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2023 IEEE International Conference on Robotics and Biomimetics, ROBIO 2023

作者： Liu, Huanghua Zou, Yun Xu, Zheng Gao, Anzhu Shanghai Jiao Tong University Institute of Medical Robotics Department of Automation China Ministry of Education Key Laboratory of System Control and Information Processing Shanghai200240 China Institute of Medical Robotics Shanghai Jiao Tong University Shanghai200240 China

ISBN: (纸本)9798350325706

Continuum robots have the great potential in endoluminal diagnosis and intervention toward narrow and confined workspace. However, fabrication of continuum robots still poses a grant challenge in its miniaturization. To solve this, this paper designs a thermally drawn monolithic polymer continuum robot with laser cutting profile. First, the continuum robot is designed with two degrees of freedom (DOF) for shape deflection, and it consists of four optical fibers with the fiber Bragg grating (FBG) sensor on each for tension sensing as driving cables. Second, its main body is a multi-channel polycarbonate (PC) tube produced by thermal drawing process, and a series of rectangular cutouts are made on it via laser cutting process. By combining these two fabrication processes, the developed continuum robot realizes the integration of the multi-channel structure and the notch feature. Third, a control framework of puller-follower controller using the integrated tension sensing is proposed for teleoperation control. Finally, experimental setup is built for the robot validation, and results show that the repeated positioning accuracy of the robot is 1.08 mm. Moreover, a micro endoscope and a needle are added to the end of the continuum robot, and a phantom study of auripuncture and drug delivery is completed to verify the preliminary feasibility. And the proposed fabrication approach enables the miniaturization and complex structure for the cable-driven continuum robots. © 2023 IEEE.

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Polar-segmented vector optical field and its anomalous focal properties

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Optics Express 2025年第10期33卷 21030-21039页

作者： Gao, Xu-Zhen Song, Xin-Yu Chen, Jing-Rui Wang, Dan Xu, Shi-Tong Niu, Mingsheng Cao, Hongzhong Ma, Rende Pan, Yue School of Physics and Physical Engineering Qufu Normal University Qufu273165 China Shandong Provincial Key Laboratory of Laser Polarization and Information Technology Qufu Normal University Qufu273165 China Key Lab of Advanced Transducers and Intelligent Control System Ministry of Education College of Physics and Optoelectronics Taiyuan University of Technology Shanxi Taiyuan030024 China

In recent years, study of spatially structured light has become an attractive and promising area, providing more ways to explore unusual and anomalous effects in optics. Here, we propose a kind of polar-segmented vector optical field (VOF), and demonstrate anomalous focal properties. Due to the appearance of the longitudinal component in tight focusing processes, the transverse energy flow and transverse spin angular momentum (SAM) are achieved, which can be applied in areas such as manipulating particles, as the transverse energy can transport the particles and the SAM can spin the particles in more degrees. Overall, the proposed polar-segmented VOF and the corresponding anomalous focal properties are crucial for advancing theories and technologies in optics, underscoring its importance in both fundamental research and practical applications. © 2025 Optica Publishing Group under the terms of the Optica Open Access Publishing Agreement.

关键词： Focusing

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Lightweight LiDAR-Camera 3D Dynamic Object Detection and Multi-Class Trajectory Prediction

arXiv

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arXiv 2025年

作者： He, Yushen Zhao, Lei Deng, Tianchen Fang, Zipeng Chen, Weidong Institute of Medical Robotics Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education Shanghai200240 China

Service mobile robots are often required to avoid dynamic objects while performing their tasks, but they usually have only limited computational resources. So we present a lightweight multi-modal framework for 3D object detection and trajectory prediction. Our system synergistically integrates LiDAR and camera inputs to achieve real-time perception of pedestrians, vehicles, and riders in 3D space. The framework proposes two novel modules: 1) a Cross-Modal Deformable Transformer (CMDT) for object detection with high accuracy and acceptable amount of computation, and 2) a Reference Trajectory-based Multi-Class Transformer (RTMCT) for efficient and diverse trajectory prediction of mult-class objects with flexible trajectory lengths. Evaluations on the CODa benchmark demonstrate superior performance over existing methods across detection (+2.03% in mAP) and trajectory prediction (-0.408m in minADE5 of pedestrians) metrics. Remarkably, the system exhibits exceptional deployability - when implemented on a wheelchair robot with an entry-level NVIDIA 3060 GPU, it achieves realtime inference at 13.2 fps. To facilitate reproducibility and practical deployment, we release the related code of the method at https://***/TossherO/3D Perception and its ROS inference version at https://***/TossherO/ros packages. Copyright © 2025, The Authors. All rights reserved.

