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Micro-assembly of micro parts using uncalibrated microscopes visual servoing method

Information Technology Journal 2008年第3期7卷 497-503页

作者： Xiangjin, Zeng Xinhan, Huang Min, Wang Key Laboratory of Image Processing and Intelligent Control Department of Control Science and Engineering HUST Wuhan 430074 China

In micromanipulation, the microscope vision servoing can achieve a high performance. In order to avoid the complicated calibration of intrinsic parameter of camera, We apply an improved broyden's method to estimate the image jacobian matrix on line, which employs Chebyshev polynomial to construct a cost function to approximate the optimization value, obtaining a fast convergence for online estimation. Using the estimated jacobian matrix, a PD visual controller is used to make features converge to desired values with satisfactory dynamic performance. The experiments of micro-assembly of micro parts m microscopes confirm that the proposed method is effective and feasible. © 2008 Asian Network for Scientific Information.

关键词： Chebyshev polynomials

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Attentive Neighborhood Feature Augmentation for Semi-supervised Learning

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intelligent Automation & Soft Computing 2023年第8期37卷 1753-1771页

作者： Qi Liu Jing Li Xianmin Wang Wenpeng Zhao School of Computer Science and Cyber Engineering Guangzhou UniversityGuangzhou510002China Fujian Provincial Key Laboratory of Information Processing and Intelligent Control Minjiang UniversityFuzhou350121China

Recent state-of-the-art semi-supervised learning(SSL)methods usually use data augmentations as core *** methods,however,are limited to simple transformations such as the augmentations under the instance’s naive representations or the augmentations under the instance’s semantic *** tackle this problem,we offer a unique insight into data augmentations and propose a novel data-augmentation-based semi-supervised learning method,called Attentive Neighborhood Feature Aug-mentation(ANFA).The motivation of our method lies in the observation that the relationship between the given feature and its neighborhood may contribute to constructing more reliable transformations for the data,and further facilitating the classifier to distinguish the ambiguous features from the low-dense ***,we first project the labeled and unlabeled data points into an embedding space and then construct a neighbor graph that serves as a similarity measure based on the similar representations in the embedding ***,we employ an attention mechanism to transform the target features into augmented ones based on the neighbor ***,we formulate a novel semi-supervised loss by encouraging the predictions of the interpolations of augmented features to be consistent with the corresponding interpolations of the predictions of the target *** carried out exper-iments on SVHN and CIFAR-10 benchmark datasets and the experimental results demonstrate that our method outperforms the state-of-the-art methods when the number of labeled examples is limited.

关键词： Semi-supervised learning attention mechanism feature augmentation consistency regularization

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Frequency Information Matters for image Matting 1

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7th Asian Conference on Pattern Recognition, ACPR 2023

作者： Luo, Rongsheng Wei, Rukai Gao, Changxin Sang, Nong Key Laboratory of Image Processing and Intelligent Control School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan China Wuhan National Laboratory For Optoelectronics Huazhong University of Science and Technology Wuhan China

ISBN: (数字)9783031476341

ISBN: (纸本)9783031476334

image matting aims to estimate the opacity of foreground objects in order to accurately extract them from the background. Existing methods are only concerned with RGB features to obtain alpha mattes, limiting the perception of local tiny details. To address this issue, we introduce frequency information as an auxiliary clue to accurately distinguish foreground boundaries and propose the Frequency Matting Network (FMN). Specifically, we deploy a Frequency Boosting Module (FBM) in addition to the Discrete Cosine Transform (DCT) to extract frequency information from input images. The proposed FBM is a learnable component that empowers the model to adapt to complex scenarios. Furthermore, we design a Domain Aggregation Module (DAM) to effectively fuse frequency features with RGB features. With the assistance of frequency clues, our proposed FMN achieves significant improvements in matting accuracy and visual quality compared with state-of-the-art methods. Extensive experiments on Composition-1k and Distinctions-646 datasets demonstrate the superiority of introducing frequency information for image matting. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Discrete cosine transforms

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Changes in spectrum mapping in rhythmic movement involved in walking after spinal cord injury

Changes in spectrum mapping in rhythmic movement involved in...

