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Underwater Perception and Autonomous Operation for Underwater Vehicle-Manipulator Systems: Methodology and Experiment

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IEEE/ASME Transactions on Mechatronics 2025年

作者： Jiang, Chaicheng Xiong, Xinyang Xiang, Xianbo Zeng, Zhigang Zhang, Fumin Huazhong University of Science and Technology School of Artificial Intelligence and Automation Wuhan 430074 China Huazhong University of Science and Technology School of Naval Architecture and Ocean Engineering Wuhan 430074 China Huazhong University of Science and Technology School of Naval Architecture and Ocean Engineering School of Artificial Intelligence and Automation State Key Lab of Intelligent Manufacturing Equipment and Technology Wuhan 430074 China Huazhong University of Science and Technology School of Artificial Intelligence and Automation Key Laboratory of Image Processing and Intelligent Control The Education Ministry of China Wuhan 430074 China Hong Kong University of Science and Technology Department of Electronic and Computer Engineering Clear Water Bay Hong Kong Hong Kong

Camera-equipped underwater vehicle-manipulator systems (UVMS) can achieve autonomous underwater operations through visual servoing. However, current methods excessively rely on auxiliary means for target's visual information and do not sufficiently consider the target's pose when designing visual servoing schemes. As a result, UVMS can only perform dynamic positioning or grasp simple-shaped targets like sea urchins. In this article, we are devoted to making the UVMS autonomously complete more complex underwater operations, such as valve switching and pipe handling. First, an underwater target perception system is proposed to address the issue of discontinuous target position estimation caused by various interferences. Second, a deep neural network-based grasping mechanism controller is proposed to enable the manipulator to grasp targets in various initial poses using the target image. Third, a decoupled visual servoing scheme is proposed for the motion control of the UVMS, and in collaboration with a designed task supervisor to ensure that the UVMS can complete the underwater operation autonomously. To validate the effectiveness of the proposed methods, underwater experiments are conducted based on a UVMS prototype. The UVMS succeeds to autonomously switch different types of valves and handle the pipe. Experiments conducted under dynamic currents validated the reliability and robustness of the proposed methods. © 1996-2012 IEEE.

关键词： Autonomous underwater operations deep neural network underwater vehicle-manipulator systems (UVMS) visual perception visual servoing

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Brightness temperature emitted by radiometer calibration load at millimeter wave band

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INTERNATIONAL JOURNAL OF INFRARED AND MILLIMETER WAVES 2001年第4期22卷 553-569页

作者： Xiao, ZH Zhang, ZY Guo, W 1. Key Laboratory of Education Ministry of People's Republic of China for Image Processing and Intelligent Control China

In this paper, the DVRT(vector radiative transfer theory of densely distributed random discrete scatters) model to calculate the brightness temperature emitted by radiometer calibration load is presented. It takes the multiple scattering of isolation layer into account, which is neglected by the incoherent homogeneous model often used in calibration. Hence, it works much better than incoherent homogeneous model at millimeter wave band. Furthermore, the iteration of DVRT model is presented, and it proves that the incoherent homogeneous model is just the zero-order solution of DVRT model. Some numerical results are provided in the end.

关键词： DVRT model incoherent homogeneous model radiometer calibration calibration load brightness temperature

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Switching mechanism for TiO_2 memristor and quantitative analysis of exponential model parameters

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Chinese Physics B 2015年第8期24卷 598-604页

作者：王小平陈敏沈轶 School of Automation Huazhong University of Science and Technology Key Laboratory of Ministry of Education for Image Processing and Intelligent Control Huazhong University of Science and Technology

The memristor, as the fourth basic circuit element, has drawn worldwide attention since its physical implementation was released by HP Labs in 2008. However, at the nano-scale, there are many difficulties for memristor physical realization. So a better understanding and analysis of a good model will help us to study the characteristics of a memristor. In this paper, we analyze a possible mechanism for the switching behavior of a memristor with a Pt/TiO2/Pt structure, and explain the changes of electronic barrier at the interface of Pt/TiO2. Then, a quantitative analysis about each parameter in the exponential model of memristor is conducted based on the calculation results. The analysis results are validated by simulation results. The efforts made in this paper will provide researchers with theoretical guidance on choosing appropriate values for(α, β, χ, γ) in this exponential model.

