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Magnetically Driven Soft Continuum Microrobot for Intravascular Operations in Microscale

Cyborg and Bionic systems 2022年第1期2022卷 265-272页

作者： Dan Liu Xiaoming Liu Zhuo Chen Zhaofeng Zuo Xiaoqing Tang Qiang Huang Tatsuo Arai Key Laboratory of Biomimetic Robots and Sytems Ministry of EducationState Key Laboratory of Ielligent Control and Decision.of Complex SystemBeijing Advanced Innovation Center for Itelligent Robots and Systemsand School of Mechatronical EngineeringBeijing Institute of TechnologyBejing 100081China Center for Neuroscience and Biomedical Engineering The University of Electro-CommunicationsTokyo 1828585Japan

Remotely controlled soft continuum robots with active steering capability have broad prospects in medical ***,conventional continuum robots have the miniaturization *** paper presents a microscale soft continuum microrobot with steering and locomotion capabilties based on magnetic field *** magnetically driven soft continuum microrobot is made of NdFeB particles and polyd imethylsiloxane(PDMS),and it can be as small as 200 pum in ***,a hydrogel layer is covered on the surface of the microrobot,which not only overcomes the adhesion force between the microobjects and the soft tip but also reduces the friction between the microrobot and *** performance test indicates the soft continuum microrobot featured excellent control and steering *** experimental results demonstrate that the soft continuum microrobot can travel through the microfluidic channel by its own vibration and flexibly steer in a bifurcation ***,the micromanipulation of microbeads in the microfluidic channels proves that the proposed microscale soft continuum microrobot has a great potential for intravascu lar manipu lation.

关键词： friction robot overcome

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Sparse Andrew's Sine Norm Promoting Adaptive Algorithm under Non-Gaussian Noises 5

Sparse Andrew's Sine Norm Promoting Adaptive Algorithm under...

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5th IEEE International Conference on Electronic Information and Communication Technology, ICEICT 2022

作者： Hadi, Abdul Huang, Xinqi Ali, Burhan Li, Yingsong College of Information and Communications Engineering Harbin Engineering University Harbin150001 China College of Intelligent System and Control Science Engineering Harbin Engineering University Harbin150001 China Anhui University Key Laboratory of Intelligent Computing and Signal Processing Ministry of Education Anhui Hefei China

ISBN: (数字)9781665472111

ISBN: (纸本)9781665472111

Two sparse adaptive filtering (AF) algorithms based on Andrew's sine estimator (ASE) are presented to achieve improved performance for identifying sparse systems, where the ASE is derived within the least-square framework. Furthermore, zero-attracting (ZA) scheme is used in ASE to construct ZA-ASE and its re-weighting form (RZA-ASE) to combat non-Gaussian noises and use the sparse characteristics of the system. Their performance is investigated via simulations and compared with the least-mean square (LMS) and the maximum correntropy criterion (MCC) algorithms to show their superior performance. © 2022 IEEE.

关键词： Adaptive filtering

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Differential Private Discrete Noise-Adding Mechanism: Conditions, Properties, and Optimization

Differential Private Discrete Noise-Adding Mechanism: Condit...

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作者： Qin, Shuying He, Jianping Fang, Chongrong Lam, James Shanghai Jiao Tong University Department of Automation Shanghai200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Beijing100816 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China Shenzhen Institute of Research and Innovation Shenzhen518055 China The University of Hong Kong Department of Mechanical Engineering Hong Kong999077 Hong Kong

Differential privacy is a widely used framework for evaluating privacy loss in data anonymization. While the continuous noise-adding mechanism has been extensively studied, there is a dearth of research on discrete random mechanisms for discretely distributed data. This study addresses this gap by examining the primary differential privacy conditions and properties for general discrete random mechanisms, and investigating the trade-off between data privacy and data utility. We establish sufficient and necessary conditions for discrete ϵ-differential privacy and sufficient conditions for discrete (ϵδ)-differential privacy, with closed-form expressions for differential privacy parameters. These conditions can be applied to evaluate the differential privacy properties of discrete noise-adding mechanisms with various types of noise. Moreover, we propose an optimal discrete ϵ-differential private noise-adding mechanism under the utility-maximization framework. Here, the utility is characterized by the similarity of the statistical properties between the mechanism's input and output. Our findings suggest that the optimal class of discrete noise probability distributions in the mechanism is staircase-shaped. © 1991-2012 IEEE.

