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

作者： Ruichen Ma Yu Wang Rui Wang Shuo Wang University of Chinese Academy of Sciences Beijing China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China CAS Center for Excellence in Brain Science and Intelligence Technology

ISBN: (数字)9781728137261

ISBN: (纸本)9781728137278

This paper addresses some experiments about measurements of thrust and heave force generated by a modular designed biomimetic underwater propeller. The propeller has a ribbon fin that consists of twelve rays linked by a latex membrane. Different forms of waves can be generated by the propeller. A measurement platform is constructed to obtain the thrust and heave force generated by the waves along with the input power of the propeller. Three types of waves are performed on the platform, including sinusoidal waves, fusiform sinusoidal waves and inward counter-propagating sinusoidal waves. By changing the parameters of undulating waves, a total of three hundred series of experiments are implemented. The measurement results of three types of waves are analyzed and the differences among three types of waves are compared.

关键词： Force Propellers Force measurement control systems Standards Robots Current measurement

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RASNet: Segmentation for tracking surgical instruments in surgical videos using refined attention segmentation network

arXiv

引用

arXiv 2019年

作者： Ni, Zhen-Liang Bian, Gui-Bin Xie, Xiao-Liang Hou, Zeng-Guang Zhou, Xiao-Hu Zhou, Yan-Jie State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China CAS Center for Excellence in Brain Science and Intelligence Technology Beijing100190 China University of Chinese Academy of Sciences Beijing100049 China

Segmentation for tracking surgical instruments plays an important role in robot-assisted surgery. Segmentation of surgical instruments contributes to capturing accurate spatial information for tracking. In this paper, a novel network, Refined Attention Segmentation Network, is proposed to simultaneously segment surgical instruments and identify their categories. The U-shape network which is popular in segmentation is used. Different from previous work, an attention module is adopted to help the network focus on key regions, which can improve the segmentation accuracy. To solve the class imbalance problem, the weighted sum of the cross entropy loss and the logarithm of the Jaccard index is used as loss function. Furthermore, transfer learning is adopted in our network. The encoder is pre-trained on ImageNet. The dataset from the MICCAI EndoVis Challenge 2017 is used to evaluate our network. Based on this dataset, our network achieves state-of-the-art performance 94.65% mean Dice and 90.33% mean IOU. Copyright © 2019, The Authors. All rights reserved.

关键词： Surgical equipment

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An Adaptive Quasi-Sliding Mode control without Chattering

An Adaptive Quasi-Sliding Mode Control without Chattering

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第37届中国控制会议

作者： Wenchao Lei Chanying Li Key Laboratory of Systems and Control Academy of Mathematics and Systems ScienceCAS School of Mathematical Sciences University of Chinese Academy of Sciences

The main problem hindering the engineering application of the conventional sliding mode control(CSMC) is the well-known chattering *** work investigates how to design a chattering-free adaptive sliding mode controller for a class of nth-order nonlinear uncertain *** remove the undesired chattering of the CSMC method,a novel continuous sigmoid function has been introduced to generate the quasi-sliding mode process instead of using the discontinuous sign *** the same time,an effective adaptive control gain is designed by using the same sigmoid *** with the existing works on the adaptive sliding mode control design,the adaptive mechanism proposed in this paper can effectively relax the restrictions on the prior information of the system *** particular,the designed parameters and the adaptive control gain can characterize the admissible boundary of the high-frequency gain uncertainty of the control input in real *** refer this approach as an adaptive quasi-sliding mode control(AQSMC).The stability analysis of the AQSMC method has also been provided with the help of Lyapunov ***,some numerical simulation results are presented to demonstrate its effectiveness and superiority.

关键词： Adaptive control Sliding mode control Chattering problem Sigmoid function High-frequency gain

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PID control for a Class of Non-affine Uncertain systems

PID Control for a Class of Non-affine Uncertain Systems

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第37届中国控制会议

作者： Cheng ZHAO Lei GUO Key Laboratory of Systems and Control Academy of Mathematics and Systems ScienceCAS School of Mathematical Sciences University of Chinese Academy of Sciences

Although the classical PID controller is the most widely used ones in industrial processes which are typically nonlinear with uncertainties,almost all of the design methods for PID control are focused on linear ***,we have presented a mathematical theory for the design of linear PID control of nonlinear uncertain systems in [15,16],where the input signal is assumed to be additive with no uncertainties in the input *** purpose of this paper is to establish a theory for the PID control of a class of second order non-affine uncertain systems,where the input channel may have uncertainties and is not necessarily *** will show that a 3-dimensional manifold can be constructed from which the three PID parameters can be arbitrarily chosen to make the closed-loop control system globally stable and the regulation error approaches to zero ***,for the case where the setpoint is also an equilibrium of the open-loop nonlinear system,we give a simple necessary and sufficient condition for the choice of the PD controller parameters by using the Markus-Yamabe theorem in differential equations.

