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Research on walking-aid robot motion control with both compliance and safety

Zidonghua Xuebao/Acta Automatica Sinica 2016年第12期42卷 1859-1873页

作者： Xu, Wen-Xia Huang, Jian Yan, Qing-Yang Wang, Yong-Ji Tao, Chun-Jing Key Laboratory of Ministry of Education for Image Processing and Intelligent Control School of Automation Huazhong University of Science and Technology Wuhan430074 China National Rehabilitation Center Beijing100176 China

Aimed at compliance and safety problems in motion control of walking-aid robot, a multi-sensor fusion based walking-aid robot motion control method with both compliance and safety is proposed. Firstly, the mechanism, control theory and multi-sensor system of the walking-aid robot are introduced. Then according to multi-sensor system, user motion intention estimation methods for each sensor are designed and a multi-sensor based compliance motion control for walking-aid robot is proposed. After analyzing user's possible falling modes, a Kalman filter (KF) based sequential probability ratio test (SPRT) method and decision function are used to detect the fall and falling mode. Finally, several compliance motion control experiments and fall detection experiments are described to show validity of the proposed algorithm. Copyright © 2016 Acta Automatica Sinica. All rights reserved.

关键词： Robots

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Design and analysis of minimizing torque ripple for direct torque controlled permanent magnet synchronous motor based on fuzzy control method

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Journal of Computational and Theoretical Nanoscience 2016年第6期13卷 3706-3713页

作者： Ning, Bowen Cheng, Shanmei Qin, Yi Key Laboratory of Education Ministry for Image Processing and Intelligent Control School of Automation Huazhong University of Science and Technology Wuhan Hubei430074 China

This paper is presented to examine and improve the performance of the torque ripple suppression for direct torque controlled permanent magnet synchronous motor by using fuzzy control method. On the basis of analyzing the torque ripple of the direct torque control in details, the fuzzy controllers are designed for two parts. Since the errors of the torque and flux could not assess accurately in hysteresis structure, the hysteresis controllers of the conventional DTC method are replaced by the fuzzy controller which could select the optimal voltage vector by judging the deviation degree of the torque and flux errors according to the fuzzy logic inference. Then the action time of the selected optimal voltage vector is determined by using the fuzzy duty ratio control method, the ripples of torque and flux can be attenuated effectively. The comprehensive simulation experiment is exhibited to reveal the excellent response performance of the system and verify the feasibility of the proposed fuzzy control scheme. Copyright © 2016 American Scientific Publishers. All rights reserved.

关键词： Fuzzy control

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Research on face recognition method based on deep learning in natural environment

Research on face recognition method based on deep learning i...

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International Conference on Awareness Science and Technology (iCAST)

作者： Jia Li Yan Longfei Zhang YuFeng Wu Penghui Guo Fuquan Zhang Shuo Tang Gangyi Ding Lin Xu Digital Performance and Simulation Key Laboratory Beijing Institute of Technology Beijing China Fujian Provincial Key Laboratory of Information Processing and Intelligent Control Minjing University Fuzhou China School of Software Beijing Institute of Technology Beijing China Innovative Information Industry Research Institute Fujian Normal University Fuzhou Fujian CN

In the present study, there are a number of recognition methods with high recognition accuracy, which are based on deep learning. However, these methods usually have a good effect in a restricted environment, but in the natural environment, the accuracy of face recognition has decreased significantly, especially in the case of occlusion, face recognition will appear inaccurate or unrecognized situation. Based on this, this paper presents a face recognition method based on the deep learning in the natural environment, hoping to achieve robust performance in the natural environment, especially in the case of occlusion. The main contribution of this paper is improving the method of multi-patches by using 4 areas' patches in the face. And in order to have a higher performance, we use a Joint Bayesian (JB) measure in face-verification. Finally, we trained the model by the set of CASIA-WebFace and test it in the Labeled Faces in the Wild (LFW).

关键词： Face Face recognition Feature extraction Training Databases Bayes methods Conferences

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The study on Dynamics of Functional Brain network:Based on Symbolic Dynamics

The study on Dynamics of Functional Brain network:Based on S...

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第28届中国控制与决策会议

作者： Miao Wang Yapeng Li Xi Chen Wei Li College of Automation Huazhong University of Science and Technology Image Processing and Intelligent Control Key Laboratory of Education Ministry of China

ISBN: (纸本)9781467397155

It is an important means to reveal mysteries of the brain with information theory,but scientists rarely use this method for the study of the nervous system in recent *** this study,it's the first time,by using the concepts of information theory,to exploratory investigate the dynamic properties of time course data of fMRI and functional brain *** show that the symbolic dynamics method can reduce the noise of the MRI datasets,and highlight the differences between the *** elderly group,the regions with larger entropy are mainly located in prefrontal regions,basal ganglia ***,there are significant differences in the search information entropy between the young and elderly *** results have significance for the interpretation of the brain mechanisms,which may be the basis for follow-up studies of the brain mechanisms.