关键词： Probability distributions

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DuSSS: Dual Semantic Similarity-Supervised Vision-Language Model for Semi-Supervised Medical Image Segmentation

arXiv

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arXiv 2024年

作者： Pan, Qingtao Qiao, Wenhao Lou, Jingjiao Ji, Bing Li, Shuo School of Control Science and Engineering Shandong University Jinan China Key Laboratory of Machine Intelligence and System Control Ministry of Education China Department of Computer and Data Science Department of Biomedical Engineering Case Western Reserve University United States

Semi-supervised medical image segmentation (SSMIS) uses consistency learning to regularize model training, which alleviates the burden of pixel-wise manual annotations. However, it often suffers from error supervision from low-quality pseudo labels. Vision-Language Model (VLM) has great potential to enhance pseudo labels by introducing text prompt guided multimodal supervision information. It nevertheless faces the cross-modal problem: the obtained messages tend to correspond to multiple targets. To address aforementioned problems, we propose a Dual Semantic Similarity-Supervised VLM (DuSSS) for SSMIS. Specifically, 1) a Dual Contrastive Learning (DCL) is designed to improve cross-modal semantic consistency by capturing intrinsic representations within each modality and semantic correlations across modalities. 2) To encourage the learning of multiple semantic correspondences, a Semantic Similarity-Supervision strategy (SSS) is proposed and injected into each contrastive learning process in DCL, supervising semantic similarity via the distribution-based uncertainty levels. Furthermore, a novel VLM-based SSMIS network is designed to compensate for the quality deficiencies of pseudo-labels. It utilizes the pretrained VLM to generate text prompt guided supervision information, refining the pseudo label for better consistency regularization. Experimental results demonstrate that our DuSSS achieves outstanding performance with Dice of 82.52%, 74.61% and 78.03% on three public datasets (QaTa-COV19, BM-Seg and MoNuSeg). Copyright © 2024, The Authors. All rights reserved.

关键词： Contrastive Learning

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Design of Load Frequency controller for Power system Based on Equivalent Input Disturbance Method

Design of Load Frequency Controller for Power System Based o...

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New Energy and Energy Storage system control Summit Forum (NEESSC)

作者： Jianrong Zhang Hang Xu Hongzhang Wang Chuanke 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 Wuhan China

ISBN: (数字)9798350389012

ISBN: (纸本)9798350389029

In the power system, due to the instability of the external environment, safe and stable operation cannot always be guaranteed, as it frequently encounters varying degrees of external disturbances. In order to mitigate the effects of these disturbances on the system, the power system can operate safely and stably, In this paper, a power system load frequency control (LFC) based on Equivalent Input Disturbance (EID) method is proposed from the perspective of active disturbance suppression. Firstly, the disturbances present in the environment are unified as external disturbances, and then a single area the electric power system model with external disturbance was constructed. Then, a controller algorithm based on EID was designed using EID equivalent processing method and linear matrix inequality method to address the issue of external interference in the power system. Finally, a numerical example is used to validate the effectiveness and accuracy of the controller by simulating with two aspects, fixed perturbation and random perturbation, respectively.

