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arXiv 2020年

作者： Pan, Yiyuan Xu, Xuecheng Li, Weijie Cui, Yunxiang Wang, Yue Xiong, Rong The State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Zhejiang China

Place recognition is indispensable for a drift-free localization system. Due to the variations of the environment, place recognition using single-modality has limitations. In this paper, we propose a bi-modal place recognition method, which can extract a compound global descriptor from the two modalities, vision and LiDAR. Specifically, we first build the elevation image generated from 3D points as a structural representation. Then, we derive the correspondences between 3D points and image pixels that are further used in merging the pixel-wise visual features into the elevation map grids. In this way, we fuse the structural features and visual features in the consistent bird-eye view frame, yielding a semantic representation, namely CORAL. And the whole network is called CORAL-VLAD. Comparisons on the Oxford RobotCar show that CORAL-VLAD has superior performance against other state-of-the-art methods. We also demonstrate that our network can be generalized to other scenes and sensor configurations on cross-city datasets. © 2020, CC BY.

关键词： Pixels

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Geometry Problem Solving Based on Counter-Factual Evolutionary Reasoning 19

Geometry Problem Solving Based on Counter-Factual Evolutiona...

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19th IEEE International Conference on Automation Science and Engineering, CASE 2023

作者： Song, Bing Xiong, Gang Shen, Zhen Zhu, Fenghua Lv, Yisheng Ye, Peijun Institute of Automation Chinese Academy of Sciences The State Key Laboratory of Management and Control for Complex Systems Beijing China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100049 China Institute of Automation Chinese Academy of Sciences The Beijing Engineering Research Center of Intelligent Systems and Technology China Chinese Academy of Sciences The Guangdong Engineering Research Center of 3D Printing and Intelligent Manufacturing The Cloud Computing Center Dongguan523808 China Qingdao Academy of Intelligent Industries Intelligent Manufacturing Center Qingdao266000 China

ISBN: (纸本)9798350320695

As a representative topic in natural language processing and automated theorem proving, geometry problem solving requires an abstract problem understanding and symbolic reasoning. A major challenge here is to find a feasible reasoning sequence that is consistent with given axioms and the theorems already proved. Most recent methods have exploited neural network-based techniques to automatically discover eligible solving steps. Such a kind of methods, however, is greatly impacted by the expert solutions for training. To improve the accuracy, this paper proposes a new method called counterfactual evolutionary reasoning, which uses a generative adversarial network to generate initial reasoning sequences and then introduces counterfactual reasoning to explore potential solutions. By directly exploring theorem candidates rather than the neural network selection, the new method can sufficiently extend the searching space to get a more appropriate reasoning step. Through comparative experiments on the recent proposed Geometry3k, the largest geometry problem solving dataset, our method generally achieves a higher accuracy than most previous methods, bringing an overall improvement about 4.4% compared with the transformer models. © 2023 IEEE.

关键词： Geometry

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Magnetically Driven Soft Continuum Microrobot for Intravascular Operations in Microscale

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Cyborg and Bionic systems 2022年第1期2022卷 265-272页

作者： Dan Liu Xiaoming Liu Zhuo Chen Zhaofeng Zuo Xiaoqing Tang Qiang Huang Tatsuo Arai Key Laboratory of Biomimetic Robots and Sytems Ministry of EducationState Key Laboratory of Ielligent Control and Decision.of Complex SystemBeijing Advanced Innovation Center for Itelligent Robots and Systemsand School of Mechatronical EngineeringBeijing Institute of TechnologyBejing 100081China Center for Neuroscience and Biomedical Engineering The University of Electro-CommunicationsTokyo 1828585Japan

Remotely controlled soft continuum robots with active steering capability have broad prospects in medical ***,conventional continuum robots have the miniaturization *** paper presents a microscale soft continuum microrobot with steering and locomotion capabilties based on magnetic field *** magnetically driven soft continuum microrobot is made of NdFeB particles and polyd imethylsiloxane(PDMS),and it can be as small as 200 pum in ***,a hydrogel layer is covered on the surface of the microrobot,which not only overcomes the adhesion force between the microobjects and the soft tip but also reduces the friction between the microrobot and *** performance test indicates the soft continuum microrobot featured excellent control and steering *** experimental results demonstrate that the soft continuum microrobot can travel through the microfluidic channel by its own vibration and flexibly steer in a bifurcation ***,the micromanipulation of microbeads in the microfluidic channels proves that the proposed microscale soft continuum microrobot has a great potential for intravascu lar manipu lation.

