can not only achieve minimum energy consumption while satisfying time constraints, but also take adaptive data rate into consideration. Comprehensive experiments have been conducted to demonstrate the efficiency of the ADRO algorithm.

关键词： Energy consumption Adaptive systems Multi-access edge computing Intelligent vehicles Sensors Time factors Servers

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Design space analysis method for support of system design under the consideration of uncertainties in the early design stage

Design space analysis method for support of system design un...

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ASME 2020 International Design engineering Technical Conferences and Computers and Information in engineering Conference, IDETC-CIE 2020

作者： Aoyama, Kazuhiro Uchibori, Yoshihiro Oizumi, Kazuya Hiramatsu, Shigeki Unesaki, Hiroshi Kondo, Shyuichi Research into Artifacts Center for Engineering School of Engineering University of Tokyo Tokyo Japan Department of Systems Innovation School of Engineering University of Tokyo Tokyo Japan Integrated Control System Development Div. Mazda Motor Corporation Hiroshima Japan Electronic Platform Development Dept. Mazda Motor Corporation Hiroshima Japan

ISBN: (纸本)9780791884003

In this study, following the concept of set-based design, after preparing global calculation results, we introduced the approach of setting the design solution area that satisfies the product performance goals of the system design. In this approach, from the viewpoint of considering uncertainty, we aimed to develop an analysis method that can get the organic relationship between target variables and design variables. And more, under the assumption that it is difficult to comprehend the full picture of products that are becoming more sophisticated and complex with the knowledge that has been fostered by skilled engineers, the proposed system uses the objective calculation indices that is provided knowledge of the designer. Specifically, the following method are proposed to solve the problem. - Implementation of meta-modeling of design space. - Classified solution space using a density-based clustering method to detect that the solution spaces are divided into multiple disconnected space. - Defined an index called distribution concentration and expressed the possibility of dealing with the uncertainty of the solution domain. - The network diagram based on the calculated index values was proposed to confirm the change in the characteristics of the solution space when the performance target of the product was changed. Finally, the effectiveness of the proposed method was verified by applying it to actual simulation results. © 2020 American Society of Mechanical Engineers (ASME). All rights reserved.

关键词： systems analysis

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Effect of Annealing Process Parameters on N-Gaas Ohmic Contacts

SSRN

引用

SSRN 2021年

作者： Lin, Tao Xie, Jianan Ning, Shaohuan Ma, Zekun Mu, Yan Sun, WanJun Yang, Sha Department of Electronic Engineering Xi'an University of Technology Xi'an710048 China Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi’an University of Technology Shaanxi Xi’an710048 China

Ni/Ge/Ni/Au multi-layer metal electrodes were prepared on N-GaAs substrate by electron-beam evaporation to investigate the effect of annealing process parameters on N-GaAs ohmic contacts. In the annealing temperature range of 370 °C to 430 °C, the metal-semiconductor contact was found changing from Schottky contact to ohmic contact as the annealing temperature was above 380 °C. Specific contact resistivity of n-GaAs samples firstly decreased and then increased with the increasing of annealing temperature, and the minimum specific contact resistivity of 3.3×10 -5 Ω·cm 2 was formed at 420 °C annealing for 80 s. Although the specific contact resistivity of the metal-semiconductor contact performed satisfactorily, the surface morphology of the n-GaAs metal electrode was found having metal shrinkage after annealing. The formation mechanism of ohmic contact was qualitatively explained by the elements diffusion under different annealing parameters, which were confirmed by the comparative analysis of SEM and EDX results. © 2021, The Authors. All rights reserved.

