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Automatic velocity picking based on optimal key points tracking algorithm

Petroleum Science 2024年第2期21卷 903-917页

作者： Yong-Hao Wang Wen-Kai Lu Song-Bai Jin Yang Li Yu-Xuan Li Xiao-Feng Gu The Institute for Artificial Intelligence(THUAI) Tsinghua UniversityBeijing100084China State Key Laboratory of Intelligent Technology and Systems Tsinghua UniversityBeijing100084China Beijing National Research Center for Information Science and Technology(BNRist) Beijing100084China The Department of Automation Tsinghua UniversityBeijing100084China

Picking velocities from semblances manually is laborious and necessitates experience. Although various methods for automatic velocity picking have been developed, there remains a challenge in efficiently incorporating information from nearby gathers to ensure picked velocity aligns with seismic horizons while also improving picking accuracy. The conventional method of velocity picking from a semblance volume is computationally demanding, highlighting a need for a more efficient strategy. In this study, we introduce a novel method for automatic velocity picking based on multi-object tracking. This dynamic tracking process across different semblance panels can integrate information from nearby gathers effectively while maintaining computational efficiency. First, we employ accelerated density clustering on the velocity spectrum to discern cluster centers without the requirement for prior knowledge regarding the number of clusters. These cluster centers embody the maximum likelihood velocities of the main subsurface structures. Second, our proposed method tracks key points within the semblance volume. Kalman filter is adopted to adjust the tracking process, followed by interpolation on these tracked points to construct the final velocity model. Our synthetic data example demonstrates that our proposed algorithm can effectively rectify the picking errors of the clustering algorithm. We further compare the performances of the clustering method(CM), the proposed tracking method(TM), and the variational method(VM) on a field dataset from the Gulf of Mexico. The results attest that our method offers superior accuracy than CM, achieves comparable accuracy with VM, and benefits from a reduced computational cost.

关键词： Velocity picking Multi-object tracking Density clustering Kalman filter

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Path Tracking Control for Helical Microrobots Based on Fusion of Geometric and Model-Free Methods 13

Path Tracking Control for Helical Microrobots Based on Fusio...

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13th IEEE International Conference on CYBER technology in Automation, Control, and intelligent systems, CYBER 2023

作者： Zhong, Shihao Wang, Huaping Shi, Qing Hou, Yaozhen Qiu, Yukang Sun, Tao Huang, Qiang Fukuda, Toshio School of Medical Technology Beijing Institute of Technology Beijing100081 China Key Laboratory of Biomimetic Robots and Systems Beijing Institute of Technology Ministry of Education Beijing100081 China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology Beijing100081 China Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology Beijing100081 China

ISBN: (纸本)9798350315196

Helical micron-sized robots driven by magnetic fields have garnered significant interest, particularly in the field of tracking control. However, at the microscale, time-varying uncertain perturbations in both the environment and electromagnetic system can cause these robots to deviate from their preset state. Here, we propose a novel control method that combines geometric and model-free controllers in a complementary manner to achieve accurate path-tracking of a helical microrobot on underwater unstructured surfaces. The geometric controller acts as a feedforward controller handling path information and formulating guidance law, while the model-free controller responds directly to the lateral error. To compensate for unmodeled nonlinear dynamics and unknown disturbances and achieve system dynamic linearization, we employ an extended state observer. To validate the proposed method and determine suitable ranges for input parameters of the controllers, simulations were carried out. The effectiveness of our path-tracking control method is validated through experimental results. The control technique provides an initial investigation into addressing the effects of uncertainties and perturbation on the control capabilities of magnetic microrobots. © 2023 IEEE.

关键词： Controllers

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Semantic association rules for data interestingness using domain ontology

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International Journal of Metadata, Semantics and Ontologies 2022年第1期16卷 47-67页

作者： Abhilash, C.B. Mahesh, Kavi Department of Computer Science and Engineering Indian Institute of Information Technology Dharwad Karnataka Dharwad India Department of Data Science and Intelligent Systems Indian Institute of Information Technology Dharwad Karnataka Dharwad India

The COVID-19 pandemic is a major public health crisis threatening people’s health, well-being, freedom to travel and the global economy. Understanding COVID-19 symptoms for determining the severity of cases is critical. This study aimed to discover interesting facts from the COVID-19 data set considering symptoms, medicines and comorbidity. For data mining research, the semantic web raises new possibilities. Resource Description Framework (RDF) triple format is commonly used to express semantic web data. Association Rule Mining (ARM) is one of the most effective methods of detecting frequent patterns. However, finding potential rules is a difficult task. We propose an improved method that uses ontology with ARM for finding semantic-rich rules from COVID-19 data sets. The outcomes are semantic association rules that are potentially beneficial for decision-makers. We compare our results with one of the most recent approaches in this field to demonstrate the importance of ontology-based methods. Copyright © 2022 Inderscience Enterprises Ltd.

