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arXiv 2019年

作者： Klamt, Tobias Rodriguez, Diego Baccelliere, Lorenzo Chen, Xi Chiaradia, Domenico Cichon, Torben Gabardi, Maßimiliano Guria, Paolo Holmquist, Karl Kamedula, Malgorzata Karaoguz, Hakan Kashiri, Navvab Laurenzi, Arturo Lenz, Christian Leonardis, Daniele Hoffman, Enrico Mingo Muratore, Luca Pavlichenko, Dmytro Porcini, Francesco Ren, Zeyu Schilling, Fabian Schwarz, Max Solazzi, Maßimiliano Felsberg, Michael Frisoli, Antonio Gustmann, Michael Jensfelt, Patric Nordberg, Klas Roßmann, Jürgen Süß, Uwe Tsagarakis, Nikos G. Behnke, Sven Autonomous Intelligent Systems University of Bonn Germany Humanoids and Human-Centred Mechatronics Istituto Italiano di Tecnologia Genoa Italy Department of Robotics Perception and Learning KTH Royal Institute of Technology Stockholm Sweden PERCRO Laboratory TeCIP Institute Sant'Anna School of Advanced Studies Pisa Italy Institute for Man-Machine Interaction RWTH Aachen University Germany Computer Vision Laboratory Linköping University Sweden Lausanne Switzerland Kerntechnische Hilfsdienst GmbH Karlsruhe Germany School of Electrical and Electronic Engineering University of Manchester United Kingdom

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Artificial Muscles as Actuators in Symmetrical Structure

Artificial Muscles as Actuators in Symmetrical Structure

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IEEE International Conference on robotics and Biomimetics

作者： Long Li Jianfei Shen Jiakai Ma Hua Li Yingzhong Tian Wenbin Wang Xiangjie Jia Fengfeng Xi School of Mechatronic Engineering and Automation Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai China Institute of Applied Mechanics Zhejiang University Hangzhou China Mechanical and Electrical School of Shenzhen Polytechnic Shenzhen China Department of Mechanical Ryerson University Toronto ON Canada

ISBN: (纸本)9781728103785;9781728103778

Artificial muscles made of SCP (super coiled polymer) such as nylon 6 and nylon 6, 6, due to the character of attraction when heated and extension when cool down, have many novel applications as actuators. Using artificial muscles as actuators to take place of actuators like motors in traditional engineering designs has advantages such as reducing the size and weight of the model. But when applied to symmetrical structures, artificial muscles need to be assigned symmetrically, attentions should be paid that some of none heated muscles in working states may work as loads while some of other muscles are heated. Taking hyperredundant robot joint, which is a typical model of symmetrical structure, as an example. Motors, cables and springs of traditional hyperredundant robot can be replaced by SCP artificial muscles as actuators, which enables the reduction of structure size, reducing the number of components and the cost of model. But unavoidable, in this symmetrical structure, when muscle of one side is heated and contracting will leads to the extension of muscle on the opposite side. Under this circumstance, the side effect of the extended muscle is not negligible and needed to be analyzed. In this article, the model simplification and design of symmetrical structure of hyperredundant robot joint which SCP artificial muscles are applied to and the force analysis method of the structure are demonstrated. By calculation, the feasibility of replacements of SCP artificial muscles in the symmetrical structure are inferred. A 3D printed model is made and experiment result shows that SCP artificial muscles can be applied to symmetrical structure.

关键词： Conferences Robots Biomimetics

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Data-Driven Model-Free Iterative Tuning Approach for Smooth and Accurate Tracking

Data-Driven Model-Free Iterative Tuning Approach for Smooth ...

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IEEE/ASME (AIM) International Conference on Advanced intelligent Mechatronics

作者： Xiaocong Li Si-Lu Chen Jun Ma Chek Sing Teo Kok Kiong Tan Mechatronics Group Singapore Institute of Manufacturing Technology Singapore Zhejiang Provincial Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology Chinese Academy of Sciences Ningbo Zhejiang China Department of Electrical and Computer Engineering National University of Singapore Singapore

The feedback controller tuning for tray indexing can be challenging and time-consuming depending on the experience of the control engineer. Inappropriate tuning of the feedback controller often results in unacceptable tracking accuracy, humming sound, and even chips dislodged. In this paper, we propose a data-driven iterative feedback tuning approach within a three-degree-of-freedom control structure. The penalty function is introduced which takes into account both the tracking accuracy and jerk minimization, and it is particularly suitable for the tray indexing application. In contrast to the traditional model-based control, the proposed approach method makes use of the closed-loop experimental data to fine-tune the controller without system modeling, i.e. a model-less approach. The performance improvement is demonstrated with a case study based on a typical industrial timing-belt setup.

