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Hierarchical Sponge-Hydrogel Hybrid Structures with Robust Interfaces

Chinese Journal of Chemistry 2023年第20期41卷 2635-2640页

作者： Pei Zhang Guangda Chen Xingmei Chen Junfei Xing Yue Tao Ji Liu Department of Mechanical and Energy Engineering Southern University of Science and TechnologyShenzhenGuangdong518055 China Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy EngineeringSouthern University of Science and TechnologyShenzhenGuangdong518055 China Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and TechnologyShenzhenGuangdong518055 China

Soft materials including elastomers and hydrogels are playing critical roles in a variety of fields,including bioelectrodes,batteries,supercapacitors,biomedical scaffolds,and solar vapor *** hydrophobic sponges(i.e.,mechanical robustness,elasticity and macroscopic porous structure)and hydrophilic hydrogels(i.e.,autonomous water absorption and transportation,biocompatibility)within one unit could readily combine the complementary characters from each component,making a number of future research directions and applications *** propose a simple yet effective strategy to construct sponge-hydrogel hybrid structures with robust hydrophobic-hydrophilic *** sponge scaffold imparts the sponges-hydrogel hybrids with desirable mechanical robustness,elasticity and macroscopic *** the other hand,the incorporated hydrogel component endows the hybrids with high water content(98 wt%hydrogel and 2 wt%sponge),superior compatibility,and nanoscale pores allowing for storage and transportation of various chemical and biological *** further demonstrate that the introduction of hydrophilic hydrogel components could effectively improve the liquid absorption capability,blood coagulation rate,hemostatic capacity and hemocompatibility,thus promising as hemostatic agents.

关键词： Sponge-hydrogel hybrid Interface Hierarchical Robustness Liquid absorption Gels Polymer Composites Materials science

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Data-driven electrical resistance tomography for robotic large-area tactile sensing

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science China(Information sciences) 2024年第9期67卷 336-337页

作者： Wendong ZHENG Huaping LIU Xiaofeng LIU Fuchun SUN School of Electrical Engineering and Automation Tianjin University of Technology Department of Computer Science and Technology Tsinghua University Key Laboratory of Maritime Intelligent Cyberspace Technology (Hohai University) Ministry of Education

Tactile sensing plays a crucial role in enabling robots to safely interact with objects in dynamic environments [1].Given that potential physical contact can occur at any location during robot interaction, there is a ... 详细信息

关键词： Robot applications

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Multi-Scale Time Series Segmentation Network Based on Eddy Current Testing for Detecting Surface Metal Defects

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IEEE/CAA Journal of Automatica Sinica 2025年第3期12卷 528-538页

作者： Xiaorui Li Xiaojuan Ban Haoran Qiao Zhaolin Yuan Hong-Ning Dai Chao Yao Yu Guo Mohammad S.Obaidat George Q.Huang the School of Intelligence Science and Technology University of Science and Technology Beijing the Beijing Advanced Innovation Center for Materials Genome Engineering the Key Laboratory of Intelligent Bionic Unmanned Systems and the Institute of Materials Intelligent Technology Liaoning Academy of Materials IEEE the Department of Computer Science Hong Kong Baptist University the School of Computer and Communication Engineering Key Laboratory of Advanced Materials and Devices for Post-Moore Chips Ministry of Education University of Science and Technology Beijing the Beijing Advanced Innovation Center for Materials Genome Engineering University of Science and Technology Beijing the School of Computer and Communication Engineering University of Science and Technology Beijing the King Abdullah Ⅱ School of Information Technology The University of Jordan the Department of Computational Intelligence the School of Computing SRM University the School of Engineering The Amity University The Hong Kong Polytechnic University

In high-risk industrial environments like nuclear power plants, precise defect identification and localization are essential for maintaining production stability and safety. However, the complexity of such a harsh environment leads to significant variations in the shape and size of the defects. To address this challenge, we propose the multivariate time series segmentation network(MSSN), which adopts a multiscale convolutional network with multi-stage and depth-separable convolutions for efficient feature extraction through variable-length templates. To tackle the classification difficulty caused by structural signal variance, MSSN employs logarithmic normalization to adjust instance distributions. Furthermore, it integrates classification with smoothing loss functions to accurately identify defect segments amid similar structural and defect signal subsequences. Our algorithm evaluated on both the Mackey-Glass dataset and industrial dataset achieves over 95% localization and demonstrates the capture capability on the synthetic dataset. In a nuclear plant's heat transfer tube dataset, it captures 90% of defect instances with75% middle localization F1 score.