关键词： COVID-19

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A MATLAB Multi-Body Simulation Platform Toward Multiple Flapping Wing Vehicles 42

A MATLAB Multi-Body Simulation Platform Toward Multiple Flap...

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42nd Chinese Control Conference, CCC 2023

作者： Yan, Jifu Jia, Fan Qian, Chen Fang, Yongchun Institute of Robotics and Automatic Information System Nankai University Tianjin300353 China Interdisciplinary Innovation Research Centers Intelligent Robotic Research Center Zhejiang Laboratory Hangzhou311100 China Institute of Intelligence Technology and Robotics Systems Shenzhen Research Institute of Nankai University Shenzhen518083 China

ISBN: (纸本)9789887581543

The article notices rare simulation implementations of multiple flapping wing vehicles(FWVs) with the complicate mechanisms, aerodynamics, and control systems. Moreover, we expect that one can research FWV flight by CAD model import, joint connection, and parameter setup. Therefore, we establish a general and simple simulation platform framework based on MATLAB/Simulink with Simscape Multibody Toolbox for FWV mechanism, aerodynamics, and formation control for hovering or forward flight. Inspired by Purdue Hummingbird design, we provided simplified flapping wing aerodynamics with passive rotation, virtual environment interaction, adaptive cascade control, and consensus formation algorithms in the MATLAB integration platform. This work is fundamental for the verification of research, and useful for the improvement of mechanic design, actuator selection, and control algorithms of the ontology or swarm thanks to its compatibility. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Simulation platform

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Design and Simulation of a Helical Microrobot for Maximum Speed Enhancement by Physical Surface Modification

Design and Simulation of a Helical Microrobot for Maximum Sp...

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2023 IEEE International Conference on Real-Time Computing and robotics, RCAR 2023

作者： Guo, Siyu Wang, Maolin Wang, Huaping Zhong, Shihao Qiu, Yukang Hou, Yaozhen Shi, Qing Fukuda, Toshio Beijing Institute of Technology Intelligent Robotics Institute School of Mechatronical Engineering Beijing100081 China Ministry of Education Key Laboratory of Biomimetic Robots and Systems Beijing Institute of Technology Beijing100081 China Beijing Institute of Technology School of Medical Technology Beijing100081 China Beijing Institute of Technology Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing100081 China

ISBN: (纸本)9798350327182

Magnetic helical microrobots have great potential in biomedical applications. However, improving their motion performance in the complex and variable in vivo fluid environment remains challenging. Previous researches mainly focus on optimizing the geometric parameter, the evolutionary structure design, and chemical modifications of the robots, with limited attention given to the impact of physical surface modifications on propulsion performance. To address this issue, we design the helical microrobot with different surface physical modifications, including dimpled and raised surfaces, to evaluate their effects on swimming performance. With ANSYS Fluent, we simulated their swimming process in water and found that microrobots with physically modified surfaces experience less resistance and exhibit a larger step-out frequency while swimming. Moreover, our findings suggest that helical microrobots with dimpled surfaces demonstrate superior swimming performance due to their larger gas-liquid interface area compared to those with raised surfaces. © 2023 IEEE.

关键词： Chemical modification

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Branch-and-cut-and-price for agile earth observation satellite scheduling

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European Journal of Operational Research 2025年第3期326卷 427-438页

作者： Peng, Guansheng Wang, Jianjiang Song, Guopeng Gunawan, Aldy Xing, Lining Vansteenwegen, Pieter School of Advanced Engineering and Great Bay Institute for Advanced Study Great Bay University Dongguan523000 China Defense Innovation Institute Chinese Academy of Military Science Beijing100071 China College of Systems Engineering National University of Defense Technology Changsha410073 China National Key Laboratory of Information Systems Engineering National University of Defense Technology Changsha410073 China School of Computing and Information Systems Singapore Management University Singapore178902 Singapore Research Institute of Intelligent Control and Manufacturing System Jiangsu University of Technology Changzhou213001 China KU Leuven Institute for Mobility - CIB Leuven3001 Belgium

