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6th International Conference on complex Medical Engineering, CME 2012

作者： Chen, Chao Duan, Xing-Guang Wang, Xing-Tao Zhu, Xiang-Yu Li, Meng Intelligent Robotics Institute Key Laboratory of Biomimetic Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex System School of Mechatronical Engineering Beijing Institute of Technology #5Zhongguancun South Street Haidian Beijing China China

ISBN: (纸本)9781467316163

As the complex anatomical structure of the maxillofacial region, the surgery in this area is high risk and difficult to implement. Then, a multi-arm medical robot assisted maxillofacial surgery using optical navigation was proposed in this paper, which can improve surgical precision and make the doctors away from the heavy manual work. In this paper, the medical robot system and mechanical structure of the robot were introduced. Forward kinematics and inverse kinematics were analysed. Then trajectory planning using quintic polynomial interpolation for smoothly motion was adopted, and rectilinear motion in Cartesian space was adopted. The kinematics was validated and the workspace of the robot was calculated by simulations. Finally, the robot model was established and an experiment was carried out which proved the robot run smoothly and positioned accurately. © 2012 IEEE.

关键词： Inverse kinematics

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Relaxed Stability Criteria for Time-Delay systems:A Novel Quadratic Function Convex Approximation Approach

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IEEE/CAA Journal of Automatica Sinica 2024年第4期11卷 996-1006页

作者： Shenquan Wang Wenchengyu Ji Yulian Jiang Yanzheng Zhu Jian Sun College of Electrical and Electronic Engineering Changchun University of TechnologyChangchun 130012China the College of Electrical Engineering and Automation Shandong University of Science and TechnologyQingdao 266590China Key Laboratory of Complex Systems Intelligent Control and Decision Beijing Institute of TechnologyBeijing 100081China

This paper develops a quadratic function convex approximation approach to deal with the negative definite problem of the quadratic function induced by stability analysis of linear systems with time-varying *** introducing two adjustable parameters and two free variables,a novel convex function greater than or equal to the quadratic function is constructed,regardless of the sign of the coefficient in the quadratic *** developed lemma can also be degenerated into the existing quadratic function negative-determination(QFND)lemma and relaxed QFND lemma respectively,by setting two adjustable parameters and two free variables as some particular ***,for a linear system with time-varying delays,a relaxed stability criterion is established via our developed lemma,together with the quivalent reciprocal combination technique and the Bessel-Legendre *** a result,the conservatism can be reduced via the proposed approach in the context of constructing Lyapunov-Krasovskii functionals for the stability analysis of linear time-varying delay ***,the superiority of our results is illustrated through three numerical examples.

关键词： Equivalent reciprocal combination technique quadratic function convex approximation approach stability timevarying delay

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Modeling of GPS Code and Carrier Tracking Error in Multipath

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Chinese Journal of Electronics 2023年第1期21卷 78-84页

作者： Jie Chen Lan Cheng Minggang Gan Education Ministry Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing China

The code tracking error model of coherent Code tracking loop (CTL) is modified since existing model cannot accurately describe the characteristic that the code tracking error is determined by multipath and correlator spacing in multipath. The noncoherent DOT-product (DOT) power mode CTL is established as a comparison with different CTLs in multipath. Besides, the carrier tracking error model is modified based on the established code tracking error models, which indicates that the carrier tracking error is also determined by the multipath and the correlator spacing. The presented error models indicate that the correlation between the code tracking error and carrier tracking error can be decorrelated. Theoretical analysis shows that the noncoherent DOT power mode CTL is essentially coherent when the discriminator output of carrier tracking loop is zero. The influence of multipath and correlator spacing on CTL and carrier tracking loop is analyzed by simulations.

关键词： Tracking loops Analytical models Codes Correlation US Department of Transportation Correlators Decorrelation

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A Modified RC and Diode Co-Triggered ESD Clamp Circuit 1

A Modified RC and Diode Co-Triggered ESD Clamp Circuit

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1st Annual International EOS/ESD Symposium on Design and system, IEDS 2020

作者： Yang, Zhaonian Zhang, Yibo Mao, Pan Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an University of Technology Xi'an710048 China

ISBN: (纸本)9781585373284

This paper presents a new ESD clamp circuit which is co-triggered by RC and diode. It is immune to the false triggering caused by fast power-up events due to the diode detection mechanism. With the addition of a common source amplifier, the detection signal is enhanced, and the clamp device is turned on more quickly. The proposed circuit is designed in a 0.18 μm 1.8-V CMOS process and verified by numerical simulation. The characteristics and improvements of the new circuit are discussed. © 2021 EOS/ESD ASSOCIATION INC.

