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第三十九届中国控制会议

作者： Lin Yu Ke-Xian Liu Qing-Hao Meng Institute of Robotics and Autonomous Systems Tianjin Key Laboratory of Process Measurement and ControlSchool of Electrical and Information Engineering Tianjin University

To achieve vertical profile exploration of deep-sea hybrid structures, a multi-joint autonomous underwater vehicle(MJ-AUV) with the orthogonal joints structure was designed, and its virtual prototype was built using Automatic Dynamic Analysis of Mechanical systems(ADAMS). This paper focuses on the attitude control of the designed MJ-AUV which is a nonlinear system with strong coupling, big hysteresis, large inertia, and time-varying disturbance. According to the special structure of the MJ-AUV, an error based variable gain linear active disturbance rejection controller(EVG-LADRC) was proposed and compared with the traditional proportional-integral-derivative(PID) controller and LADRC. Simulation results demonstrated that EVG-LADRC outperformed the PID and LADRC in terms of rapidity, anti-interference, and accuracy.

关键词： MJ-AUV virtual prototype attitude control EVG-LADRC

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An Easy-implemented Optimization Method of Trajectory Planning Based on Polynomial Interpolation

An Easy-implemented Optimization Method of Trajectory Planni...

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第40届中国控制会议

作者： Guangrong Chen Ming Ma Sheng Guo Bowen Hou Junzheng Wang Robotics Research Center Beijing Jiaotong University Beijing Engineering and Technology Research Center of Rail Transit Line Safety and Disaster Prevention State Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

Firstly,the forward kinematics and inverse kinematics of a five axis manipulator are ***,an easyimplemented optimization method of trajectory planning based on seventh order polynomial interpolation is *** proposed optimization method can capture the time optimal trajectory,while the actuators specifications including speed,acceleration of motor can be guaranteed as ***,simulation results validate the effectiveness and efficiency of proposed optimization *** research provides an insight for the application of trajectory optimization on the controller with low computing capability and real-time requirement.

关键词： Trajectory planning Optimization method Polynomial interpolation Manipulator

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A Novel Fractional Order Impedance Control and Its Performance Analysis

A Novel Fractional Order Impedance Control and Its Performan...

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第33届中国控制与决策会议

作者： Guangrong Chen Huafeng Lu Bowen Hou Sheng Guo Junzheng Wang Robotics Research Center Beijing Jiaotong University Beijing Engineering and Technology Research Center of Rail Transit Line Safety and Disaster Prevention State Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

In traditional impedance control model,the contact force can be reduced ***,there exists a tracking error at the stable state due to the existence of stiffness,which is not conducive to tackle tasks based on high performance position control for ***,this paper proposes a novel dynamic interaction model:fractional order impedance control,to address this ***,an integral item is added into the traditional impedance model to eliminate the tracking ***,the idea of fractional order is introduced to make the orders of inertia,damping,and stiffness change from integers to fractions to achieve more significant compliant ***,simulation results validate the advantages of proposed fractional order impedance control and it can be also employed to absorb/increase,hold/keep,and dissipate/decrease system energy to achieve jumping,bouncing and friendly contact,***,stability analysis and three criterions of choosing and tuning 6 classic parameters in the proposed fractional order impedance control are both given out.

关键词： Dynamic interaction Compliance control Fractional order Impedance control Performance analysis

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Highly Selective Biomimetic Flexible Tactile Sensor for Neuroprosthetics

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Research 2020年第1期2020卷 1648-1658页

作者： Yue Li Zhiguang Cao Tie Li Fuqin Sun Yuanyuan Bai Qifeng Lu Shuqi Wang Xianqing Yang Manzhao Hao Ning Lan Ting Zhang i-Lab Key Laboratory of Multifunctional Nanomaterials and Smart SystemsSuzhou Institute of Nano-Tech and Nano-Bionics(SINANO)Chinese Academy of Sciences(CAS)398 Ruoshui RoadSuzhou 215123China School of Nano-Tech and Nano-Bionics University of Science and Technology of China96 Jinzhai RoadHefeiAnhui 230026China Laboratory of Neurorehabilitation Engineering School of Biomedical Engineering and Institute of Medical RoboticsShanghai Jiao Tong University1954 Huashan RoadShanghai 20030China Center for Excellence in Brain Science and Intelligence Technology Chinese Academy of SciencesShanghai 200031China

