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IEEE International Conference on Robotics and Biomimetics

作者： Shuai Zhang Cancan Zhao Xian He Bo Ouyang Shanlin Yang The School of Management Hefei University of Technology Hefei China The Key Laboratory of Process Optimization and Intelligent Decision-Making(Ministry of Education) Hefei University of Technology Hefei China

ISBN: (纸本)9781665481106

Patients' facial expressions can reflect their condition, but expressions cannot be captured like ECG or EEG monitor. Long-term monitoring will increase the workload of nurses. To tackle this issue, we develop a face tracking strategy using a 7-DOF robot manipulator with a camera mounted on the end-effector. First, we analyze the relationship between the manipulator's workspace and optimal tracking pose and design an optimization function to initialize the head position. By comparing the speed of the head and manipulator, knowledge of the maximum tracking limit of the head and the manipulator in the tracking process is given. Moreover, a configuration-based optimization algorithm is proposed to minimize the error with theoretical optimal pose by converting radian to arc length. We calculate the optimal configuration of the camera with the feedback of the head configuration while minimizing the difference between theoretical optimal pose. Simulation experimental results verified that the proposed face tracking strategy outperforms the visual servoing control strategy only based on the pseudo-inverse of the Jacobian matrix.

关键词： Jacobian matrices Tracking Robot kinematics Manipulators Cameras Visual servoing Trajectory

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Learning Adaptive Mapless Navigation Skills Through Evidential Deep Learning

Learning Adaptive Mapless Navigation Skills Through Evidenti...

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IEEE International Conference on Real-time Computing and Robotics (RCAR)

作者： Cancan Zhao Yufeng Yan Xuhao Liu Shuai Zhang Bo Ouyang School of Management Hefei University of Technology Hefei China The Key Laboratory of Process Optimization and Intelligent Decision-Making(Ministry of Education) Hefei University of Technology Hefei China

Traditional navigation methods tend to design and train navigation skills based on the consideration of multi-scenario applicability and perform well in general scenarios. However, this results in sub-optimal navigation performance in some context-specific scenarios, such as navigating through open or crowded scenarios. While some existing navigation skills can achieve satisfactory performance in context-specific scenarios, e.g., using PID in open scenarios and reinforcement learning-based training methods in crowded scenarios. Most methods currently do without consideration of the integration of navigation skills and contextual understanding. To address this gap, we propose an adaptive mapless navigation method to utilize the optimal capabilities of each skill corresponding to the context-specific scenario. Specifically, we package several existing navigation skills and train a scenario classifier to enable the agent to automatically select the most appropriate skill based on the current scenario. Furthermore, we incorporate evidential deep learning (EDL) to assess classification uncertainty and ensure the safe switching of navigation skills. Our method was tested in both simulated and real scenarios, and the results of the experiments confirmed the effectiveness and generalization of our method. Moreover, the proposed method exhibits notably enhanced, context-sensitive efficiency within a hybrid multi-scenario setting, in comparison to a single navigation skill.

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Manipulating Constrained Soft Tissue while Avoiding Obstacles using Reinforcement Learning with Self-Attention

Manipulating Constrained Soft Tissue while Avoiding Obstacle...

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IEEE International Conference on Robotics and Biomimetics

作者： Xian He Shuai Zhang Shanlin Yang Bo Ouyang The School of Management Hefei University of Technology Hefei China The Key Laboratory of Process Optimization and Intelligent Decision-Making (Ministry of Education) Hefei University of Technology Hefei China

ISBN: (纸本)9781665481106

The complexity of dynamics raises challenges in deformable object manipulation, particularly the soft tissue shape control in in vivo environment. Previous studies assume the soft tissue is in an obstacle-free space, and the constraints are constant. To go one step further, a Soft Actor-Critic (SAC) algorithm is presented to manipulate the soft tissue under external disturbances while avoiding obstacles. K-Means is applied to reduce the dimension of the state space. Furthermore, self-attention is introduced to focus on the external forces and the constraints. Experiment results show that the agent can shape the soft tissue into the target deformation with the proposed approach under unknown external force, where the agent can automatically increase attention to the external force. The agent can find an obstacle-free path while manipulating the soft tissue. Compared with the SAC algorithm, the proposed approach with self-attention requires less training time, and the critic network is more stable.

关键词： Training Shape control Shape Biological tissues Force Surgery Reinforcement learning

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Measurement Method of Answerer Service Influence for Q & A Community

Measurement Method of Answerer Service Influence for Q & A C...