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2013 IEEE International Conference on Medical Imaging Physics and Engineering

作者： Li Wei Yan Zhiqiao Huang Yue Xu Jiang Image Processing and Intelligent Control Key Laboratory of Education Ministry of China School of Automation Huazhong University of Science and Technology Rehabilitation Department Tongji HospitalWuhan

ISBN: (纸本)9781467358873

Spectrum mapping reflects the strength of brain electrical activity in different frequency *** current study analyzes changes in electroencephalography(EEG) after spinal cord injury(SCI) on the basis of spectrum *** spectrum mappings of SCI patients and normal subjects,the fact that beta rhythm dominated in brain electrical activity during walking period was *** addition,the proportion of delta wave increased and slightly exceeded that of beta wave after spinal cord injury and power values in delta band of SCI patients performed greater than that of normal subjects.

关键词： Spectrum mapping,Spinal cord injury,Frequency band

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Artificial Bee Colony algorithm based Auto-Disturbance Rejection control for rehabilitation robotic arm driven by PM-TS actuator

Artificial Bee Colony algorithm based Auto-Disturbance Rejec...

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2012 International Conference on Modelling, Identification and control, ICMIC 2012

作者： Wu, Jun Wang, Yongji Huang, Jian Xing, Kexin Key Laboratory of Image Processing and Intelligent Control Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan 430074 China College of Information Engineering Zhejiang University of Technology Hangzhou Zhejiang 310032 China

ISBN: (纸本)9780956715715

Pneumatic Muscle (PM) has the advantages of cheapness, light weight, compliance, safe and high power/weight. It is suitable for rehabilitation engineering. To minimize the number of PM for driving a single joint of rehabilitation, a new PM-TS actuator comprising a PM and a Torsion Spring (TS) is proposed. Unlike the traditional agonist/antagonist PM actuator, the PM is arranged in appropriate place as agonist and the torsion spring provides opposing torque as antagonist in the proposed actuator. The dynamic model of a 1-DOF (Degree of Freedom) rehabilitation robotic arm is derived considering the PM-TS actuator. To realize high accurate trajectory tracking control of the robotic arm, an Artificial Bee Colony (ABC) algorithm based Auto-Disturbance Rejection control (ADRC) is proposed, where ABC is employed to optimize the control parameters of ADRC. Simulation results demonstrate the validity of PM-TS actuator, and verify that the ABC based ADRC has satisfactory performance. © 2012 Huazhong Univ of Sci & Tec.

关键词： Optimization

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Uniform Solution to QSAT by P Systems with Proteins

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Chinese Journal of Electronics 2023年第4期21卷 667-672页

作者： Chun LU Xiaolong SHI Department of Control Science and Engineering Key Laboratory of Image Processing and Intelligent Control Huazhong University of Science and Technology Wuhan China

P systems are distributed parallel computing models in the area of membrane computing, which are inspired by the structure and the functioning of living cells, as well as the organization of cells in tissues, organs, and other higher order structures. P systems with proteins on membranes are a class of P systems, which have proved to be very efficient computing devices. Specifically, it was known that the Quantified satisfiability problem (QSAT) of a Boolean formula can be solved by a semi-uniform family of P systems with proteins on membranes and with membrane division. However, it remains open whether a uniform families of P systems with proteins on membranes can solve in polynomial time exactly the class of problems PSPACE. In this work, we present a uniform solution to QSAT problem by P systems with proteins on membranes in a linear time with respect to both the number $n$ of Boolean variables and the number $m$ of clauses of the instance, which answers the above open problem.

关键词： Proteins image processing Computational modeling Organizations Parallel processing intelligent control

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A novel target tracking approach based on ORB used in micromanipulation system

A novel target tracking approach based on ORB used in microm...

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2012 International Conference on Modelling, Identification and control, ICMIC 2012

作者： Zuo, Lei Huang, Xinhan Zuo, Wen Key Laboratory of Image Processing and Intelligent Control of Education Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan 430074 China College of Electronical Engineering Naval University of Engineering Wuhan 430033 China

ISBN: (纸本)9780956715715

Micromanipulation robot is a system which often does some precise manipulations in micro scale space, such as centimeter or millimeter level space, in which micro visual servo system plays a very important role. In visual servo system, it's difficult to give consideration to two or more things such as location accuracy and real-time property at the same time. In this paper, we introduced a novel approach which suited our system very well and could meet both of the above requirements. It was called ORB, a novel feature extracting method which outperformed many current excellent methods such as SIFT and SURF. © 2012 Huazhong Univ of Sci & Tec.