Biomimetic flexible tactile sensors endow prosthetics with the ability to manipulate objects,similar to human ***,it is still a great challenge to selectively respond to static and sliding friction forces,which is crucial tactile information relevant to the perception of weight and slippage during ***,inspired by the structure of fingerprints and the selective response of Ruffini endings to friction forces,we developed a biomimetic flexible capacitive sensor to selectively detect static and sliding friction *** sensor is designed as a novel plane-parallel capacitor,in which silver nanowire-3D polydimethylsiloxane(PDMS)electrodes are placed in a spiral configuration and set perpendicular to the *** nanowires are uniformly distributed on the surfaces of 3D polydimethylsiloxane microcolumns,and silicon rubber(Ecoflex^(■))acts as the dielectric *** capacitance of the sensor remains nearly constant under different applied normal forces but increases with the static friction force and decreases when sliding ***,aiming at the slippage perception of neuroprosthetics,a custom-designed signal encoding circuit was designed to transform the capacitance signal into a bionic pulsed signal modulated by the applied sliding friction *** results demonstrate the great potential of the novel biomimetic flexible sensors with directional and dynamic sensitivity of haptic force for smart neuroprosthetics.

关键词： friction capacitance Highly

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Inverse Kinematics for Serial Kinematic Chains via Sum of Squares Optimization

Inverse Kinematics for Serial Kinematic Chains via Sum of Sq...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Filip Marić Matthew Giamou Soroush Khoubyarian Ivan Petrović Jonathan Kelly University of Toronto Institute for Aerospace Studies Space and Terrestrial Autonomous Robotic Systems Laboratory Canada University of Zagreb Faculty of Electrical Engineering and Computing Laboratory for Autonomous Systems and Mobile Robotics Croatia

ISBN: (数字)9781728173955

ISBN: (纸本)9781728173962

Inverse kinematics is a fundamental challenge for articulated robots: fast and accurate algorithms are needed for translating task-related workspace constraints and goals into feasible joint configurations. In general, inverse kinematics for serial kinematic chains is a difficult nonlinear problem, for which closed form solutions cannot easily be obtained. Therefore, computationally efficient numerical methods that can be adapted to a general class of manipulators are of great importance. In this paper, we use convex optimization techniques to solve the inverse kinematics problem with joint limit constraints for highly redundant serial kinematic chains with spherical joints in two and three dimensions. This is accomplished through a novel formulation of inverse kinematics as a nearest point problem, and with a fast sum of squares solver that exploits the sparsity of kinematic constraints for serial manipulators. Our method has the advantages of post-hoc certification of global optimality and a runtime that scales polynomially with the number of degrees of freedom. Additionally, we prove that our convex relaxation leads to a globally optimal solution when certain conditions are met, and demonstrate empirically that these conditions are common and represent many practical instances. Finally, we provide an open source implementation of our algorithm.

关键词： Kinematics Optimization Conferences Automation Robots Task analysis

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Highly Efficient and Persistent Removal of Cd(II) in Aqueous Solution by Attapulgite-Loaded Amorphous Zero-Valent Iron

SSRN

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SSRN 2022年

作者： Lin, Zishen Liu, Fobang Zheng, Chunli Zhu, Aibin Li, Haijian Wang, Zhenxing He, Chi Department of Environmental Science and Engineering Xi’an Jiaotong University Xi’an710049 China Key Laboratory of Thermo-Fluid Science and Engineering School of Energy and Power Engineering Xi'an Jiaotong University Xi’an710049 China Institute of Robotics & Intelligent Systems Xi'an Jiaotong University Xi’an710049 China National Key Lab of Science and Technology on Combustion and Explosion Xi'an Modern Chemistry Research Institute Xi'An710065 China Environmental Protection Key Laboratory of Environmental Pollution Health Risk Assessment South China Institute of Environmental Sciences MEE Guangzhou510275 China

