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A Mixed Gaussian Membership Function Fuzzy CMAC for a Three-Link Robot

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A Mixed Gaussian Membership Function Fuzzy CMAC for a Three-...

IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)

作者： Tuan-Tu Huynh Chih-Min Lin Tien-Loc Le Zhixiong Zhong Department of Electrical Engineering Yuan Ze University Taoyuan Taiwan R.O.C. Department of Electrical Electronic and Mechanical Engineering Lac Hong University Bien Hoa Vietnam Key Laboratory of Information Processing and Intelligent Control Minjiang University Fuzhou China

ISBN: (数字)9781728169323

ISBN: (纸本)9781728169330

This research produces a mixed Gaussian membership function (GMF) fuzzy cerebellar model articulation controller (CMAC) for a three-link robot. A mixed GMF is created using the current and the previous GMFs on each layer of CMAC to detect errors efficiently, so a mixed GMF fuzzy CMAC (MGMFFC) is able to train parameters efficiently and constructs the MGMFFC structure automatically. A Lyapunov cost function and the gradient descent techniques are utilized to get the adaptive with guaranteed system's stable. Simulation studies for a three-link robot show that the MGMFFC attains favorable tracking performance.

关键词： Two dimensional displays Robots Hypercubes Robustness Fuzzy logic Nonlinear systems electronic mail

Advancing Embodied Intelligence in Robotic-Assisted Endovascular Procedures: A Systematic Review of AI Solutions

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arXiv 2025年

作者： Yao, Tianliang Lu, Bo Kowarschik, Markus Yuan, Yixuan Zhao, Hubin Ourselin, Sebastien Althoefer, Kaspar Ge, Junbo Qi, Peng Department of Control Science and Engineering College of Electronic and Information Engineering Shanghai Institute of Intelligent Science and Technology Tongji University Shanghai200092 China Department of Electronic Engineering Faculty of Engineering The Chinese University of Hong Kong 999077 Hong Kong Robotics and Microsystems Center School of Mechanical and Electrical Engineering Soochow University Suzhou215131 China Bavaria Forchheim91301 Germany CREATe Division of Surgery & Interventional Science UCL LondonHA7 4LP United Kingdom School of Biomedical Engineering & Imaging Sciences King’s College London LondonSE1 7EH United Kingdom Centre for Advanced Robotics @ Queen Mary School of Engineering and Materials Science Queen Mary University of London LondonE1 4NS United Kingdom Department of Cardiology Zhongshan Hospital Fudan University Shanghai Institute of Cardiovascular Diseases Shanghai200032 China State Key Laboratory of Cardiovascular Diseases Medical Innovation Center Shanghai East Hospital School of Medicine Tongji University Shanghai200092 China

Endovascular procedures have revolutionized the treatment of vascular diseases thanks to minimally invasive solutions that significantly reduce patient recovery time and enhance clinical outcomes. However, the precision and dexterity required during these procedures poses considerable challenges for interventionists. Robotic systems have emerged offering transformative solutions, addressing issues such as operator fatigue, radiation exposure, and the inherent limitations of human precision. The integration of Embodied Intelligence (EI) into these systems signifies a paradigm shift, enabling robots to navigate complex vascular networks and adapt to dynamic physiological conditions. Data-driven approaches, advanced computer vision, medical image analysis, and machine learning techniques, are at the forefront of this evolution. These methods augment procedural intelligence by facilitating real-time vessel segmentation, device tracking, and anatomical landmark detection. Reinforcement learning and imitation learning further refine navigation strategies and replicate experts’ techniques. This review systematically examines the integration of EI principles into robotic technologies, in relation to endovascular procedures. We discuss recent advancements in intelligent perception and data-driven control, and their practical applications in robot-assisted endovascular procedures. By critically evaluating current limitations and emerging opportunities, this review establishes a framework for future developments, emphasizing the potential for greater autonomy and improved clinical outcomes. Emerging trends and specific areas of research, such as federated learning for medical data sharing, explainable AI for clinical decision support, and advanced human-robot collaboration paradigms, are also explored, offering insights into the future direction of this rapidly evolving field. © 2025, CC BY.

