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arXiv 2025年

作者： Zhang, Qianyi Luo, Wentao Liu, Boyi Zhang, Ziyang Wang, Yaoyuan Liu, Jingtai Institute of Robotics and Automatic Information System Nankai University Tianjin Key Laboratory of Intelligent Robotics Tianjin China Advanced Computing and Storage Lab Huawei 2012 Lab China Department of Electronic and Computer Engineering The Kong Kong University of Science and Technology Hong Kong

Motion planning in navigation systems is highly susceptible to upstream perceptual errors, particularly in human detection and tracking. To mitigate this issue, the concept of guidance points—a novel directional cue within a reinforcement learning-based framework—is introduced. A structured method for identifying guidance points is developed, consisting of obstacle boundary extraction, potential guidance point detection, and redundancy elimination. To integrate guidance points into the navigation pipeline, a perception-to-planning mapping strategy is proposed, unifying guidance points with other perceptual inputs and enabling the RL agent to effectively leverage the complementary relationships among raw laser data, human detection and tracking, and guidance points. Qualitative and quantitative simulations demonstrate that the proposed approach achieves the highest success rate and near-optimal travel times, greatly improving both safety and efficiency. Furthermore, real-world experiments in dynamic corridors and lobbies validate the robot’s ability to confidently navigate around obstacles and robustly avoid pedestrians. © 2025, CC BY.

关键词： Travel time

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Design and preliminary testing of a piezoelectric-based sole energy harvester

Design and preliminary testing of a piezoelectric-based sole...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Wang, Yidi Zhao, Xuan Shi, Qiuyu Liao, Haisu Wu, Xinyu Gao, Fei Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen518055 China Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen518055 China Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Shatin999077 Hong Kong

ISBN: (纸本)9781665481090

Harvesting energy from the human body to replenish existing energy sources is receiving substantial attention. Recently scientists have been focusing on harvesting biomechanical energy from human feet during walking. This paper develops a piezoelectric-based sole energy harvester that is designed to be worn on the bottom of shoes to harvest energy, thus powering wearable electronic devices. Specifically, a cam with piezoelectric(PZT) stacks is mounted on the heel to scavenge energy during the heel strike. The cam can change the input's direction from the vertical direction to the horizontal direction. In addition, the output power of this part can be optimized or improved by generating a specified cam profile. A bimorph piezoelectric plate is installed on the forefoot to convert the toes' bending deformation into electricity. Herein, piezoelectric Macro Fiber Composites (MFC) are employed to capture the large deformation. Preliminary testing on a healthy subject is conducted to validate this design. The average power output of the harvester is 8.83 m W. © 2022 IEEE.

关键词： Cams

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Image Segmentation Based on Improved Wavelet Transform

Image Segmentation Based on Improved Wavelet Transform

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第35届中国控制与决策会议

作者： Guowu Zhu Lixiang Ma Bingyou Liu Pan Yang College of Electrical Engineering Anhui Polytechnic University Key Laboratory of Advanced Perception and Intelligent Control of High-End Equipment Ministry of Education Anhui Institute of Information Technology College of Electrical Engineering Anhui Polytechnic University Key Laboratory of Advanced Perception and Intelligent Control of High-End EquipmentMinistry of Education Anhui Dar Intelligent Control System Stock Co. Ltd

In order to preserve the effective information of the image and segment it better,an image segmentation method based on improved wavelet transform is ***,the image is decomposed based on wavelet transform to obtain the horizontal,vertical and diagonal information of the ***,the peak and valley points are determined by the decomposed wavelet coefficients,and the segmentation threshold is ***,the experimental results show that the improved wavelet transform segmentation method proposed in this paper has better segmentation effect than the traditional segmentation method.

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robotic Single-Micropipette Enucleation Method for Zona-free Oocytes

Robotic Single-Micropipette Enucleation Method for Zona-free...

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Chinese Control Conference (CCC)

作者： Yidi Zhang Yaowei Liu Minghui Li Dong Sun Xin Zhao Institute of Robotics and Automatic Information System (IRAIS) and the Tianjin Key Laboratory of Intelligent Robotic (tjKLIR) Nankai University Tianjin China Department of Biomedical Engineering City University of Hong Kong Hong Kong SAR China Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University Shenzhen China Centre for Robotics and Automation Shenzhen Research Institute City University of Hong Kong Shenzhen China

Somatic cell nuclear transfer is a mammalian cloning method that involves replacing the oocyte nucleus with a somatic cell nucleus. One of the most critical steps in this process is the efficient production of large numbers of enucleated oocytes. While a single-micropipette-based manual enucleation method has been widely used in manual cloning, it is still a manual operation that requires exceptional technical skills and experience. Additionally, it is difficult to accurately control the amount of enucleation and to meet the demand for high-throughput enucleation. Therefore, we propose a robotic enucleation method using a single micropipette for zona-free oocytes, which allows for the detection and control of the amount of enucleation, as well as continuous enucleation on a large scale. A single oocyte enucleation can be completed in less than 13 seconds. This robotic enucleation method provides a solution for enhancing the operational efficiency of robotic somatic cell nuclear transfer.

