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IEEE International Conference on Robotics and Automation (ICRA)

作者： Zicong Wu Chuqian Lou Zhu Jin Shaoping Huang Ning Liu Yun Zou Mirko Kovac Anzhu Gao Guang-Zhong Yang Shanghai Jiao Tong University Shanghai P. R. China Imperial College London and Empa-Swiss Federal Laboratories for Materials Science and Technology Precision Robotics (Hong Kong) Limited Hong Kong China Aerial Robotics Laboratory Imperial College London London United Kingdom Shanghai Jiao Tong University and the Key Laboratory of System Control and Information Processing Ministry of Education Shanghai China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China Institute of Medical Robotics Shanghai Jiao Tong University Shanghai P. R. China

Electrospinning has exhibited excellent benefits to treat the trauma for tissue engineering due to its produced micro/nano fibrous structure. It can effectively adhere to the tissue surface for long-term continuous therapy. This paper develops a robotic electrospinning platform for endoluminal therapy. The platform consists of a continuum manipulator, the electrospinning device, and the actuation unit. The continuum manipulator has two bending sections to facilitate the steering of the tip needle for a controllable spinning direction. Non-circular joint profile is carefully designed to enable a constant length of the centreline of a continuum manipulator for stable fluid transmission inside it. Experiments are performed on a bronchus phantom, and the steering ability and bending limitation in each direction are also investigated. The endoluminal electrospinning is also fulfilled by a trajectory following and points targeting experiments. The effective adhesive area of the produced fibre is also illustrated. The proposed robotic electrospinning shows its feasibility to precisely spread more therapeutic drug to construct fibrous structure for potential endoluminal treatments.

关键词： Drugs Electric potential Fluids Tissue engineering Medical treatment Bending Manipulators

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Metric Learning Based Rolling Bearing Faults Diagnosis with Curvelet Transform

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Journal of Physics: Conference Series 2019年第1期1229卷

作者： Ziming Lu Jiang-Wen Xiao Zhengyi Huang School of Automation Huazhong University of Science and Technology Wuhan 430074 China Key Laboratory of Image Processing and Intelligent Control (Huazhong University of Science and Technology) Ministry of Education China

Rolling bearing faults are among the primary causes of breakdown in mechanical equipment. Aiming at the vibration signals of rolling bearing which are non-stationary and easy to be disturbed by noise, a novel fault diagnosis method based on curvelet transform and metric learning is proposed. This method consists of 3 parts. The first one is feature engineering which includes reshaping the original timing features of rolling bearings, employing curvelet transform to transform reshaped features and making its coefficients as the new features. Curvelet transform can analyse the original signal from many angles. The second one is employing metric learning to map these new features into special embedding space. The last one is applying KNN classifier to detect the rolling bearing faults. Metric learning can effectively improve the performance of KNN by learning a mapping matrix to modify the distribution of samples. The proposed method overcomes the problems such as the subjectivity and blindness of manual feature extraction, poor coupling in each stage and sensitive to the effect of noise. Extensive simulations based on several data-sets show that the our method has better performance on bearing fault diagnosis than traditional methods.

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Full-Scale Anammox Application in Removing Nitrogen from Industrial Wastewater: Performance and Life Cycle Assessment

SSRN

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SSRN 2023年

作者： Gao, Xinyu Xing, Wei Bao, Xin Wang, Hui Chen, Yao Mei, Ning Liu, Tao Guo, Jianhua Yao, Hong Beijing Key Laboratory of Aqueous Typical Pollutants Control and Water Quality Safeguard School of Environment Beijing Jiaotong University Beijing100044 China Intelligent Environment Research Center NO.1 Guanzhuang Chaoyang District Beijing100080 China SINOPEC Research Institute of Petroleum Processing Co. Ltd Beijing100083 China Australian Centre for Water and Environmental Biotechnology The University of Queensland St. LuciaQLD4072 Australia