关键词： friction robot overcome

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A Cyclic Small Phase Theorem for MIMO LTI systems*

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IFAC-PapersOnLine 2023年第2期56卷 1883-1888页

作者： Chao Chen Wei Chen Di Zhao Jianqi Chen Li Qiu Department of Electronic and Computer Engineering The Hong Kong University of Science and Technology Hong Kong China Department of Mechanics and Engineering Science & State Key Laboratory for Turbulence and Complex Systems Peking University Beijing China Department of Control Science and Engineering & Shanghai Institute of Intelligent Science and Technology Tongji University Shanghai China

This paper introduces a brand-new phase definition called the segmental phase for multi-input multi-output linear time-invariant systems. The underpinning of the definition lies in the matrix segmental phase which, as its name implies, is graphically based on the smallest circular segment covering the matrix normalized numerical range in the unit disk. The matrix segmental phase has the crucial product eigen-phase bound, which makes itself stand out from several existing phase notions in the literature. The proposed bound paves the way for stability analysis of a cyclic feedback system consisting of multiple subsystems. A cyclic small phase theorem is then established as our main result, which requires the loop system phase to lie between -π and π. The proposed theorem complements the celebrated small gain theorem.

关键词： Small phase theorem segmental phase cyclic feedback systems stability analysis lead-lag compensation

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Learning to Manipulate Tools Using Deep Reinforcement Learning and Anchor Information

Learning to Manipulate Tools Using Deep Reinforcement Learni...

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2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022

作者： Wei, Junhang Cui, Shaowei Hao, Peng Wang, Shuo The School of Future Technology University of Chinese Academy of Sciences Beijing100049 China The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China The University of Chinese Academy of Sciences Beijing100049 China The Center for Excellence in Brain Science and Intelligence Technology Chinese Academy of Sciences Shanghai200031 China

ISBN: (纸本)9781665481090

Endowing robots with tool manipulation skills helps them accomplish challenging tasks. While robots manipulate tools to achieve goals, the alignment of tools and targets is a noise-sensitive and contact-rich task. However, it is difficult to access the accurate pose of the tool and the target. When there is unknown noise in the observations, reinforcement learning can't be sure to perform well. In this paper, we define the easier-to-obtain accurate task-related information as anchor information and introduce a tool manipulation method based on reinforcement learning and anchor information, which can perform well when the observations include unknown noise. To evaluate the method, we build a simulated environment ToolGym, which includes four different kinds of tools and different noise sampling functions for each tool. Finally, we compare our method with baseline methods to show the effectiveness of the proposed method. © 2022 IEEE.

关键词： Reinforcement learning

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A Preliminary Study on the Functional Coupling between Nerve and Blood Microcirculation for Applications in Rehabilitation Robots

A Preliminary Study on the Functional Coupling between Nerve...

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IEEE International Conference on Robotics and Biomimetics

作者： Qingge Li Yuanzhe Dong Yuxiang Zhang Xin Wang Naifu Jiang Jianping Huang Han Cui Lan Tian Yue Zheng Xiangxin Li Lin Wang Guanglin Li Wenyuan Liang Liang Peng Peng Fang CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institute of Advanced Technology Shenzhen China Shenzhen College of Advanced Technology University of Chinese Academy of Sciences Shenzhen China National Research Center for Rehabilitation Technical Aids Beijing China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

Rehabilitation robots play an important role in the motor function rehabilitation for stroke survivors with hemiplegia. However, the rehabilitation effect of current robots is still limited partly because a single training of motor function can be strongly affected by the decreased blood supply function of the bedridden patients. This work proposed an approach to study the coupling relationship between the motor and blood supply functions by combining the synchronously recorded EEG and cerebral blood oxygen information, where the cerebrations in different movement paradigms were analyzed from an aspect of "functional coupling". The results show that the information of oxyhemoglobin concentration change (ΔHbO) can effectively indicate the cortex activation, and a stronger blood supply is needed in cortexes to perform body movements. The correlations within motor cortexes are significantly stronger than the ones between motor and prefrontal cortexes, and a higher resistance level of extremity training will cause stronger correlations. Calculation of transfer entropy (TE) shows that there exists a bidirectional information transmission between the electrophysiological and blood supply signals, and more information is transmitted always in the direction from ΔHbO to EEG than in the opposite direction. The information transmission or the coupling relationship can be significantly enhanced by extremity movements, and large TE values are achieved in the Theta, Beta and Gamma frequency bands of EEG that correspond to motor functions. This work has demonstrated the functional coupling between nerve and blood microcirculation, which would provide a technical guidance to improve the rehabilitation effect for current robot systems and have great application potentials.