关键词： fMRI Symbolic dynamics Probabilistic entropy Search information entropy

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Overview of academic studies on smart care for elderly and comprehensive solution design 16

Overview of academic studies on smart care for elderly and c...

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16th International Conference on Electronic Business, ICEB 2016

作者： Lin, Zhongyan Li, Zuoyong Zheng, Dachuan Tang, Jinquan Wu, Xiaoyuan Fuzhou Digital Healthcare Industry Technology Innovation Center Minjiang University China Fujian Provincial Key Laboratory of Information Processing and Intelligent Control Minjiang University China

Due to historical reasons and urbanization progress, demographic development change has promoted China to enter an aging society and the elders' demand for medical care and health care has increased rapidly. Meanwhile, the rapid development of information technology is driving the "Smart Care for the Elderly" model which is based on the Internet and regards the internet of things as the medium which has gradually developed into a complete a system, and a series of solutions have been formed. This paper started with the analysis of China's elderly population status quo, combed academic studies on domestic and foreign "Smart Care for the Elderly" and applications in recent fifteen years and explored how to build a comprehensive "Smart Care for Elderly" solution with improved functions which incorporates such key elements as information technology and social sciences.

关键词： Social sciences computing

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Detecting coordinated regulations of pathways by higher logic analysis

Detecting coordinated regulations of pathways by higher logi...

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IEEE International Conference on Bioinformatics and Biomedicine (BIBM)

作者： Yansen Su Xingyi Zhang Linqiang Pan Key Lab of Intelligent Computing and Signal Processing of Ministry of Education Anhui University Hefei China Key Laboratory of Image Processing and Intelligent Control Huazhong University of Science and Technology Wuhan China

ISBN: (纸本)9781509016129

Non-small cell lung cancer (NSCLC) is a malignant tumor, and contains three major subtypes which are difficult to be distinguished at early stages of NSCLC. Many pathways work together to perform certain functions in cells. One might expect the high level of co-appearance or repression of pathways to distinguish different subtypes of NSCLC. However, it is difficult to detect coordinated regulations of pathways by existing methods. In our work, the coordinated regulations of pathways are detected using modified higher logic analysis of gene expression data. Specifically, we identify the genes whose regulation obeys a logic function by the modified higher logic analysis, which focuses on the relationships among the gene triplets that are not evident when genes are examined in a pairwise fashion. Then, the relationships among genes are mapped to pathways to predict the coordinated regulated relationships among pathways. By comparing coordinated regulations of pathways, we find that the regulation patterns of pathways which are associated with cell death are different in three subtypes of NSCLC. This method allows us to uncover co-appearance or repression of pathways in high level, and it has a potential to distinguish the subtypes for complex diseases.

关键词： Cancer Lungs

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Switching mechanism for TiO_2 memristor and quantitative analysis of exponential model parameters

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Chinese Physics B 2015年第8期24卷 598-604页

作者：王小平陈敏沈轶 School of Automation Huazhong University of Science and Technology Key Laboratory of Ministry of Education for Image Processing and Intelligent Control Huazhong University of Science and Technology

The memristor, as the fourth basic circuit element, has drawn worldwide attention since its physical implementation was released by HP Labs in 2008. However, at the nano-scale, there are many difficulties for memristor physical realization. So a better understanding and analysis of a good model will help us to study the characteristics of a memristor. In this paper, we analyze a possible mechanism for the switching behavior of a memristor with a Pt/TiO2/Pt structure, and explain the changes of electronic barrier at the interface of Pt/TiO2. Then, a quantitative analysis about each parameter in the exponential model of memristor is conducted based on the calculation results. The analysis results are validated by simulation results. The efforts made in this paper will provide researchers with theoretical guidance on choosing appropriate values for(α, β, χ, γ) in this exponential model.

关键词： memristor switching behavior electronic barrier exponential model

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Membrane algorithm with genetic operation and VRPTW-based public optimization system 11th

Membrane algorithm with genetic operation and VRPTW-based pu...