关键词： Medical robotics

Learning Hidden Markov Models for Linear Gaussian Systems with Applications to Event-based State Estimation

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arXiv 2020年

作者： Zheng, Kaikai Shi, Dawei Shi, Ling State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing100081 China Department of Electronic and Computer Engineering Hong Kong University of Science and Technology Kowloon Hong Kong

This work attempts to approximate a linear Gaussian system with a finite-state hidden Markov model (HMM), which is found useful in solving sophisticated event-based state estimation problems. An indirect modeling approach is developed, wherein a state space model (SSM) is firstly identified for a Gaussian system and the SSM is then used as an emulator for learning an HMM. In the proposed method, the training data for the HMM are obtained from the data generated by the SSM through building a quantization mapping. Parameter learning algorithms are designed to learn the parameters of the HMM, through exploiting the periodical structural characteristics of the HMM. The convergence and asymptotic properties of the proposed algorithms are analyzed. The HMM learned using the proposed algorithms is applied to event-triggered state estimation, and numerical results on model learning and state estimation demonstrate the validity of the proposed algorithms. Copyright © 2020, The Authors. All rights reserved.

关键词： Hidden Markov models

Magnon corner states in twisted bilayer honeycomb magnets

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arXiv 2022年

作者： Hua, Chun-Bo Xiao, Feiping Liu, Zheng-Rong Sun, Jin-Hua Gao, Jin-Hua Chen, Chui-Zhen Tong, Qingjun Zhou, Bin Xu, Dong-Hui School of Electronic and Information Engineering Hubei University of Science and Technology Xianning437100 China Laboratory of Optoelectronic Information and Intelligent Control Hubei University of Science and Technology Xianning437100 China School of Physics and Electronics Hunan University Changsha410082 China Department of Physics Hubei University Wuhan430062 China Department of Physics Ningbo University Ningbo315211 China School of Physics Wuhan National High Magnetic Field Center Huazhong University of Science and Technology Wuhan430074 China Institute for Advanced Study School of Physical Science and Technology Soochow University Suzhou215006 China Department of Physics Chongqing Key Laboratory for Strongly Coupled Physics Chongqing University Chongqing400044 China Center of Quantum Materials and Devices Chongqing University Chongqing400044 China

The study of symmetry-protected topological phases of matter has been extended from fermionic electron systems to various bosonic systems. Bosonic topological magnon phases in magnetic materials have received much attention because of their exotic uncharged topologically protected boundary modes and the potential for dissipationless magnonics and spintronic applications. Here, we establish twisted bilayer honeycomb magnets as a platform for hosting second-order topological magnon insulators (SOTMIs) without fine-tuning. We employ a simple, minimal Heisenberg spin model to describe misaligned bilayer sheets of honeycomb ferromagnetic magnets with a large commensurate twist angle. We found that the higher-order topology in this bilayer system shows a significant dependence on the interlayer exchange coupling. The SOTMI, featuring topologically protected magnon corner states that go beyond the conventional bulk-boundary correspondence, appears for ferromagnetic interlayer couplings, while the twisted bilayer exhibits a nodal phase in the case of antiferromagnetic interlayer coupling. At last, relevance to twisted bilayer CrI3 is also discussed. © 2022, CC BY.

关键词： Chromium compounds

Level attraction and PT symmetry in indirectly coupled microresonators

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Physical Review A 2020年第4期102卷 043527-043527页

作者： Zhao-Hui Peng Chun-Xia Jia Yu-Qing Zhang Ji-Bing Yuan Le-Man Kuang Institute of Modern Physics and Department of Physics College of Physics and Electronic Science Hunan University of Science and Technology Xiangtan 411201 China Key Laboratory of Low-Dimensional Quantum Structures and Quantum Control of Ministry of Education Department of Physics and Synergetic Innovation Center for Quantum Effects and Applications Hunan Normal University Changsha 410081 China College of Physics and Electronic Engineering and Hunan Provincial Key Laboratory of Intelligent Information Processing and Application Hengyang Normal University Hengyang 421008 China