关键词： Eddy current testing nondestructive testing semantic segmentation time series analysis

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OSFS-Vague: Online streaming feature selection algorithm based on vague set

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CAAI Transactions on Intelligence Technology 2024年第6期9卷 1451-1466页

作者： Jie Yang Zhijun Wang Guoyin Wang Yanmin Liu Yi He Di Wu School of Physics and Electronic Science Zunyi Normal UniversityZunyiChina Key Laboratory of Big Data Intelligent Computing Chongqing University of Posts and TelecommunicationsChongqingChina Department of Computer Science Old Dominion UniversityNorfolkVirginiaUSA College of Computer and Information Science Southwest UniversityChongqingChina

Online streaming feature selection(OSFS),as an online learning manner to handle streaming features,is critical in addressing high-dimensional *** real big data-related applications,the patterns and distributions of streaming features constantly change over time due to dynamic data generation ***,existing OSFS methods rely on presented and fixed hyperparameters,which undoubtedly lead to poor selection performance when encountering dynamic *** make up for the existing shortcomings,the authors propose a novel OSFS algorithm based on vague set,named *** main idea is to combine uncertainty and three-way decision theories to improve feature selection from the traditional dichotomous method to the trichotomous ***-Vague also improves the calculation method of correlation between features and ***,OSFS-Vague uses the distance correlation coefficient to classify streaming features into relevant features,weakly redundant features,and redundant ***,the relevant features and weakly redundant features are filtered for an optimal feature *** evaluate the proposed OSFS-Vague,extensive empirical experiments have been conducted on 11 *** results demonstrate that OSFS-Vague outperforms six state-of-the-art OSFS algorithms in terms of selection accuracy and computational efficiency.

关键词： feature selection online feature selection three-way decision vague set

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A practical PID variable stiffness control and its enhancement for compliant force-tracking interactions with unknown environments

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science China(Technological sciences) 2023年第10期66卷 2882-2896页

作者： ZHANG Xin ZHOU Hao LIU JinGuo JU ZhaoJie LENG YuQuan YANG ChenGuang State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China School of Computing University of PortsmouthPortsmouth PO13HEUK Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy EngineeringSouthern University of Science and TechnologyShenzhen 518055China Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and EngineeringSouth China University of TechnologyGuangzhou 510640China

Compliant interaction control is a key technology for robots performing contact-rich manipulation *** design of the compliant controller needs to consider the robot hardware because complex control algorithms may not be compatible with the hardware performance,especially for some industrial robots with low bandwidth *** paper focuses on effective and easy-to-use compliant control algorithms for position/velocity-controlled *** by human arm stiffness adaptation behavior,a novel variable target stiffness(NVTS)admittance control strategy is proposed for adaptive force tracking,in which a proportional integral derivative(PID)variable stiffness law is designed to update the stiffness coefficient of the admittance function by the force and position ***,its stability and force-tracking capability are theoretically *** addition,an impact compensator(Impc)is integrated into the NVTS controller to enhance its disturbance-suppression capability when the robot is subjected to strong vibration disturbances in complicated surface polishing *** proposed controllers are validated through four groups of experimental tests using different robots and the corresponding results demonstrate that they have high-accuracy tracking capability and strong adaptability in unknown environments.

关键词： compliant interaction control force tracking PID variable stiffness impact compensator unknown environments

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QPDet: Queuing People Detector for Aerial Images Based on Adaptive Soft Label Assignment Strategy 27th

QPDet: Queuing People Detector for Aerial Images Based on ...

