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Filtered Probabilistic Model Predictive Control-Based Reinforcement Learning for Unmanned Surface Vehicles

IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS 2022年第10期18卷 6950-6961页

作者： Cui, Yunduan Peng, Lei Li, Huiyun Chinese Acad Sci Shenzhen Inst Adv Technol CAS Key Lab Human Machine Intelligence Synergy Sy Shenzhen 518055 Guangdong Peoples R China Chinese Acad Sci Shenzhen Inst Adv Technol Guangdong Hong Kong Macao Joint Lab Human Machine Shenzhen 518055 Guangdong Peoples R China

In this article, we address the difficulty of controlling unmanned surface vehicles (USVs) under unforeseeable and unobservable external disturbances using model-based reinforcement learning (MBRL) without human's prior knowledge. A novel MBRL approach, filtered probabilistic model predictive control (FPMPC) is proposed to iteratively learn the USV model and an MPC-based policy in a probabilistic way through trial-and-error interactions. Compared with existing MBRL approaches that model the unobservable disturbances as system noise, FPMPC introduces a Bayesian filter process to implicitly translate the system dynamics to a partially-observed Markov decision process to present those disturbances as hidden states. An adaptive sample selection is proposed to remove the redundant learning samples based on the filter belief. Equipped with bias compensation and parallel computation, an FPMPC system, specific for USV, is developed. Evaluated by both position holding and target reaching tasks in a real USV data-driven simulation, FPMPC shows its significant superiority in control performances, generalization capability, and sample efficiency under large disturbances compared with the baseline approaches.

关键词： Predictive models Task analysis Probabilistic logic Uncertainty Oceans Reinforcement learning Informatics Autonomous surface vehicles Gaussian processes (GPs) reinforcement learning (RL) unmanned surface vehicles (USVs)

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Dual-interface induced bandgap regulated water-based flexible interactive generator

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CHEMICAL ENGINEERING JOURNAL 2025年 511卷

作者： Zhou, Ye Wu, Pengcheng Zhu, Yuchang Yelemulati, Huoerhute Zhu, Shanshan Wu, Keliang Meng, Guihua Wang, Hao Hassan, Fathy Sherif, Mohsen Li, Guanglin Liu, Zhiyong Greish, Yaser E. Tai, Yanlong Chinese Acad Sci Shenzhen Inst Adv Technol Key Lab Human Machine Intelligence Synergy Syst Shenzhen 518055 Peoples R China Shihezi Univ Sch Chem & Chem Engn Shihezi 832003 Xinjiang Peoples R China UAE Univ Natl Water & Energy Ctr Dept Chem Dept Mech Engn Al Ain 15551 U Arab Emirates

Water-based flexible energy electronics are becoming popular for urgent growing demands of the mixed reality interactive technology and the global energy policy of carbon neutrality. However, traditional water-based energy electronics normally show strong selectivity to certain water physical morphologies. To fabricate water- based interactive electronics with high efficiency and can be applied in wider scenarios, in this study, a dual- interface capacitance theory, with Interface-1: electron-charge layer (ECL) and interface-2: ion- charge layer (ICL), was proposed and verified by electrochemical impedance spectroscopy (EIS) analysis and COMSOL simulation. And accordingly, a charge storage material of bandgap regulated polymethyl methacrylate (TPMMA) was developed to fabricate a superior water-based flexible interactive generator, which could present a stable surface potential of 429 V for 5000 h at least, and a sliding potential response of saline water droplet up to 3.57 V, compared with 0.1 V for fluoropolymer as reported. Moreover, the practicality of fluorine-free T-PMMA was explored to harvest the water based mechanical energy, including the volatilization energy of water molecule as test paper, the gravitational potential energy of water droplet as artificial leaf, the mechanical kinetic energy of water flow as vascular disease monitor, respectively.

关键词： Water Energy Harvesting Dual-interface Theory Bandgap Regulation Fluorine-Free Electret Membrane Flexible Interactive Electronics

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BMFN3D: Bidirectional multilayer fusion network for indoor 3D object detection

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ELECTRONICS LETTERS 2022年第18期58卷 696-698页

作者： Cheng, Jun Zhang, Sheng Chinese Acad Sci Shenzhen Inst Adv Technol CAS Key Lab Human Machine Intelligence Synergy Sy Shenzhen Peoples R China Wuhan Univ Sch Elect & Automat Dept Artificial Intelligence & Automat Wuhan Peoples R China

Among various indoor 3D object detection methods, one of which is based on 3D convolution. However, in current 3D convolutional method for indoor 3D object detection, feature fusion is only implemented in a single direction and adjacent layer, which leads to the feature loss during feature propagation and weakens the detection performance. To solve the above problem, a bidirectional multilayer fusion network (BMFN) is proposed to enrich features for prediction. Furthermore, we propose a new network based on BMFN for 3D object detection, BMFN3D. In BMFN3D, the channel and spatial attention mechanisms are introduced into the backbone and head of detection network, so as to enhance the selection of effective feature information. Finally, a new calculation method for regression loss is proposed with the consideration of the 3D spatial information. We validate our method with two indoor datasets of SUN RGB-D and ScanNet, and achieve state-of-the-art results.

