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Robotic Intra-Operative Ultrasound:Virtual Environments and Parallel systems

IEEE/CAA Journal of Automatica Sinica 2021年第5期8卷 1095-1106页

作者： Shuangyi Wang James Housden Tianxiang Bai Hongbin Liu Junghwan Back Davinder Singh Kawal Rhode Zeng-Guang Hou Fei-Yue Wang the State Key Laboratory of Management and Control of Complex Systems Chinese Academy of SciencesInstitute of AutomationBeijing 100190China the School of Biomedical Engineering and Imaging Sciences King’s College LondonLondon SE17EHUK the Xtronics Ltd.Gravesend DA122ADUK

Robotic intra-operative ultrasound has the potential to improve the conventional practice of diagnosis and procedure guidance that are currently performed *** towards automatic or semi-automatic ultrasound,being able to define ultrasound views and the corresponding probe poses via intelligent approaches become *** on the concept of parallel system which incorporates the ingredients of artificial systems,computational experiments,and parallel execution,this paper utilized a recent developed robotic trans-esophageal ultrasound system as the study object to explore the method for developing the corresponding virtual environments and present the potential applications of such *** proposed virtual system includes the use of 3 D slicer as the main workspace and graphic user interface(GUI),Matlab engine to provide robotic control algorithms and customized functions,and PLUS(Public software Library for Ultra Sound imaging research)toolkit to generate simulated ultrasound *** implementation methods were presented and the proposed features of the system were *** on this virtual system,example uses and case studies were presented to demonstrate its capabilities when used together with the physical TEE *** includes standard view definition and customized view optimization for pre-planning and navigation,as well as robotic control algorithm evaluations to facilitate real-time automatic probe pose *** conclude,the proposed virtual system would be a powerful tool to facilitate the further developments and clinical uses of the robotic intra-operative ultrasound systems.

关键词： Medical robots parallel intelligence parallel systems robotic-assisted surgery robotic ultrasound

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Sub-Preferential Rotational Wave Beaming in Structurally Rhombus Re-Entrant Honeycombs

SSRN

引用

SSRN 2023年

作者： Zhu, Zhiwei Deng, Zichen State Key Laboratory of Mechanical Behavior and System Safety of Traffic Engineering Structures Shijiazhuang Tiedao University Shijiazhuang050043 China MIIT Key Laboratory of Dynamics and Control of Complex Systems Northwestern Polytechnical University Xi'An710072 China

Rotational waves frequently manifest in micro-structured materials and are often coupled with classical shear or longitudinal wave modes. In this study, a distinctive isolated optical branch, exhibiting very high polarization index related to joint rotation motion, is found in dispersion diagram of elastic wave propagation in structurally rhombus re-entrant honeycomb (SSRH). Through an analysis of group velocity, we further explore the wave beaming of the rotational wave propagation within the SRRH, and intriguingly, observe the emergence of sub-preferential wave beaming occurring along the short diagonal directions. This dynamic anisotropic phenomenon stems from the intricate interplay between wave frequency and structural topology. To elucidate the underlying dynamic anisotropy of rotational waves, we propose a simple rigid-spring model and derive an anisotropic coefficient that precisely captures the intricate frequency-structure coupling behavior. The obtained anisotropic coefficient unveils the formation of sub-preferential directions of the rotational wave within the SRRH. Our findings transcend the elucidation of dynamic anisotropy in lattice materials, extending to practical implications encompassing the manipulation of elastic wave propagation and the design of waveguides. © 2023, The Authors. All rights reserved.

关键词： Anisotropy

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Smart Infrared Temperature measurement System Based On Elastic Compute Service Platform

Smart Infrared Temperature Measurement System Based On Elast...

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2021 China Automation Congress, CAC 2021

作者： Li, Yongbo Yuan, Li Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China

ISBN: (纸本)9781665426473

In the fight against the novel coronavirus, this paper designs a smart infrared temperature measurement system based on the Elastic Compute Service platform. In the perceptual layer part of the Internet of Things(IoT), the system uses infrared temperature sensors to quickly collect the temperature of the forehead or arm of the human body and Uses the MCU to automatically transmits the measured data to the Elastic Compute Service through the WiFi module. In the network layer part of the Internet of Things,the data written into the database of the Elastic Compute Service through the program deployed on the Elastic Compute Service. In the application layer of the Internet of Things, the remote management terminal monitors the collected body temperature data in real-time and provides quick warnings. Finally, the User can log in to the applet on his mobile phone to quickly and easily obtain personal information. © 2021 IEEE

关键词： Internet of things

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Inverse Compensation Feedforward control Strategy for a Vertical Pneumatic Artificial Muscle System 8

Inverse Compensation Feedforward Control Strategy for a Vert...