关键词： memristor switching behavior electronic barrier exponential model

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Cone-Beam Computed Tomography Limited-Angle image Reconstruction Using Planning CT-Guided Deep Diffusion Model

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IEEE Transactions on Instrumentation and Measurement 2025年

作者： Wu, Zhan Yang, Yang Hu, Dianlin Lyu, Tianling Li, Yinsheng Tang, Hao Shu, Huazhong Xi, Yan Zhang, Yi Chen, Yang Southeast University Laboratory of Image Science and Technology Nanjing 210096 China Southeast University Ministry of Education Key Laboratory of Computer Network and Information Integration Nanjing 210096 China Zhejiang University of Technology Academy for Advanced Interdisciplinary Science and Technology Hangzhou China Chinese Academy of Sciences Key Laboratory of Biomedical Imaging Science and System China Capital Medical University Beijing Jishuitan Hospital China First-Imaging Tech Shanghai China Sichuan University School of Cyber Science and Engineering Chengdu China Laboratory of New Generation Artificial Intelligence Technology and Its Interdisciplinary Applications Southeast University Ministry of Education Jiangsu Provincial Joint International Research Laboratory of Medical Information Processing Laboratory of Image Science and Technology the School of Computer Science and Engineering Nanjing 210096 China

For existing image-guided radiation therapy systems (IGRT), the limited angular range of the cone-beam computed tomography (CBCT) scanning improves the compactness of the system and compatibility between CBCT and linear accelerator configurations. However, the limited-angle CBCT reconstruction under incomplete projection data causes severe artifacts in the reconstructed images, further having a negative impact on the registration accuracy in IGRT. In this paper, we propose a planning CT-guided deep diffusion model, termed LARGE-DiffNet, to improve imaging quality and registration accuracy for limited-angle CBCT image reconstruction. In stark contrast to existing approaches leveraging hand-crafted regularization, such as local smoothness and/or sparsity of the image, LARGE-DiffNet learns the distribution-level prior knowledge to describe the features of ideal CBCT images via a planning CT-guided diffusion model. The proposed LARGE-DiffNet is evaluated on the clinical CBCT dataset, and extensive experimental results demonstrate that the proposed method outperforms the state-of-the-art methods. The proposed LARGE-DiffNet technique has great potential in IGRT. © 1963-2012 IEEE.

关键词： cone-beam computed tomography deep learning diffusion model image registration image-guided radiation therapy limited-angle

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RLSESN-based PID adaptive control for a novel wearable rehabilitation robotic hand driven by PM-TS actuators

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International Journal of Intelligent Computing and Cybernetics 2012年第1期5卷 91-110页

作者： Jun Wu Jian Huang Yongji Wang Kexin Xing Key Laboratory of Image Processing and Intelligent Control Department of Control Science and EngineeringHuazhong University of Science and TechnologyWuhanChina

Purpose-The purpose of this paper is to develop a novel wearable rehabilitation robotic hand driven by Pneumatic Muscle-Torsion Spring(PM-TS)for finger *** has complex nonlinear dynamics,which makes PM modelling *** realize high-accurate tracking for the robotic hand,an Echo State Network(ESN)-based PID adaptive controller is proposed,even though the plant model is ***/methodology/approach-To drive a single joint of rehabilitation robotic hand,the paper proposes a new PM-TS actuator comprising a Pneumatic Muscle(PM)and a Torsion Spring(TS).Based on the novel actuator,a wearable robotic hand is *** employing the model-free approximation capability of ESN,the RLSESN based PID adaptive controller is presented for improving the trajectory tracking performance of the rehabilitation robotic *** ESN together with Recursive Least Square(RLS)is called a RLSESN,where the ESN output weight matrix is updated by the online RLS learning ***–Practical experiments demonstrate the validity of the PM-TS actuator and indicate that the performance of the RLSESN based PID adaptive controller is better than that of the conventional PID *** addition,they also verify the effectiveness of the proposed rehabilitation robotic ***/value–A new PM-TS actuator configuration that uses a PM and a torsion spring for bi-directional movement of joint is *** utilizing the new PM-TS actuator,a novel wearable rehabilitation robotic hand for finger therapy is *** on the unknown plant model,the RLSESN_PID controller is proposed to attain satisfactory performance.