关键词： feature information selection regression analysis regression loss 3D spatial information feature extraction object detection stereo image processing SUN RGB-D dataset BMFN3D convolutional neural nets feature propagation image fusion ScanNet dataset 3D convolutional method BMFN for indoor 3D object detection feature loss bidirectional multilayer fusion network for indoor 3D object detection spatial attention mechanism channel attention mechanism feature selection

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Data association and loop closure in semantic dynamic SLAM using the table retrieval method

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APPLIED intelligence 2022年第10期52卷 11472-11488页

作者： Song, Chengqun Zeng, Bo Su, Tong Zhang, Ke Cheng, Jun Chinese Acad Sci Shenzhen Inst Adv Technol CAS Key Lab Human Machine Intelligence Synergy Sy Shenzhen 518055 Peoples R China Chinese Univ Hong Kong Hong Kong Peoples R China

Simultaneous localization and mapping (SLAM) plays an important role in the area of robotics and augmented reality to simultaneously obtain its location and construct environment maps in real-time. There are many challenges in SLAM, such as data association, loop closure, and dynamic environments. In this paper, we propose a table retrieval method for SLAM data association and loop closure using semantic information in a dynamic environment. The detected landmarks are stored in a table for retrieval, and each landmark has its own semantic and location information for data association and loop closure. The proposed method only checks the corresponding items, so it is not necessary to traverse all the landmarks in the reference frames, which is beneficial to real-time performance and cost efficiency. Experiments are performed to verify the effectiveness of our method on the public TUM and KITTI dataset. The results show that our system achieves considerable performance improvement compared with state-of-the-art methods.

关键词： Semantic dynamic SLAM Data association Loop closure Table retrieval Robot navigation

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Exploring the Relationship Between Imitated and Associated Mechanism on Performance of Visual Imagery Brain-Computer Interface

Exploring the Relationship Between Imitated and Associated M...

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Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

作者： Pengrui Tai Jingcheng Yang Shaowen Qi Guanglin Li Yunfa Fu Yongcheng Li Kunming University of Science and Technology Kunming China CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems SIAT-CAS China CAS Key Laboratory of Human-Machine Intelligence-Systems SIAT-CAS China

ISBN: (数字)9798350371499

ISBN: (纸本)9798350371505

Visual Imagery (VI) can be defined as the manipulation of visual information derived from memory rather than perception. Currently, the brain responses underlying imitation and associative VI are not clear. In this study, we explore the differences from imitation to associative VI on the brain responses based on EEG signals. In this study, eight participants were instructed to observe visual cues from three predefined images or characters (tree, computer, or sphere), and then imagine the same cues. The results indicate that there is a significant difference in power intensity among electrode channels in the occipital lobe, posterior parietal lobe, and temporal lobe during the imagination phase between imitative tasks and associative tasks, as revealed by t-tests (p < 0.05, rejecting the null hypothesis). Overall, imitation mechanisms and associative mechanisms represent the short-term memory (STM) and long-term memory (LTM) features of objects. This study addresses a crucial research gap in VI, as there is currently a scarcity of formal simultaneous comparisons in the existing literature.

关键词： Electrodes Visualization Temporal lobe Parietal lobe Electroencephalography Brain-computer interfaces Occipital Lobe Engineering in medicine and biology Visual perception

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An Easy-to-Use Assessment System for Spasticity Severity Quantification in Post-Stroke Rehabilitation

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IEEE TRANSACTIONS ON COGNITIVE AND DEVELOPMENTAL systems 2024年第3期16卷 828-839页

作者： Wang, Chen Peng, Liang Hou, Zeng-Guang Zhang, Pu Fang, Peng Chinese Acad Sci Inst Automat State Key Lab Multimodal Artificial Intelligence S Beijing 100190 Peoples R China Chinese Acad Sci CAS Ctr Excellence Brain Sci & Intelligence Techno Beijing 100190 Peoples R China Univ Chinese Acad Sci Sch Artificial Intelligence Beijing 100049 Peoples R China China Rehabil Res Ctr Beijing Boai Hosp Beijing 100068 Peoples R China Chinese Acad Sci Shenzhen Inst Adv Technol CAS Key Lab Human Machine Intelligence Synergy Sys Shenzhen 518055 Peoples R China