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27th International Conference on Pattern Recognition, ICPR 2024

作者： Zhang, Yi Su, Yi Li, Siying Yi, Kai Department of Computer Science Sichuan University Chengdu China Intelligent Policing Key Laboratory of Sichuan Province Luzhou China

ISBN: (纸本)9783031781681

As a branch of object detection task, the detection of queuing people in the aerial images emerges as a new research direction in recent years. However, it remains challenging due to the complex background, variations in the viewpoints and densely located tiny objects. In this paper, we propose a tiny object detector called QPDet to solve the above issues. Firstly, a large-scale dataset of queuing people with dense and diverse annotations has been constructed to enrich the knowledge of this field, in which a large number of queuing people have been sorted and collected using drones. Secondly, a modified YOLOX has been utilized as our detector, which effectively detects the tiny objects in the aerial images. Finally, an adaptive soft label assignment strategy has been proposed to improve the robustness of our detector. Extensive experiments have been conducted to demonstrate the effectiveness of our approach, the results exhibit the superiority of our detector. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Aerial photography

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Real-Time Multi-object Tracking Using YOLOv8 and SORT on a SoC FPGA 21st

Real-Time Multi-object Tracking Using YOLOv8 and SORT on a...

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21st International Symposium on Applied Reconfigurable Computing, ARC 2025

作者： Danilowicz, Michal Kryjak, Tomasz Embedded Vision Systems Group Computer Vision Laboratory Department of Automatic Control and Robotics AGH University of Science and Technology Krakow Poland

ISBN: (纸本)9783031879944

Multi-object tracking (MOT) is one of the most important problems in computer vision and a key component of any vision-based perception system used in advanced autonomous mobile robotics. Therefore, its implementation on low-power and real-time embedded platforms is highly desirable. Modern MOT algorithms should be able to track objects of a given class (e.g. people or vehicles). In addition, the number of objects to be tracked is not known in advance, and they may appear and disappear at any time, as well as be obscured. For these reasons, the most popular and successful approaches have recently been based on the tracking paradigm. Therefore, the presence of a high quality object detector is essential, which in practice accounts for the vast majority of the computational and memory complexity of the whole MOT system. In this paper, we propose an FPGA (Field-Programmable Gate Array) implementation of an embedded MOT system based on a quantized YOLOv8 detector and the SORT (Simple Online Realtime Tracker) tracker. We use a modified version of the FINN framework to utilize external memory for model parameters and to support operations necessary required by YOLOv8. We discuss the evaluation of detection and tracking performance using the COCO and MOT15 datasets, where we achieve 0.21 mAP and 38.9 MOTA respectively. As the computational platform, we use an MPSoC system (Zynq UltraScale+ device from AMD/Xilinx) where the detector is deployed in reprogrammable logic and the tracking algorithm is implemented in the processor system. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： System-on-chip

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Cubature Kalman Fusion Filtering Under Amplify-and-Forward Relays With Randomly Varying Channel Parameters

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IEEE/CAA Journal of Automatica Sinica 2025年第2期12卷 356-368页

作者： Jiaxing Li Zidong Wang Jun Hu Hongli Dong Hongjian Liu the Department of Applied Mathematics Harbin University of Science and Technology IEEE the Department of Computer Science Brunel University London the School of Automation Harbin University of Science and Technology the Artificial Intelligence Energy Research Institute Northeast Petroleum University the Heilongjiang Provincial Key Laboratory of Networking and Intelligent Control Northeast Petroleum University the National Key Laboratory of Continental Shale Oil of China Northeast Petroleum University the Key Laboratory of Advanced Perception and Intelligent Control of High-End Equipment Ministry of Education Anhui Polytechnic University the School of Mathematics and Physics Anhui Polytechnic University

In this paper, the problem of cubature Kalman fusion filtering(CKFF) is addressed for multi-sensor systems under amplify-and-forward(AaF) relays. For the purpose of facilitating data transmission, AaF relays are utilized to regulate signal communication between sensors and filters. Here, the randomly varying channel parameters are represented by a set of stochastic variables whose occurring probabilities are permitted to exhibit bounded uncertainty. Employing the spherical-radial cubature principle, a local filter under AaF relays is initially constructed. This construction ensures and minimizes an upper bound of the filtering error covariance by designing an appropriate filter gain. Subsequently, the local filters are fused through the application of the covariance intersection fusion rule. Furthermore, the uniform boundedness of the filtering error covariance's upper bound is investigated through establishing certain sufficient conditions. The effectiveness of the proposed CKFF scheme is ultimately validated via a simulation experiment concentrating on a three-phase induction machine.

