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16th International Conference on intelligent robotics and Applications, ICIRA 2023

作者： Meng, Hui Chen, Lingkai Zhu, Shiqiang Fei, Chentao Zhang, Yong Zheng, Miaojuan Han, Jianda Song, Wei School of Intelligent Science and Technology Hangzhou Institute for Advanced Study University of Chinese Academy of Sciences 1 Sub-lane Xiangshan Hangzhou310024 China Research Center for Intelligent Robotics Research Institute of Interdisciplinary Innovation Zhejiang Laboratory Hangzhou311100 China Hangzhou ElephantChain Network Technology Co. Ltd. Hangzhou China Faculty of Mechanical Engineering and Automation Zhejiang Sci-Tech University Hangzhou310018 China College of Artificial Intelligence and Tianjin Key Laboratory of Intelligent Robotics Institute of Robotics and Automatic Information Systems Nankai University Tianjin300350 China

ISBN: (纸本)9789819964888

Biomedical robotics has had a significant impact on flexible ureteroscopy (FURS) for the management of nephrolithiasis. The biomedical robots provide a suitable and safe platform for FURS. However, operating the robots expertly still represents a challenge for surgeons. Vision-based navigation is an effective means to simplify the operations of robots by surgeons, which has great potential to improve surgical efficiency. To achieve vision-based navigation, the localization of kidney stones in endoscopic images is the first step. In this paper, we propose a stone segmentation method (SSM) based on zero-shot learning, which consists of segmentation anything model (SAM), an image preprocessing module, and a mask postprocessing module. The SAM segments all objects in endoscopic images, which lack semantic information. The preprocessing module is designed to suppress interference of reflective area in endoscopic images, and the mask postprocessing module is used to filter noise masks. The experimental results on our collected endoscopic images indicate that our method achieves close accuracy on stone segmentation compared with supervised U-Net and VGG_U-Net, which significantly outperforms the Ostu and the SAM. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Endoscopy

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PCA-based Bend Feature Selection Applied in Defect Detection of Ice Cream Stick

PCA-based Bend Feature Selection Applied in Defect Detection...

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2022 International Conference on Optical and Photonic engineering, icOPEN 2022

作者： Zhao, Xin-Yu Bai, Fu-Zhong Gao, Xiao-Juan Xu, Yong-Xiang Li, Ping School of Mechanical Engineering Inner Mongolia University of Technology Hohhot010051 China Inner Mongolia Key Laboratory of Special Service Intelligent Robotics Hohhot010051 China School of Astronautics Inner Mongolia University of Technology Huhhot010051 China Beijing Polytechnic College Beijing100042 China

ISBN: (纸本)9781510661905

The ice cream stick is a kind of wood product with a plane surface. For the qualified stick it has the nearly flat surface. However, due to slender and thin shape the bend defect is prone to occur during machining of ice cream stick. At present, manual technique is often used to identify the bend defect in the industrial fields, which holds many problems such as low efficiency, low automation and unreliable detection result. In the paper, the PCA-based bend feature selection method is proposed which is applied in defect detection of ice cream stick. At first, the 3D data of object surface is obtained based on the three-dimensional (3D) measurement principle of line structured light. Then four kinds of bend features are designed according to the shape characteristics of the light stripe, which include variation coefficient, correlation coefficient, determination coefficient and straightness metric. At last, the bend feature selection is operated based on the PCA-based method. The research results provide valuable reference for the engineering application in the intelligent defect detection. © 2022 SPIE.

关键词： Defects

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CTNet:A Convolutional Transformer Network for Color Image Steganalysis

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Journal of Computer Science & technology 2025年第2期40卷 413-427页

作者： Kang-Kang Wei Wei-Qi Luo Shun-Quan Tan Ji-Wu Huang School of Computer Science and Engineering Sun Yat-sen UniversityGuangzhou 510006China Guangdong Key Laboratory of Information Security Technology Sun Yat-sen UniversityGuangzhou 510006China College of Computer Science and Software Engineering Shenzhen UniversityShenzhen 518060China Guangdong Key Laboratory of Intelligent Information Processing Shenzhen UniversityShenzhen 518060China Shenzhen Key Laboratory of Media Security Shenzhen UniversityShenzhen 518060China Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen 518129China