Spasticity is a motor disorder integrated in the upper motor neuron syndrome resulting from central nerve diseases such as stroke. The multifactorial nature of spasticity manifestations leads to the inter-rater and intrarater reliability of clinical assessment, hence, the objective severity quantification of the spastic hypertonia has attracted significant attention in the context of post-stroke rehabilitation. Here, we developed a novel assessment system to reliably identify the exaggerated muscle tone and quantitatively estimate the symptom severity in patients with upper limb spasticity. Twenty subjects with post-stroke spasticity (53.0 +/- 13.9 years old) and ten age-matched healthy subjects performed the passive stretch movements under the single-task and dual-task protocols while wearing an exoskeletal measurement device developed by us. A preliminary identification layer was designed to discriminate the pathological electrophysiological outputs of the upper extremity muscles by using the long short-term memory (LSTM) networks. In the next layer, the severity quantification models can be triggered in parallel, aiming at evaluating the neural and non-neural level pathologies underlying the spastic resistance manually percepted by clinicians, where the muscle activation/co-activation features, kinematic departure, and biomechanical characteristics were considered to improve the clinical relevance. Based on these single-level decisions, the third layer was constructed as an integrated model to yield a more comprehensive quantification of the symptom severity. The experimental validation of the proposed system demonstrated good reliability in discriminating the spastic hypertonia from the normal muscle tone, as well as strong agreement of the quantitative severity estimations with the commonly accepted clinical scales for the neural level (R = 0.79,P = 2.79e - 5) , non-neural level (R = 0.75,P = 1.62e - 4) , and integrated level (R = 0.86,P = 9.86e - 7) . In concl

关键词： Muscles Biomechanics Kinematics Immune system Electrical resistance measurement Elbow Torque Clinical measurement machine learning post-stroke spasticity wearable technology

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A randomized controlled trial investigating the impact of a single flash cupping session on patients with chronic lower back pain using multichannel surface electromyographic assessment

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JOURNAL OF BACK AND MUSCULOSKELETAL REHABILITATION 2024年第3期37卷 617-628页

作者： Wang, Li Huang, Bing-Yao Xie, Xiao-Min Sang, Di Tan, Tian-Hui Li, Guang-Lin Cao, Xue-Mei Jiang, Nai-Fu Guangzhou Univ Tradit Chinese Med Clin Med Coll 4 Acupuncture & Moxibust Dept 1 Fuhua Rd Shenzhen 518000 Guangdong Peoples R China Chinese Acad Sci Shenzhen Inst Adv Technol SIAT CAS Key Lab Human Machine Intelligence Synergy Sy 1068 Xili Shenzhen Univ Town Xueyuan Ave Shenzhen 518055 Guangdong Peoples R China Guangdong Hong Kong Macao Joint Lab Human Machine Shenzhen Guangdong Peoples R China

BACKGROUND: Chronic lower back pain (CLBP) is one of the most common disorders worldwide. Flash cupping has the ability to relieve CLBP;nevertheless, its impact on CLBP and the likely mechanism of action have not been studied. OBJECTIVE: The goal of this study was to assess the impact of a single, brief cupping session on CLBP and low back muscle activity using multichannel surface electromyography (sEMG). METHODS: In this randomized controlled trial, 24 patients with CLBP were enrolled and randomly assigned to the control group (treated by acupuncture) and cupping group (treated by acupuncture and flash cupping). Acupuncture was applied on the shen shu (BL23), dachang shu (BL25), and wei zhong (BL40) acupoints in both the groups. A brief cupping treatment was applied to the shen shu (BL23), qihai shu (BL24), dachang shu (BL25), guanyuan shu (BL26), and xiaochang shu (BL27) acupoints on both sides of the lower back in the cupping group. The numeric rating scale (NRS) was used to assess therapy efficacy for lower back pain (LBP) before and after treatment. Surface EMG data collected during symmetrical trunk flexion-extension movements were utilized to measure lower back muscle activity and the effectiveness of LBP therapy. RESULTS: There was no statistically significant difference (P = 0.63) in pain intensity between the two groups before and after treatment. There was a statistically significant difference (P = 0.04) between the control group and the cupping group in the sEMG topographic map parameter CoGx-To-Midline. CONCLUSION: This study established a connection between the action mechanism of flash cupping and enhanced horizontal synchronization of lower back muscular activity.