Amorphous zero-valent iron (AZVI) is a promising material for the treatment of heavy metal pollution due to its special crystal structure. However, little was known about their electron transport properties, and the issue of AZVI agglomeration effects was unresolved. In this study, AZVI and crystalline zero-valent iron (CZVI) were synthesized. AZVI had better electron-donating ability by in detail characterization with radial distribution function, electrochemical test, ultraviolet photo-electron spectroscopy and electronic density of states simulation. In order to alleviate the agglomeration effect of AZVI, AZVI was loaded onto attapulgite (ATP) to form ATP@AZVI composite. The results showed that when the initial concentration of Cd(II) was 30 mg/L with 30 min reaction time, the residual concentration of Cd(II) was only 0.08 mg/L, and the removal efficiency was improved by 275% compared to AZVI. The mechanism of Cd(II) removal was further investigated using XRD, XPS, and Raman spectroscopy. ATP@AZVI mainly reacted with Cd(II) through surface bound Fe(II), and then Cd(II) was removed from aqueous solution by *** was found ATP@AZVI was stable and its anti-oxidation ability was strong. After 12 months of aging in air, ATP@AZVI could still remove 86.4% of Cd(II) in 30 min. When the reaction time was extended to 100 min, the residual concentration of Cd(II) was 0.07 mg/L. Simultaneously, ATP@AZVI after 12 months of aging reacted with Cr(VI) wastewater for 90 min to meet with the emission standard (GB8978-1996, China). These findings suggested ATP@AZVI is an efficient adsorbent for heavy metal pollution control. © 2022, The Authors. All rights reserved.

关键词： Crystal structure

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Single image dehazing via combining the prior knowledge and CNNs

arXiv

引用

arXiv 2021年

作者： Li, Yuwen Zheng, Chaobing Wu, Shiqian Xu, Wangming Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering Wuhan University of Science and Technology Wuhan430081 China The Institute of Robotics and Intelligent Systems School of Information Science and Engineering Wuhan University of Science and Technology Wuhan430081 China School of Mechanical & Electrical Engineering Nanchang Institute of Technology Nanchang330099 China

Aiming at the existing single image haze removal algorithms, which are based on prior knowledge and assumptions, subject to many limitations in practical applications, and could suffer from noise and halo amplification. An end-to-end system is proposed in this paper to reduce defects by combining the prior knowledge and deep learning method. The haze image is decomposed into the base layer and detail layers through a weighted guided image filter (WGIF) firstly, and the airlight is estimated from the base layer. Then, the base layer image is passed to the efficient deep convolutional network for estimating the transmission map. To restore object close to the camera completely without amplifying noise in sky or heavily hazy scene, an adaptive strategy is proposed based on the value of the transmission map. If the transmission map of a pixel is small, the base layer of the haze image is used to recover a haze-free image via atmospheric scattering model, finally. Otherwise, the haze image is used. Experiments show that the proposed method achieves superior performance over existing methods. © 2021, CC BY.

关键词： Convolutional neural networks

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Application of Graph-Curvature Features in Auxiliary Diagnosis for Histopathological Image Identification of Gastric Cancer

SSRN

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SSRN 2023年

作者： He, Ruilin Li, Chen Yang, Xinyi Yang, Jinzhu Jiang, Tao Grzegorzek, Marcin Sun, Hongzan Microscopic Image and Medical Image Analysis Group College of Medicine and Biological Information Engineering Northeastern University Shenyang China Key Laboratory of Intelligent Computing in Medical Image Ministry of Education Northeastern University Liaoning Shenyang China School of Intelligent Medicine Chengdu University of Traditional Chinese Medicine Chengdu China International Joint Institute of Robotics and Intelligent Systems Chengdu University of Information Technology Chengdu China Institute for Medical Informatics University of Luebeck Luebeck Germany Department of Knowledge Engineering University of Economics in Katowice Katowice Poland Shengjing Hospital of China Medical University Shenyang China School of Computer Science and Engineering