关键词： Perturbation methods Process control Interference Power system stability control systems Linear matrix inequalities Numerical models Frequency control Load modeling Energy storage

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Simulation and Experiment of Planar Magnetic Sensor

Simulation and Experiment of Planar Magnetic Sensor

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China Instrument and control Society (ACCIS), Academic Conference of

作者： Jiaqi Lu Fang Jin Kaifeng Dong Junlei Song Wenqin Mo Yajuan Hui Hubei key Laboratory of Advanced Control and Intelligent Automation for Complex Systems School of Automation China University of Geosciences Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan China

ISBN: (数字)9798350350326

ISBN: (纸本)9798350350333

In this paper, aiming at the planar magnetic sensor, the model of the planar magnetic sensor probe is constructed from the principle of magnetic line orbit transfer. The planar magnetic sensor probe is simulated and analyzed by COMSOL Multiphysics software. The influence of the horizontal width, height, length, and relative permeability parameters of the magnetic line orbit transfer structure on the orbit transfer coefficient of the magnetic line orbit transfer structure is studied. The simulation results analyze the influence of the structural parameters of the magnetic line transfer on the transfer coefficient, and the optimal parameter conditions are obtained. In order to verify the simulation results, an experimental test platform was built to test the planar magnetic sensor, and the magnetic line of force rail structure with the best experimental effect was obtained. The magnetic line of the force rail structure selects soft magnetic material with relative permeability greater than 5000, the horizontal width is 3mm, the height is 14mm, and the length of the magnetic line of the force rail structure in the experiment is determined to be 5mm according to the actual demand and the production process. Finally, the conversion efficiency of the planar magnetic sensor to the Z-axis magnetic field can reach 39.9 %. This study provides a research idea for promoting the planar design of magnetic sensors.

关键词： Rails Magnetic flux leakage Magnetic field measurement Magnetic sensors Simulation Force Orbits Permeability Soft magnetic materials Magnetic fields

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Active Capsule Endoscope Robot: Current Status and Future Perspectives

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Recent Patents on engineering 2022年第4期16卷 30-49页

作者： Jiang, Jingang Sun, Yang Song, Shichang Yu, Xiaoyang Wu, Dianhao Key Laboratory of Advanced Manufacturing and Intelligent Technology Ministry of Education Harbin University of Science and Technology No. 52 Xuefu Road Nangang District Heilongjiang Province Harbin150080 China School of International Studies Harbin Institute of Technology Harbin150001 China School of Measurement-Control Tech and Communications Engineering Harbin University of Science and Technology Harbin150080 China

Background: China is a big country with a vast territory, in which gastropathy has become a common high-incidence disease in daily life. Gastroscopy is an important means of diagnosis of gastropathy, but the use of a gastroscope causes a lot of pain to patients. A cable-free, non-invasive and painless diagnosis and treatment tool, an active capsule endoscope robot, can solve this problem very well. Capsule robot has become a new development hotspot. Objective: The study aims to provide an overview of the active endoscope capsule robot and introduce its classification, characteristics and development. Methods: This paper summarizes various scientific research achievements of the active endoscope capsule robot. The structural characteristics, advantages and disadvantages of various active endoscope capsule robots are introduced. Results: The active endoscope capsule robot has been analyzed and compared to other models. Its typical characteristics have been summarized. The main problems in its development are analyzed, its development trend is prospected, and the research status and future of active endoscope capsule robot are discussed. Conclusion: The active capsule robot is classified into two categories: bionic and non-bionic. The analysis shows that the capsule robot is an effective and safe initiative and has a very broad application prospect for various gastrointestinal tests compared to gastroscope, and helps alleviate the pain of patients. © 2022 Bentham Science Publishers.

关键词： Robots

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Finite-Time Continuous Terminal Sliding-Mode Speed control of Micro Gas Turbine system with Mismatched Disturbances

Finite-Time Continuous Terminal Sliding-Mode Speed Control o...

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2021 China Automation Congress, CAC 2021

作者： Sun, Yanjun Xu, Long Chen, Ning Li, Shihua School of Automation Southeast University Nanjing210096 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing210096 China China Electric Power Research Institute Nanjing210036 China