Anaerobic ammonium oxidation (anammox) is an innovative nitrogen removal process that is widely used in wastewater treatment due to its energy-saving potential and ability to reduce carbon emissions. However, research on the application of anammox in full-scale industrial wastewater treatment plants (WWTPs) is limited, and its environmental impacts are yet to be fully understood. This study evaluates the performance of one-stage partial nitritation and anammox (PN/A) in a full-scale WWTP treating coal chemical wastewater through two years of long-term monitoring, with different demonstration periods. Compared with the conventional nitrification-denitrification, energy footprint and carbon footprint of PN/A process were significantly lower and effluent quality was improved in the stable operation period. Life cycle assessment (LCA) shows that the PN/A process significantly reduces the system’s contribution to six environmental indicators, including abiotic depletion potential, global warming potential, freshwater aquatic ecotoxicity potential, marine aquatic ecotoxicity potential, terrestrial ecotoxicity potential, and eutrophication potential, suggesting that the PN/A process is more environmentally friendly. The sensitivity analysis conducted on energy consumption and chemical usage shows that fluctuations in these parameters can have significant environmental impacts. Thus, it is crucial to optimize these parameters for improving the environmental impacts of WWTPs. Overall, the study concludes that PN/A can improve the operational performance of full-scale industrial WWTPs with lower environmental burdens. The findings of this study provide valuable guidance for the development of sustainable wastewater treatment processes. © 2023, The Authors. All rights reserved.

关键词： Life cycle

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A high-order disturbance observer based sliding mode velocity control of mobile wheeled inverted pendulum systems

A high-order disturbance observer based sliding mode velocit...

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World Congress on intelligent control and Automation (WCICA)

作者： Songhyok Ri Jian Huang Chunjing Tao Myonghyok Ri Yongsok Ri Daeho Han School of Automation Huazhong University of Science and Technology Wuhan CHINA Department of Control Science University of Sciences Pyongyang D.P.R. of Korea Key Laboratory of Ministry of Education for Image Processing and Intelligent Control Huazhong University of Science and Technology Wuhan CHINA R&D department National Research Center for Rehabilitation Technical Aids Beijing Automation school Kim Chaek University of Technology Pyongyang D.P.R. of Korea Department of Phisics University of Sciences Pyongyang D.P.R. of Korea

ISBN: (纸本)9781467384155

In this paper, a novel disturbance observer (DO) for the Mobile Wheeled Inverted Pendulum (MWIP) system is proposed. A choice method of optimal gain matrices is also proposed for a given robust gain, which can improve the estimation precision of the DO. Combining the proposed DO and Sliding Mode control (SMC), a new sliding mode velocity control method is designed for the MWIP system. The convergency of the DO is proved by Lyapunov theorem. And the stability of the closed-loop system is achieved through the appropriate selection of sliding surface coefficients. The effectiveness of all proposed methods is verified by simulation results for the MWIP system.

关键词： Wheels Automation Velocity control Uncertainty Observers Robustness

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Global Finite-Time Stabilization for a Chain of Integrators in the Presence of Actuator Saturation by Homogeneous Feedback

Global Finite-Time Stabilization for a Chain of Integrators ...

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IEEE Conference on Decision and control

作者： Tan Hou Yuanlong Li Zongli Lin Department of Automation Shanghai Jiao Tong University Shanghai P. R. China Charles L. Brown Department of Electrical and Computer Engineering University of Virginia Charlottesville VA USA Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai P. R. China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai P. R. China Charles L. Brown Department of Electrical and Computer Engineering University of Virginia Charlottesville VA USA

This paper considers the problem of globally stabilizing a chain of integrators with actuator saturation in finite time. The proposed method is adapted from an existing scheduled low gain approach by relaxing the range of the value of the low gain parameter. Due to the special structure of the considered system, the proposed feedback law not only results in finite-time stability but also is homogeneous in the whole state space. The homogeneity of the proposed feedback law allows its implementation through the discretization of a compact set of the state space and thus obviation from numerical difficulties in the existing scheduled low gain design. A numerical example is presented to validate our theoretical results and demonstrate that our approach achieves faster convergence than the existing methods.

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Research of simulation of creative stage scene based on the 3DGans technology

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Journal of Information Hiding and Multimedia Signal processing 2018年第6期9卷 1430-1443页