Benefiting from the tunability of their phase delay and gain, we show the possibility of realizing level attraction, parity-time (PT)-, and anti-PT-symmetric photonic structures with indirectly coupled active and passive microresonators mediated by drop-filter waveguides. We find that level attraction originates from two mechanisms, i.e., exceptional point and resonance, and it may emerge not only for dissipative coupling but also coherent coupling and hybrid coupling after considering the gain and loss of microresonators, which confirms the universality of level attraction in the coupled photonic system. On the other hand, the transition from PT to anti-PT symmetry or vice versa may be realizable by tuning their phase delay and gain; thus the indirectly coupled microresonators may provide an excellent platform for exhibiting the unique features of PT and anti-PT symmetry. Furthermore, we also reveal the intrinsic relationship of the line shape and phase behavior of the reflection spectrum with PT symmetry, anti-PT symmetry, and level attraction.

关键词： Nanophotonics Optics & lasers Quantum optics Optical microcavities Waveguides Quantum theory

Dual Grid Voltage Modulated Direct Power control of Grid-Connected Voltage Source Converter under Unbalanced Network Condition

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Dual Grid Voltage Modulated Direct Power Control of Grid-Con...

2019 IEEE PES Innovative Smart Grid Technologies Asia, ISGT 2019

作者： Gao, Shuning Zhao, Haoran Gui, Yonghao School of Electrical Engineering Shandong University Ji'nan250061 China Key Laboratory of Power System Intelligent Dispatch and Control Ministry of Education Shandong University Ji'nan250061 China Automation and Control Section Department of Electronic Systems Aalborg University Aalborg Denmark

ISBN: (纸本)9781728135205

The Grid voltage Modulated Direct Power control (GVM-DPC) for Voltage Source Converter (VSC) is a recently proposed superior control strategies which features several advantages such as fast power reference tracking, simple structure, no need to use synchronizing techniques, strong robustness and so on. In this paper, an improved Dual Grid Voltage Modulated Direct Power control (D-GVM-DPC) strategies for unbalanced grid voltage condition is proposed and compared with regular voltage oriented dual PI control techniques. The idea of this improvement is to separately control the positive and negative sequence power components based on the original GVM-DPC controller. The simulation results shows that the proposed strategy is superior to the dual current control schemes been used with voltage oriented control strategy. © 2019 IEEE.

关键词： Electric power transmission networks

MyoPS: A Benchmark of Myocardial Pathology Segmentation Combining Three-Sequence Cardiac Magnetic Resonance Images

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arXiv 2022年

作者： Li, Lei Wu, Fuping Wang, Sihan Luo, Xinzhe Martín-Isla, Carlos Zhai, Shuwei Zhang, Jianpeng Liu, Yanfei Zhang, Zhen Ankenbrand, Markus J. Jiang, Haochuan Zhang, Xiaoran Wang, Linhong Arega, Tewodros Weldebirhan Altunok, Elif Zhao, Zhou Li, Feiyan Ma, Jun Yang, Xiaoping Puybareau, Elodie Oksuz, Ilkay Bricq, Stephanie Li, Weisheng Punithakumar, Kumaradevan Tsaftaris, Sotirios A. Schreiber, Laura M. Yang, Mingjing Liu, Guocai Xia, Yong Wang, Guotai Escalera, Sergio Zhuang, Xiahai School of Data Science Fudan University Shanghai China School of Biomedical Engineering Shanghai Jiao Tong University Shanghai China Departament de Matemàtiques & Informàtica Universitat de Barcelona Barcelona Spain Computer Vision Center Universitat Autònoma de Barcelona Spain School of Mechanical and Electrical Engineering University of Electronic Science and Technology of China Chengdu China School of Computer Science and Engineering Northwestern Polytechnical University Xi'An China College of Electrical and Information Engineering Hunan University Changsha China National Engineering Laboratory for Robot Visual Perception and Control Technology Changsha China College of Physics and Information Engineering Fuzhou University Fuzhou China Comprehensive Heart Failure Center Wuerzburg University Hospitals Wuerzburg Germany School of Engineering University of Edinburgh Edinburgh United Kingdom School of Robotics Xi'an Jiaotong-Liverpool University Suzhou China Department of Electrical and Computer Engineering University of California Los Angeles United States Department of Radiology and Diagnostic Imaging University of Alberta Edmonton Canada Chongqing Key Laboratory of Image Cognition Chongqing University of Posts and Telecomm-Unications Chongqing China ImViA Laboratory Université Bourgogne Franche-Comté Dijon France Computer Engineering Department Istanbul Technical University Istanbul Turkey Le Kremlin-Bicêtre France Department of Mathematics Nanjing University of Science and Technology Nanjing China Department of Mathematics Nanjing University Nanjing China

