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arXiv 2021年

作者： Lu, Xiangri Ma, Hongbin Zhang, Jingcheng State Key Laboratory of Intelligent Decision and Control for Complex Systems Beijing Institute ofTechnology Beijing China Institute of Pattern Recognition and Intelligent Systems School of Automation Beijing Institute ofTechnology China Institute of Navigation Guidance and Control School of Automation Beijing Institute of

Recent work has shown that the activation function of the convolutional neural network can meet the Lipschitz condition, then the corresponding convolutional neural network structure can be constructed according to the scale of the data set, and the data set can be trained more deeply, more accurately and more effectively. In this article, we have accepted the experimental results and introduced the core block N − Gauss, N − Gauss, and Swish (Conv1, Conv2, FC1) neural network structure design to train MNIST, CIFAR10, and CIFAR100 respectively. Experiments show that N − Gauss gives full play to the main role of nonlinear modeling of activation functions, so that deep convolutional neural networks have hierarchical nonlinear mapping learning capabilities. At the same time, the training ability of N − Gauss on simple one-dimensional channel small data sets is equivalent to the performance of ReLU and Swish. Copyright © 2021, The Authors. All rights reserved.

关键词： Gaussian distribution

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Procedure Recognition by Knowledge-Driven Segmentation in Robotic-Assisted Vitreoretinal Surgery

Procedure Recognition by Knowledge-Driven Segmentation in Ro...

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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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Impulsive Synchronization of Fractional-order Delayed Gene Regulatory Network Based on Comparative System Method

Impulsive Synchronization of Fractional-order Delayed Gene R...

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第三十九届中国控制会议

作者： Feng Liu Shaoqiang Ye Shiqi Zheng Hua O Wang School of Automation China University of Geosciences Hubei key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Department of Mechanical Engineering Boston University

In this paper, we study the fractional-order delayed gene regulatory network based on the comparative system ***, we introduced the concept of fractional differential. We use Lyapunov direct method to prove the impulsive synchronization. For the oscillation behavior of a fractional-order system with time delay, we apply the pulse to control its synchronization. Finally, we verify the correctness of our theory through experiment.

关键词： Comparison system impulsive synchronization time delay fractional order gene regulatory network

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Parallel Building Process Management System

Parallel Building Process Management System

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2021 China automation Congress, CAC 2021

作者： Liu, Sheng Shen, Zhen Dong, Xisong Hu, Bin Xiong, Gang Chen, Xiaoyu State Key Laboratory for Management and Control of Complex Institute of Automation Chinese Academy of Sciences Beijing China Beijing engineering Research Center of intelligent Systems and Technology Institute of Automation Chinese Academy of Sciences Beijing China Institution of Intelligent Manufacturing Qingdao Academy of Intelligent Industries Qingdao China Guangdong Engineering Research Center of 3D Printing and Intelligent Manufacturing Cloud Computing Center Chinese Academy of Sciences Dongguan China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781665426473

With the development of industrialized building and intelligence technology, it becomes necessary and possible to realize building process intelligence management. In recent years, digital twins and parallel management get more and more attentions in academic research and industrial applications. This paper addresses how parallel building system performs intelligence management on industrialized building process. Firstly, actual building model and artificial building model are created according to actual building system. Then business driving engine and simulation engine drive actual building model and artificial building model, respectively. Participants receive and send messages by software interfaces. Business driving engine changes the status of actual building model and sends the changes to simulation engine. Simulation engine updates the status of artificial building model and runs artificial building model with various parameters. Then it sends the parameter with the best effect to business driving engine. Business driving engine sends recommendations to participants according to the best parameter. Thus, building process intelligence management is achieved. © 2021 IEEE

关键词： Engines

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Bionic Geomagnetic Navigation for Autonomous Underwater Vehicle with Temporal Attention-based Data-Driven Dead Reckoning