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External forces resilient safe motion planning for quadrotor

arXiv

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arXiv 2021年

作者： Wu, Yuwei Ding, Ziming Xu, Chao Gao, Fei State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou310027 China Huzhou Institute of Zhejiang University Huzhou313000 China Department of Electrical and Systems Engineering University of Pennsylvania PhiladelphiaPA19104 United States

Adaptive autonomous navigation with no prior knowledge of extraneous disturbance is of great significance for quadrotors in a complex and unknown environment. The mainstream approach that considers external disturbance is to implement disturbance-rejected control and path tracking. However, the robust control to compensate for tracking deviations is not well-considered regarding energy consumption, and even the reference path will become risky and intractable with disturbance. As recent external forces estimation advances, it is possible to incorporate a real-time force estimator to develop more robust and safe planning frameworks. This paper proposes a systematic (re)planning framework that can resiliently generate safe trajectories under volatile conditions. Firstly, a front-end kinodynamic path is searched with force-biased motion primitives. Then we develop a nonlinear model predictive control (NMPC) as a local planner with Hamilton-Jacobi (HJ) forward reachability analysis for error dynamics caused by external forces. It guarantees collision avoidance by constraining the ellipsoid of the quadrotor body expanded with the forward reachable sets (FRSs) within safe convex polytopes. Our method is validated in simulations and real-world experiments with different sources of external forces. Copyright © 2021, The Authors. All rights reserved.

关键词： Collision avoidance

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Oscillation Suppression Method based on Power control Optimization of the Wind Farms 3

Oscillation Suppression Method based on Power Control Optimi...

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3rd IEEE International Power Electronics and Application Conference and Exposition, PEAC 2022

作者： Yang, Jiaqi Wang, Shaojun Li, Zhen Tian, Xu Liu, Bin Liu, Xiangdong Beijing Institute of Technology School of Automation Beijing China Co.Ltd Bayannur Power Supply Bureau Inner Mongolia China State Key Laboratory for Intelligent Control and Decision of Complex Systems Beijing China Beijing University of Mining and Technology Beijing Electric Engineering and Automation Beijing China Tsinghua University Department of Electrical Engineering Beijing China

ISBN: (数字)9781665491419

ISBN: (纸本)9781665491419

Oscillation issues in the grid-connected wind farm system can severely deteriorate the power system security and lead to serious damage. Based on the impedance analysis method, many oscillation suppression methods have been proposed for reshaping the impedance characteristics of system to avoid the risk of oscillations. However, modifying converters' controllers to reshape the wind turbines (WTs) impedance and usage of additional damping devices for reshaping the grid impedance both are time-consuming and costly. Therefore, based on the sequence impedance model of the grid-connected wind farm system, this paper proposes a novel oscillation suppression method by optimizing the power control of wind farm. The system stability margin can be improved by modifying the number of online WTs and the output power of each WT to reshape the impedance of wind farm, under the precondition that the output power demand of wind farm is satisfied. Then, the intelligent particle swarm optimization (PSO) algorithm is used to solve the optimization approach to obtain the number of online WTs with optimal stability margin. Finally, the simulation confirms the effectiveness of the proposed oscillation suppression method. © 2022 IEEE.

