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Chinese Control Conference (CCC)

作者： Hao-Yu Wang Qing-Hao Meng Xu-Yang Dai Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System Institute of Robotics and Autonomous Systems School of Electrical and Information Engineering Tianjin University Tianjin China

In the last decades, significant progress has been made in the field of active vSLAM (visual simultaneous localization and mapping). However, the majority of active vSLAM methods suffer from the problem of coupling the camera's viewpoint to the robot's motion, which limits the initiative during the exploration of unknown environments. To address this issue, this study proposes a camera view planning method based on deep reinforcement learning (DRL), which makes the camera rotate independently. First, feature encoding is performed on the reconstructed navigation map using a multi-layer convolutional neural network (CNN). Second, the DRL-based camera view planning method is trained through the proximal policy optimization (PPO) algorithm. Last, a significant number of tests is performed on a public dataset of indoor environments. The simulation results show that the proposed camera view planning method improves the exploration coverage by an average of 4% (33.86 m 2 for traditional vs. 35.21 m 2 for the suggested method). Meanwhile, the kind of semantic information newly observed in each step increases by 21% (2.9 for traditional vs. 3.5 for the proposed method) on average, indicating the improvement in the efficiency of information acquisition.

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Enhancing Robustness in Manipulability Assessment: The Pseudo-Ellipsoid Approach

Enhancing Robustness in Manipulability Assessment: The Pseud...

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IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Erfan Shahriari Kim Kristin Peper Matej Hoffmann Sami Haddadin Chair of Robotics and Systems Intelligence Munich Institute of Robotics and Machine Intelligence Technical University of Munich (TUM) Germany Department of Mechanical Engineering Newman Laboratory for Biomechanics and Human Rehabilitation Massachusetts Institute of Technology (MIT) USA Department of Cybernetics Faculty of Electrical Engineering Czech Technical University in Prague (CTU) Czech Republic

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Manipulability analysis is a methodology employed to assess the capacity of an articulated system, at a specific configuration, to produce motion or exert force in diverse directions. The conventional method entails generating a virtual ellipsoid using the system’s configuration and model. Yet, this approach poses challenges when applied to systems such as the human body, where direct access to such information is limited, necessitating reliance on estimations. Any inaccuracies in these estimations can distort the ellipsoid’s configuration, potentially compromising the accuracy of the manipulability assessment. To address this issue, this article extends the standard approach by introducing the concept of the manipulability pseudo-ellipsoid. Through a series of theoretical analyses, simulations, and experiments, the article demonstrates that the proposed method exhibits reduced sensitivity to noise in sensory information, consequently enhancing the robustness of the approach.

关键词： Analytical models Visualization Accuracy Sensitivity analysis Noise Force Estimation Robustness Ellipsoids Standards

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Forewarning Crossing Intention of Pedestrians Using Multimodal Deep Learning Approach 7

Forewarning Crossing Intention of Pedestrians Using Multimod...

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7th International Conference on Green Technology and Sustainable Development, GTSD 2024

作者： Nguyen, Chi-Tam Duong, Minh-Thien Phan, Thanh-Danh Nguyen, Van-Binh Le, My-Ha Hcmc University of Technology and Education Intelligent System Laboratory Ho Chi Minh City Viet Nam Soongsil University Dept. of Information and Telecommunication Engineering Seoul Korea Republic of Chungbuk National University Dept. of Intelligent Systems and Robotics Cheongju Korea Republic of Institute of Engineering-Technology Thu Dau Mot University Thu Dau Mot City Viet Nam Hcmc University of Technology and Education Faculty of Electrical and Electronics Engineering Ho Chi Minh City Viet Nam

ISBN: (纸本)9798350386073

Nowadays, traffic accidents not only come from public transportation but also from pedestrians. Therefore, designing a solution to protect pedestrian safety is essential. This article proposes a system for forewarning the crossing intentions of pedestrians, comprising the tasks of detection, tracking, and intention prediction. Firstly, our proposed system performs the detection and pose estimation of pedestrians using the YOLOv7-Pose model. Subsequently, the OC-SORT algorithm is employed for the tracking task. Ultimately, an efficient architecture based on the VoVNet backbone and Temporal Shift Module is provided to forewarn whether pedestrians will cross the road or not. The input of the proposed network in multimodality includes RGB image or semantic image map, keypoints, and vehicle speed. In addition, the bag-of-freebies technique is applied to enhance the model's overall performance and address the issue of biased model creation caused by imbalanced data. Comprehensive experiments performed on the JAAD benchmark dataset demonstrate that our proposed method performs better than existing benchmark classification models. © 2024 IEEE.