关键词： Gallium arsenide

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Multiple superconducting phases driven by pressure in the topological insulator GeSb4Te7

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Physical Review B 2023年第18期108卷 184504-184504页

作者： W. Zhou B. Li Y. Shen J. J. Feng C. Q. Xu H. T. Guo Z. He B. Qian Ziming Zhu Xiaofeng Xu School of Electronic and Information Engineering Changshu Institute of Technology Changshu 215500 China Information Physics Research Center Nanjing University of Posts and Telecommunications Nanjing 210023 China Key Laboratory of Low-Dimensional Quantum Structures and Quantum Control of Ministry of Education Department of Physics and Synergetic Innovation Center for Quantum Effects and Applications Hunan Normal University Changsha 410081 China Center for High Pressure Science and Technology Advanced Research Shanghai 201203 China School of Physical Science and Technology Ningbo University Ningbo 315211 China Department of Applied Physics Zhejiang University of Technology Hangzhou 310023 China

Tuning superconductivity in topological materials by means of chemical substitution, electrostatic gating, or pressure is thought to be an effective route towards realizing topological superconductivity with their inherent Majorana fermions, the manipulation of which may form the basis for future topological quantum computing. It has recently been established that the pseudo-binary chalcogenides (ACh)m(Pn2Ch3)n (A=Ge, Mn, Pb, etc.; Pn=Sb or Bi; Ch=Te, Se) may host novel topological quantum states such as the quantum anomalous Hall effect and topological axion states. Here we map out the phase diagram of one member in this series, the topological insulator candidate GeSb4Te7 up to pressures of ∼35 GPa, through a combination of electrical resistance measurements, Raman spectroscopy, as well as first-principles calculations. Three distinct superconducting phases emerge under the pressure above ∼11, ∼17, and ∼31 GPa, which are accompanied by concomitant structural transitions, evidenced from the changes in the Raman modes. The first-principles calculations validate the existence of a topological insulating state at ambient pressure and predict two possible structural transitions at 10 and 17 GPa, in agreement with the experimental observations. Overall, our results establish the GeSb4Te7 family of materials as a fertile arena for further exploring various topological phenomena, including topological phase transitions and putative topological superconductivity.

关键词： Electrical conductivity First-principles calculations Topological insulators Topological materials Topological superconductors

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Joint Association, Beamforming, and Resource Allocation for Multi-IRS Enabled MU-MISO systems With RSMA

arXiv

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arXiv 2024年

作者： Wang, Chunjie Zhang, Xuhui Xing, Huijun Xue, Liang Wang, Shuqiang Shen, Yanyan Yang, Bo Guan, Xinping Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China School of Information and Electrical Engineering Hebei University of Engineering Handan056038 China Hebei Key Laboratory of Security and Protection Information Sensing and Processing Handan056038 China Shenzhen Future Network of Intelligence Institute The School of Science and Engineering The Guangdong Provincial Key Laboratory of Future Networks of Intelligence The Chinese University of Hong Kong Guangdong Shenzhen518172 China Department of Electrical and Electronic Engineering Imperial College London LondonSW7 2AZ United Kingdom Shenzhen Future Network of Intelligence Institute The Guangdong Provincial Key Laboratory of Future Networks of Intelligence The Chinese University of Hong Kong Guangdong Shenzhen518172 China Department of Automation The Key Laboratory of System Control and Information Processing Ministry of Education Shanghai Jiao Tong University Shanghai200240 China

Intelligent reflecting surface (IRS) and rate-splitting multiple access (RSMA) technologies are at the forefront of enhancing spectrum and energy efficiency in the next generation multi-antenna communication systems. This paper explores a RSMA system with multiple IRSs, and proposes two purpose-driven scheduling schemes, i.e., the exhaustive IRS-aided (EIA) and opportunistic IRS-aided (OIA) schemes. The aim is to optimize the system weighted energy efficiency (EE) under the above two schemes, respectively. Specifically, the Dinkelbach, branch and bound, successive convex approximation, and the semidefinite relaxation methods are exploited within the alternating optimization framework to obtain effective solutions to the considered problems. The numerical findings indicate that the EIA scheme exhibits better performance compared to the OIA scheme in diverse scenarios when considering the weighted EE, and the proposed algorithm demonstrates superior performance in comparison to the baseline algorithms. Copyright © 2024, The Authors. All rights reserved.

关键词： Beamforming

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Analytical Models for QoT Estimations in Super-C and Super-C + L Bands Optical Transmission systems

Analytical Models for QoT Estimations in Super-C and Super-C...