作者： Zhang, Fuquan Ding, Gangyi Lin, Qing Xu, Lin Li, Zuoyong Li, Lijie Fujian Provincial Key Laboratory of Information Processing and Intelligent Control Minjiang University School of Computer Science & Technology Beijing Institute of Technology Room A9-301 Juyuan Jinshan JiyuanFuzhou350008 China School of Computer Science & Technology Beijing Institute of Technology Room 611 Software Building 5 South Zhongguancun Street Haidian Beijing100081 China College of Foreign Languages Minjiang University Room 303 Building A13 No. 15 Binzhou road Cangshan district JiyuanFuzhou350008 China Innovative Information Industry Research Institute Fujian Normal University Fuqing Brunch of Fujian Normal University Campus County No.1 Longjiang Road FuqingFuzhou350300 China Fujian Provincial Key Laboratory of Information Processing and Intelligent Control Minjiang University 200 Xi-yuan-gong Road Room B201 Administrative Building Minhou350121 China School of Computer Science & Technology Beijing Institute of Technology Room 613 Software Building 5 South Zhongguancun Street Haidian Beijing100081 China

Aiming to the feature of the modern stage scenery, combined with 3DGANs technology, we make research into the creation of creative stage scenes to rapidly display problem scene design, reduce the cost of stage design and the data error of virtual and actual simulated effect of the stage. We improve the data of the creative stage scene at the beginning of the design to increase efficiency of the rehearsal stage to enable the simulation scene more intuitive to the displaying of the stage scene and provide the basis for dynamic management of the stage. In this paper, simulation of virtual reality stage scene will be realized through 3DGANs technology. Firstly, the stage data will be extracted and the data of the creative stage scene will be modified. Secondly, the data of the registration of 3D surface image data on the creative scene in the data will be modified by using genetic algorithm. Finally, the simulation experiments will be conducted by using 3DGANs technology to generate creative stage scenes. The results indicated that simulation of the creative stage scene generated by 3DGANs technology would synchronize with the real-time stage effect in which multi-thread processing can improve processor utilization, shorten the reading time of the video image data, effectively reduce the switching time between different tasks, improve the amount of the amount of throughput and concurrency system and to offer a key support for virtual simulation and dynamic management of stage creative scene based on the 3DGANs technology. © 2018, Ubiquitous International. All rights reserved.

关键词： Genetic algorithms

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A noninvasive, remote and precise method for temperature and concentration estimation using magnetic nanoparticles

A noninvasive, remote and precise method for temperature and...

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2012上海市研究生学术论坛暨第三届上海交通大学医(理)工研究生学术论坛

作者： Jing Zhong Wenzhong Liu Zhongzhou Du Paulo C′esar de Morais Qing Xiang Qingguo Xie Department of Control Science and Engineering Huazhong University of Science and TechnologyWuhan 430074People''s Republic of China Key Laboratory of Image Processing and Intelligent ControlHuazhong University of Science and TechnologyWuhan 430074People''s Republic of China Department of Control Science and EngineeringHuazhong University of Science and TechnologyWuhan 430074People''s Republic of China Universidade de BrasiliaInstituto de FisicaNucleo de Fisica AplicadaBrasilia DF 70910-900Brazil School of Life Science and TechnologyHuazhong University of Science and TechnologyWuhan 430074People''s Republic of China

is study describes an approach for remote measuring of on-site temperature and particleconcentration using magnetic nanoparticles (MNPs) via simulation and also *** sensor model indicates that under different applied magnetic fields, the magnetizationequation of the MNPs can be discretized to give a higher-order nonlinear equation in twovariables that consequently separates information regarding temperature and particleconcentration. As a result, on-site tissue temperature or nanoparticle concentration can bedetermined using remote detection of the magnetization. In order to address key issues in thehigher-order equation we propose a new solution method of the first-order model from theperspective of the generalized inverse matrix. Simulations for solving the equation, as well asto optimize the solution of higher equations, were carried out. In the final section we describea prototype experiment used to investigate the measurement of the temperature in which weused a superconducting magnetometer and commercial MNPs. The overall error after ninerepeated measurements was found to be less than 0.57 K within 310–350 K, with acorresponding root mean square of less than 0.55 K. A linear relationship was also foundbetween the estimated concentration of MNPs and the sample’s mass.