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E-Commerce and Internet Technology (ECIT), International Conference on

作者： Jianmin He Tingting Liu Yuanchun Jiang Ying Li Hao Wu Key Laboratory of Process Optimization and Intelligent Decision-making Ministry of Education Hefei University of Technology Hefei China School of Management Hefei University of Technology Hefei China

ISBN: (数字)9781728159027

ISBN: (纸本)9781728159034

In this paper, we explore the method of measuring answerer service influence on Q & A community in order to provide decision support for communities to obtain paid consultation questioners and high service influence answerers. From the social capital measuring angle, this paper selects three-dimensional indicators which contain unpaid services, paid services and services quality to measure answerer service influence on Q & A community. Accordingly, we construct a social capital measurement model method for answerer service influence and demonstrate its practical effectiveness. This method can help communities discover high service influence answerers, and formulate service strategies that motivate answerers and questioners to improve the overall service efficiency and effectiveness of the community. The numerical study on the dataset from *** indicates that the proposed method can obtain reasonable measurement results.

关键词： Q & A community paid consulting services service influence social capital measurement method for service influence Social Capital Communities Quality factor Legal Services decision making support Quality of service Dataset

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Research on consumers' cross-site transfer behavior based on complexnetwork theory

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ICIC Express Letters 2009年第4期3卷 1359-1364页

作者： Liu, Yezheng Zhang, Jiekui Yang, Shanlin School of Management Ministry of Education Hefei University of Technology Hefei 230009 China Key Laboratory of Process Optimization and Intelligent Decision-making Ministry of Education Hefei University of Technology Hefei 230009 China

Consumers' online information seeking process consists of two alternatelyjoining behaviors: intra-site visit and cross-site transfer. Current studiesmainly focused on the intra-site visit behavior while cross-site transferbehavior is little concerned. In this paper consumers' cross-site transferbehavior with specific information seeking task is studied for the first time,we collected client-side logs during consumers' online information seekingprocess under experimental circumstances, represented the logs as a cross-sitetransfer network and analyzed the cross-site transfer behavior based on complexnetwork theory. Main conclusions include: the cross-site transfer network hassome topological characteristics different from common networks;a largeproportion of transfer behaviors are carried out between different websitecategories;the proportion of transfers within the same website category isrelatively low as a whole, but transfers within different website categories arevery different;the transfers between websites have high degree of *** conclusions may help websites establish strategy alliance *** International © 2009.

关键词： Websites

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Research on the Operational Efficiency of Subscription Accounts

Research on the Operational Efficiency of Subscription Accou...

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E-Commerce and Internet Technology (ECIT), International Conference on

作者： Jianmin He Hao Wu Tingting Liu Key Laboratory of Process Optimization and Intelligent Decision-making Ministry of Education Hefei University of Technology Hefei China School of Management Hefei University of Technology Hefei China

ISBN: (数字)9781728159027

ISBN: (纸本)9781728159034

The operation and profit of the subscription account is an important guarantee for maintaining its own high-quality development. It constructs an operation efficiency evaluation index system, with customer acquisition input and profit acquisition input as input indicators, and customer acquisition output and profit acquisition output as output indicators. On this basis, the DEA-BCC model was used to evaluate the operational efficiency of 28 subscription accounts. Based on the analysis results, this paper puts forward the improvement measures for non-DEA effective subscription accounts. Finally, this article uses Tobit regression to explore the influencing factors of operational efficiency. The results show that only 14 subscription accounts are DEA efficiency. The quality of average non-original articles has a negative impact on operational efficiency, and the quality of average original articles and the number of daily non-original articles have a positive impact on operational efficiency. Therefore, subscription accounts should pay attention to the quality of original articles and balance the quantity and quality of articles in operation management.

关键词： subscription accounts operational efficiency DEA Tobit Subscriptions DEAS operating efficiency

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A Force-driven and Vision-driven Hybrid Control Method of Autonomous Laparoscope-Holding Robot

A Force-driven and Vision-driven Hybrid Control Method of Au...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Jin Fang Ling Li Xiaojian Li Hangjie Mo Pengxin Guo Xilin Xiao Yanwei Qu School of Management Hefei University of Technology Hefei China Key Laboratory of Process Optimization and Intelligent Decision-Making (Ministry of Education) Hefei University of Technology Hefei China

