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IEEE International Conference on robotics and Biomimetics

作者： Jinrui Liu Ting Song Zhilin Shu Jianda Han Ningbo Yu College of Artificial Intelligence Nankai University Tianjin China Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin China School of Automation and Electrical Engineering University of Science and Technology Beijing Beijing China Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University Shenzhen China

ISBN: (纸本)9781665405362

It has been of increasing interest to decode the movements based on the changes in hemoglobin concentration in the cerebral cortex that can be measured by functional near-infrared spectroscopy (fNIRS). Existing work were mainly focused on motor imagery tasks for the advantages of fNIRS on cognitive activation detection, and motor tasks were not well studied. This paper investigated fNIRS feature extraction and classification methods for grip-force tasks. Two methods were implemented and compared. The first method took the classic machine learning approach. Features were extracted with respect to the physiological characteristics of fNIRS signals, including the mean, area and slope features. Then, support vector machine was used for classification of grip-force tasks with the extracted features. The second method took the deep learning approach without extracting features. An LSTM-based network was constructed to take in the fNIRS data and output the classified task type. The two methods were tested and compared with an grip-force task fNIRS dataset. The classic machine learning method with extracted features achieved the accuracy of 71.70%, and the LSTM-based deep learning method achieved 82.86%. The results demonstrate the feasibility and potential of fNIRS-based decoding of motor tasks.

关键词： Deep learning Support vector machines Cerebral cortex Stroke (medical condition) Feature extraction Decoding Task analysis

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Characterization of exploratory patterns and hippocampal–prefrontal network oscillations during the emergence of free exploration

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Science Bulletin 2021年第21期66卷 2238-2250,M0004页

作者： Wenxiu Dong Hongbiao Chen Timothy Sit Yechao Han Fei Song Alexei L.Vyssotski Cornelius T.Gross Bailu Si Yang Zhan Guangdong Provincial Key Laboratory of Brain Connectome and Behavior CAS Key Laboratory of Brain Connectome and Manipulationthe Brain Cognition and Brain Disease Institute(BCBDI)Shenzhen Key Laboratory of Translational Research for Brain DiseasesShenzhen Institutes of Advanced TechnologyChinese Academy of SciencesShenzhen-Hong Kong Institute of Brain Science-Shenzhen Fundamental Research InstitutionsShenzhen 518055China State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169 University of Chinese Academy of Sciences Beijing 100049China Institute of Neuroinformatics the University of Zürich and Swiss Federal Institute of Technology(ETH)Zurich CH-8057Switzerland European Molecular Biology Laboratory(EMBL) Monterotondo 00015Italy School of Systems Science Beijing Normal UniversityBeijing 100875China

During free exploration,the emergence of patterned and sequential behavioral responses to an unknown environment reflects exploration traits and ***,the behavioral dynamics and neural substrates underlying the exploratory behavior remain poorly *** developed computational tools to quantify the exploratory behavior and performed in vivo electrophysiological recordings in a large arena in which mice made sequential excursions into unknown *** entropy was calculated to characterize the cumulative and moment-to-moment behavioral dynamics in explored and unexplored *** field potential analysis revealed that the theta activity in the dorsal hippocampus(d HPC)was highly correlated with the occupancy *** d HPC and prefrontal cortex(PFC)oscillatory activities could classify various aspects of free *** of exploration was accompanied by a coordinated decrease and increase in theta activity in PFC and d HPC,*** results indicate that d HPC and PFC work synergistically in shaping free exploration by modulating exploratory traits during emergence and visits to an unknown environment.

关键词： Exploration Prefrontal cortex Hippocampus Neural oscillations Entropy

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Optimal Estimator Design and Properties Analysis for Interconnected systems with Asymmetric Information Structure

arXiv

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arXiv 2021年

作者： Wang, Yan Xiong, Junlin Yang, Zaiyue Su, Rong School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen Shenzhen518055 China School of Electrical and Electronic Engineering Nanyang Technological University Nanyang Avenue 50 Singapore Department of Automation University of Science and Technology of China Hefei230026 China Department of Mechanical and Energy Engineering Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen China

This paper studies the optimal state estimation problem for interconnected systems. Each subsystem can obtain its own measurement in real time, while, the measurements transmitted between the subsystems suffer from random delay. The optimal estimator is analytically designed for minimizing the conditional error covariance. The boundedness of the expected error covariance (EEC) is analyzed. In particular, a new condition that is easy to verify is established for the boundedness of EEC. Further, the properties of EEC with respect to the delay probability are studied. We found that there exists a critical probability such that the EEC is bounded if the delay probability is below the critical probability. Also, a lower and upper bound of the critical probability is derived. Finally, the proposed results are applied to a power system, and the effectiveness of the designed methods is illustrated by simulations. © 2021, CC BY-SA.

关键词： Errors

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Application of Iterative Learning Control in X-Y Precision Planar Motion Platform

Application of Iterative Learning Control in X-Y Precision P...