关键词： Target tracking

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Incremental feedback learning methods for voice recognition based on DTW

Incremental feedback learning methods for voice recognition ...

引用

2012 International Conference on Modelling, Identification and control, ICMIC 2012

作者： Chen, Xiaoxia Huang, Jian Wang, Yongji Tao, Chunjing Key Laboratory of Image Processing and Intelligent Control Department of Control Science and Technology Huazhong University of Science and Technology Wuhan China R and D Department National Research Center for Rehabilitation Technical Aids Beijing China

ISBN: (纸本)9780956715715

A Dynamic Time Warping (DTW) based voice recognition approach and its template training problem are discussed in this paper. In order to achieve better recognition accuracies, we proposed two kinds of incremental feedback learning methods for DTW-based voice recognition, including the variable gain coefficient (VGC) based method and the time warping average (TWA) based method. Compared with the non-feedback recognition system, the proposed methods are easy to implement and more robust to noise. A number of comparison experiments are performed to demonstrate the effectiveness of the proposed method. It is also shown that the VGC-based method, whose implementation is easy, achieves significantly better performance than conventional batch template training method without feedback learning. © 2012 Huazhong Univ of Sci & Tec.

关键词： Speech recognition

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A Robust CPD Approach Based on Shape Context 33

A Robust CPD Approach Based on Shape Context

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第三十三届中国控制会议

作者： YANG Yawen ZHANG Peng Peng QIAO Yu YANG Jie WANG Sheng Zheng The Key Laboratory of Ministry of Education for System Control and Information Processing Institute of Image Processing and Pattern RecognitionShanghai Jiao Tong University Merchant Marine College Shanghai Maritime University

ISBN: (纸本)9781479947249

Point matching is an important component of image *** years,Coherent Point Drift(CPD) method becomes a very popular point matching *** treats point matching as a probability estimation problem and speeds up the process of matching a *** this method,one set of points are thought to be sampled from a Gaussian Mixture Model(GMM),which is centered by the other set of ***,CPD is sensitive to outliers and noises,especially when the noise ratio increased or the number of outliers gets much *** deal with this problem,we introduce shape context into the step of searching for matching points and then improve the form of prior probabilities of GMM in this *** main idea of our method is that if the most points in a data set are likely to be matched to a particular centroid,this Gaussian component should be have a more influence to ***,we set prior probability of GMM with the similarity between GMM components and the data *** the computation of similarity is based on shape *** experiments on 2D and 3D images show that when noise ratio is low,our method performs as well as CPD does,but as the ratio increased,our method is more robust and satisfactory than CPD.

关键词： CPD,Shape context,image registration,Point matching

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Development of wearable bath safety monitoring system for handicapped people

Development of wearable bath safety monitoring system for ha...

引用

2012 International Conference on Modelling, Identification and control, ICMIC 2012

作者： Zhang, Hao Huang, Jian Huo, Weiguang Tao, Chunjing Key Laboratory of Image Processing and Intelligent Control Department of Control Science and Technology Huazhong University of Science and Technology Wuhan China R and D Department of National Research Center for Rehabilitation Technical Aids Beijing China

ISBN: (纸本)9780956715715

With the development of society and progress of technology, people are concerned with their health more and more. Currently there are increasing number of handicapped people, which brings tremendous burden to the society and their families. For handicapped people, bathing is a big challenge because of disabilities and some dangers such as falling down or drowning which will cause severe consequence if not be dealt with in time. To alleviate the burden of society and their families as well as guarantee their safety during bathing, we propose an integrated wearable bath safety monitoring system. This system can detect both fall and drowning emergencies during bathing in real-time and alarm to remote monitoring center for help. The effectiveness of the propose safety monitoring system is confirmed by experiments. © 2012 Huazhong Univ of Sci & Tec.

关键词： Fall detection

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