关键词： Robotics control systems controllers Actuators Adaptive system theory Wearable rehabilitation robotic hand Echo state network Pneumatic muscle Trajectory tracking

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RepBoTNet-CESA:An Alzheimer’s Disease Computer Aided Diagnosis Method Using Structural Reparameterization BoTNet and Cubic Embedding Self Attention

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Computers, Materials & Continua 2024年第5期79卷 2879-2905页

作者： Xiabin Zhang Zhongyi Hu Lei Xiao Hui Huang College of Computer Science and Artificial Intelligence Wenzhou UniversityWenzhou325035China Key Laboratory of Intelligence Image Processing and Analysis Wenzhou UniversityWenzhou325035China

Various deep learning models have been proposed for the accurate assisted diagnosis of early-stage Alzheimer’s disease(AD).Most studies predominantly employ Convolutional Neural Networks(CNNs),which focus solely on local features,thus encountering difficulties in handling global *** contrast to natural images,Structural Magnetic Resonance Imaging(sMRI)images exhibit a higher number of channel ***,during the Position Embedding stage ofMulti Head Self Attention(MHSA),the coded information related to the channel dimension is *** tackle these issues,we propose theRepBoTNet-CESA network,an advanced AD-aided diagnostic model that is capable of learning local and global features *** combines the advantages of CNN networks in capturing local information and Transformer networks in integrating global information,reducing computational costs while achieving excellent classification ***,it uses the Cubic Embedding Self Attention(CESA)proposed in this paper to incorporate the channel code information,enhancing the classification performance within the Transformer ***,the RepBoTNet-CESA performs well in various AD-aided diagnosis tasks,with an accuracy of 96.58%,precision of 97.26%,and recall of 96.23%in the AD/NC task;an accuracy of 92.75%,precision of 92.84%,and recall of 93.18%in the EMCI/NC task;and an accuracy of 80.97%,precision of 83.86%,and recall of 80.91%in the AD/EMCI/LMCI/NC *** demonstrates that RepBoTNet-CESA delivers outstanding outcomes in various AD-aided diagnostic ***,our study has shown that MHSA exhibits superior performance compared to conventional attention mechanisms in enhancing ResNet ***,the Deeper RepBoTNet-CESA network fails to make further progress in AD-aided diagnostic tasks.

关键词： Alzheimer CNN structural reparameterization multi head self attention computer aided diagnosis

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Adaptive Synchronization between Two Different Complex Networks with Time-Varying Delay Coupling

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中国物理快报（英文版） 2009年第6期26卷 59-62页

作者： CHEN Jian-Rui JIAO Li-Cheng WU Jian-She WANG Xiao-Hua Key Laboratory of Intelligent Perception and Image Understanding of Ministry of Education of China Institute of Intelligence Information ProcessingXidian UniversityXi'an 710071 College of Science Inner Mongolia University of TechnologyInner Mongolia 01 Key Laboratory of Intelligent Perception and Image Understanding of Ministry of Education of China Institute of Intelligence Information ProcessingXidian UniversityXi'an 710071

A new general network model for two complex networks with time-varying delay coupling is *** we investigate its synchronization *** two complex networks of the model differ in dynamic nodes,the number of nodes and the coupling *** using adaptive controllers,a synchronization criterion is *** examples are given to demonstrate the effectiveness of the obtained synchronization *** study may widen the application range of synchronization,such as in chaotic secure communication.

