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IEEE International Conference on robotics and Biomimetics

作者： Junfeng Zhu Yuanrui Huang Jian Chen Hongbin Liu State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences (CASIA) Beijing China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China Centre of AI and Robotics Hong Kong Institute of Science Innovation Chinese Academy of Sciences School of Biomedical Engineering and Imaging Sciences King's College London UK

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

Magnetic continuum robots (MCRs) show promising potential for applications in narrow lumens, such as vascular interventions. Accurate shape sensing of these robots is crucial for the success of interventional surgeries. However, the submillimeter dimensions of MCRs poses significant challenges for integrating additional sensors. An alternative approach is shape estimation from images, yet the lack of precise MCR kinematics can make this process time-consuming. In this work, we propose a novel MCR design featuring a rectangular tip capable of specific planar bending, along with a corresponding kinematic model and a mechanical model. Additionally, we introduce a model-based shape estimation method that enables the estimation of the MCR's shape from a single-view image without the need for external markers. Experimental results demonstrate that our method can estimate an MCR's shape with a mean absolute error (MAE) of $\mathbf{0.58}\pm \mathbf{0.41}\mathbf{mm}$ within 85ms, facilitating real-time application. Furthermore, closed-loop control based on this method has achieved an end position error below 11% of the tip's total length, highlighting the accuracy and practicality of our approach for surgical interventions.

关键词： Solid modeling Shape Computational modeling Magnetic resonance imaging Estimation Kinematics Robot sensing systems Real-time systems Continuum robots Magnetosphere

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Effective Decoupled Planning for Continuous Multi-Agent Pickup and Delivery

Effective Decoupled Planning for Continuous Multi-Agent Pick...

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第32届中国控制与决策会议

作者： Zhenbang Nie Peng Zeng Haibin Yu State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Key Laboratory of Networked Control Systems Chinese Academy of Sciences University of Chinese Academy of Sciences

Continuous MAPD（Multi-Agent Pickup and Delivery） problem is widely encountered in material transportation ***（Token Passing） is a conflict-free,deadlock-free algorithm for continuous MAPD ***,when TP is used,the number of tasks simultaneously handled by agents is limited by the number of task endpoint *** solve this problem,ITP（Improved Token Passing） is proposed in this *** extra path planning procedure is introduced to improve agent utilization.A complete and optimal A*-based algorithm is designed to solve the low level single agent path planning *** increases system throughput by exploiting all available agents,and remains conflict-free and *** result shows that ITP outperforms TP in terms of system makespan under heavy workload in congested workspace.

关键词： Multi-Agent Pickup and Delivery Multi-Agent Path Finding Decoupled Path Planning

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Holographic MIMO Communications with Arbitrary Surface Placements: Near-Field LoS Channel Model and Capacity Limit

arXiv

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arXiv 2023年

作者： Gong, Tierui Wei, Li Huang, Chongwen Yang, Zhijia He, Jiguang Debbah, Mérouane Yuen, Chau School of Electrical and Electronics Engineering Nanyang Technological University Singapore639798 Singapore College of Information Science and Electronic Engineering Zhejiang University Hangzhou310027 China Hangzhou310027 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China Technology Innovation Institute Masdar City Abu Dhabi9639 United Arab Emirates KU 6G Research Center Khalifa University of Science and Technology P O Box 127788 Abu Dhabi United Arab Emirates CentraleSupelec University Paris-Saclay Gif-sur-Yvette91192 France

Envisioned as one of the most promising technologies, holographic multiple-input multiple-output (H-MIMO) recently attracts notable research interests for its great potential in expanding wireless possibilities and achieving fundamental wireless limits. Empowered by the nearly continuous, large and energy-efficient surfaces with powerful electromagnetic (EM) wave control capabilities, H-MIMO opens up the opportunity for signal processing in a more fundamental EM-domain, paving the way for realizing holographic imaging level communications in supporting the extremely high spectral efficiency and energy efficiency in future networks. In this article, we propose a generalized EM-domain near-field channel modeling and study its capacity limit of point-to-point H-MIMO systems that equips arbitrarily placed surfaces in a line-of-sight (LoS) environment. Two effective and computational-efficient channel models are established from their integral counterpart, where one is with a sophisticated formula but showcases more accurate, and another is concise with a slight precision sacrifice. Furthermore, we unveil the capacity limit using our channel model, and derive a tight upper bound based upon an elaborately built analytical framework. Our result reveals that the capacity limit grows logarithmically with the product of transmit element area, receive element area, and the combined effects of 1/d2mn, 1/d4mn, and 1/d6mn over all transmit and receive antenna elements, where dmn indicates the distance between each transmit element n and receive element m. Particularly, 1/d6mn dominates in the near-field region whereas 1/d2mn dominates in the far-field region. Numerical evaluations validate the effectiveness of our channel models, and showcase the slight disparity between the upper bound and the exact capacity, which is beneficial for predicting practical system performance. Copyright © 2023, The Authors. All rights reserved.