Assessment of myocardial viability is essential in diagnosis and treatment management of patients suffering from myocardial infarction, and classification of pathology on myocardium is the key to this assessment. This work defines a new task of medical image analysis, i.e., to perform myocardial pathology segmentation (MyoPS) combining three-sequence cardiac magnetic resonance (CMR) images, which was first proposed in the MyoPS challenge, in conjunction with MICCAI 2020. The challenge provided 45 paired and pre-aligned CMR images, allowing algorithms to combine the complementary information from the three CMR sequences for pathology segmentation. In this article, we provide details of the challenge, survey the works from fifteen participants and interpret their methods according to five aspects, i.e., preprocessing, data augmentation, learning strategy, model architecture and post-processing. In addition, we analyze the results with respect to different factors, in order to examine the key obstacles and explore potential of solutions, as well as to provide a benchmark for future research. We conclude that while promising results have been reported, the research is still in the early stage, and more in-depth exploration is needed before a successful application to the clinics. Note that MyoPS data and evaluation tool continue to be publicly available upon registration via its homepage (***/zhuangxiahai/0/myops20/). © 2022, CC BY-NC-SA.

关键词： Magnetic resonance imaging

Cooperative Pursuit with Multi-Pursuer and One Faster Free-moving Evader

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arXiv 2020年

作者： Fang, Xu Wang, Chen Xie, Lihua Chen, Jie School of Electrical and Electronic Engineering Nanyang Technological University Singapore639798 Singapore Robotics Institute Carnegie Mellon University PittsburghPA15213 United States School of Electronics and Information Engineering Tongji University Shanghai200092 China Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing100081 China

—This paper addresses a multi-pursuer single-evader pursuit-evasion game where the free-moving evader moves faster than the pursuers. Most of the existing works impose constraints on the faster evader such as limited moving area and moving direction. When the faster evader is allowed to move freely without any constraint, the main issues are how to form an encirclement to trap the evader into the capture domain, how to balance between forming an encirclement and approaching the faster evader, and what conditions make the capture possible. In this paper, a distributed pursuit algorithm is proposed to enable pursuers to form an encirclement and approach the faster evader. An algorithm that balances between forming an encirclement and approaching the faster evader is proposed. Moreover, sufficient capture conditions are derived based on the initial spatial distribution and the speed ratios of the pursuers and the evader. Simulation and experimental results on ground robots validate the effectiveness and practicability of the proposed method. Copyright © 2020, The Authors. All rights reserved.

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A Piecewise-Markovian Lyapunov Approach to Reliable Output Feedback control for Fuzzy-Affine Systems With Time-Delays and Actuator Faults

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IEEE TRANSACTIONS ON CYBERNETICS 2018年第9期48卷 2723-2735页

作者： Wei, Yanling Qiu, Jianbin Shi, Peng Wu, Ligang State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China School of Electrical and Electronic Engineering University of Adelaide Adelaide SA Australia Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin China

This paper addresses the problem of delay-dependent robust and reliable H-infinity static output feedback (SOF) control for a class of uncertain discrete-time Takagi-Sugeno fuzzy-affine (FA) systems with time-varying delay and actuator faults in a singular system framework. The Markov chain is employed to describe the actuator faults behaviors. In particular, by utilizing a system augmentation approach, the conventional closed-loop system is converted into a singular FA system. By constructing a piecewise-Markovian Lyapunov-Krasovskii functional, a new H-infinity performance analysis criterion is then presented, where a novel summation inequality and S-procedure are succeedingly employed. Subsequently, thanks to the special structure of the singular system formulation, the piecewise-affine SOF controller design is proposed via a convex program. Lastly, illustrative examples are given to show the efficacy and less conservatism of the presented approach.

关键词： Piecewise Markovian Lyapunov functional reliable output feedback control time-varying delay T-S fuzzy-affine (FA) systems