关键词： No English keywords

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Finer discrimination of brain activation with local multivariate distance

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Progress in Natural Science:Materials International 2007年第12期17卷 1508-1514页

作者： Zhen Zonglei, Tian Jie and Zhang Hui(Medical image processing Group, key laboratory of Complex Systems and intelligence Science, Institute of Automation, Chinese Academy of Sciences, Beijing 100080, China) Medical Image Processing Group Key Laboratory of Complex Systems and Intelligence Science Institute of Automation Chinese Academy of Sciences Beijing 100080 China

The organization of human brain function is diverse on different spatial scales. Various cognitive states are always represented as distinct activity patterns across the specific brain region on fine scales. Conventional univariate analysis of functional MRI data seeks to determine how a particular cognitive state is encoded in brain activity by analyzing each voxel separately without considering the fine-scale patterns information contained in the local brain regions. In this paper, a local multivariate distance mapping (LMDM) technique is proposed to detect the brain activation and to map the fine-scale brain activity patterns. LMDM directly represents the local brain activity with the patterns across multiple voxels rather than individual voxels, and it employs the multivariate distance between different patterns to discriminate the brain state on fine scales. Experiments with simulated and real fMRI data demonstrate that LMDM technique can dramatically increase the sensitivity of the detection for the fine-scale brain activity patterns which contain the subtle information of the experimental conditions.

关键词： functional magnetic resonance imaging (fMRI) statistical analysis multivariate distance local pattern pattern classification.

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Bioimage-based protein subcellular location prediction： a comprehensive review

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Frontiers of Computer Science 2018年第1期12卷 26-39页

作者： Ying-Ying XU Li-Xiu YAO Hong-Bin SHEN Institute of Image Processing and Pattern Recognition Shanghai Jiao Tong University Shanghai 200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 China

Subcellular localization of proteins can provide key hints to infer their functions and structures in cells. With the breakthrough of recent molecule imaging techniques, the usage of 2D bioimages has become increasingly popular in automatically analyzing the protein subcellular location pat- terns. Compared with the widely used protein 1D amino acid sequence data, the images of protein distribution are more intuitive and interpretable, making the images a better choice at many applications for revealing the dynamic char- acteristics of proteins, such as detecting protein translocation and quantification of proteins. In this paper, we systemati- cally reviewed the recent progresses in the field of automated image-based protein subcellular location prediction, and clas- sified them into four categories including growing of bioim- age databases, description of subcellular location distribution patterns, classification methods, and applications of the pre- diction systems. Besides, we also discussed some potential directions in this field.

关键词： bioimage informatics protein subcellular loca-tion prediction global and local features multi-location pro-tein recognition

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Deep Learning in Palmprint Recognition-A Comprehensive Survey

arXiv

引用

arXiv 2025年

作者： Gao, Chengrui Yang, Ziyuan Jia, Wei Leng, Lu Zhang, Bob Teoh, Andrew Beng Jin College of Computer Science Sichuan University Chengdu610065 China Singapore School of Computer and Information Hefei University of Technology Hefei China Jiangxi Provincial Key Laboratory of Image Processing and Pattern Recognition Nanchang Hangkong University Nanchang China Pattern Analysis and Machine Intelligence Group Department of Computer and Information Science University of Macau Taipa China School of Electrical and Electronic Engineering College of Engineering Yonsei University Seoul Korea Republic of

Palmprint recognition has emerged as a prominent biometric technology, widely applied in diverse scenarios. Traditional handcrafted methods for palmprint recognition often fall short in representation capability, as they heavily depend on researchers' prior knowledge. Deep learning (DL) has been introduced to address this limitation, leveraging its remarkable successes across various domains. While existing surveys focus narrowly on specific tasks within palmprint recognition-often grounded in traditional methodologies-there remains a significant gap in comprehensive research exploring DL-based approaches across all facets of palmprint recognition. This paper bridges that gap by thoroughly reviewing recent advancements in DL-powered palmprint recognition. The paper systematically examines progress across key tasks, including region-of-interest segmentation, feature extraction, and security/privacy-oriented challenges. Beyond highlighting these advancements, the paper identifies current challenges and uncovers promising opportunities for future research. By consolidating state-of-the-art progress, this review serves as a valuable resource for researchers, enabling them to stay abreast of cutting-edge technologies and drive innovation in palmprint recognition. Copyright © 2025, The Authors. All rights reserved.

关键词： Biometrics

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