关键词： MIMO systems

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Compressive Subspace Learning with Antenna Cross-correlations for Wideband Spectrum Sensing

arXiv

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arXiv 2020年

作者： Gong, Tierui Yang, Zhijia Zheng, Meng Liu, Zhifeng Wang, Gengshan Key Laboratory of Robotics the Key Laboratory of Networked Control Systems Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang 110169 China University of Chinese Academy of Sciences Beijing 100049 China State Key Laboratory of Robotics Key Laboratory of Networked Control Systems Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang 110169 China

Compressive subspace learning (CSL) with the exploitation of space diversity has found a potential performance improvement for wideband spectrum sensing (WBSS). However, previous works mainly focus on either exploiting antenna auto-correlations or adopting a multiple-input multiple-output (MIMO) channel without considering the spatial correlations, which will degrade their performances. In this paper, we consider a spatially correlated MIMO channel and propose two CSL algorithms (i.e., mCSLSACC and vCSLACC) which exploit antenna cross-correlations, where the mCSLSACC utilizes an antenna averaging temporal decomposition, and the vCSLACC uses a spatial-temporal joint decomposition. For both algorithms, the conditions of statistical covariance matrices (SCMs) without noise corruption are derived. Through establishing the singular value relation of SCMs in statistical sense between the proposed and traditional CSL algorithms, we show the superiority of the proposed CSL algorithms. By further depicting the receiving correlation matrix of MIMO channel with the exponential correlation model, we give important closed-form expressions for the proposed CSL algorithms in terms of the amplification of singular values over traditional CSL algorithms. Such expressions provide a possibility to determine optimal algorithm parameters for high system performances in an analytical way. Simulations validate the correctness of this work and its performance improvement over existing works in terms of WBSS performance. Copyright © 2020, The Authors. All rights reserved.

关键词： Cognitive radio

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MRI-guided robot intervention—current state-of-the-art and new challenges

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Med-X 2023年第1期1卷 141-181页

作者： Shaoping Huang Chuqian Lou Ying Zhou Zhao He Xuejun Jin Yuan Feng Anzhu Gao Guang-Zhong Yang Institute of Medical Robotics and School of Biomedical Engineering Shanghai Jiao Tong UniversityShanghai 200240China National Engineering Research Center of Advanced Magnetic Resonance Technologies for Diagnosis and Therapy(NERC-AMRT) Shanghai Jiao Tong UniversityShanghai 200240China Materials and Technology Center of Robotics EmpaDübendorf 8600Switzerland State Key Lab of Metal Matrix Composites and School of Materials Science and Engineering Shanghai Jiao Tong UniversityShanghai 200240China Institute of Medical Robotics and Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China The Key Laboratory of System Control and Information Processing Ministry of EducationShanghai 200240China

Magnetic Resonance Imaging(MRI)is now a widely used modality for providing multimodal,high-quality soft tissue contrast images with good spatiotemporal resolution but without subjecting patients to ionizing *** addition to its diagnostic potential,its future theranostic value lies in its ability to provide MRI-guided robot intervention with combined structural and functional mapping,as well as integrated instrument localization,target recognition,and in situ,in vivo monitoring of the therapeutic *** of current applications include neurosurgery,breast biopsy,cardiovascular intervention,prostate biopsy and *** applications in targeted drug delivery and MRI-guided chemoembolization are also being *** promising progress has been made in recent years,there are still significant basic science research and engineering *** paper provides a comprehensive review of the current state-of-the-art in MRI-guided robot intervention and allied technologies in actuation,sensing,new materials,interventional instruments,and interactive/real-time *** future research directions and new clinical developments are also discussed.

关键词： MRI-guided robot intervention Actuation Sensing Materials Interventional instruments Interactive/realtime MRI

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Technical report:PID design of second-order non-linear uncertain systems with fractional order operations

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IET Cyber-systems and robotics 2021年第4期3卷 343-346页

作者： Song Chen Tehuan Chen Chao Xu Jian Chu School of Mathematical Sciences Zhejiang UniversityHangzhouZhejiangChina School of Mechanical Engineering and Mechanics Ningbo UniversityNingboZhejiangChina Department of Automation Shanghai Jiao Tong UniversityShanghaiChina Ningbo Artificial Intelligence Institute Shanghai Jiao Tong UniversityNingboZhejiangChina The State Key Laboratory of Industrial Control Technology Institute of Cyber‐Systems and ControlZhejiang UniversityHangzhouZhejiangChina

This study considers a control problem related to the regulation of fractional-order systems controlled by fractional order proportional-integral-derivative controllers(PI^(λ)D^(μ)).The stability result of PIλDμ-based control systems is provided,such that the closed-loop systems can accomplish global stabilisation under some suitable conditions related to the system ***,a simulation is demonstrated to verify the results.