关键词： Amplify-and-forward (AaF) relays covariance intersection fusion cubature Kalman filtering multi-sensor systems uniform boundedness

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Classification of Pigmented Skin Lesions using Early Fusion of Multi-Deep Features and Support Vector Machine

Classification of Pigmented Skin Lesions using Early Fusion ...

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2024 International Conference on intelligent Computing and Sustainable Innovations in Technology, IC-SIT 2024

作者： Chowdam, Jayanth Panigrahi, Sibarama National Institute of Technology Intelligent Data Analytics Laboratory Department of Computer Science and Engineering Odisha Rourkela India

ISBN: (纸本)9798350369175

One of the primary organ is the skin. It protects and separates humans from various dangers. Nevertheless, the skin is susceptible to damage and can develop pigmented lesions. Manual classification of Pigmented Skin Lesions(PSL) is a major challenge due to availability and bias of physician, time consuming, invasive methods are painful and with elevated expenses. To overcome this, in this paper, two automated computer vision based approaches (using and without using dimensionality reduction) are employed by modelling multi-deep features using Support Vector Machine(SVM) for classification of PSL. The suggested system comprises of two operational stages. Initially, the performance of six Convolutional Neural Network models (VGG16, VGG19, AlexNet, Xception, ResNet50, and EfficientB3) in deep feature extraction and three types of hand-crafted features extraction methods (HOG, LBP, and SIFT) employing SVM are evaluated. The top three CNN models (AlexNet, ResNet50, and EfficientB3) based on accuracy are used to form binary and ternary early fusion hybrid models to classify the skin lesions. In the second stage, combining multiple CNN models resulted in increased dimensionality and number of features. These features are then classified using SVM once in the higher dimension and again by reducing the dimensionality by applying Principal Component Analysis(PCA). The accuracies of the combined models are then compared. It is observed that the ternary early fusion model with SVM (Alexnet+Resnet50+EfficientB3-SVM) produces the highest accuracy of 82.22% with higher number of features whereas the same model while using PCA produces the accuracy of 81.57%. Consequently, the findings indicate the suggested techniques are useful for classification of PSL. © 2024 IEEE.

关键词： Dimensionality reduction

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SceneSense: Diffusion Models for 3D Occupancy Synthesis from Partial Observation

arXiv

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arXiv 2024年

作者： Reed, Alec Crowe, Brendan Albin, Doncey Achey, Lorin Hayes, Bradley Heckman, Christoffer the Intelligent Robotics Laboratory Department of Computer Science the University of Colorado Boulder United States

When exploring new areas, robotic systems generally exclusively plan and execute controls over geometry that has been directly measured. When entering space that was previously obstructed from view such as turning corners in hallways or entering new rooms, robots often pause to plan over the newly observed space. To address this we present SceneScene, a real-time 3D diffusion model for synthesizing 3D occupancy information from partial observations that effectively predicts these occluded or out of view geometries for use in future planning and control frameworks. SceneSense uses a running occupancy map and a single RGB-D camera to generate predicted geometry around the platform at runtime, even when the geometry is occluded or out of view. Our architecture ensures that SceneSense never overwrites observed free or occupied space. By preserving the integrity of the observed map, SceneSense mitigates the risk of corrupting the observed space with generative predictions. While SceneSense is shown to operate well using a single RGB-D camera, the framework is flexible enough to extend to additional modalities. SceneSense operates as part of any system that generates a running occupancy map ‘out of the box’, removing conditioning from the framework. Alternatively, for maximum performance in new modalities, the perception backbone can be replaced and the model retrained for inference in new applications. Unlike existing models that necessitate multiple views and offline scene synthesis, or are focused on filling gaps in observed data, our findings demonstrate that SceneSense is an effective approach to estimating unobserved local occupancy information at runtime. Local occupancy predictions from SceneSense are shown to better represent the ground truth occupancy distribution during the test exploration trajectories than the running occupancy map. Finally, we analyze example predictions and show that SceneSense provides reasonable, accurate, and useful predictions. Copyrigh

关键词： Forecasting

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