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8th International Conference on control Science and systems engineering, ICCSSE 2022

作者： Xiao, Huai Meng, Qingxin Lai, Xuzhi Yan, Ze Zhao, Shiying Wu, Min School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Hubei Wuhan430074 China

ISBN: (纸本)9781665484138

This paper proposes an inverse compensation feed-forward control strategy for a vertical pneumatic artificial muscle (PAM) system. Firstly, we conduct a preliminary experiment on the vertical PAM system, and on this basis, we analyze the motion characteristics of the system. Moreover, we clarify the control objective of this paper. Then, we establish a model that can describe the hysteresis characteristics of the system, and we further construct an inverse compensation feedforward controller by inversing this established model. Finally, we carry out some tracking control experiments based on the vertical PAM experimental platform to verify the effectiveness and superiority of the proposed control strategy, © 2022 IEEE.

关键词： Hysteresis

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DeCASA in AgriVerse: Parallel Agriculture for Smart Villages in Metaverses

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IEEE/CAA Journal of Automatica Sinica 2022年第12期9卷 2055-2062页

作者： Xiujuan Wang Mengzhen Kang Hequan Sun Philippe de Reffye Fei-Yue Wang The State Key Laboratory for Management and Control of Complex Systems Chinese Academy of SciencesBeijing 100190 Beijing Engineering Research Center of Intelligent Systems and Technology Beijing 100190China School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100190 Department of Chromosome Biology Max Planck Institute for Plant Breeding ResearchBeijing 100049China Faculty of Biology LMU MunichGroßhaderner Str.2Planegg-Martinsried D-82152Germany AMAP Univ MontpellierCIRADCNRSINRAEIRDMontpellier F-34398France IEEE Macao Institute of Systems Engineering Macao University of Science and TechnologyMacao 999078China

The demand for food is tremendously increasing with the growth of the world population,which necessitates the development of sustainable agriculture under the impact of various factors,such as climate *** fulfill this challenge,we are developing Metaverses for agriculture,referred to as Agri Verse,under our Decentralized complex Adaptive systems in Agriculture(De CASA)project,which is a digital world of smart villages created alongside the development of Decentralized Sciences(De Sci)and Decentralized Autonomous Organizations(DAO)for Cyber-Physical-Social systems(CPSSs).Additionally,we provide the architectures,operating modes and major applications of De CASA in *** achieving sustainable agriculture,a foundation model based on ACP theory and federated intelligence is ***,we discuss the challenges and opportunities.

关键词： Parallel Agriculture Management and control AgriVerse Agriculture CPSS ACP DAO-Based Platform Precision Agriculture

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A Novel ADRC control Strategy for PWM Rectifier

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IFAC-PapersOnLine 2023年第2期56卷 422-427页

作者： Wei Wang Zixin Huang Ziang Wei Lejun Wang School of Electrical and Information Engineering Wuhan Institute of Technology Wuhan China Institute of Robotics and Automatic Information Systems College of Artificial Intelligence Nankai University Tianjin China Chongqing Key Laboratory of Complex Systems and Bionic Control Chongqing University of Posts and Telecommunications Chongqing China

Aiming at current harmonics, disturbance immunity and energy efficiency of pulse width modulation (PWM) rectifier system, a novel active disturbance rejection control (ADRC) strategy based on equivalent input disturbance (EID) is proposed. The circuit equations of the system are established, and then the underactuated characteristics of the model are used to design a dual closed-loop control strategy. Based on the conventional ADRC voltage loop controller, a new nonlinear error state feedback function is constructed by using the error estimation of the EID control to design a improved ADRC control strategy. The current loop adopts sliding mode controller. Simulation models are built by Matlab/Simulink, and conducted comparative tests. The results demonstrate that the novel ADRC control strategy has better performance than the traditional ADRC control strategy, faster DC voltage response rate, higher power factor and better results in resisting voltage disturbance and load disturbance.

关键词： PWM rectifier Underactuated characteristics Equivalent input interference Active disturbance rejection control Sliding mode control

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H∞ State Estimation for Time-Delayed Static Neural Networks Using an Improved Delay-Product-Type LKF

H∞ State Estimation for Time-Delayed Static Neural Networks...

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第42届中国控制会议

作者： Yong-He Lao Yu-Long Fan Liang-Tong Luo Chuan-Ke Zhang School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education

This paper is concerned with H performance state estimation of static neural networks with a time-varying ***, a PI estimator with exponential term is used to estimate neuron states based on output measurement. Second, an augmented Lyapunov-Krasovskii functional（LKF） containing delay-product-type non-integral terms and single integral terms is constructed by introducing negative definite terms. After that, a criterion with less conservatism is derived based on extended reciprocally convex matrix inequality. Finally, a numerical example is provided to reveal the effectiveness of the proposed approach.

