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arXiv 2024年

作者： Tang, Song Yan, Shaxu Qi, Xiaozhi Gao, Jianxin Ye, Mao Zhang, Jianwei Zhu, Xiatian IMI Group School of Health Sciences and Engineering University of Shanghai for Science and Technology Shanghai China TAMS Group Department of Informatics Universität Hamburg Hamburg Germany School of Computer Science and Engineering University of Electronic Science and Technology of China Chengdu China Surrey Institute for People-Centred Artificial Intelligence Centre for Vision Speech and Signal Processing University of Surrey Guildford United Kingdom Shenzhen Key Laboratory of Minimally Invasive Surgical Robotics and System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences China

Few-shot Semantic Segmentation (FSS) aims to adapt a pretrained model to new classes with as few as a single labelled training sample per class. Despite the prototype based approaches have achieved substantial success, existing models are limited to the imaging scenarios with considerably distinct objects and not highly complex background, e.g., natural images. This makes such models suboptimal for medical imaging with both conditions invalid. To address this problem, we propose a novel Detail Self-refined Prototype Network (DSPNet) to constructing high-fidelity prototypes representing the object foreground and the background more comprehensively. Specifically, to construct global semantics while maintaining the captured detail semantics, we learn the foreground prototypes by modelling the multi-modal structures with clustering and then fusing each in a channel-wise manner. Considering that the background often has no apparent semantic relation in the spatial dimensions, we integrate channel-specific structural information under sparse channel-aware regulation. Extensive experiments on three challenging medical image benchmarks show the superiority of DSPNet over previous state-of-the-art methods. The code and data are available at https://***/tntek/DSPNet. Copyright © 2024, The Authors. All rights reserved.

关键词： Semantic Segmentation

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Impedance control for a novel composite modular lower-limb hemiplegic exoskeleton

Impedance control for a novel composite modular lower-limb h...

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2021 IEEE International Conference on Real-Time Computing and robotics, RCAR 2021

作者： Bao, Ruoyu Li, Pengbo He, Bailin Wang, Can Wu, Xinyu Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen518055 China CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institute of Advanced Technology University of Chinese Academy of Sciences Department of Mechanical and Automation Engineering Chinese University of Hong Kong College of Mechanical and Electrical Engineering Shaanxi University of Science and Technology Shaanxi Xi'an710021 China

ISBN: (纸本)9781665436786

This paper proposes a control scheme based on impedance control for the smoothing control of the operating movements of a lower-limb hemiplegic exoskeleton robot on the basis of a new composite modular lower-limb hemiplegic ex-oskeleton(CMLHE) structure. The CMLHE has good structural performance and can be used in the rehabilitation of patients with hemiplegia caused by stroke and other diseases. At the same time, the smoothing control by means of impedance control ensures that patients with lower limb hemiplegia can use the CMLHE to achieve smooth walking movements without additional injuries caused by the CMLHE during the rehabilitation training. This paper analyses the performance of this CMLHE robot based on walking movements and demonstrates through kinematic and kinetic modelling and simulation that the impedance control scheme of this CMLHE robot is feasible and effective and can be more widely used in the rehabilitation training of patients with lower limb hemiplegia. © 2021 IEEE.

关键词： Exoskeleton (robotics)

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Machine Learning-Enabled Power Scheduling in IoT-Based Smart Cities

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Computers, Materials & Continua 2021年第5期67卷 2449-2462页

作者： Nabeela Awan Salman Khan Mohammad Khalid Imam Rahmani Muhammad Tahir Nur Alam MD Ryan Alturki Ihsan Ullah Department of Computer Science Government Girls Degree College MardanKPK23200Pakistan Department of Electrical Energy System UETPeshawar25000Pakistan Department of Computer Science College of Computing and InformaticsSaudi Electronic UniversityKSA Department of Smart Computing Kyungdong UniversityGlobal CampusGosung24764South Korea Department of Information Sciences College of Computer and Information SystemsUmm Al-Qura UniversityMakkahSaudi Arabia Robotics Engineering Daegu Gyeongbuk Institute of Science and TechnologySouth Korea

Recent advancements in hardware and communication technologies have enabled worldwide interconnection using the internet of things(IoT).The IoT is the backbone of smart city applications such as smart grids and green energy *** smart cities,the IoT devices are used for linking power,price,energy,and demand information for smart homes and home energy management(HEM)in the smart *** complex smart gridconnected systems,power scheduling and secure dispatch of information are the main research *** challenges can be resolved through various machine learning techniques and data *** this paper,we have proposed a particle swarm optimization based machine learning algorithm known as a collaborative execute-before-after dependency-based requirement,for the smart *** proposed collaborative execute-before-after dependencybased requirement algorithm works in two phases,analysis and assessment of the requirements of end-users and power distribution *** the rst phases,a xed load is adjusted over a period of 24 h,and in the second phase,a randomly produced population load for 90 days is evaluated using particle swarm *** simulation results demonstrate that the proposed algorithm performed better in terms of percentage cost reduction,peak to average ratio,and power variance mean ratio than particle swarm optimization and inclined block rate.