TechRxiv

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TechRxiv 2023年

作者： Yang, Songnan Zhang, Xiaohui Liu, Ding Bai, Wenqi Liu, Fan The School of Automation and Information Engineering Xi’an University of Technology Shaanxi 710048 China The Institute of Advanced Navigation and Electromagnetics Xi’an University of Technology Shaanxi 710048 China The State Key Laboratory of Eco-Hydraulics in the Northwest Arid Region of China Xi’an University of Technology Shaanxi 710048 China The Shaanxi Key Laboratory of Complex System Control with the Intelligent Information Processing Xi’an University of Technology Shaanxi 710048 China

Numerous studies have demonstrated that numerous animal species are capable of goal-directed navigation using environmental information for dead reckoning. The stable magnetic field of the earth provides important information for the migration of animals over long distances. Inspired by the goal-directed navigation of animals, a novel Geomagnetic Navigation with Temporal Attention-based Data-Driven Dead Reckoning (Attention-DR) method for Autonomous Underwater Vehicles (AUV) is presented in this article, which only utilizes the inclination angle (I) and the declination angle (D) of the Geomagnetic Field (GF) for underwater navigation without any prior knowledge of the geographical location or geographic map. This article proposes a Temporal Attention-based Long Short-Term Memory (TA-LSTM) neural network by combining history, GF information, and location in time series to achieve the optimization heading angle of underwater dead reckoning. Due to its ability to adjust the utilization weights of local and global temporal information in the path, TA-LSTM possesses the capability to continually update neural network model parameters through a data-driven process during the navigation process. This enables the Attention-DR to achieve efficient navigation in regions without prior magnetic maps and overcome navigation failures caused by magnetic field anomalies. The simulation outcomes confirm the efficiency, precision, and practicability of the proposed algorithm. © 2023, CC BY.

关键词： Navigation

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The design of a new fiber optic sensor for measuring linear velocity with pico meter/second sensitivity based on Weak-value amplification

arXiv

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arXiv 2021年

作者： Huang, Jing-Hui Duan, Xue-Ying Wang, Guang-Jun Hu, Xiang-Yun School of Institute of Geophysics and Geomatics China University of Geosciences Wuhan430074 China School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education

We put forward a new fiber optic sensor for measuring linear velocity with picometer/second sensitivity with Weak-value amplification based on generalized Sagnac effect [Phys. Rev. Lett.93, 143901(2004)].The generalized Sagnac effect was first introduced by Yao et al, which included the Sagnac effect of rotation as a special case and suggested a new fiber optic sensor for measuring linear motion with nanoscale sensitivity. By using a different scheme to perform the Sagnac interferometer with the probe in momentum space, we have demonstrated the new weak measure protocol to detect the linear velocity by amplifying the phase shift of the generalized Sagnac effect. Given the maximum incident intensity of the initial spectrum, the detection limit of the intensity of the spectrometer, we can theoretically give the appropriate pre-selection, post-selection and other optical structures before the experiment. Our numerical results show our scheme with Weak-value amplification is effective and feasible to detect linear velocity with picometer/second sensitivity which is three orders of magnitude smaller than the result ν=4.8 × 10-9 m/s obtained by generalized Sagnac effect with same fiber length. © 2021, CC BY.

关键词： Fiber optic sensors

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Refined H-Wo3 by Mo Doping: A Strategy for Enhancing Hydrogen Ion Storage Performance

SSRN

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SSRN 2024年

作者： Wang, Liushun Yi, Jinqiao Tang, Dongsheng Ren, Dahua Zhang, Teng Zhang, Yuan Cheng, Jiaxin Li, Dong Zhang, Chunyan College of Intelligent Systems Science and Engineering Hubei Minzu University Enshi445000 China Synergetic Innovation Center for Quantum Effects and Application Key Laboratory of Low-dimensional Quantum Structures and Quantum Control Ministry of Education School of Physics and Electronics Hunan Normal University Changsha410081 China Hunan Key Laboratory of Two-Dimensional Materials Advanced Catalytic Engineering Research Center The Ministry of Education College of Chemistry and Chemical Engineering Hunan University Changsha410082 China Hubei University for Nationalities China Hunan Normal University China