关键词： PID control non-affine systems structure uncertainty Lipschitz constants global stabilization regulation Markus-Yamabe theorem

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Point spread function modelling for wide field small aperture telescopes with a denoising autoencoder

arXiv

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arXiv 2020年

作者： Jia, Peng Li, Xiyu Li, Zhengyang Wang, Weinan Cai, Dongmei College of Physics and Optoelectronics Taiyuan University of Technology Taiyuan030024 China Key Laboratory of Advanced Transducers and Intelligent Control Systems Ministry of Education and Shanxi Province Taiyuan University of Technology Taiyuan030024 China Nanjing Institute of Astronomical Optics and Technology CAS Nanjing Jiangsu210042 China Department of Physics Durham University South Road DurhamDH1 3LE United Kingdom Wuxi Internet of Innovation Center Company Limited Wuxi Jiangsu214135 China

The point spread function reflects the state of an optical telescope and it is important for data post-processing methods design. For wide field small aperture telescopes, the point spread function is hard to model, because it is affected by many different effects and has strong temporal and spatial variations. In this paper, we propose to use the denoising autoencoder, a type of deep neural network, to model the point spread function of wide field small aperture telescopes. The denoising autoencoder is a pure data based point spread function modelling method, which uses calibration data from real observations or numerical simulated results as point spread function templates. According to real observation conditions, different levels of random noise or aberrations are added to point spread function templates, making them as realizations of the point spread function, i.e., simulated star images. Then we train the denoising autoencoder with realizations and templates of the point spread function. After training, the denoising autoencoder learns the manifold space of the point spread function and can map any star images obtained by wide field small aperture telescopes directly to its point spread function, which could be used to design data post-processing or optical system alignment methods. Copyright © 2020, The Authors. All rights reserved.

关键词： Optical transfer function

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Raunet: Residual attention u-net for semantic segmentation of cataract surgical instruments

arXiv

引用

arXiv 2019年

作者： Ni, Zhen-Liang Bian, Gui-Bin Zhou, Xiao-Hu Hou, Zeng-Guang Xie, Xiao-Liang Wang, Chen Zhou, Yan-Jie Li, Rui-Qi Li, Zhen University of Chinese Academy of Sciences School of Artificial Intelligence Beijing100049 China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China Cas Center for Excellence in Brain Science and Intelligence Technology Beijing100190 China

Semantic segmentation of surgical instruments plays a cru-cial role in robot-assisted surgery. However, accurate segmentation of cataract surgical instruments is still a challenge due to specular reec-tion and class imbalance issues. In this paper, an attention-guided net-work is proposed to segment the cataract surgical instrument. A new at-tention module is designed to learn discriminative features and address the specular reection issue. It captures global context and encodes se-mantic dependencies to emphasize key semantic features, boosting the feature representation. This attention module has very few parameters, which helps to save memory. Thus, it can be exibly plugged into other networks. Besides, a hybrid loss is introduced to train our network for addressing the class imbalance issue, which merges cross entropy and logarithms of Dice loss. A new dataset named Cata7 is constructed to evaluate our network. To the best of our knowledge, this is the first cataract surgical instrument dataset for semantic segmentation. Based on this dataset, RAUNet achieves state-of-the-art performance 97.71% mean Dice and 95.62% mean IOU. Copyright © 2019, The Authors. All rights reserved.

关键词： Surgical equipment

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Robot assisted rehabilitation of the arm after stroke:prototype design and clinical evaluation

引用

Science China(Information Sciences) 2017年第7期60卷 252-258页

作者： Liang PENG Zeng-Guang HOU Long PENG Lincong LUO Weiqun WANG State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences University of Chinese Academy of Sciences CAS Center for Excellence in Brain Science and Intelligence Technology

Robot assisted rehabilitation training is a promising tool for post-stroke patients’ recovery, and some new challenges are imposed on robot design, control, and clinical evaluation. This paper presents a novel upper limb rehabilitation robot that can provide safe and compliant force feedbacks to the patient for the benefits of its stiff and low-inertia parallel structure, highly backdrivable capstan-cable transmission, and impedance control method in the workspace. The "assist-as-needed"(AAN) clinical training principle is implemented through the "virtual tunnel" force field design, the "assistance threshold" strategy, as well as the virtual environment training games, and preliminary clinical results show its effectiveness for motor relearning for both acute and chronic stroke patients, especially for coordinated movements of shoulder and elbow.