关键词： PSO IBR machine learning IoT smart cities CDBR

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A modular rehabilitation lower limb exoskeleton for stroke patients with hemiplegia

A modular rehabilitation lower limb exoskeleton for stroke p...

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2021 IEEE International Conference on Real-Time Computing and robotics, RCAR 2021

作者： Li, Pengbo Wei, Wenhao Bao, Ruoyu He, Bailin Su, Zhilong Wang, Can Wu, Xinyu Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen518055 China CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institute of Advanced Technology University of Chinese Academy of Sciences Department of Mechanical and Automation Engineering The Chinese University of Hong Kong College of Mechanical and Electrical Engineering Shaanxi University of Science and Technology Shaanxi Xi'an710021 China

ISBN: (纸本)9781665436786

A modular rehabilitation exoskeleton robot for hemiplegic patients (SIAT-H) is created in this paper. The design of the exoskeleton is based on the gait analysis of hemiplegic patients and the movement data of healthy people. Through the motion capture experiments at different speeds, the walking style of patients with hemiplegia is understood. A modular exoskeleton robot, including an independent hip joint, knee joint and ankle joint, is designed. The mechanical structure which is optimized based on the physiological characteristics of human body would not cause additional damage to the joints during walking. In order to ensure the reliability of use, the structural strength is also considered. The kinematics relationship is verified by comparison of simulation data and calculated data. In the end, we made an experimental prototype, and the wearing experiment verified the reliability of the mechanism. © 2021 IEEE.

关键词： Exoskeleton (robotics)

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Control of a Class of Underactuated systems by Successive Submanifold Stabilization ⁎

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IFAC-PapersOnLine 2021年第19期54卷 352-358页

作者： Fabian Beck Noboru Sakamoto Christian Ott Institute of Robotics and Mechatronics German Aerospace Center (DLR) 82234 Wessling Germany Department of Mechanical Engineering and System Control Nanzan University Yamzato-cho 18 Showa-ku Nagoya 466-8673 Japan

Many control design methods for underactuated systems require solving a partial differential equation, which can be complex for systems with many degrees of freedom. In order to reduce the complexity, it is proposed to decompose the dynamics into several subsystems. The problem then reduces to the successive stabilization of the individual subsystems, i.e., each step is a submanifold stabilization problem of reduced dimension. In this way, control methods which are only practicable for lower dimensional systems can be applied to the overall complex dynamical system. To ensure that the subsystems can be stabilized independently, the dynamics are transformed by a change of coordinates to a form with block-diagonal inertia metric. For the unactuated part kinetic symmetries can be utilized, whereas for the actuated part null space projectors are employed to decouple the dynamics with respect to the inertia metric. The subsystems are then stabilized by optimal control or PD-like feedback. In the stability analysis semidefinite Lyapunov functions are employed. The procedure is demonstrated for a manipulator on an elastic base and validated in simulation.

关键词： Hamiltonian dynamics robotics Nonlinear control

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Hardware Programming of a Single-input Pneumatic Mechanism to Control Multiple Elastic Inflatable Actuators

Hardware Programming of a Single-input Pneumatic Mechanism t...

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International Conference on Mechatronics and Machine Vision in Practice (M2VIP)

作者： Ningbin Zhang Guoying Gu Xiangyang Zhu State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University and Robotics Institute School of Mechanical Engineering Shanghai Jiao Tong University China

ISBN: (纸本)9781665431545

Elastic inflatable actuators (EIAs) are widely used in the emerging field of soft robotics. Although integrating multiple EIAs in soft robots has been demonstrated successful, these EIAs typically require independent control inputs that results in a complex actuation process. This paper proposes a single-input pneumatic mechanisms (SIPM) to generate a wide range of output pressures via hardware programming, enabling multiple EIAs to achieve different motions. We first present a conceptual design of the SIPM and build its pneumatic model based on air compressibility, which relates the control inputs, the structural parameters of the SIPM, and the output pressures. Then, we perform a series of parametric analyses and numerical simulations to investigate the hardware programming of structural parameters for target output pressures. Finally, a SIPM prototype whose structural parameters are derived from simulation results is developed. The experimental results validate the effectiveness of the proposed mechanism.