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High-Fidelity Editable Portrait Synthesis with 3D GAN Inversion

High-Fidelity Editable Portrait Synthesis with 3D GAN Invers...

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International Conference on Acoustics, Speech, and Signal Processing (ICASSP)

作者： Jindong Xie Jiachen Liu Yupei Lin Jinbao Wang Xianxu Hou Linlin Shen Computer Vision Institute School of Computer Science and Software Engineering Shenzhen University National Engineering Laboratory for Big Data System Computing Technology Shenzhen University School of Information Engineering Guangdong University of Technology Guangzhou China Guangdong Provincial Key Laboratory of Intelligent Information Processing School of AI and Advanced Computing Xi’an Jiaotong-Liverpool University

ISBN: (数字)9798350368741

ISBN: (纸本)9798350368758

The 3D generative adversarial network (GAN) inversion converts an image into 3D representation to attain high-fidelity reconstruction and facilitate realistic image manipulation within the 3D latent space. However, previous approaches face challenges regarding the trade-off between the reconstruction ability and editability. That is, reversing a real-world image to a low-dimensional latent code would inevitably lead to information loss, and achieving a near-perfect reconstruction using high-rate triplane representation often limits the ability to manipulate the image freely in the latent space. To address these issues, we propose a novel latent conditioning encoder-based framework with the alignment between the low-dimensional latent and high-dimensional triplane. A non-semantic guided editing strategy bridges the intrinsic relation between the latent condition and triplane generation, making it possible to edit the high-dimensional representation by latent manipulation. As a result, our method can achieve high-fidelity reconstruction and editing simultaneously by directly controlling the latent code. Experimental results demonstrate that our approach excels in reconstruction and editing quality compared to previous 3D inversion methods. Furthermore, our method can also edit even real faces with large poses and out-of-domain cases.

关键词： Bridges Three-dimensional displays Codes Signal processing Generative adversarial networks Vectors Acoustics Speech processing Image reconstruction Faces

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A data-driven shared control system for exoskeleton rehabilitation robot

A data-driven shared control system for exoskeleton rehabili...

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

作者： Li, Feng He, Yong Li, Jinke Ni, Jiangpeng 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 Shenzhen518055 China Shenzhen College of Advanced Technology University of Chinese Academy of Sciences Shenzhen518055 China

ISBN: (纸本)9781665436786

It is very important to establish a control operating system for rehabilitation robots, especially to improve the rehabilitation effect and human-machine interaction ability of patients. Exoskeletons have been proved to be effective in providing highly repeatable and accurate rehabilitation exercises, but most existing exoskeletons have inconsistent operating systems and data loss. This paper designed a novel data-driven shared control system(DDSCS) farmework, applied to different exoskeleton rehabilitation robots (ERR). Due to the unique physical characteristics of exoskeleton rehabilitation robots, it can't be adapt to different patients. Firstly, the DDSCS framework is established via the data-driven and shared technology, and the feasibility is analyzed. Secondly, to iterate the individualized gait trajectory, data-driven gait trajectory correction model is designed. Finally, the shared human-machine interface is developed, and the superiority and effectiveness of DDSCS framework are verified by the exoskeleton robot experiments. © 2021 IEEE.

关键词： Control systems

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Method for constructing multi-dimensional feature map of malicious code 5

Method for constructing multi-dimensional feature map of mal...

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2020 5th International Seminar on Computer technology, Mechanical and Electrical Engineering, ISCME 2020

作者： Ma, Haocong Zhang, Ji Zhou, Junhua Zhai, Xiang Xue, Junjie Ji, Hang State Key Laboratory of Intelligent Manufacturing System Technology Beijing Institute of Electronic System Engineering Beijing100854 China School of Computer Science and Technology Beijing Institute of Technology Beijing100081 China Beijing Complex Product Advanced Manufacturing Engineering Research Center Beijing Simulation Center Beijing100854 China Science and Technology on Space System Simulation Laboratory Beijing Simulation Center Beijing100854 China

Malicious code is characterized by a large number of types, rapid increase in number, continuous update of transmission routes, and continuous enhancement of back analysis and back detection methods. Therefore, how to effectively detect and analyze malicious code has been a problem of great concern. This paper studies the features of binary file and disassembly file of malicious code, introduces the concept of information gain, and proposes a method to construct the multi-dimensional characteristic graph of malicious code. Finally, the convolutional neural network is used to classify the multi-dimensional feature graph of malicious code, which provides a new idea for the feature extraction of malicious code. © Published under licence by IOP Publishing Ltd.