The crystal structure shear and the electronic structure modulation through ion doping are both kinetically relevant to develop high-performance electrode materials for electrochemical energy storage, yet they remain a significant challenge. This study proposes the preparation of ultrafine molybdenum-doped tungsten oxide nanowires as advanced materials for hydrogen ion (H+) storage. These materials exhibited high multiplicity performance (98 mAh/g at 20C;89 mAh/g at 100C, with 1C=100 mAh/g) at the optimal Mo doping concentration (MW-5, The molar ratio of Mo to W is equal to 5%, abbreviated as MW = 5). Additionally, the MW-5 nanowire electrode showed superior Na+ and NH4+ storage capacities as compared to h-WO3. The enhanced hydrogen ion storage capability of Mo-doped WO3 nanowires was ascribed to their larger specific surface area and to the presence of a substantial amount of W6+, W5+, Mo6+, Mo5+, and Mo4+ ions. The high specific surface area of ultrafine nanowires with abundant defect structures significantly shortened the charge carrier transport distance, increased hydrogen ionization ion storage sites, and accelerated interfacial electron motion, thereby improving ion storage kinetics. Our findings revealed the potential of interface-engineering strategies in advancing towards high-performance hydrogen ion storage electrode materials for efficient green energy conversion applications. © 2024, The Authors. All rights reserved.

关键词： Nanowires

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Design of a curled hyper-redundant manipulator and the motion control with tip-following algorithm

Design of a curled hyper-redundant manipulator and the motio...

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Chinese control and Decision Conference, CCDC

作者： Aoshun Zhang En Li Feng Zhang Rui Guo Mingrui Luo Yuwei Zhang School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Engineering Laboratory for Intelligent Industrial Vision CAS Beijing China State Grid Intelligent Technology Co. Ltd. Shandong China State Grid Shandong Electric Power Company Jinan Power Supply Company Shandong China

In order to meet the operational needs in some narrow environments, the hyper-redundant snake-shaped manipulator has received extensive attention and has been widely studied due to its compact shape and multiple degrees of freedom. At present, the research of hyper-redundant manipulator mainly focuses on the straight push platform. Considering the limitation of working space, this paper designed a hyper-redundant manipulator delivered by a curled turntable. According to the characteristics of turntable delivery, a tip-following algorithm based on curve fitting and a tip-following strategy based on terminal posture record are proposed. Finally, with the algorithm applied to the physical robot we made, we successfully realized the tip-following motion control of the hyper-redundant manipulator.

关键词：

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Deep Convolutional Correlation Filter Learning Toward Robust Visual Object Tracking

Deep Convolutional Correlation Filter Learning Toward Robust...

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Chinese control and Decision Conference, CCDC

作者： Tayssir Bouraffa Zihang Feng Yuxuan Wang Liping Yan Yuanqing Xia Bo Xiao School of Automation Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing P. R. China School of Artificial Intelligence Beijing University of Posts and Telecommunications Beijing P. R. China

ISBN: (纸本)9781665478977

Recently, convolutional neural network has been pervasively adopted in visual object tracking for its potential in discriminating the target from the surrounding background. Most of the visual object trackers extract deep features from a specific layer, generally from the last convolutional layer. However, these trackers are less effective, especially when the target undergoes drastic appearance variations caused by the presence of different challenging situations, such as occlusion, illumination change, background clutter and so on. In this research paper, a novel tracking algorithm is developed by introducing an elastic net constraint and a contextual information into the convolutional network to successfully track the desired target throughout a video sequence. Hierarchical features are extracted from the shallow and the deep convolutional layers to further improve the tracking accuracy and robustness. As the deep convolutional layers capture important semantic information, they are more robust to the target appearance variations. As for the shallow convolutional layers, they encode significant spatial details, which are more accurate to precisely localize the desired target. Moreover, Peak–Strength Context–Aware correlation filters are embedded to each convolutional layer output that produce multi–level convolutional response maps to collaboratively identify the estimated position of the target in a coarse–to–fine manner. Quantitative and qualitative experiments are performed on the widely used benchmark, the OTB–2015 dataset that shows impressive results compared to the state–of–the–art trackers.

关键词： Visualization Target tracking Correlation Semantics Video sequences Feature extraction Information filters

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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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