Background: Histopathology diagnosis is often regarded as the final diagnostic method for malignant tumors, but it has some drawbacks. This paper explores a computer-aided diagnostic method that can identify benign and malignant gastric cancer with histopathology images. Method: This article obtains the most suitable process through multiple experiments, compared multiple methods and features for classification. Firstly, the U-net is applied to segment the image. Next, the nucleus is extracted from the segmented image and the Minimum Spanning Tree (MST) diagram structure is drawn. The third step is to extract the graph-curvature features of histopathology image according to the MST image. Finally, by inputting graph-curvature features into the classifier, the recognition results for benign or malignant can be obtained. Result: During the experiment, we use various methods for comparison. In the image segmentation stage, U-net, watershed algorithm and Otsu threshold segmentation methods are used respectively. Combined with multiple indicators, we find that the U-net method is the most suitable for segmentation of histopathology images. In the feature extraction stage, in addition to extracting graph-edge feature and graph-curvature feature, several basic image features are also extracted, including Red, Green, Blue feature, Gray-Level Co-occurrence Matrix feature, Histogram of Oriented Gradient feature, and Local Binary Pattern feature. In the classifier design stage, we experimented with various methods, such as Support vector machine (SVM), Random forest, Artificial Neural Network, K Nearest Neighbors, VGG-16 and Inception-V3. Through the comparison and analysis, the classification results with an accuracy of 98.57% can be obtained by inputting the graph-curvature feature into SVM classifier. Conclusion: This paper has created a unique feature, graph-curvature feature based on MST to represent and analyze histopathology images. This graph-based feature can be used

关键词： Local binary pattern

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Image-guided breast biopsy of MRI-visible lesions with a hand-mounted motorised needle steering tool

arXiv

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arXiv 2021年

作者： Lagomarsino, Marta Groenhuis, Vincent Casadio, Maura Welleweerd, Marcel K. Siepel, Françoise J. Stramigioli, Stefano Laboratory Faculty of Electrical Engineering Mathematics and Computer Science University of Twente Drienerlolaan 5 Enschede7522NB Netherlands Department of Informatics Bioengineering Robotics and Systems Engineering University of Genoa Via Opera Pia 13 Genoa16145 Italy Department of Advanced Robotics Istituto Italiano di Tecnologia Genoa Italy Department of Electronics Information and Bioengineering Politecnico di Milano Milan Italy

A biopsy is the only diagnostic procedure for accurate histological confirmation of breast cancer. When sonographic placement is not feasible, a Magnetic Resonance Imaging(MRI)-guided biopsy is often preferred. The lack of real-time imaging information and the deformations of the breast make it challenging to bring the needle precisely towards the tumour detected in pre-interventional Magnetic Resonance (MR) images. The current manual MRI-guided biopsy workflow is inaccurate and would benefit from a technique that allows real-time tracking and localisation of the tumour lesion during needle insertion. This paper proposes a robotic setup and software architecture to assist the radiologist in targeting MR-detected suspicious tumours. The approach benefits from image fusion of preoperative images with intraoperative optical tracking of markers attached to the patient's skin. A hand-mounted biopsy device has been constructed with an actuated needle base to drive the tip toward the desired direction. The steering commands may be provided both by user input and by computer guidance. The workflow is validated through phantom experiments. On average, the suspicious breast lesion is targeted with a radius down to 2.3 mm. The results suggest that robotic systems taking into account breast deformations have the potentials to tackle this clinical challenge. Copyright © 2021, The Authors. All rights reserved.

关键词： Biopsy

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A moving target detection and localization strategy based on optical flow and pin-hole imaging methods using monocular vision

A moving target detection and localization strategy based on...

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2021 IEEE International Conference on Real-Time Computing and robotics, RCAR 2021

作者： Wang, Shun Guo, Qingqiang Xu, Sheng Su, Dan School of Control Science and Engineering Shandong University Shandong Jinan250061 China Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institute of Advanced Technology Shenzhen518055 China Shandong Institute of Advanced Technology Chinese Academy of Sciences Shandong Jinan250102 China Orbbec Inc. Shenzhen518057 China

ISBN: (纸本)9781665436786

This paper proposes a new strategy for moving target detection and localization based on monocular vision. Firstly, to detect a moving target with large displacement and high speed accurately, two consecutive video images captured by a monocular camera are preprocessed using the enhancement and denoising methods. Then, the optical flow representing motion information is calculated iteratively by the modified Lucas-Kanade optical flow method. Secondly, a new interest region extraction method is developed to overcome the negative impacts caused by the noises in the background. Specifically, this proposed method combines a two-level image segmentation strategy from coarse to fine, including median filtering, two-direction dynamic threshold segmentation, the Otsu method, and morphological processing. Thirdly, a low computational cost target localization algorithm is proposed based on pin-hole imaging theory. Besides, it only uses two-dimensional image and camera parameters to obtain the moving target's position in the three-dimensional space. Finally, experimental results show that the proposed strategy can effectively eliminate noise interferences and realize moving target detection, extraction, and localization. © 2021 IEEE.

关键词： Image segmentation

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