关键词： Tuning Adaptive control Iterative methods Indexing Feedforward systems Cost function Minimization

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Multi-Scale Recurrent Neural Network for Sound Event Detection

Multi-Scale Recurrent Neural Network for Sound Event Detecti...

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IEEE International Conference on Acoustics, Speech and Signal Processing

作者： Rui Lu Zhiyao Duan Changshui Zhang Department of Automation Tsinghua University State Key Lab of Intelligent Technologies and Systems Tsinghua National Laboratory for Information Science and Technology (TNList) Beijing P.R.China Department of Electrical and Computer Engineering University of Rochester Rochester NY USA

ISBN: (纸本)9781538646595

Sound event detection (SED) in real life is an interesting but challenging task due to the polyphonic and long-term dependent nature of sound events. Recently, multi-label recurrent neural networks (RNNs) have shown promises. However, even equipped with long short-term memory (LSTM) or gated recurrent unit (GRU) cells, RNNs are still limited to model the long-term dependency. In this paper, we propose a multiscale RNN to address this issue. By integrating information from different time resolutions, we can better capture both the fine-grained and long-term dependencies of sound events. We experiment on the development sets of Task3 of DCASE2016 and DCASE2017. Compared to our previously proposed single-scale RNN that won the third place among the 13 teams in Task3 of DCASE2017, the proposed multiscale model achieves statistically significantly better performance on the development datasets of both DECASE2016 and DCASE2017.

关键词： Multi-scale model deep learning recurrent neural network sound event detection recurrent neural nets multiscale models Event detection Machine Learning SOUND Vibration Hearing temporal resolution

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Parallel medical imaging for intelligent medical image analysis: Concepts, methods, and applications

arXiv

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arXiv 2019年

作者： Gou, Chao Shen, Tianyu Zheng, Wenbo Xue, Huadan Yu, Hui Ji, Qiang Jin, Zhengyu Wang, Fei-Yue School of Intelligent Systems Engineering Sun Yat-sen University Guangzhou510275 China The State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China University of Chinese Academy of Sciences Beijing100049 China School of Software Engineering Xi’an Jiaotong University Xi’an710049 China Department of Radiology Peking Union Medical College Hospital Chinese Academy of Medical Sciences Peking Union Medical College Beijing100730 China School of Creative Technologies University of Portsmouth PortsmouthPO1 2DJ United Kingdom Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Qingdao Academy of Intelligent Industries Qingdao266000 China

Data-driven artificial intelligence technologies have made much progress in medical image analysis in the last decades. However, it still remains challenging due to its distinctive complexity of acquiring and annotating image data, extracting medical domain knowledge, and explaining the diagnostic decision for medical image analysis. In this paper, we propose a data-knowledge-driven framework termed as Parallel Medical Imaging (PMI) for intelligent medical image analysis based on the methodology of interactive ACP-based parallel intelligence. In the PMI framework, computational experiments with predictive learning in a data-driven way are conducted to extract medical knowledge for diagnostic decision support. Artificial imaging systems are introduced to select and prescriptively generate medical image data in a knowledge-driven way to utilize medical domain knowledge. Through the closed-loop optimization based on parallel execution, our proposed PMI framework can boost the generalization ability and alleviate the limitation of medical interpretation for diagnostic decisions. Furthermore, we illustrate the preliminary implementation of PMI method through the case studies of mammogram analysis and skin lesion image analysis. Experimental results on several public medical image datasets demonstrate the effectiveness of proposed PMI. © 2019, CC BY.