Compared with convolutional neural network(CNN),Transformer can obtain global receptive field features more effectively and has recently achieved great success in natural language processing and computer *** to the particularity of steganography,however,almost all existing steganalytic networks just employ CNN with local receptive fields to detect embedding *** this paper,we propose a novel convolutional Transformer network for color image ***,we firstly obtain various image residuals for each color channel of an input image in the pre-processing *** capture more comprehensive steganalytic features,the truncated residuals after channel concatenation will pass through a feature extraction module composed of a CNN group and a Transformer *** CNN group aims to extract local receptive fields features,while the Transformer group with multi-head self-attention as the key tries to extract global steganalytic ***,we employ a global covariance pooling(GCP)and two fully-connected(FC)layers with dropout for *** comparative experiments demonstrate that the proposed method can significantly improve the detection performances in color image steganalysis and achieve state-of-the-art *** the proposed method is originally designed for color images,it can also obtain competitive results for grayscale images compared with the current best *** addition,we provide numerous ablation studies to verify the rationality of the proposed network architecture.

关键词： steganalysis steganography convolutional neural network Transformer color image

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Autonomous and Incentivized Wireless Connection for Robust Mobile Blockchain Network

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IEEE Transactions on Mobile Computing 2025年

作者： Wang, Weiyi Jiao, Yutao Chen, Jin Kang, Jiawen Xu, Yuhua Army Engineering University of Pla College of Communications Engineering Nanjing210007 China Guangdong University of Technology School of Automation Guangzhou510006 China Ministry of Education Key Laboratory of Intelligent Information Processing and System Integration of IoT Guangzhou510006 China

Blockchain has been widely implemented as a trusted platform. Previous works mainly focus on the computing capacity of devices while communication factors play a vital role in blockchain performance during dynamic wireless environments. High-speed movement causes frequent wireless connection interruptions and leads to severe performance degradation of blockchain. Besides, resource-constrained mobile devices are unwilling to selflessly contribute their energy and bandwidth for blockchain, hindering applications in dynamic mobile networks. This paper proposes a reverse auction mechanism to incentivize mobile devices to provide robust wireless connections. Devices submit their connection provision and expected rewards as bids. The mobile blockchain system uses smart contracts to autonomously execute the reverse auction to determine winners and allocate payments based on actual connections. We prove that the reverse auction mechanism is Individual Rationality (IR), Incentive Compatibility (IC), and Computational Efficiency (CE), and derive the approximation ratio 2σ of the mechanism. Extensive simulation results demonstrate that the proposed mechanism decreases up to half the energy and bandwidth consumption, but achieves a similar TPS and stale rate compared to the selfless scheme, where devices contribute all wireless connections for nothing in return. The proposed auction mechanism achieves more than 96% of the optimal social welfare. © 2002-2012 IEEE.

关键词： Dynamic mobile network incentive mechanism mobile blockchain reverse auction

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Kinetostatic Model of Redundant Actuation Modes in a Lockable Variable Geometry Truss Manipulator Driven by Flexible Limbs 24th

Kinetostatic Model of Redundant Actuation Modes in a Lockabl...

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24th IFToMM China International Conference on Mechanism and Machine Science and engineering, IFToMM CCMMS 2024

作者： Zhao, Yinjun Xi, Fengfeng Hao, Guangbo Tian, Yingzhong Li, Long Wang, Jieyu School of Mechanical Engineering University of Shanghai for Science and Technology Shanghai China School of Mechatronic Engineering and Automation Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai University Shanghai China Department of Aerospace Engineering Toronto Metropolitan University TorontoON Canada School of Engineering and Architecture-Electrical and Electronic Engineering University College Cork Cork Ireland

ISBN: (纸本)9789819614639

Manipulators consisting of multiple large deformation limbs can flexibly change their shapes and separate actuation systems from mechanism body, making them particularly suitable for requirements of compact design space, and continuous and versatile deformation. However, the low structural stiffness restricts their practical applications. To enhance the stiffness, we have integrated lockable variable geometry truss (LVGT) supports within the manipulator design. Depending on the number of locked branches within the LVGT, the active flexible limbs may exhibit redundant actuation modes, meaning that the number of working actuators exceeds the DOF of the internal LVGT. The redundant actuation modes, while beneficial for enabling heavier load manipulation, poses challenges in mechanical analysis, necessitating a comprehensive consideration of factors such as motion constraints from rigid joints, nonlinear coupling deformations in the flexible limbs, and control strategies for the redundant actuators. In this paper, we construct a mechanical analysis framework tailored for such operating modes. This framework enables the kinetostatic analyses under the consideration of distributing redundant actuation forces. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Geometry