ISBN: (纸本)9781665426473

The micro gas turbine system acts as a key role in distributed renewable generation systems due to its flexibility, versatility, and low emissions. This paper focuses on the micro gas turbine speed control problem, which primarily determines the fuel flow for the turbine under variable load conditions. Due to nonlinear factors in MGTS, such as the coupling between systems parameters, and external disturbances such as electric load variation, it is a challenge to realize accurate speed control. In this paper, a continuous terminal sliding-mode control law based on a finite-time disturbance observer is designed for micro gas turbine control system. In this method, the integral of high-frequency switching function is introduced to control law. It guarantees the continuity of control signal and alleviates the chattering problem. Besides, the linear sliding mode surface is replaced by a full-order terminal sliding mode surface, and it obtains finite-time convergence and smaller speed tracking error. Furthermore, disturbance estimates are used in control law to eliminate the adverse effect of disturbances on control performance, which improves disturbance rejection ability. Finally, simulation comparison with conventional sliding-mode control validates the advantages of the composite controller. © 2021 IEEE

关键词： Disturbance rejection

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Magnetically tunable zero-index metamaterials

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Photonics Research 2023年第10期11卷 1613-1626页

作者： YUCONG YANG YUEYANG LIU JUN QIN SONGGANG CAI JIEJUN SU PEIHENG ZHOU LONGJIANG DENG YANG LI LEI BI National Engineering Research Centre of Electromagnetic Radiation Control Materials University of Electronic Science and Technology of ChinaChengdu 611731China Key Laboratory of Multi-spectral Absorbing Materials and Structures of Ministry of Education University of Electronic Science and Technology of ChinaChengdu 611731China State Key Laboratory of Precision Measurement Technology and Instrument Department of Precision InstrumentTsinghua UniversityBeijing 100084China

Zero-index metamaterials(ZIMs)feature a uniform electromagnetic mode over a large area in arbitrary shapes,enabling many applications including high-transmission supercouplers with arbitrary shapes,directionindependent phase matching for nonlinear optics,and collective emission of many quantum ***,most ZIMs reported to date are passive;active ZIMs that allow for dynamic modulation of their electromagnetic properties have rarely been ***,we design and fabricate a magnetically tunable ZIM consisting of yttrium iron garnet(YIG)pillars sandwiched between two copper clad laminates in the microwave *** harnessing the Cotton–Mouton effect of YIG,the metamaterial was successfully toggled between gapless and bandgap states,leading to a“phase transition”between a zero-index phase and a single negative phase of the *** an S-shaped ZIM supercoupler,we experimentally demonstrated a tunable supercoupling state with a low intrinsic loss of 0.95 d B and a high extinction ratio of up to 30.63 d B at 9 *** have also engineered a transition between the supercoupling state and the topological one-way transmission state at10.6 *** work enables dynamic modulation of the electromagnetic characteristics of ZIMs,enabling various applications in tunable linear,nonlinear,quantum,and nonreciprocal electromagnetic devices.

关键词： index collective shaped

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The Binary and Ternary Quantization Can Improve Feature Discrimination

arXiv

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arXiv 2025年

作者： Lu, Weizhi Chen, Mingrui Li, Weiyu School of Control Science and Engineering Shandong University Key Laboratory of Machine Intelligence and System Control Ministry of Education China School of Control Science and Engineering Shandong University China Zhongtai Securities Institute for Financial Studies Shandong University National Center for Applied Mathematics in Shandong China

In machine learning, quantization is widely used to simplify data representation and facilitate algorithm deployment on hardware. Given the fundamental role of classification in machine learning, it is crucial to investigate the impact of quantization on classification. Current research primarily focuses on quantization errors, operating under the premise that higher quantization errors generally result in lower classification performance. However, this premise lacks a solid theoretical foundation and often contradicts empirical findings. For instance, certain extremely low bit-width quantization methods, such as {0, 1}-binary quantization and {0, ±1}-ternary quantization, can achieve comparable or even superior classification accuracy compared to the original non-quantized data, despite exhibiting high quantization errors. To more accurately evaluate classification performance, we propose to directly investigate the feature discrimination of quantized data, instead of analyzing its quantization error. Interestingly, it is found that both binary and ternary quantization methods can improve, rather than degrade, the feature discrimination of the original data. This remarkable performance is validated through classification experiments across various data types, including images, speech, and texts. © 2025, CC BY.

关键词： Feature extraction

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