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Vision Language Modeling of Content, Distortion and Appearance for Image Quality Assessment

arXiv

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arXiv 2024年

作者： Zhou, Fei Gu, Tianhao Huang, Zhicong Qiu, Guoping College of Electronic and Information Engineering Shenzhen University Shenzhen518060 China Guangdong Provincial Key Laboratory of Intelligent Information Processing Shenzhen518060 China SZU-AFS Joint Innovation Center for Artificial Intelligence Technology Shenzhen518000 China Guangdong-Hong Kong Joint Laboratory for Big Data Imaging and Communication Shenzhen518060 China School of Computer Science The University of Nottingham Ningbo China Zhejiang315100 China School of Computer Science University of Nottingham NottinghamNG8 1BB United Kingdom

The visual quality of an image is confounded by a number of intertwined factors including its semantic content, distortion characteristics and appearance properties such as brightness, contrast, sharpness, and colourfulness. Distilling high level knowledge about all these quality bearing attributes is crucial for developing objective Image Quality Assessment (IQA). While existing solutions have modeled some of these aspects, a comprehensive solution that involves all these important quality related attributes has not yet been developed. In this paper, we present a new blind IQA (BIQA) model termed Self-supervision and Vision-Language supervision Image QUality Evaluator (SLIQUE) that features a joint vision-language and visual contrastive representation learning framework for acquiring high level knowledge about the images semantic contents, distortion characteristics and appearance properties for IQA. For training SLIQUE, we have developed a systematic approach to constructing a first of its kind large image database annotated with all three categories of quality relevant texts. The Text Annotated Distortion, Appearance and Content (TADAC1) database has over 1.6 million images annotated with textual descriptions of their semantic contents, distortion characteristics and appearance properties. The method for constructing TADAC and the database itself will be particularly useful for exploiting vision-language modeling for advanced IQA applications. Extensive experimental results show that SLIQUE has superior performances over state of the art, demonstrating the soundness of its design principle and the effectiveness of its implementation. The link to the TADAC dataset is https://***/documents/tadactextannotated-distortion-appearance-and-content Copyright © 2024, The Authors. All rights reserved.

关键词： Visual languages

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Predictive protocol of flocks with small-world connection pattern

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Physical Review E 2009年第1期79卷 016113-016113页

作者： Hai-Tao Zhang Michael Z. Q. Chen Tao Zhou The Key Laboratory of Image Processing and Intelligent Control Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan 430074 People's Republic of China Department of Engineering University of Cambridge Cambridge CB2 1PZ United Kingdom Department of Engineering University of Leicester Leicester LE1 7RH United Kingdom Department of Electronic Engineering City University of Hong Kong Kowloon Hong Kong SAR People's Republic of China Department of Modern Physics University of Science and Technology of China Hefei 230026 People’s Republic of China Department of Physics University of Fribourg Chemin du Muse 3 Fribourg CH-1700 Switzerland

By introducing a predictive mechanism with small-world connections, we propose a new motion protocol for self-driven flocks. The small-world connections are implemented by randomly adding long-range interactions from the leader to a few distant agents, namely, pseudoleaders. The leader can directly affect the pseudoleaders, thereby influencing all the other agents through them efficiently. Moreover, these pseudoleaders are able to predict the leader’s motion several steps ahead and use this information in decision making towards coherent flocking with more stable formation. It is shown that drastic improvement can be achieved in terms of both the consensus performance and the communication cost. From the engineering point of view, the current protocol allows for a significant improvement in the cohesion and rigidity of the formation at a fairly low cost of adding a few long-range links embedded with predictive capabilities. Significantly, this work uncovers an important feature of flocks that predictive capability and long-range links can compensate for the insufficiency of each other. These conclusions are valid for both the attractive and repulsive swarm model and the Vicsek model.

关键词： pattern formation protocols random processes 3-DIMENSIONAL LATTICE MODEL DYNAMICAL COMPLEX NETWORKS REPULSIVE INTERACTIONS STABILITY ANALYSIS ATTRACTIVE FORCES SENSOR NETWORKS ANIMAL GROUPS AGENTS TRANSITIONS CONSENSUS

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RETRACTED: Dual-mode predictive flexible rotor control for active magnetic bearings with input constraints

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Journal of Vibration and control 2016年第20期23卷 NP2页

作者： Yue Wu Jie Zhao Hai-Tao Zhang Ming-Can Fan Xi Yu Guangdong HUST Industrial Technology Research Institute Guangdong Province Key Lab of Digital Manufacturing Equipment ChinaKey Laboratory of Image Processing and Intelligent Control School of Automation State Key Laboratory of Digital Manufacturing Equipments and Technology Huazhong University of Science and Technology China Key Laboratory of Image Processing and Intelligent Control School of Automation State Key Laboratory of Digital Manufacturing Equipments and Technology Huazhong University of Science and Technology China Department of Mathematics Huizhou University China School of Electrical and Information Engineering Xi'an Technology University China

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