The Agile Earth Observation Satellite scheduling selects and sequences satellite observations of possible targets on the Earth's surface, each with a specific profit and multiple time windows. The objective is to maximize the collected profit of all observations completed under some operational constraints. The problem can be modeled as a variant of the Team Orienteering Problem with Time Windows (TOPTW). The key differences with the regular TOPTW are twofold: first, a time-dependent transition time is required for each pair of consecutive observations to adjust the camera's look angles. Second, the time windows of each target vary during different observation cycles, called "orbits". Some targets are invisible during certain orbits. We call this variant the Time-dependent Team Orienteering Problem with Variable Time Windows. In this paper, we present an efficient branch-and-cut-and-price (BCP) algorithm that exploits the problem's characteristics to solve it to optimality. Some algorithmic enhancements have been implemented, such as a Lagrangian bound, an ng-path relaxation, a primal heuristic, and subset-row inequalities. Extensive experiments on different configurations of benchmark instances demonstrate the superior performance of the proposed BCP algorithm and its algorithmic enhancements. Moreover, the primal heuristic yields a high-quality lower bound and outperforms state-of-the-art heuristics. Finally, we adopt our framework to solve the well-known TOPTW, and our algorithm is much faster than state-of-the-art exact algorithms. © 2025 Elsevier B.V.

关键词： Branch and bound method

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Interface design for residential energy feedback, in the Indian context

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Energy Informatics 2023年第1期6卷 12页

作者： Garg, Madhur Garg, Vishal Srivastava, Priyanka Agarwal, Rishika Center for IT in Building Science International Institute of Information Technology Hyderabad India Indorama Ventures Center for Clean Energy Plaksha University Punjab Mohali India Perception and Cognition Lab Cognitive Science Centre Kohli Research Centre on Intelligent Systems International Institute of Information Technology Hyderabad India

Global access to electricity has increased from 78.2% to 2000 to 90.5% in 2020, resulting in an increased electricity demand worldwide. Unlike commercial electricity consumption, which is managed by professionals, residential consumption is managed by the householders, who often lack insight into their energy usage. Quality feedback, including detailed energy consumption and tips, can lead to substantial household savings. There are several mediums for providing energy feedback, such as Short Message Service (SMS), postal letter, email, mobile app, and In-Home Display (IHD). Studies suggest that feedback through electronic media can save up to 20% of energy consumption. In this work, we aim to design mobile application interfaces that can maximize energy savings through effective feedback. The level of savings realized is dependent on the user’s preferences and understanding of the information presented. User preferences are subjective of their profile (e.g., age, occupation, income) and the cultural context (e.g., country). The possibility of energy reduction is high when the provided information matches the user preferred information for feedback. Smart homes have recently been included as an annexure in India’s building energy code (Eco Niwas Samhita 2021), indicating a growing demand for quality energy feedback in India. However, there is a lack of research that addresses what feedback information is suitable for Indian users. We conducted two questionnaire-based surveys, one to understand users’ preferences for feedback information and another to validate the designed mobile application interface screens. The surveys were conducted on two age groups, young and middle-aged adults. A Chi-Square Test of Independence was performed to assess the relationship between the user’s preference for feedback information and their age group. Participants identified total energy consumption, appliance level disaggregated information, energy-saving tips, goals, and historical

关键词： Energy conservation

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A hierarchical energy sharing strategy for multi-communities with heterogeneous prosumers

A hierarchical energy sharing strategy for multi-communities...

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2024 China Automation Congress, CAC 2024

作者： Yang, Yan Chen, Fan Hu, Mian Wu, Huaiyu Chen, Yang Engineering Research Center for Metallurgical Automation and Measurement Technology Ministry of Education Wuhan University of Science and Technology 430081 China Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology 430081 China

ISBN: (纸本)9798350368604

Inter-community energy sharing is of positive significance in the energy transacion market, which can effectively reduce the cost of purchasing energy from the utility grid and improve the local consumption of renewable energy. In this study, a hierarchical energy sharing framework for multi-communities with heterogeneous prosumers is proposed. Each community consists of different types of prosumers, that is, photovoltaic (PV) prosumers, wind turbine (WT) prosumers and aggregate electric vehicle (EV) prosumers. A hierarchical energy sharing strategy based on Stackelberg game is proposed. In the inner cooperation stage, the total cost minimization model of operator cluster is established. In the outer non-cooperative stage, the Stackelberg game model between each operator and heterogeneous prosumers in each community is established, and the robust optimization method is adopted to solve the time-varying uncertainty problem of renewable energy generations. A hierarchical iterative algorithm is designed to solve the Stackelberg game equilibrium strategy, which maximizes each prosumer’s income and minimizes the operators’ total cost. The simulation results show that the proposed multi-community hierarchical energy sharing strategy can not only reduce the impact of load fluctuation on the utility grid, but also improve the income of prosumers. © 2024 IEEE.