关键词： Acupuncture chronic lower back pain electromyography flash cupping surface

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Real-Time 3-D Force Measurements Using Vision-Based Flexible Force Sensor

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IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT 2024年 73卷 1页

作者： Yang, Yihang Zhou, Xiaomeng Yang, Ruofan Zhang, Qi Sun, Jianpeng Li, Guanglin Zhao, Yang Liu, Zhiyuan Zhengzhou Univ Sch Comp & Artificial Intelligence Zhengzhou 450001 Henan Peoples R China Chinese Acad Sci Shenzhen Inst Adv Technol Neural Engn Ctr CAS Key Lab Human Machine Intelligence Synergy Sy Shenzhen 518055 Peoples R China Dawning Informat Ind Co Ltd Beijing 100193 Peoples R China Standard Robots Co Ltd Shenzhen 518055 Peoples R China

This article presents the design and application of a vision-based flexible 3-D force sensor, specifically designed for force measurement in the field of instrument measurement. The sensor utilizes visual information, employing highly elastic silicone as the contact surface and continuous marker patterns as the visual data source. By integrating a vision system, the sensor captures image data and relies on a novel deep learning model to achieve precise measurements of 3-D forces. Experimental evaluation was conducted to assess the sensor's performance, demonstrating its exceptional fitting performance with a minimum mean squared error of 0.15 N. Moreover, the flexible sensor exhibits excellent real-time decoupling capabilities for 3-D forces at a frequency rate of 30 Hz for three orthogonal force components. We embedded the sensor into a mechanical gripper and successfully achieved self-adaptive force grasping, verifying its effectiveness in accurately measuring 3-D forces in the instrument measurement environment. The proposed vision-based flexible 3-D force sensor presents an innovative solution for force sensing applications in robotics and related fields. Its compact design, high fitting performance, and real-time decoupling capabilities make it a valuable tool for enhancing the accuracy and versatility of force sensing systems in various practical instrument measurement scenarios.

关键词： 3-D force deep learning flexible sensor force measurement vision-based sensor

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Performance analysis of unpowered lower limb exoskeleton during sit down and stand up

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ROBOTICA 2022年第5期40卷 1274-1292页

作者： Wang, Yongfeng Zhao, Guoru Diao, Yanan Feng, Yu Li, Guanglin Hubei Polytech Univ Hubei Key Lab Intelligent Conveying Technol & Dev Huangshi 435003 Peoples R China Chinese Acad Sci Shenzhen Inst Adv Technol SIAT CAS Key Lab Human Machine Intelligence Synergy Sy Shenzhen Peoples R China

Conventional unpowered lower limb exoskeleton paid little attention to the metabolic cost of body during sit down (SD)/stand up (SU). The SD motion model and the motion characteristics of lower extremity are analyzed;then, a novel unpowered lower limb exoskeleton is proposed, and the contribution degree of muscles and stiffness of joints are used for determining the location and stiffness of energy storage element. The metabolic cost of relevant muscles in joints of the left leg is obtained based on Opensim software. The results show that metabolic cost of the gracilis, rectus femoris (RF), and long head of the biceps femoris decreased about 13%, 9%, and 68%, respectively. The total metabolic cost of body decreased about 14% during SD. However, the metabolic cost of the gracilis, RF, and long/short head of the biceps femoris increased about 22%, 33%, 208%, and 46%, respectively. And the metabolic cost of sartorius reduces about 39%, the total metabolic cost of body increased about 25.6% during SU, under the exoskeleton conditions. The results of this study can provide a theoretical basis for the optimal design of unpowered lower limb exoskeleton.

关键词： unpowered lower limb exoskeleton stiffness of joints contribution degree of muscles metabolic cost

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A stretchable conductor based on shrinkable fiber mat for wearable joule heating 4

A stretchable conductor based on shrinkable fiber mat for we...

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4th IEEE International Flexible Electronics Technology Conference

作者： Li, Qingsong Sun, Jing Li, Guanglin Liu, Zhiyuan Chinese Acad Sci Shenzhen Inst Adv Technol CAS Key Lab Human Machine Intelligence Synergy Sy Shenzhen 518055 Peoples R China

ISBN: (数字)9781665469685

ISBN: (纸本)9781665469685

Wearable heaters have attracted great interest worldwide due to their significant applications in thermal therapy and keeping warm. Here, a strain-insensitive conductor was developed by depositing a thin layer of gold film on a shrinkable fiber mat. The conductor showed high stretchability and strain insensitivity. When the conductor was used for joule heating, it demonstrated high stability and reliability even during stretching.

关键词： electrospinning fiber mat stretchable conductor

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