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11th International Conference on Bio-inspired Computing – Theories and Applications, BIC-TA 2016

作者： Duan, Yingying Zhou, Kang Qi, Huaqing Zhang, Zhiqiang School of Math and Computer Wuhan Polytechnic University Wuhan430023 China Department of Economics and Management Wuhan Polytechnic University Wuhan430023 China Key Laboratory of Image Information Processing and Intelligent Control School of Automation Huazhong University of Science and Technology Wuhan430074 China

ISBN: (纸本)9789811036101

That combining membrane computing with optimization technology offers a new information interaction model for the research of problems in optimization filed. Based on this, a membrane algorithm owned six basic membranes is proposed to solve the defects of the slow convergence and the small diversity in solving vehicle routing problem with time window. In order to further improve the efficiency and the precision, some new rules are designed: for the former problem, a node classifier is introduced to improve the efficiency by filtering directly a plenty of in-feasible solutions;two methods for the latter problems: an uncertain segment crossover is designed in the corresponding membrane in order to explore directly two feasible segments and segment-node insertion operation is introduced in order to make two individuals inserted synchronously another path. In order to verify the effectiveness of the algorithm, a series of experiments are designed. Known through the results of experiments that these two properties of membranes make the search ability of the algorithm improving quickly for local and global exploration and node classifier improves effectively the running efficiency of this algorithm, which proves that membrane algorithm can accelerate the convergence speed and increase diversity of population. © Springer Nature Singapore Pte Ltd. 2016.

关键词： Membranes

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Research on the weak Signal Detection Method Based on Adaptive Vibrational Resonance 35

Research on the weak Signal Detection Method Based on Adapti...

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第35届中国控制会议

作者： JIAO Shang-bin SUN Di LIU Ding HUANG Wei Chao National & Local Joint Engineering Research Center of Crystal Growth Equipment and System Integration Xi'an University of Technology Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing

ISBN: (纸本)9781509009107

In this paper,the weak signal detection under a stable noise is investigated based on bistable vibrational resonance(VR) which is driven by a high frequency *** the one hand,the energy of the high frequency drive signal is transferred to the low frequency weak signal when VR occurs;on the other hand,the control of stochastic resonance(SR) is achieved based on VR,which transfers more noise energy into useful signal *** addition,considering the requirements of real-time detection,the amplitude and frequency of the high frequency drive signal are optimized by the knowledge-based particle swarm optimization(KPSO),which takes the mean signal-noise-ratio(MSNR) of output as the fitness function,and the property that VR system produces the best resonance effect just when the valid system parameter a(B,Ω) is greater than zero as ***,the parameter compensation is combined to achieve multi-high frequency weak signals detection with a stable ***,the method is applied to the vibration fault diagnosis of a mono-crystalline silicon furnace,and the experiment results show the effectiveness and practicability of the method.

关键词： Adaptive vibrational resonance weak signal detection knowledge-based particle swarm optimization

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Nuclear norm regularized coding with local position-patch and nonlocal similarity for face hallucination

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Digital Signal processing 2017年 64卷 107-120页

作者： Guangwei Gao Jian Yang Zhihui Lai Pu Huang Jielin Jiang Hao Gao Dong Yue Institute of Advanced Technology Nanjing University of Posts and Telecommunications Nanjing 210023 PR China Fujian Provincial Key Laboratory of Information Processing and Intelligent Control Minjiang University Fuzhou 350121 PR China School of Computer Science and Engineering Nanjing University of Science and Technology Nanjing 210094 PR China College of Computer Science and Software Engineering Shenzhen University Shenzhen 518060 PR China Key Laboratory of Image and Video Understanding for Social Safety Nanjing University of Science and Technology Nanjing 210094 PR China School of Computer and Software Nanjing University of Information Science and Technology Nanjing 210044 PR China

Learning-based face hallucination methods have received much attention and progress in past few decades. Specially, position-patch based approaches have been proposed to replace the probabilistic graph-based or manifold learning-based ones. As opposed to the existing patch based methods, where the input image patch matrix is converted into vectors before combination coefficients calculation, in this paper, we propose to directly use the image matrix based regression model for combination coefficients computation to preserve the essential structural information of the input patch matrix. For each input low-resolution (LR) patch matrix, its combination coefficients over the training image patch matrices at the same position can be computed. Then the corresponding high-resolution (HR) patch matrix can be obtained with the LR training patches replaced by the corresponding HR ones. The nonlocal self-similarities are finally utilized to further improve the hallucination performance. Various experimental results on standard face databases indicate that our proposed method outperforms some state-of-the-art algorithms in terms of both visual quantity and objective metrics.

关键词： Face hallucination Position-patch Matrix based regression Nuclear norm Nonlocal similarity

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