关键词： System stability

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A Human-Robot Collaboration System for Object Handover

A Human-Robot Collaboration System for Object Handover

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IEEE International Conference on Robotics and Biomimetics

作者： Yifei Yang Longzhong Lin Yifan Zhang Zhongxiang Zhou Yue Wang Rong Xiong State Key Laboratory of Industrial Control Technology and Institute of Cyber-Systems and Control of Zhejiang Province Zhejiang University Hangzhou P.R. China College of Electrical Engineering Zhejiang University Hangzhou P.R. China

ISBN: (纸本)9781665405362

Humans and robots are the two main labor in industry, and they have respective advantages. Human-Robot Collaboration combines the advantages of humans and robots, which makes it a research hotspot. While there are a lot of research and developments in the field of Human-Robot Collaboration, how to apply and optimize existing technologies to realize a complete Human-Robot Collaboration system is not a very focused problem. So, we realize a Human-Robot Collaboration system for object handover: the human holds a container (denoted as ContainerA), and the robot holds the other container (denoted as ContainerB) with some contents as a collaborator; the robot uses computer vision to detect ContainerA and estimate position and orientation of it; then the robot plans and controls the motion of the robot arm based on the visual information, and hand over the contents in ContainerB to ContainerA. For computer vision, we use Fast- SCNN for semantic segmentation and REDE for pose estimation, which can obtain the accurate pose of the hand-held container in real time. In terms of robot arm motion planning and control, we perform speed control based on artificial potential field and admittance control to achieve a smooth follow-up movement.

关键词： Visualization Service robots Semantics Pose estimation Collaboration Object segmentation Containers

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Genomic characteristics of a Streptococcus suis of ST353 resulting in severe endophthalmitis with bilateral deafness

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Infectious Diseases & Immunity 2025年第1期5卷 36-43页

作者： Liang Shen Yanfei Tong Shichao Li Yuda Chen Ruhan A Zhen Li Wenling Wang Lijuan Yin Jiuming Zou Ziyong Sun Changcheng Wu Wenjie Tan Xiangyang Central Hospital Affiliated Hospital of Hubei University of Arts and ScienceXiangyang 441021Hubei ProvinceChina National Key Laboratory of Intelligent Tracking and Forecasting for Infectious Diseases National Institute for Viral Disease Control and PreventionChinese Center for Disease Control and PreventionBeijing 102206China School of Public Health Baotou Medical CollegeBaotou 014030Inner MongoliaChina Collaborative Innovation Centre of Regenerative Medicine and Medical BioResourse Development and Application Co-constructed by the Province and Ministry Guangxi Medical UniversityNanning 530021Guangxi ProvinceChina State Key Laboratory of Food Nutrition and Safety Key Laboratory of Industrial MicrobiologyMinistry of EducationTianjin Key Laboratory of Industry MicrobiologyNational and Local United Engineering Lab of Metabolic Control Fermentation TechnologyChina International Science and Technology Cooperation Base of Food Nutrition/Safety and Medicinal ChemistryCollege of BiotechnologyTianjin University of Science&TechnologyTianjin 300457China Department of Laboratory Medicine Tongji HospitalTongji Medical CollegeHuazhong University of Science and TechnologyWuhan 430030Hubei ProvinceChina

Background:Streptococcus suis(***)can be transmitted to humans through exposure to pigs or consumption of raw pork and causes serious *** infection through skin abrasions is considered an important route of transmission,few studies have reported skin injuries in patients during exposure or before *** study explored a rare instance of intraocular infection and bilateral deafness caused by *** and emphasized the importance of timely diagnosis and treatment to prevent disease ***:The diagnosis was made on the basis of clinical symptoms,imaging,molecular detection,and isolated culture *** susceptibility testing was conducted to determine the effectiveness of ***-genome sequencing was used to identify the strain’s sequence type and serotype as well as the presence of pathogenicity islands(PAIs).Results:A patient with intraocular infection and bilateral deafness was diagnosed with an *** *** infection was hypothesized to result from interspecies transmission due to the patient’s occupation and recent skin *** isolated strain was sensitive to ampicillin,ceftriaxone,vancomycin,linezolid,levofloxacin,and ***-genome sequencing revealed that the strain belonged to sequence type 353 and serotype 2,showing close similarity to strains isolated from wild boars in Chinese *** strain lacked the 89 complete kb PAI but had a 33 kb PAI with high similarity,potentially indicating variable ***:This study highlights the importance of employing multiple diagnostic strategies for the timely identification and treatment of *** *** presence of a potentially less virulent strain emphasizes the need for continuous surveillance and monitoring of emerging *** infections,particularly in Asian countries with high-risk populations associated with the pig farming industry.

关键词： Streptococcus suis Endophthalmitis Meningitis Genome sequencing Comparative genomics

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