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Robust Finite-Time Containment of Networked Heterogeneous Nonlinear Systems with Intermittent Measurement Only

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IEEE Transactions on Network Science and engineering 2025年

作者： Tian, Biao Zhang, Hao Cui, Peiyu Wang, Zhuping Yan, Huaicheng Shanghai Key Laboratory of Wearable Robotics and Human-Machine Interaction Tongji University College of Electronic and Information Engineering Department of Control Science and Engineering Shanghai201804 China Ministry of Education Shanghai Institute of Intelligent Science and Technology National Key Laboratory of Autonomous Intelligent Unmanned Systems Frontiers Science Center for Intelligent Autonomous Systems China East China University of Science and Technology School of Information Science and Engineering Shanghai200237 China

The robust finite-time containment problem of fully heterogeneous multiagent systems with uncertainties is often challenging, especially when only intermittent output measurement is used. To address the issue posed by the nonidentical system dynamics of multiple leaders, which makes the traditional distributed estimator form for the convex hull inapplicable, a distributed finite-time estimator is constructed for each follower to extract the system matrices and states of leaders. Then, in the output-triggering setting, a finite-time extended state observer driven by intermittent output measurement is developed to reconstruct the uncertainties and unmeasurable states of followers. Meanwhile, the non-continuous output measurement will lead to the differentiation of virtual control laws undefined. To solve this issue, a filtering compensation scheme-based finitetime controller via the backstepping technique is developed for nonlinear followers, ensuring practical finite-time stability (PFTS) of the closed-loop system. It is shown that the proposed algorithm steers each follower into the preset convex combination spanned by the positions of multiple leaders. The capability of the exploited control protocol is verified through simulations and experiments. 2013 IEEE.

关键词： Backstepping

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Analytical Method Considering Rotor Misalignment in Yokeless and Segmented Armature Machines 18

Analytical Method Considering Rotor Misalignment in Yokeless...

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18th IEEE Conference on Industrial Electronics and Applications, ICIEA 2023

作者： Yi, Feng Zhang, Chi Qiu, Shuheng Liu, Wei Zhang, Meitong Li, Shupei Ningbo Institute of Materials & Technology and Engineering Chinese Academy of Sciences College of Materials Science and Opto-Electronic Technology Ningbo China Ningbo Institute of Materials & Technology and Engineering Chinese Academy of Sciences Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology Ningbo China Hebei University of Science & Technology Ningbo Institute of Materials & Technology and Engineering Chinese Academy of Sciences Faculty of Electrical Engineering Ningbo China Ningbo Institute of Materials & Technology and Engineering Chinese Academy of Sciences Ningbo China

ISBN: (纸本)9798350312201

This paper presents a quasi-3D analytical method considering the rotor misalignment for yokeless and segmented armature (YASA) machines. In the proposed method, a detailed subdomain (SD) method dividing the YASA machine into five SDs is utilized to calculate the magnetic field distribution, accounting for the rotor misalignment and slotted effect with limited depth. The entire magnetic field is obtained by applying the interface and boundary conditions. In addition, based on obtained bilateral air-gap flux density, the cogging torque is calculated considering the rotor misalignment. The effectiveness of the proposed method is validated compared with finite element analysis. © 2023 IEEE.

关键词： Permanent magnets

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Design of a Novel Autonomous Docking System With a Supporting Robotic Fish

Design of a Novel Autonomous Docking System With a Supportin...

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2023 IEEE International Conference on Real-Time Computing and robotics, RCAR 2023

作者： Dong, Huijie Zhao, Chunyang Qiao, Tiezhu Wang, Jian Chen, Di Meng, Yan Yu, Junzhi Taiyuan University of Technology Key Laboratory of Advanced Transducers and Intelligent Control System Ministry of Education Taiyuan030024 China Chinese Academy of Sciences Laboratory of Cognitive and Decision Intelligence for Complex System Institute of Automation Beijing100190 China Peking University State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and Robotics College of Engineering Beijing100871 China Guangdong Ocean University College of Electronics and Information Engineering Zhanjiang524088 China

ISBN: (纸本)9798350327182

Underwater supporting robots serving as a relay of energy supplements and communication for other underwater equipment are promising for ocean exploration, development, and protection. This paper proposes a novel autonomous docking system centered on a designed supporting robotic fish named 'CourierFish'. Specifically, CourierFish is capable of docking with a surface dock station for supplying itself and docking with a seafloor platform for supporting equipment in the platform. A visual navigation scheme integrating LED and ArUco markers is presented for accurate localization. The control approach for docking motion is also illustrated. Simulations and aquatic experiments are performed to verify the feasibility of the proposed docking system. The obtained results lay a solid foundation for the construction of various underwater equipment and robot networks. © 2023 IEEE.