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Bayesian Framework for Multi-User Cooperative Radio SLAM

Bayesian Framework for Multi-User Cooperative Radio SLAM

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IEEE International Symposium on Personal, Indoor and Mobile Radio Communications (PIMRC)

作者： Hang Que Jie Yang Tao Du Shuqiang Xia Chao-Kai Wen Shi Jin National Mobile Communications Research Laboratory Southeast University Nanjing China Frontiers Science Center for Mobile Information Communication and Security Southeast University Nanjing China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University Nanjing China ZTE Corporation Shenzhen China State Key Laboratory of Mobile Network and Mobile Multimedia Technology Shenzhen China Institute of Communications Engineering National Sun Yat-sen University Kaohsiung Taiwan

ISBN: (数字)9798350362244

ISBN: (纸本)9798350362251

The advancement of millimeter-wave communication technology heralds new sensing capabilities. By leveraging channel multipath parameter estimates, we can harness simultaneous localization and mapping (SLAM) for precise user equipment (UE) localization and radio map construction in 6 G communication systems. Particularly in multi-UE scenarios, SLAM empowers base stations to amalgamate the local radio maps of various UEs efficiently. This study introduces a novel Bayesian framework specifically designed for multi-UE SLAM, complemented by a tailored factor graph. We also unveil a two-stage multi-UE SLAM algorithm. Our simulation results reveal that this algorithm substantially enhances radio map construction accuracy by $\mathbf{4 8. 5 \%}$ and UE localization accuracy by $13.5 \%$, outperforming single-UE cases. Moreover, the algorithm demonstrates remarkable adaptability to environmental changes, showcasing its potential for long-term evolution in dynamic settings.

关键词： Location awareness Simultaneous localization and mapping Accuracy Communication systems Heuristic algorithms Simulation Bayes methods Sensors Millimeter wave communication Land mobile radio

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Secrecy Performance Analysis of RIS Assisted Ambient Backscatter Communication Networks

arXiv

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arXiv 2024年

作者： Pei, Yingjie Yue, Xinwei Huang, Chongwen Lu, Zhiping The Key Laboratory of Information and Communication Systems Ministry of Information Industry The Key Laboratory of Modern Measurement & Control Technology Ministry of Education Beijing Information Science and Technology University Beijing100101 China The State Key Laboratory of Integrated Service Networks Xidian University Xi’an710071 China The Key Laboratory of Information and Communication Systems Ministry of Information Industry China The Key Laboratory of Modern Measurement & Control Technology Ministry of Education Beijing Information Science and Technology University Beijing100101 China College of Information Science and Electronic Engineering Zhejiang University Hangzhou310027 China Hangzhou310027 China The School of Information and Communication Engineering Beijing University of Posts and Telecommunications Beijing100876 China Beijing100191 China

Reconfigurable intelligent surface (RIS) and ambient backscatter communication (AmBC) have been envisioned as two promising technologies due to their high transmission reliability as well as energy-efficiency. This paper investigates the secrecy performance of RIS assisted AmBC networks. New closed-form and asymptotic expressions of secrecy outage probability for RIS-AmBC networks are derived by taking into account both imperfect successive interference cancellation (ipSIC) and perfect SIC (pSIC) cases. On top of these, the secrecy diversity order of legitimate user is obtained in high signal-to-noise ratio region, which equals zero and is proportional to the number of RIS elements for ipSIC and pSIC, respectively. The secrecy throughput and energy efficiency are further surveyed to evaluate the secure effectiveness of RIS-AmBC networks. Numerical results are provided to verify the accuracy of theoretical analyses and manifest that: i) The secrecy outage behavior of RIS-AmBC networks exceeds that of conventional AmBC networks;ii) Due to the mutual interference between direct and backscattering links, the number of RIS elements has an optimal value to minimise the secrecy system outage probability;and iii) Secrecy throughput and energy efficiency are strongly influenced by the reflecting coefficient and eavesdropper’s wiretapping ability. Copyright © 2024, The Authors. All rights reserved.

关键词： Energy efficiency

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Displacement prediction of landslide using SARIMA model based on seasonal characteristic

Displacement prediction of landslide using SARIMA model base...

引用

第42届中国控制会议

作者： Ruoxi Wu Chengda Lu Wanke Yu Min Wu Xuzhi Lai School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education

Landslide displacement prediction is an important and indispensable part of landslide monitoring and *** change of the displacement is always considered being related to inducing factors,which are aimed at improving accuracy of the predicted ***,the seasonal characteristic of the displacement,which has not been carefully analyzed,reveals the law of inducing *** order to gain a deeper understanding of characteristics,the Baijiabao landslide is taken as an *** variational mode decomposition(VMD) method,which can extract effective information well,is introduced to decompose the *** the seasonal parameters,the seasonal autoregressive integrated moving average(SARIMA) model is established to predict the displacement ***,accumulative displacement prediction values are obtained by superimposing the predicted *** higher accuracy and lower error,the VMD-SARIMA model proves a better option in application compared with VMD-ARIMA,SARIMA and ARIMA models.

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