关键词： Medical imaging

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The dynamic interactions between chemotherapy drugs and plasmid DNA investigated by atomic force microscopy

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Science China Materials 2017年第3期60卷 269-278页

作者：李密刘连庆肖秀斌席宁王越超 State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Department of Lymphoma Affiliated Hospital of Military Medical Academy of Sciences Department of Electrical and Computer Engineering Michigan State University

The advent of atomic force microscopy （AFM） provides a powerful tool for imaging individual DNA molecules. Chemotherapy drugs are often related to DNAs. Though many specific drug-DNA interactions have been observed by AFM, knowledge about the dynamic interactions between chemotherapy drugs and plasmid DNAs is still scarce. In this work, AFM was applied to investigate the nanoscale interactions between plasmid DNAs and two commercial chemotherapy drugs （methotrexate and cisplatin）. Plasmid DNAs were immobilized on mica which was coated by silanes in advance. AFM imaging distinctly revealed the dynamic changes of single plasmid DNAs after the stimulation of methotrexate and cisplatin. Geometric features of plasmid DNAs were extracted from AFM images and the statistical results showed that the geometric features of plasmid DNAs changed significantly after the stimulation of drugs. This research provides a novel idea to study the actions of chemotherapy drugs against plasmid DNAs at the single-molecule level.

关键词： atomic force microscopy plasmid DNA drug methotrexate cisplatin

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A Geometric Approach to Second-Order Consensus of Heterogeneous Networked Systems

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IEEE Transactions on Cybernetics 2018年 2018 Jan 9页

作者： Su, Housheng Ye, Yanyan Chen, Xia He, Haibo School of Automation Image Processing and Intelligent Control Key Laboratory of Education Ministry of China Huazhong University of Science and Technology Wuhan 430074 China. China China Department of Electrical Computer and Biomedical Engineering University of Rhode Island Kingston RI 02881 USA. United States

This paper investigates second-order consensus of networked systems with heterogeneous intrinsic nonlinear dynamics via a geometrical method, in which the nonlinear dynamics are governed by both velocity and position. First, two necessary conditions are deduced for the existence of consensus solutions by analyzing the inherent nonlinear dynamics of isolated nodes. Then a closed invariant set is constructed via geometrical methods. The nonempty of the set implies the existence of consensus solution. Assuming that the primary and the second dimension about the above invariant set are the same linear subspace, the system can be divided into two simple subsystems through a linear transformation. In addition, some sufficient conditions are proposed for reaching the global consensus based on matrix theory and Lyapunov method. Finally, numerical simulation results are provided to illustrate the validity of theoretical analysis. IEEE

关键词： Multi agent systems

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Frequency synchronization for uplink massive MIMO with adaptive MUI suppression in angle-domain

arXiv

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arXiv 2018年

作者： Ge, Yinghao Zhang, Weile Gao, Feifei Li, Geoffrey Ye MOE Key Lab for Intelligent Networks and Network Security School of Electronic and Information Engineering Xi'an Jiaotong University Xi'an Shaanxi710049 China State Key Laboratory of Intelligent Technology and Systems Tsinghua National Laboratory for Information Science and Technology Department of Automation Tsinghua University Beijing100084 China Department of Electrical and Computer Engineering Georgia Institute of Technology AtlantaGA30332 United States

In this paper, we develop a novel angle-domain adaptive filtering (ADAF)-based frequency synchronization method for the uplink of a massive multiple-input multiple-output (MIMO) multiuser network, which is applicable for users with either separate or overlapped angle-of-arrival (AoA) regions. For each user, we first introduce the angle-constraining matrix (ACM), which consists of a set of selected match-filter (MF) beamformers pointing to the AoAs of the interested user. Then, the adaptive beamformer can be acquired by appropriately designing the ADAF vectors. Such beamformer can achieve two-stage adaptive multiuser interference (MUI) suppression, i.e., inherently suppressing the MUI from non-overlapping users by ACM in the first stage and substantially mitigating the MUI from adjacent overlapping users by ADAF vector in the second stage. For both separate and mutually overlapping users, the carrier frequency offset (CFO) estimation and subsequent data detection can be performed independently for each user, which significantly reduces computational complexity. Moreover, ADAF is rather robust to imperfect AoA knowledge and side cluster of scatterers, making itself promising for multiuser uplink transmission. We also analyze the performance of CFO estimation and obtain an approximated closed-form expression of mean-squared error (MSE). The effectiveness of the proposed method and its superiority over the existing methods are demonstrated by numerical results. Copyright © 2018, The Authors. All rights reserved.

关键词： Adaptive filters

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On active decoupling control for horizontal-lateral direction of hypersonic flight based on HIFOO 21

On active decoupling control for horizontal-lateral directio...