关键词： Mobile robots

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Relation-Aware Facial Expression Recognition Using Contextual Residual Network with Attention Mechanism 17th

Relation-Aware Facial Expression Recognition Using Contextua...

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17th International Conference on Computer Science and education, ICCSE 2022

作者： Li, Xue Zhu, Chunhua Zhou, Fei Key Laboratory of Grain Information Processing and Control Ministry of Education Henan University of Technology Henan Zhengzhou China College of Information Science and Engineering Henan University of Technology Henan Zhengzhou China Henan Key Laboratory of Grain Photoelectric Detection and Control Henan University of Technology Henan Zhengzhou China

ISBN: (纸本)9789819924424

With the existence of occlusion or posture changes, facial expression recognition (FER) under uncontrolled conditions is difficult. To obtain a discriminative representation for challenging expression recognition, we present a relation-aware FER model, referred to attention-coordinated contextual residual network (ACRN), which contains a contextual residual network (CRNet) and attention module (AM). Firstly, multi-level features of facial expression are extracted by CRNet. There are some contextual convolution (CoConv) blocks in CRNet to integrate expression information in facial space;then, AM is embedded into each stage of CRNet to coordinate contextual information from CoConv blocks across the channel and spatial location, weighting multi-level expression features to differentiate their importance;finally, to highlight expression-related facial areas, the output of CRNet will be fed into AM, which can focus on salient features. The experiments on Affectnet-7 and RAF_DB datasets have shown that ACRN can both explore the interaction of facial information and capture subtle features related to expression, thus obtaining a better recognition performance. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Face recognition

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Online distributed tracking of generalized Nash equilibrium on physical networks——Closing the Loop via Measurement Feedback

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Autonomous Intelligent systems 2021年第1期1卷 69-80页

作者： Yifan Su Feng Liu Zhaojian Wang Shengwei Mei Qiang Lu The State Key Laboratory of Power System Department of Electrical EngineeringTsinghua UniversityBeijingChina The Key Laboratory of System Control and Information ProcessingMinistry of Education of ChinaDepartment of AutomationShanghai Jiao Tong UniversityShanghaiChina

In generalized Nash equilibrium(GNE)seeking problems over physical networks such as power grids,the enforcement of network constraints and time-varying environment may bring high computational *** online algorithms is recognized as a promising method to cope with this challenge,where the task of computing system states is replaced by directly using measured values from the physical *** this paper,we propose an online distributed algorithm via measurement feedback to track the GNE in a time-varying networked resource sharing *** that some system states are not measurable and measurement noise always exists,a dynamic state estimator is incorporated based on a Kalman filter,rendering a closed-loop dynamics of measurement-feedback driven online *** prove that,with a fixed step size,this online algorithm converges to a neighborhood of the GNE in *** simulations validate the theoretical results.

关键词： Generalized Nash equilibrium Distributed optimization Online optimization Feedback-based optimization State estimation Sharing market

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Cyber topology design guaranteed structural controllability for networked systems

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Science China(information Sciences) 2022年第11期65卷 303-304页

作者： Jianbin MU Shaoyuan LI Jing WU Ning LI Key Laboratory of System Control and Information Processing Ministry of Education of China Department of Automation Shanghai Jiao Tong University

Dear editor,Structure analysis is of crucial importance for achieving reliable system functionality. In many real-world systems, the exact parameters of system model are not available owing to modeling uncertainties or measurement noise, and then structural controllability is pursued in control configuration design. As first proposed by Lin in [1],

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Online Identification of Boost Converter Components with Multiple Updating RLS Algorithm

Online Identification of Boost Converter Components with Mul...

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第42届中国控制会议

作者： Tong Zhou Zhicheng Zhang Zhiqiang Zuo Yijing Wang Peng Li Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System School of Electrical and Information EngineeringTianjin University Key Laboratory of System Control and Information Processing Ministry of Education

In this paper,component parameters of the boost converter are identified online using a multiple updating recursive least squares(MURLS) *** component parameters,such as resistance,inductor inductance and capacitor capacitance,are obtained directly through the identification procedure rather than transfer function *** MURLS algorithm is applied to improve the rapidity of system identification compared to the traditional recursive least squares(RLS) algorithm,which is verified by a comparative simulation between MURLS and RLS and the simulation of a load-switching scenario.