关键词： Diodes

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A CNN-ELM Compound Fault Diagnosis Method Based on Joint Distribution Modification 7

A CNN-ELM Compound Fault Diagnosis Method Based on Joint Dis...

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7th International Conference on Information, Cybernetics, and Computational Social systems, ICCSS 2020

作者： Dong, Jiechao Yan, Liping Xia, Yuanqing Zhang, Jinhui Wang, Xianghua Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing100081 China Shandong Key Laboratory of Big-data Driven Safety Control Technology for Complex Systems Shandong266590 China

ISBN: (纸本)9781728162461

In the industrial field, compound faults often occur on rolling bearings and it's difficult to diagnose them correctly. To solve this problem, this article proposes a CNN-ELM compound fault diagnosis method based on joint distribution modification. Firstly, considering the complementarity and coupling of data from multiple sensors, a data input trick of multi-sensor data connected in parallel is designed. Secondly, due to the discrepancy of distribution between the compound fault data features and the single fault data features, the marginal distribution matrix and the posterior distribution matrix are used to modify the CNN-ELM network, so that the network can extract more reliable data features for fault diagnosis. Finally, referring to the categories and criteria of bearing damage proposed by Paderborn University, the label code is defined. The corresponding data set is used to verify the proposed algorithm. Experimental results show that the algorithm can accurately obtain detailed fault information such as fault location, fault type, and fault severity. © 2020 IEEE.

关键词： Roller bearings

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Content based image retrieval via sparse representation and feature fusion 8

Content based image retrieval via sparse representation and ...

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8th IEEE Data Driven control and Learning systems Conference, DDCLS 2019

作者： Liu, Han Wang, Wenqing Jiao, Pengfei Shanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'An University of Technology Xi'an710048 China

ISBN: (纸本)9781728114545

During the last two decades, content-based image retrieval (CBIR) has been widely studied. The limitations of low-level feature representation of images have been a thorny issue in image retrieval problems. In this paper, a CBIR algorithm based on sparse representation and feature fusion is proposed, in which global features and local features are combined to retrieve the images. Firstly, the GIST features are used to roughly retrieve the images with similar scene information by measuring Canberra distance. Then, a representation of the local features extracted from the rough retrieval results is obtained by sparse coding and feature pooling. Finally, Euclidean distance is used to measure the similarity of the sparse feature vectors to obtain the retrieval results. The proposed method is tested on the Coil20 and Caltech256 image datasets. The experimental results demonstrate that the proposed algorithm can achieve comparable superior retrieval performance to the existing single feature-based image retrieval algorithms. © 2019 IEEE.

关键词： Image fusion

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Fault-Tolerant Cooperative Motion Planning of Connected and Automated Vehicles at a Signal-Free and Lane-Free Intersection

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IFAC-PapersOnLine 2018年第24期51卷 60-67页

作者： Li, Bai Zhang, Youmin Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an University of Technology Xi'an710048 China Department of Mechanical Industrial and Aerospace Engineering Concordia University Montreal Canada

Compared with a conventional intersection, a signal-free and lane-free intersection enables the vehicles to drive more flexibly, thereby to promote the throughput and to reduce congestions. This work proposes a fault-tolerant cooperative motion planning method for a number of connected and automated vehicles (CAVs) which are passing through a signal-free and lane-free intersection. Partial loss of actuator effectiveness is considered as the fault type. Even a subtle fault may significantly affect the overall team performance. Thus correctly judging whether each faulty/healthy CAV can still achieve its original goal is impossible until a corresponding motion replanning problem turns out to be solvable or not. To maximize the completeness of the original task, we propose a parallel computation framework, wherein the fault-recovery motion replanning problems in multiple levels of task completeness are tried simultaneously. Concretely, i) each faulty/healthy CAV should accomplish its original goal; ii) only each healthy CAV is required to accomplish its original goal; and iii) all the faulty/healthy CAVs try to stop safely without the need to achieve any original goals. Problems iii), ii), and i) are ranking with increasing computational difficulty. Among all the three problems, the achievable solution to the most difficult one is implemented as the fault-recovery strategy. © 2018