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2021 China automation Congress, CAC 2021

作者： Yan, Hongyu Jia, Danping Zhang, Tao Zhang, Hualiang Xiong, Yingjie Lu, Xu Liu, Yang School of Artificial Intelligence Shenyang University of Technology Shenyang China School of Information Science and Engineering Shenyang University of Technology Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China School of Electrica l Engineering Dalian University of Technology Dalian China College Of Information Science and Engineering Northeastern University Shenyang China

ISBN: (纸本)9781665426473

The size of the tracking error is one of the important indicators to measure the control system of the X-Y Precision Planar Motion Platform. Iterative learning control (ILC) can obtain higher tracking accuracy through multiple iterations. However, it is found in experiments that the tracking error of the XY precision motion stage using ordinary PD-type iterative learning will eventually fluctuate in a relatively range, and some high-frequency Noise will seriously affect the stability of the system after many iterations. Aiming at the above problems, a PD-type variable gain open-closed loop ILC with a low-pass filter is proposed. This control scheme can effectively remove high-frequency noise and reduce tracking errors. Finally, a hardware-in-the-loop real-time simulator is used to conduct a comparative experiment. Through comparison with PID controller and ordinary PD-type ILC, the experimental consequence show that this arithmetic has a smaller tracking error than the other two algorithms. © 2021 IEEE

关键词： Low pass filters

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Position control of XY precision planar motion table based on input shaping filter

Position control of XY precision planar motion table based o...

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作者： HuaLiang Zhang Xu Lu DanPing Jia BingJie Zhao Tao Zhang Yang Liu HongYu Yan Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences School of Artificial Intelligence Shenyang University of Technology School of Information Science and Engineering Shenyang University of Technology

In order to solve the vibration problem of mining equipment,a Simulink simulation model of current loop,speed loop and position loop of permanent magnet synchronous motor was established to track the input position signal of the motor system.[1] At the same time,the input shaper is introduced into the motor three loop control model to study the vibration suppression effect of the input shaper.[2] The essence of the input shaper is to filter the input ***,the parameters of the input shaper need to be accurately identified and the detailed parameters of the system need to be ***,the problem that the identification accuracy of the system is not enough often makes the parameters of the shaper *** view of the problem that the system identification is not accurate,a method of adjusting and setting input shaper parameters is designed,which is not very dependent on the *** results show that the optimal parameters of the shaper can be selected by the *** with the parameters of the shaper selected according to the identification model,the vibration suppression effect is better.

关键词： system identification input shaping oscillation suppression

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A multimode soft gripper with an inflatable toroid for robotic gentle grasping: Swallowing, enveloping, and expansion

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Sensors and Actuators A: Physical 2025年 393卷

作者： Sheng Xiang Muye Niu Zhong Wei Jia Liu Yang Yang Zhen Liu School of Automation Nanjing University of Information Science and Technology Nanjing 210044 PR China Jiangsu Collaborative Innovation Center of Atmospheric Environment and Equipment Technology Nanjing 210044 PR China State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin 150001 PR China

Soft grippers offer inherent adaptability to objects of varying shapes due to the compliance of their constituent materials. In this study, we present a novel multimode soft gripper based on an inflatable toroidal structure that supports swallowing, enveloping, and expansion grasping modes. By enabling seamless transitions between these modes, the gripper accommodates a wide range of object geometries, facilitates continuous multi-object grasping, and enhances load-bearing capacity and tolerance to positional misalignment. The design features a soft toroid integrated with V-shaped pleats, which enable dual-mode deformation through coordinated material stretching and pleat unfolding. The design of the gripper and an analytical model capturing its geometric characteristics are presented, along with detailed descriptions of its structural configuration and fabrication process. Experiments were conducted analyzing the characteristics and grasping capabilities of the gripper. Results demonstrate its ability to successfully grasp various objects, including delicate items such as potato chips and jelly, a mesh pen holder, and a bucket of water weighing 12 kg. Experimental studies on the tolerance of different grasping modes to an initial grasp position and angle reveal that switching to an enveloping grasping mode after swallowing exhibits increased load capacity and enhanced tolerance towards grasp misalignment. Experimental results demonstrate the gripper’s shape adaptability and its ability to gently and reliably handle fragile items, highlighting its potential for applications in robotic delicate object grasping.

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Sense-Assess-eXplain (SAX): Building trust in autonomous vehicles in challenging real-world driving scenarios

arXiv

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arXiv 2020年

作者： Gadd, Matthew De Martini, Daniele Marchegiani, Letizia Newman, Paul Kunze, Lars Oxford Robotics Institute Dept. Engineering Science University of Oxford United Kingdom Automation and Control Dept. Electronic Systems Aalborg University

This paper discusses ongoing work in demonstrating research in mobile autonomy in challenging driving scenarios. In our approach, we address fundamental technical issues to overcome critical barriers to assurance and regulation for largescale deployments of autonomous systems. To this end, we present how we build robots that (1) can robustly sense and interpret their environment using traditional as well as unconventional sensors;(2) can assess their own capabilities;and (3), vitally in the purpose of assurance and trust, can provide causal explanations of their interpretations and assessments. As it is essential that robots are safe and trusted, we design, develop, and demonstrate fundamental technologies in real-world applications to overcome critical barriers which impede the current deployment of robots in economically and socially important areas. Finally, we describe ongoing work in the collection of an unusual, rare, and highly valuable dataset. Copyright © 2020, The Authors. All rights reserved.