引用

Conference on Lasers and Electro-Optics (CLEO)

作者： Baoluo Yan Yijun Sun Ziwen Zhou Hong Liu Hongya Wang Chen Huan Zhiyong Zhao Lipeng Feng Anxu Zhang Zhenhua Feng Hu Shi WDM System Department of Wireline Product R&D Institute ZTE Corp. Beijing China State Key Laboratory of Mobile Network and Mobile Multimedia Technology China School of Software Engineering Chongqing University of Posts and Telecommunications Chongqing China Optics Valley Laboratory School of Optical and Electronic Information and Wuhan National Laboratory for Optoelectronics Huazhong University of Science and Technology Wuhan China China Telecom Research Institute Beijing China

We propose a novel physical model-based QoT estimation with achieved OSNR estimation error ≤ 1.5 dB in primary paths and OSNR prediction error ≤ 1.76 dB in unestablished lightpaths for both super-C bands and super-C... 详细信息

ISBN: (纸本)9781957171258

关键词： Hole burning Optical amplifiers Optical networks Optical signal to noise ratio Stimulated scattering Variable optical attenuators

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Unified Selective Harmonic Elimination control for Four-Level Hybrid-Clamped Inverters

Unified Selective Harmonic Elimination Control for Four-Leve...

引用

作者： Wu, Mingzhe Wang, Kui Yang, Kehu Konstantinou, Georgios Li, Yun Wei Li, Yongdong Department of Electrical and Computer Engineering University of Alberta EdmontonABT6G 1H9 Canada Department of Electrical Engineering State Key Laboratory of Power System Tsinghua University Beijing100084 China School of Mechanical Electronic and Information Engineering China University of Mining and Technology Beijing100083 China School of Electrical Engineering and Telecommunications University of New South Wales SydneyNSW2052 Australia

A unified selective harmonic elimination (SHE) control for four-level hybrid-clamped (4L-HC) inverters is presented in this article. With this unified strategy, all four-level switching patterns and the corresponding switching angles can be obtained simultaneously by solving one group of unified four-level SHE equations. Therefore, the optimal switching pattern of each modulation index with the designed optimization goal can be evaluated, and the best overall output performance is achieved. In order to ensure the proper operation of the 4L-HC inverter, the voltages across the three-phase flying capacitors and three dc-link capacitors must be controlled and balanced at one-third of the dc-link voltage. The proposed voltage control method is based on redundant switching states and introducing a slight variation to the precalculated switching angles, which extends or limits the conduction time of capacitors depending on voltage deviation and current direction. The effect of switching angle variations on the harmonic performance is also studied. Simulation and experimental results are presented to confirm the validity of the unified model and the proposed voltage-balancing strategy. Comparisons with phase-shifted pulsewidth modulation (PWM) are also presented to demonstrate that the implemented SHE-PWM could significantly reduce the switching frequency while keeping the capacitor voltages well balanced within the expected band limits. © 1986-2012 IEEE.

关键词： Harmonic analysis

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Dynamic Event-Triggered Consensus of Multi-agent systems on Matrix-weighted Networks

arXiv

引用

arXiv 2021年

作者： Pan, Lulu Shao, Haibin Li, Dewei Liu, Lin Department of Automation Shanghai Jiao Tong University Shanghai200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China School of Electronic Information Engineering Shanghai Dianji University Shanghai201306 China

This paper examines the event-triggered consensus of the multi-agent system on matrix-weighted networks, where the interdependencies among higher-dimensional states of neighboring agents are characterized by matrix-weighted edges in the network. Specifically, a novel distributed dynamic event-triggered coordination strategy is proposed for this category of generalized networks, in which an auxiliary system is employed for each agent to dynamically adjust the triggering threshold, which plays an essential role in guaranteeing that the triggering time sequence does not exhibit Zeno behavior. Distributed event-triggered control protocols are proposed to guarantee leaderless and leader-follower consensus for multi-agent systems on matrix-weighted networks, respectively. Remarkably, the spectrum of matrix-valued weights is crucial in event-triggered mechanism design for matrix-weighted networks, generalizing those results only applicable for scalar-weighted networks. The proposed approach allows each agent to broadcast and receive information only at its triggering instants. Finally, simulation examples are provided to demonstrate the theoretical results. Copyright © 2021, The Authors. All rights reserved.

关键词： Multi agent systems

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