关键词： fractional operations verify

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A Novel Two-Stage Framework for 2D/3D Registration in Neurological Interventions

A Novel Two-Stage Framework for 2D/3D Registration in Neurol...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Huang, De-Xing Zhou, Xiao-Hu Xie, Xiao-Liang Liu, Shi-Qi Feng, Zhen-Qiu Hao, Jian-Long Hou, Zeng-Guang Ma, Ning Yan, Long The State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China The School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100049 China The School of Information Shanxi University of Finance and Economics Taiyuan030006 China The CAS Center for Excellence in Brain Science and Intelligence Technology Beijing100190 China The Joint Laboratory of Intelligence Science and Technology Institute of Systems Engineering Macau University of Science and Technology Taipa China The Department of Interventional Neuroradiology Beijing Tiantan Hospital Capital Medical University Beijing100070 China

ISBN: (纸本)9781665481090

2D/3D medical image registration of pre-operative volumes and intra-operative images plays an important role in neurological interventions. However, vast space of transformation parameters makes this task incredibly challenging. In this paper, a novel two-stage framework for 2D/3D registration is proposed. It consists of two basic modules: CNN regression for preliminarily estimating transformation parameters, and centroid alignment for further reducing estimation errors to get refined images. Experimental results on two patients show the proposed framework can achieve superior performances to baseline methods with an inference rate of 22 FPS, satisfying real-time requirements (612 FPS) in clinical practice. Extensive ablation studies prove the effectiveness of centroid alignment in significantly improving registration accuracies. These promising results indicate the framework has the potential to be integrated into navigation frameworks for neurological interventions, facilitating treatments of physicians. © 2022 IEEE.

关键词： Medical imaging

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Confidence-rich Localization and Mapping based on Particle Filter for Robotic Exploration

arXiv

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arXiv 2022年

作者： Xu, Yang Zheng, Ronghao Zhang, Senlin Liu, Meiqin The College of Electrical Engineering Zhejiang University Hangzhou310027 China The Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University Xi’an710049 China The State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou310027 China

This paper mainly studies the localization and mapping of range sensing robots in the confidence-rich map (CRM) and then extends it to provide a full state estimate for information-theoretic exploration. Most previous works about active simultaneous localization and mapping and exploration always assumed the known robot poses or utilized inaccurate information metrics to approximate pose uncertainty, resulting in imbalanced exploration performance and efficiency in the unknown environment. This inspires us to extend the confidence-rich mutual information (CRMI) with measurable pose uncertainty. Specifically, we propose a Rao-Blackwellized particle filter-based localization and mapping scheme (RBPF-CLAM) for CRM, then we develop a new closed-form weighting method to improve the localization accuracy without scan matching. We further derive the uncertain CRMI (UCRMI) with the weighted particles by a more accurate approximation. Simulations and experimental evaluations show the localization accuracy and exploration performance of the proposed methods. Copyright © 2022, The Authors. All rights reserved.

关键词： Mapping

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Resource-Aware Cooperative Level Surface Tracking control in 3d Time-Varying Scalar Field

SSRN

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SSRN 2022年

作者： Ding, Tianyi Zheng, Ronghao Zhang, Senlin Liu, Meiqin College of Electrical Engineering Zhejiang University Hangzhou310027 China State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou310027 China College of Artificial Intelligence and Robotics Xi’an Jiaotong University Xi’an710049 China

We propose a resource-aware level surface tracking control law for multi-robot systems in unknown 3D time-varying scalar fields. Existing control laws generally require communications and GPS for gradient estimation which may be inapplicable when these resources are limited, such as in underwater or intentional electromagnetic interference environments. The proposed control law only uses the local measurements of the field and observed relative positions of neighbors to seek the desired level surfaces. A sub-objective method is developed to satisfy additional constraints for tracking the 3D level surfaces. We prove that the swarm center can converge to the desired level surfaces while the sub-objective function can be optimized locally. The convergence domain of input-to-state stability is derived theoretically. Finally, we present an application of the proposed control law to track ocean pollutant leakage by simulations using the real ocean flow data. © 2022, The Authors. All rights reserved.

关键词： Multipurpose robots

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A Tree-Based Distributed Method for Cooperative Flow Field Estimation

SSRN

引用

SSRN 2022年

作者： He, Yi Zheng, Ronghao Zhang, Senlin Liu, Meiqin College of Electrical Engineering Zhejiang University Hangzhou310027 China State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou310027 China College of Artificial Intelligence and Robotics Xi’an Jiaotong University Xi’an710049 China

This paper focus on a distributed method for three-dimensional flow field estimation using multiple autonomous underwater vehicles (AUVs). In this method, direct measurements of local flow velocity are not required and cooperation between AUVs is considered. In this paper, the flow field estimation is formulated as an inverse problem that solves a system of nonlinear equations and we propose a tree-based distributed algorithm to solve the above equations, in which we only require the communication network among AUVs to be connected. The tree structure allows for passage of solution estimates within the network, and through dispersion and pooling stages of the algorithm, the flow field parameters are finally estimated. The convergence of the distributed algorithm is strictly proved. Finally, simulations in simulated and real flow datasets are provided to illustrate the effectiveness of the proposed distributed method. © 2022, The Authors. All rights reserved.

关键词： Autonomous underwater vehicles

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