关键词： rehabilitation robot passive training active training force feedback impedance control

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Amphiphilic Cyclopeptide-Dyes: Smart Self-Assembly Amphiphilic Cyclopeptide-Dye for Near-Infrared Window-II Imaging (Adv. Mater. 16/2021)

引用

Advanced Materials 2021年第16期33卷

作者： Hao Chen Kangquan Shou Si Chen Chunrong Qu Zhiming Wang Lei Jiang Mark Zhu Bingbing Ding Kun Qian Aiyan Ji Hongyue Lou Ling Tong Alexander Hsu Yuebing Wang Dean W. Felsher Zhenhua Hu Jie Tian Zhen Cheng Center for Molecular Imaging Research Shanghai Institute of Materia Medica Chinese Academy of Sciences Shanghai 201203 China Molecular Imaging Program at Stanford (MIPS) Bio-X Program and Department of Radiology Canary Center at Stanford for Cancer Early Detection Stanford University Stanford CA 94305–5344 USA Division of Oncology Departments of Medicine and Pathology Stanford University School of Medicine Stanford CA 94305 USA CAS Key Laboratory of Molecular Imaging The State Key Laboratory of Management and Control for Complex Systems Beijing Key Laboratory of Molecular Imaging Institute of Automation Chinese Academy of Sciences Beijing 100190 China

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Propagation of interacting diseases on multilayer networks

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Physical Review E 2018年第1期98卷 012303-012303页

作者： Shenyu Zhou Shuangdie Xu Lin Wang Zhixin Liu Guanrong Chen Xiaofan Wang Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 China Key Laboratory of Systems and Control Academy of Mathematics and Systems Science CAS Beijing 100190 China Department of Electronic Engineering City University of Hong Kong Hong Kong China

The study on the dynamics of interacting diseases has attracted considerable attention in recent years. This paper proposes a model for two interacting epidemics spreading concurrently on a two-layer network, where both the epidemic thresholds and the dynamics of disease outbreaks are investigated. The analytical expression of the epidemic threshold shows strong coupling between the two interacting epidemics. Moreover, two metrics, the maximum prevalence and the highest spreading speed, are proposed to describe the outbreak process. Theoretical analysis together with extensive simulations illustrate the functions of various factors, including the network topological parameters, percentage of overlapped network links, vulnerable individuals, and the reciprocity of the two diseases. It is found that the seemingly important factor, i.e., the percentage of overlapped links, possesses no effect on the propagation, while the frequently overlooked factor, i.e., the percentage of vulnerable individuals, has significant effects. For the interaction of the two diseases, the recovery state of one disease is more influential than the other in both the mutually enhanced and the mutually impaired situations.

关键词： Network diffusion Network structure Multilayer & multiplex networks Epidemic spreading SIR model

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Wormholes with ρ(R, R′) matter in f(R, T) gravity

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Physical Review D 2019年第2期99卷 024051-024051页

作者： Emilio Elizalde Martiros Khurshudyan Consejo Superior de Investigaciones Científicas ICE/CSIC-IEEC Campus UAB Carrer de Can Magrans s/n 08193 Bellaterra (Barcelona) Spain International Laboratory for Theoretical Cosmology Tomsk State University of Control Systems and Radioelectronics (TUSUR) 634050 Tomsk Russia Research Division Tomsk State Pedagogical University 634061 Tomsk Russia CAS Key Laboratory for Research in Galaxies and Cosmology Department of Astronomy University of Science and Technology of China Hefei 230026 China School of Astronomy and Space Science University of Science and Technology of China Hefei 230026 China

Models of static wormholes are investigated in the framework of f(R,T) gravity (where R is the curvature scalar and T is the trace of the energy-momentum tensor). An attempt to link the energy density of the matter component to the Ricci scalar is made, which for the Morris and Thorne wormhole metric with constant redshift function yields R(r)=2b′(r)/r2. Exact wormhole solutions are obtained for three particular cases when f(R,T)=R+2λT: ρ(r)=αR(r)+βR′(r), ρ(r)=αR2(r)+βR′(r), and ρ(r)=αR(r)+βR2(r). Additionally, traversable wormhole models are obtained for the two first cases. However, when the wormhole matter energy density is of the third type, only solutions with constant shape correspond to traversable wormholes. Exact wormhole solutions possessing the same properties can be constructed when ρ=αR(r)+βR−2(r), ρ=αR(r)+βrR2(r), ρ=αR(r)+βr−1R2(r), ρ=αR(r)+βr2R2(r), ρ=αR(r)+βr3R2(r), and ρ=αrmR(r)log(βR(r)), as well. On the other hand, for f(R,T)=R+γR2+2λT gravity, two wormhole models are constructed, assuming that the energy density of the wormhole matter is ρ(r)=αR(r)+βR2(r) and ρ(r)=αR(r)+βr3R2(r), respectively. In this case, the functional form of the shape function is taken to be b(r)=r^0r (where r^0 is a constant) and the possible existence of appropriate static traversable wormhole configurations is proven. The explicit forms of the pressures Pr and Pl leading to this result are found in both cases. As a general feature, the parameter space can be divided into several regions according to which of the energy conditions are valid. These results can be viewed as an initial step towards using specific properties of the new exact wormhole solutions to propose new functional forms for describing the matter content of wormholes.

关键词： Alternative gravity theories Dark energy Evolution of the Universe Relativistic aspects of cosmology

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