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Laparoscope-holding robots significantly enhance the stability and precision of visualization in minimally invasive surgeries. Most existing robots of this kind depend on visual servo systems and struggle with efficient, rapid adjustments in the field-of-view (FOV), especially when identifying organs and needles outside the FOV. This paper presents a laparoscope-holding robot system capable of employing both vision-driven and force-driven mechanisms for continuous and large-scale FOV adjustments, respectively. The system features an integrated tactile handle, enabling the reception of human-robot interaction forces during surgical navigation. We propose a hybrid control method that leverages both force and vision inputs for laparoscopic FOV adjustments. This approach integrates a virtual wrench, generated from visual information, and an interaction wrench, obtained from the tactile handle, into the robot's dynamic model, which complies with remote center of motion constraints. The interaction wrench's gain is adjusted with the gripping force on the integrated tactile handle, ensuring that unintended movements caused by accidental contacts are prevented, thus safeguarding operational safety. The proposed method eliminates the need to switch control modes, enabling simultaneous visual tracking and tactile interaction guidance. Experimental results demonstrate that the proposed method not only allows for FOV adjustments with surgical instrument guiding but also adapts well to large-scale FOV adjustment tasks.

关键词： Laparoscopes Visualization Tracking Instruments Force Human-robot interaction Switches

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Research on supply chain coordination with the consideration of pricing and transportation cost

Research on supply chain coordination with the consideration...

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IEEE International Conference on Automation and Logistics

作者： Gui-qing Liu Fen-hui Zhang School of Managemen Hefei University of Technology Hefei China Key Laboratory of Process Optimization and Intelligent Decision-making Ministry of Education Hefei China

ISBN: (纸本)9781424425020

This paper considers how to design coordination strategies to achieve the coordination in decentralized supply chain, considering pricing, inventory and transportation cost simultaneously under the price sensitive environment. Based on a supplier-Stackelberg game structure, we analyze the non-cooperation decision model and design the algorithm. Then we propose the cooperation decision model and design the algorithm. Revenue sharing and price discount strategies are used to coordinate the decentralized supply chain. The experimental results show that both revenue sharing and price discount strategy can efficiently make the coordination of the supplier and the retailer.

关键词： Supply chains Transportation Pricing Vehicles Games Analytical models Production

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Information Sharing of Energy Sources Supply Chain

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Procedia Engineering 2012年 29卷 2443-2447页

作者： Jia Hang sheng Fei Cheng School of Management Hefei University of Technology Hefei 230009 P.R.C Key Laboratory of Process Optimization and Intelligent Decision-making Ministry of Education Anhui 230009 P.R.C

Energy sources supply chain is a new research concern in supply chain management. Supply chain coordination leads to increased information flow, reduced uncertainty, which has become a critical success factor for energy sources supply chain management. We study the energy sources supply chain consisting of one energy sources vendor (SV) and one energy sources integration provider (SIP). We develop information sharing coordination of energy sources supply chain between the SV and the SIP. We try to explore the information sharing coordination in energy sources supply chain which is classified into different information flows. The findings reinforce the importance of information sharing coordination and performance to companies. As a last note, future research direction is pointed out.

关键词： energy sources supply chain energy sources vendor energy sources integration provider information sharing coordination

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Three-Dimensional Collision Avoidance Method for Robot-Assisted Minimally Invasive Surgery

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Cyborg and Bionic Systems 2023年第1期4卷 121-135页

作者： Ling Li Xiaojian Li Bo Ouyang Hangjie Mo Hongliang Ren Shanlin Yang School of Management Hefei University of TechnologyHefeiChina Key Laboratory of Process Optimization and Intelligent Decision-Making(Ministry of Education) Hefei University of TechnologyHefeiChina Philosophy and Social Sciences Laboratory of Data Science and Smart Society Governance(Ministry of Education) Hefei University of TechnologyHefeiChina Department of Biomedical Engineering Faculty of EngineeringNational University of SingaporeSingaporeSingapore Department of Electronic Engineering Shun Hing Institute of Advanced EngineeringThe Chinese University of Hong KongHong KongChina National Engineering Laboratory for Big Data Distribution and Exchange Technologies ShanghaiChina

In the robot-assisted minimally invasive surgery,if a collision occurs,the robot system program could be damaged,and normal tissues could be *** avoid collisions during surgery,a 3-dimensional collision avoidance method is proposed in this *** proposed method is predicated on the design of 3 strategic vectors:the collision-with-instrument-avoidance(CI)vector,the collision-with-tissues-avoidance(CT)vector,and the constrained-control(CC)*** CI vector demarcates 3 specific directions to forestall collision among the surgical *** CT vector,on the other hand,comprises 2 components tailored to prevent inadvertent contact between the robot-controlled instrument and nontarget ***,the CC vector is introduced to guide the endpoint of the robot-controlled instrument toward the desired position,ensuring precision in its movements,in alignment with the surgical *** results verify the proposed collision avoidance method for robot-assisted minimally invasive *** code and data are available at https://***/cynerelee/collision-avoidance.

关键词： collision desired verify

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