关键词： Distributed energy

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Analyzing and Mitigating Common Vulnerabilities in Smart Contracts in Web3 Ecosystem: A Comprehensive Study 2

Analyzing and Mitigating Common Vulnerabilities in Smart Con...

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2nd IEEE International Conference on Data, Decision and systems, ICDDS 2023

作者： Hegadi, Rajendra Akella, Syam Sankar Karthik Reddy, Koushik Kumar Pavan, C. Indian Institute of Information Technology Dharwad Department of Data Science and Intelligent Systems Karnataka India Indian Institute of Information Technology Dharwad Department of Computer Science and Engineering Karnataka India

ISBN: (纸本)9798350314168

As we enter a new era of decentralized applications and blockchain technology, the issue of Web3 security becomes crucial and requires immediate attention. Given the growing popularity of using smart contracts in web3, it is vital to ensure the protection of digital assets and user data online. This paper aims to examine the different security risks associated with smart contracts in web3 and propose measures to mitigate them. This research article delves into the identification, causes, and potential mitigation steps for common vulnerabilities found in smart contracts in web3. Specifically, we focus on six major vulnerabilities: overflow and underflow, access control vulnerabilities, re-entrancy attacks, price manipulation attacks, signature reply attacks and self-destruct attacks. By comprehensively discussing these vulnerabilities and offering mitigation strategies, this research aims to disseminate the security vulnerabilities in smart contracts in Web3 ecosystem and provides a path way for adoption of blockchain technology. © 2023 IEEE.

关键词： Smart contract

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基于细胞内应变评估的卵母细胞去核方法及在机器人化克隆中的应用

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Engineering 2023年第5期24卷 73-83,I0002页

作者： Ming-Zhu Sun Yao-Wei Liu Mao-Sheng Cui Qi-Li Zhao Xiang-Fei Zhao Yi-Di Zhang Jing-Jing Huang Gui-Zhang Lu Xin Zhao Institute of Robotics and Automatic Information System Tianjin Key Laboratory of Intelligent RoboticsNankai UniversityTianjin 300071China Tianjin Animal Science and Veterinary Research Institute Tianjin 300201China Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai UniversityShenzhen 518063China

自1996年第一只克隆羊诞生,克隆技术就由于其在动物育种方面的巨大潜力而得到了大量关注。体细胞核移植技术是动物克隆的核心,其操作过程非常复杂,不可避免地造成细胞内损伤。通常来说,只有不到1%的重构胚胎能够发育成克隆动物,克隆的... 详细信息

自1996年第一只克隆羊诞生,克隆技术就由于其在动物育种方面的巨大潜力而得到了大量关注。体细胞核移植技术是动物克隆的核心,其操作过程非常复杂,不可避免地造成细胞内损伤。通常来说,只有不到1%的重构胚胎能够发育成克隆动物,克隆的低成功率是制约其广泛应用的主要原因之一。为此,本文提出了一种基于细胞内应变评估的卵母细胞去核方法,来减少体细胞核移植中的潜在细胞内损伤,从而提高克隆成功率。首先,论文根据细胞内速度场计算细胞内应变,进而将内应变作为评价标准来优化去核操作;在此基础上,开发了一套机器人批量体细胞核移植系统,用于实现机器人化克隆。实验结果表明,本文方法将体细胞核移植后的胚胎囊胚率从10.0%提高到20.8%,并成功获得17头克隆小猪,这是世界首批由机器人完成克隆操作获得的克隆动物。对比手动核移植操作,本文将克隆成功率从平均0.73%提升到了2.50%,大幅提升了克隆效率。与此同时,基于细胞内应变的去核方法有望应用于其他生物操作,并建立一种通用的减少细胞内损伤的细胞操作规范。

关键词：动物育种去核方法体细胞核移植克隆动物卵母细胞机器人化动物克隆克隆技术

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