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State-of-Charge Balancing control for Battery Energy Storage systems of Near-Space Vehicles with An Electric-Thermal-Aging Coupling Model

State-of-Charge Balancing Control for Battery Energy Storage...

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第42届中国控制会议

作者： Zhiqiang Zuo Yunhao Du Yijing Wang Zhicheng Zhang Peng Li Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System School of Electrical and Information Engineering Tianjin University Key Laboratory of System Control and Information Processing Ministry of Education

State-of-charge(SoC) balancing is crucial for improving the efficiency and lifetime of the battery energy storage system in near-space vehicles. In this paper, the So C balancing control problem is investigated by a coupling battery model with electric-thermal-aging dynamics. Firstly, a system identification experiment is carried out to obtain the internal parameters of the battery. Secondly, a weight optimization index is designed by integrating the balancing speed and battery state-of-health(SoH). Then, a receding horizon control algorithm is proposed to realize multi-unit battery SoC balancing with partial swarm optimization(PSO). Finally, the effectiveness of the proposed strategy is verified by simulation results.

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Dynamic Event-Triggered Consensus on Matrix-Weighted Networks: Leadless Case 42

Dynamic Event-Triggered Consensus on Matrix-Weighted Network...

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42nd Chinese control Conference, CCC 2023

作者： Dou, Lintao Wei, Haoyu Huang, Jian Pan, Lulu Shao, Haibin Li, Dewei College of Intelligent Science National University of Defense Technology Changsha410003 China Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Engineering Research Center of Intelligent Control and Management Department of Automation Shanghai200240 China

ISBN: (纸本)9789887581543

This paper examines the event-triggered consensus of the multi-agent system on matrix-weighted networks, where the interdependencies among higher-dimensional states of neighboring agents are characterized by matrix-weighted edges in the network. Specifically, a novel distributed dynamic event-triggered coordination strategy is proposed for this category of generalized networks, in which an auxiliary system is employed for each agent to dynamically adjust the triggering threshold, which plays an essential role in guaranteeing that the triggering time sequence does not exhibit Zeno behavior. Distributed event-triggered control protocols are proposed to guarantee leaderless consensus for multi-agent systems on matrix-weighted networks, respectively. Remarkably, the spectrum of matrix-valued weights is crucial in event-triggered mechanism design for matrix-weighted networks, generalizing those results only applicable for scalar-weighted networks. The proposed approach allows each agent to broadcast and receive information only at its triggering instants. Finally, simulation examples are provided to demonstrate the theoretical results. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Multi agent systems

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Requirement-Oriented TT&C Method for Satellite Based on BDS-3 Short-Message Communication system

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Space(Science & Technology) 2023年第1期3卷 311-324页

作者： Chao Li Peijie Liu Shiyuan Fu Yiwen Jiao Wei Zhang Department of Electronic and Optical Engineering Space Engineering UniversityBeijingChina Key Laboratory of Intelligent Space TT&C and Operation(Space Engineering University) Ministry of EducationBeijingChina State Key Laboratory of Complex Electromagnetic Environment Effects on Electronics and Information System LuoyangChina Xi’an Satellite Control Center Xi’anChina

With the increasing number of satellites being launched in China,the demand for Telemetry,Tracking,and Command(TT&C)resources is also *** of the global coverage and resource requirements of TT&C management,this paper proposes a TT&C scheme based on the Global Short-Message Communication system(GSMCS)of the BeiDou-3 Navigation Satellite system(BDS-3).The system composition,workflow,and functions of satellite TT&C are analyzed using the GSMCS of *** the coverage analysis of the Medium Earth Orbit(MEO)constellation of BDS-3,scheme’s applicability is pointed out,and the correctness of the analysis results is verified via *** value range of the link distance is derived by calculating the range of the distance variation between any 2 satellites in the BDS-3 MEO constellation and combining the intersatellite routing *** calculation results show that the response time range of the autonomous request management application of in-orbit satellites based on the GSMCS of BDS-3 is 1.407 to 2.448 *** can meet the requirements of TT&C service.

关键词： Message Command service

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