关键词： Fish

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DEVELOPMENT OF AN AUTOMATIC WEIGHING PLATFORM FOR MONITORING BODYWEIGHT OF BROILER CHICKENS IN COMMERCIAL PRODUCTION

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Frontiers of Agricultural Science and engineering 2023年第3期10卷 363-373页

作者： Danni ZHOU Yi ZHOU Pengguang HE Lin YU Jinming PAN Lilong CHAI Hongjian LIN College of Biosystems Engineering and Food Science Zhejiang UniversityHangzhou 310058China Key Laboratory of Equipment and Informatization in Environment Controlled Agriculture Ministry of Agriculture and Rural AffairsHangzhou 310058China Key Laboratory of Intelligent Equipment and Robotics for Agriculture of Zhejiang Province Hangzhou 310058China Joint Research Center of Zhejiang University and Hefei Shenmu Information Science&Technology Company Hefei 230601China Department of Poultry Science University of GeorgiaAthensGA 30602USA

Bodyweight is a key indicator of broiler production as it measures the production efficiency and indicates the health of a ***,broiler weight(i.e.,bodyweight)is primarily weighed manually,which is timeconsuming and labor-intensive,and tends to create stress in *** study aimed to develop an automatic and stress-free weighing platform for monitoring the weight of floor-reared broiler chickens in commercial *** developed system consists of a weighing platform,a real-time communication terminal,computer software and a smart phone applet *** system collected weight data of chickens on the weighing platform at intervals of 6 s,followed by filtering of outliers and repeating *** performance and stability of this system was systematically evaluated under commercial production *** the adoption of data preprocessing protocol,the average error of the new automatic weighing system was only 10.3 g,with an average accuracy 99.5%with the standard deviation of 2.3%.Further regression analysis showed a strong agreement between estimated weight and the standard weight obtained by the established live-bird sales *** variance(an indicator of flock uniformity)of broiler weight estimated using automatic weighing platforms was in accordance with the standard *** weighing system demonstrated superior stability for different growth stages,rearing seasons,growth rate types(medium-and slow-growing chickens)and *** system is applicable for daily weight monitoring in floor-reared broiler houses to improve feeding management,growth monitoring and finishing day *** application in commercial farms would improve the sustainability of poultry industry.

关键词： automatic weighing weight monitoring floor housing uniformity precision poultry farming

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Hybrid polynomial-based trajectory planning for lower limb exoskeleton robots 18

Hybrid polynomial-based trajectory planning for lower limb e...

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18th IEEE Conference on Industrial Electronics and Applications, ICIEA 2023

作者： Li, Shupei Zhang, Chi Yi, Feng Lv, Pingping Yuan, Ting Zhang, Meitong University of Chinese Academy of Sciences Ningbo Institute of Materials Technology and Engineering Chinese Academy of Sciences College of Materials Science and Opto-Electronic Technology Ningbo315201 China Ningbo Institute of Materials Technology and Engineering Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology Ningbo315201 China Ningbo University Faculty of Electrical Engineering and Computer Science Ningbo315201 China Hebei University of Science & Technology School of Electrical Engineering Ningbo315201 China

ISBN: (纸本)9798350312201

To ensure smooth, continuous, and precise motion of lower limb exoskeleton robots, this paper proposes a 6-5-6 polynomial trajectory planning method (6-5-6 PTPM) that combines 5th and 6th polynomials. By imposing corresponding kinematic constraints, this method achieves the trajectory plan of seven sub-phases of the gait cycle on the kinematic model of the lower limb exoskeleton robot. The simulation is conducted and compared to the 4-3-4 polynomial trajectory planning method (4-3-4 PTPM). The comparison results indicate that the 6-5-6 PTPM is shown to have a lower error between the planned trajectory and the actual trajectory. Additionally, it avoids spikes of the acceleration curve that existed in the 4-3-4 polynomial method. The proposed method enables the acceleration curve smoother and mechanical impact lessened, which demonstrates the feasibility and stability of the proposed method. © 2023 IEEE.

关键词： Trajectories

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