关键词： Autonomous vehicles

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Stochastic Gradient Descent in Non-Convex Problems: Asymptotic Convergence with Relaxed Step-Size via Stopping Time Methods

arXiv

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arXiv 2025年

作者： Jin, Ruinan Cheng, Difei Qiao, Hong Shi, Xin Liu, Shaodong Zhang, Bo Centre for Artificial Intelligence and Robotics Hong Kong Institute of Science Innovation Chinese Academy of Sciences New Territories Hong Kong Institute of Automation Chinese Academy of Sciences Beijing100190 China Shanghai Jiao Tong University Shanghai200240 China Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing100190 China

Stochastic Gradient Descent (SGD) is widely used in machine learning research. Previous convergence analyses of SGD under the vanishing step-size setting typically require Robbins–Monro conditions. However, in practice, a wider variety of step-size schemes are frequently employed, yet existing convergence results remain limited and often rely on strong assumptions. This paper bridges this gap by introducing a novel analytical framework based on a stopping-time method, enabling asymptotic convergence analysis of SGD under more relaxed step-size conditions and weaker assumptions. In the non-convex setting, we prove the almost sure convergence of SGD iterates for step-sizes (formula presented) and (formula presented) for some p > 2. Compared with previous studies, our analysis eliminates the global Lipschitz continuity assumption on the loss function and relaxes the boundedness requirements for higher-order moments of stochastic gradients. Building upon the almost sure convergence results, we further establish L2 convergence. These significantly relaxed assumptions make our theoretical results more general, thereby enhancing their applicability in practical *** Codes 40G15 Copyright © 2025, The Authors. All rights reserved.

关键词： Asymptotic analysis

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Development in the application of laser-induced breakdown spectroscopy in recent years:A review

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Frontiers of physics 2021年第2期16卷 45-69页

作者： Lian-Bo Guo Deng Zhang Lan-Xiang Sun Shun-Chun Yao Lei Zhang Zhen-Zhen Wang Qian-Qian Wang Hong-Bin Ding Yuan Lu Zong-Yu Hou Zhe Wang Wuhan National Laboratory for Optoelectronics(WNLO) Huazhong University of Science and TechnologyWuhan 430074China State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesSheyang 110016China School of Electric Power South China University of TechnologyGuangzhou 510640China State Key Laboratory of Quantum Optics and Quantum Optics Devices Institute of Laser SpectroscopyShanxi UniversityTaiyuan 030006China State Key Laboratory of Multiphase Flow in Power Engineering Xi'an Jiaotong UniversityXi'an 710049China Key Laboratory of Photonic Information Technology School of Optics and PhotonicsBeijing Institute of TechnologyBeijing 100081China School of Physics Dalian University of TechnologyNo.2 Linggong RoadGanjingzi DistrictDalian 116024China Optics and Optoelectronics Laboratory Ocean University of ChinaQingdao 266100China State Key Lab of Power Systems Department of Energy and Power EngineeringTsinghua UniversityBeijing 100084China

Laser-induced breakdown spectroscopy(LIBS)has been widely studied due to its unique advantages such as remote sensing,real-time multi-elemental detection and none-to-little *** the efforts of researchers around the world,LIBS has been developed by leaps and ***,in recent years,more and more Chinese LIBS researchers have put tremendous energy in promoting LIBS *** is worth mentioning that the application of LIBS in a specific field has its special application background and technical difficulties,therefore it may develop in different stages.A review summarizing the current development status of LIBS in various fields would be helpful for the development of LIBS technology as well as its applications especially for Chinese LIBS community since most of the researchers in this field work in *** the present work,we summarized the research status and latest progress of main research groups in coal,metallurgy,and water,*** on the current research status,the challenges and opportunities of LIBS were evaluated,and suggestions were made to further promote LIBS applications.

关键词： laser-induced breakdown spectroscopy application

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Channel-Wise Part-Based Weighting Aggregation for Image Retrieval

Channel-Wise Part-Based Weighting Aggregation for Image Retr...

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IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Qin Zhang Wangming Xu Shiqian Wu School of Mechanical Automation Wuhan University of Science and Technology Wuhan China Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology Wuhan China

ISBN: (数字)9781728151694

ISBN: (纸本)9781728151700

The part-based weighting aggregation (PWA) method is a simple and straightforward way for creating powerful image representations in image retrieval. In this paper we analyze the burstiness among the responses of the aggregated channels in the PWA method, and propose a channel-wise weights utilizing the sum-pooling aggregation of the deep features' responses to regulate the burstiness among the feature maps. Firstly, we apply the channel weights to the aggregation stage of PWA. The regulation of the burstiness among the aggregated channels boosts the PWA performance. Secondly, we use the channel weights to the part selection stage, namely, selecting the part detectors based on the channel weighted feature maps to obtain more discriminate parts to further improve the PWA performance. Comprehensive experiments on four standard datasets have demonstrated the effects of the proposed method.

关键词： Training Industrial electronics Convolution Image retrieval Robustness Regulation Standards

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