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21st AIAA International Space Planes and Hypersonics Technologies Conference, Hypersonics 2017

作者： Ma, Shunjian Zhu, Kai Sun, Mingwei Wang, Zenghui Chen, Zengqiang Dept. of Automation and Intelligent Science Nankai University College of Computer and Control Engineering Tianjin300350 China Beijing Aerospace Technology Institute Tianjin Key Laboratory of Intelligent Robotics Tianjin300350 China Beijing Aerospace Technology Institute Beijing100074 China Department of Electrical and Mining Engineering University of South Africa FL1710 South Africa

ISBN: (数字)9781624104633

ISBN: (纸本)9781624104633

Nowadays, hypersonic flight vehicles are widely studied. Since their high nonlinearity, strong coupling and uncertain factors, the conventional three-channel independent control design method is often unable to work well. In this paper, an active disturbance rejection controller (ADRC) is utilized to cancel internal uncertainties and exogenous disturbances for longitudinal dynamics. Then, the MIMO robust controller is obtained by choosing proper sensitivity functions and weighting functions to reduce horizontal-lateral direction coupling. The conventional H robust controllor is high-order, which is difficult for practitioners to implement. With frequency transformation, both ADRC for the longitudinal dynamics and MIMO robust controller for the horizontal-lateral dynamics are reformed into the static output feedback structure to reduce the high order of controller. Finally, all parameters in the controllers can be optimized by HIFOO (H-Infinity Fixed Order Optimization). The Winged-Cone, a 6-freedom NASA hypersonic vehicle model, is used as a benchmark, and Monte Carlo simulations demonstrate the effectiveness of the proposed method. © 2017, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Controllers

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Machine discovery of partial differential equations from spatiotemporal data

arXiv

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arXiv 2019年

作者： Yuan, Ye Li, Junlin Li, Liang Jiang, Frank Tang, Xiuchuan Zhang, Fumin Liu, Sheng Goncalves, Jorge Voss, Henning U. Li, Xiuting Kurths, Jürgen Ding, Han School of Artificial Intelligence and Automation State Key Laboratory of Digital Manufacturing Equipments and Technology Huazhong University of Science and Technology Wuhan430074 China School of Artificial Intelligence and Automation Key Laboratory of Image Processing and Intelligent Control Huazhong University of Science and Technology Wuhan430074 China School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm11428 Sweden School of Mechanical Science and Engineering Huazhong University of Science and Technology Wuhan430074 China School of Electrical and Computer Engineering Georgia Institute of Technology Atlanta30332 United States School of Power and Mechanical Engineering Wuhan University Wuhan430074 China Department of Engineering University of Cambridge CambridgeCB2 1PZ United Kingdom Luxembourg Centre for Systems Biomedicine University of Luxembourg BelvauxL-4367 Luxembourg Citigroup Biomedical Imaging Center Weill Cornell Medical College New York10021 United States Research Domain IV - Transdisciplinary Concepts & Methods Potsdam Institute for Climate Impact Research Potsdam14473 Germany School of Mechanical Science and Engineering State Key Laboratory of Digital Manufacturing Equipments and Technology Huazhong University of Science and Technology Wuhan430074 China

The study presents a general framework for discovering underlying Partial Differential Equations (PDEs) using measured spatiotemporal data. The method, called Sparse Spatiotemporal System Discovery (S3d), decides which physical terms are necessary and which can be removed (because they are physically negligible in the sense that they do not affect the dynamics too much) from a pool of candidate functions. The method is built on the recent development of Sparse Bayesian Learning;which enforces the sparsity in the to-be-identified PDEs, and therefore can balance the model complexity and fitting error with theoretical guarantees. Without leveraging prior knowledge or assumptions in the discovery process, we use an automated approach to discover ten types of PDEs, including the famous Navier-Stokes and sine-Gordon equations, from simulation data alone. Moreover, we demonstrate our data-driven discovery process with the Complex Ginzburg-Landau Equation (CGLE) using data measured from a traveling-wave convection experiment. Our machine discovery approach presents solutions that has the potential to inspire, support and assist physicists for the establishment of physical laws from measured spatiotemporal data, especially in notorious fields that are often too complex to allow a straightforward establishment of physical law, such as biophysics, fluid dynamics, neuroscience or nonlinear optics. Copyright © 2019, The Authors. All rights reserved.

关键词： Nonlinear optics

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