关键词： Actuators Atmospheric modeling Simulation Prototypes Process control Programming Predictive models

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Future vehicles: interactive wheeled robots

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Science China(Information Sciences) 2021年第5期64卷 212-214页

作者： Nan MA Deyi LI Wen HE Yue DENG Jiahong LI Yue GAO Hong BAO Huan ZHANG Xinkai XU Yuansheng LIU Zhixuan WU Li CHEN Beijing Key Laboratory of Information Service Engineering Beijing Union University College of Robotics Beijing Union University Institute of System Engineering Academy of Military Science School of Astronautics Beihang University School of Software Tsinghua University Smart City College Beijing Union University Demonstration Center of Experimental Teaching in Comprehensive Engineering Beijing Union University

Owing to the lack of variety of interactions in automatic driving, the interactive cognition and evolution growth of self-driving vehicles in uncertain and complex environments have been proposed, making future vehicl... 详细信息

关键词： Information systems and Communication Service

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Joint Sparse Representations and Coupled Dictionary Learning in Multi-Source Heterogeneous Image Pseudo-color Fusion

arXiv

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arXiv 2023年

作者： Bai, Long Yao, Shilong Gao, Kun Huang, Yanjun Tang, Ruijie Yan, Hong Meng, Max Q.-H. Ren, Hongliang The Department of Electronic Engineering The Chinese University of Hong Kong 999077 Hong Kong The Department of Electrical Engineering City University of Hong Kong 999077 Hong Kong Shenzhen Key Laboratory of Robotics Perception and Intelligence Shenzhen China The Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen518055 China The Key Laboratory of Photoelectronic Imaging Technology and System Ministry of Education of China Beijing Institute of Technology Beijing100081 China The Shun Hing Institute of Advanced Engineering The Chinese University of Hong Kong 999077 Hong Kong Singapore117575 Singapore Research Institute Suzhou215123 China

Considering that Coupled Dictionary Learning (CDL) method can obtain a reasonable linear mathematical relationship between resource images, we propose a novel CDL-based Synthetic Aperture Radar (SAR) and multispectral pseudo-color fusion method. Firstly, the traditional Brovey transform is employed as a pre-processing method on the paired SAR and multispectral images. Then, CDL is used to capture the correlation between the pre-processed image pairs based on the dictionaries generated from the source images via enforced joint sparse coding. Afterward, the joint sparse representation in the pair of dictionaries is utilized to construct an image mask via calculating the reconstruction errors, and therefore generate the final fusion image. The experimental verification results of the SAR images from the Sentinel-1 satellite and the multispectral images from the Landsat-8 satellite show that the proposed method can achieve superior visual effects, and excellent quantitative performance in terms of spectral distortion, correlation coefficient, MSE, NIQE, BRISQUE, and PIQE. Copyright © 2023, The Authors. All rights reserved.

关键词： Synthetic aperture radar

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Adaptive Fourier Decomposition for Multi-Channel Signal Analysis

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IEEE Transactions on Applied Superconductivity 2022年第4期32卷

作者： Wang, Ze Wong, Chi Man Rosa, Agostinho Qian, Tao Wan, Feng Department of Electrical and Computer Engineering Faculty of Science and Technology University of Macau Taipa999078 China Department of Bioengineering LaSEEB-System and Robotics Institute Instituto Superior Tecnico University of Lisbon Lisbon1049-001 Portugal Macao Center for Mathematical Sciences Macau University of Science and Technology Taipa China

Evolved from the conventional Fourier decomposition based on a pre-defined basis, Adaptive Fourier decomposition (AFD) uses adaptive basis to achieve the fast energy convergence. This paper extends the AFD to the multi-channel case, which finds common adaptive basis across all channels. The proposed multi-channel AFD (MAFD) scheme includes the multi-channel core AFD for general signals and the multi-channel unwinding AFD for specific signals that have common inner functions. Owing to the merits of the original AFD, the MAFD can provide sparse joint time-frequency distribution by computing the transient time frequency distribution (TTFD) across channels. Simulations on synthetic and real-world signals demonstrate that the proposed scheme can find and apply the common adaptive basis with desired properties maintained by the AFD, showing high potentials in real-world applications. © 1991-2012 IEEE.

关键词： Signal analysis

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Potential damage threats to downstream optics caused by Gaussian mitigation pits on rear KDP surface

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High Power Laser Science and engineering 2020年第4期8卷 59-67页

作者： Hao Yang Jian Cheng Zhichao Liu Qi Liu Linjie Zhao Chao Tan Jian Wang Mingjun Chen State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China Research Center of Laser Fusion China Academy of Engineering PhysicsMianyang 621900China

To determine whether a potassium dihydrogen phosphate(KDP)surface mitigated by micro-milling would potentially threaten downstream optics,we calculated the light-field modulation based on angular spectrum diffraction theory,and performed a laser damage test on downstream fused *** results showed that the downstream light intensification caused by a Gaussian mitigation pit of 800μm width and 10μm depth reached a peak value near the KDP rear surface,decreased sharply afterward,and eventually kept stable with the increase in downstream *** solved peak value of light intensification exceeded 6 in a range 8–19 mm downstream from the KDP rear surface,which is the most dangerous for downstream *** damage sites were then induced on the fused silica surface in subsequent laser damage *** the distance downstream was greater than 44 mm with a downstream light intensification of less than 3,there were no potential damage threats to downstream *** study proves that a mitigated KDP surface can cause laser damage to downstream optical components,to which attention should be paid in an actual *** this work,we find that the current manufacturing process and the mitigation index still need to be *** research methods and calculation models are also of great reference significance for related studies like optics mitigation and laser damage.

关键词： downstream threats KDP laser damage micro-milling mitigation

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