关键词： Motion planning Automation Fault tolerance Vehicles Automated vehicles Co operative control connected Intersection managements Optimal controls

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A Fully Distributed Hybrid control Framework For Non-Differentiable Multi-Agent Optimization

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IEEE/CAA Journal of Automatica Sinica 2022年第10期9卷 1792-1800页

作者： Xia Jiang Xianlin Zeng Jian Sun Jie Chen Yue Wei the Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of TechnologyBeijing 100081 the Beijing Institute of Technology Chongqing Innovation Center Chongqing 401120China IEEE the School of Electronic and Information Engineering Tongji UniversityShanghai 200082 the Peng Cheng Laboratory Shenzhen 518055China

This paper develops a fully distributed hybrid control framework for distributed constrained optimization *** individual cost functions are non-differentiable and *** on hybrid dynamical systems,we present a distributed state-dependent hybrid design to improve the transient performance of distributed primal-dual first-order optimization *** proposed framework consists of a distributed constrained continuous-time mapping in the form of a differential inclusion and a distributed discrete-time mapping triggered by the satisfaction of local jump *** the semistability theory of hybrid dynamical systems,the paper proves that the hybrid control algorithm converges to one optimal solution instead of oscillating among different *** simulations illustrate better transient performance of the proposed hybrid algorithm compared with the results of the existing continuous-time algorithms.

关键词： Distributed algorithm hybrid framework multiagent network non-differentiable optimization

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Research on Synthetic Data Generation and Multi-modal Target Detection

Research on Synthetic Data Generation and Multi-modal Target...

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第34届中国控制与决策会议

作者： Jiexi Liu Chenyu Wang Lei Xu Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision

Target Detection is one of the most important tasks in Computer Vision,which has broad application prospects in many *** the past few years,great progress has been made in this field with the rapid development of deep learning ***,it's still a big challenge at complex scenarios such as dim environment for traditional single-modal visible *** address this problem,researchers introduce thermal images as additional modal in consideration of that thermal cameras are less susceptible to interference and explore how to fuse the two modalities information ***,the lack of large labeled and high-quality visible-thermal datasets hampers the usage of convolutional neural networks for ***,we propose to use image-to-image translation model combined with a differentiable data augmentation method to generate fake thermal images from labeled visible images and use multi-modal target detection model to prove the validity of the *** experiment results show that our method can provide us a large labeled dataset of synthetic visible-thermal image pairs with better generalization and the introduction of thermal modality can obtain a better performance than single modality.

关键词： Image-to-image translation Multi-modal target detection Deep learning

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Augmented Marker Tracking for Peri-acetabular Osteotomy Surgery 39

Augmented Marker Tracking for Peri-acetabular Osteotomy Surg...

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39th Annual International Conference of the IEEE-Engineering-in-Medicine-and-Biology-Society (EMBC)

作者： Pflugi, Silvio Vasireddy, Rakesh Lerch, Till Ecker, Timo M. Tannast, Moritz Boemke, Nane Siebenrock, Klaus Zheng, Guoyan State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institution of Technology Beijing P. R. China Universitat Bern Bern BE CH

ISBN: (纸本)9781509028092

We developed and validated a small, easy to use and cost-effective augmented marker-based hybrid navigation system for peri-acetabular osteotomy (PAO) surgery. The hybrid system consists of a tracking unit directly placed on the patient's pelvis, an augmented marker with an integrated inertial measurement unit (IMU) attached to the patient's acetabular fragment and the host computer. The tracking unit sends a live video stream of the marker to the host computer where the marker's pose is estimated. The augmented marker with the IMU sends its pose estimate to the host computer where we apply sensor fusion to compute the final marker pose estimate. The host computer then tracks the orientation of the acetabular fragment during peri-acetabular osteotomy surgery. Anatomy registration is done using a previously developed registration device. A Kalman filter-based sensor fusion was added to complete the system. A plastic bone study was performed for validation between an optical tracking-based navigation system and our proposed system. Mean absolute difference for inclination and anteversion was 1.63 degrees and 1.55 degrees, respectively. The results show that our system is able to accurately measure the orientation of the acetabular fragment.

关键词： Surgery Navigation Sensor fusion Cameras Pelvis Calibration Streaming media

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