关键词： Malware

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SUBPIXEL EDGE LOCALIZATION BASED ON CONVERTED INTENSITY SUMMATION UNDER STABLE EDGE REGION

arXiv

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arXiv 2025年

作者： Yang, Yingyuan Liang, Guoyuan Wang, Xianwen Wang, Kaiming Wang, Can Wu, Xiaojun Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China University of Chinese Academy of Sciences Beijing10049 China Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China Guilin University of Technology Guilin541000 China School of Mechanical Engineering and Automation Harbin Institute of Technology at Shenzhen Shenzhen518055 China

To satisfy the rigorous requirements of precise edge detection in critical high-accuracy measurements, this article proposes a series of efficient approaches for localizing subpixel edge. In contrast to the fitting based methods, which consider pixel intensity as a sample value derived from a specific model. We take an innovative perspective by assuming that the intensity at the pixel level can be interpreted as a local integral mapping in the intensity model for subpixel localization. Consequently, we propose a straightforward subpixel edge localization method called Converted Intensity Summation (CIS). To address the limited robustness associated with focusing solely on the localization of individual edge points, a Stable Edge Region (SER) based algorithm is presented to alleviate local interference near edges. Given the observation that the consistency of edge statistics exists in the local region, the algorithm seeks correlated stable regions in the vicinity of edges to facilitate the acquisition of robust parameters and achieve higher precision positioning. In addition, an edge complement method based on extension-adjustment is also introduced to rectify the irregular edges through the efficient migration of SERs. A large number of experiments are conducted on both synthetic and real image datasets which cover common edge patterns as well as various real scenarios such as industrial PCB images, remote sensing and medical images. It is verified that CIS can achieve higher accuracy than the state-of-the-art method, while requiring less execution time. Moreover, by integrating SER into CIS, the proposed algorithm demonstrates excellent performance in further improving the anti-interference capability and positioning accuracy. Copyright © 2025, The Authors. All rights reserved.

关键词： Pixels

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A framework of cooperative UAV-UGV system for target tracking

A framework of cooperative UAV-UGV system for target trackin...

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

作者： Su, Zhilong Wang, Can Wu, Xinyu Dong, Yao Ni, Jiangpeng He, Bailin Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen518055 China Shenzhen College of Advanced Technology University of Chinese Academy of Sciences Beijing100049 China CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institute of Advanced Technology Shenzhen518055 China

ISBN: (纸本)9781665436786

This paper proposed a framework of cooperative UAV-UGV system. This system consists of three modules: UAV, UGV, and ground station console. It has the characteristics of high cohesion, low coupling, cross platform, and cross language. Compared with the prior methods which UAV-UGV cooperation system that only uses UAV to track UGV, our method is more effective and can give full play to the advantages of UAV and UGV. We use UAV visual tracking algorithm and coordinate transformation to get the target location, and use UGV to navigate to the target location to keep up with the target. The high mobility of UAV makes the target tracking range of the whole system larger, the robustness of UGV is good, and the tasks can be performed more precisely. © 2021 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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Bionic design of a self-reconfigurable modular robot for search and rescue

Bionic design of a self-reconfigurable modular robot for sea...

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

作者： Gao, Guangju Liu, Jingshuai He, Yong Sun, Jianquan Wu, Xinyu Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen518055 China CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institute of Advanced Technology Shenzhen College of Advanced Technology University of Chinese Academy of Sciences Shenzhen518055 China Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence Synergy Systems Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China

ISBN: (纸本)9781665436786

This paper proposes a novel self-reconfigurable modular robot for search and rescue. The modular robot consists of two main structures, a planetary wheel driven robot body and a double unlocking system as the docking structure. By means of the planetary wheel structure, the robot has a strong flexibility to cross obstacles in a disaster environment. In virtue of the docking structure with double unlocking function, the self-reconfigurable ability has improved robot reliability. Further, the modular robot can be connected or disconnected according to the actual task requirements. Finally, to verify the stability and reliability, the finite element analysis is carried out. © 2021 IEEE.

关键词： Reliability analysis

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