关键词： Mass transportation

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Actuation Spaces Synthesis of Lower-Mobility Parallel Mechanisms Based on Screw Theory

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Chinese Journal of Mechanical engineering 2021年第1期34卷 280-291页

作者： Shihua Li Yanxia Shan Jingjun Yu Yaxiong Ke Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic Systems Yanshan UniversityQinhuangdao 066004China School of Mechanical Engineering Yanshan UniversityQinhuangdao 066004China School of Liren Yanshan UniversityQinhuangdao 066004China Robotics Institute Beihang UniversityBeijing 100191China

The lower-mobility parallel mechanism has been widely used in the engineering field due to its numerous excellent ***,little work has been devoted to the actuator selection and placement that best satisfy the system's functional requirements during concept *** this study,a unified approach for synthesizing the actuation spaces of both rigid and flexure parallel mechanisms has been presented,and all possible combinations of inputs could be obtained,laying a theoretical foundation for the subsequent optimization of *** to the linear independence of actuation space and constraint space of the lower-mobility parallel mechanism,a general expression of actuation spaces in the format of screw systems is deduced,a unified synthesis process for the lower-mobility parallel mechanism is derived,and the efficiency of the method is validated with two selective examples based on screw *** study presents a theoretical framework for the input selection problems of parallel mechanisms,aiming to help designers select and place actuators in a correct and even optimal way after the configuration design.

关键词： Lower-mobility parallel mechanism Screw theory Actuation space Actuator placement Input selection

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A Battery Control Strategy for Sequential Utilization of Energy Storage systems in Power Batteries

A Battery Control Strategy for Sequential Utilization of Ene...

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IEEE Advanced Information Technology, Electronic and Automation Control Conference (IAEAC)

作者： Bowen Li Shijie Cui Lizhong Zhu College of Automation and Electrical Engineering Shenyang Ligong University Liaoning China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Liaoning China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China

With the widespread adoption of energy storage systems utilizing power batteries, battery lifespan degradation has become a primary constraint on system performance. To address this issue, this study proposes a lifespan-optimized battery control strategy. Firstly, a battery lifespan calculation model for the energy storage system is established, taking into detailed consideration key parameters such as battery State of Charge (SOC). Secondly, a control strategy based on SOC for charging and discharging is designed, aiming to minimize battery lifespan consumption to the greatest extent possible. Finally, experimental results demonstrate that the proposed control strategy significantly improves the lifespan of the energy storage system compared to existing strategies. This research provides an effective means of control for the long-term stable operation of power battery systems.

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Fractional-order fast terminal sliding mode control for nanopositioning

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IFAC-PapersOnLine 2023年第2期56卷 4313-4318页

作者： Geng Wang Sumeet S. Aphale Key Laboratory of Testing Technology for Manufacturing Process of Ministry of Education Southwest University of Science and Technology Mianyang China Artificial intelligence Robotics and Mechatronic Systems Group (ARMS) School of Engineering University of Aberdeen UK

A novel fast terminal sliding mode controller is proposed in this work for high-performance trajectory tracking at the nanometer scales. It combines a recursive integer-order non-singular high-order sliding manifold and a fractional-order fast fixed-time reaching law to ensure globally fast convergence, and adopts a time-delay-estimation based disturbance estimator deeming the designed controller robust to parameter uncertainty. The stability of the designed controller is verified through the Lyapunov framework, where the full analyses of convergence region and settling time are also presented. The tracking performance is experimentally verified on a piezo-stack-driven nano-positioning platform.

关键词： high-order sliding mode fractional calculus fast fixed-time convergence time delay estimation nanopositioning

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Two-Photon Image-Guided Automated 3D Locating of Micropipette Tip

Two-Photon Image-Guided Automated 3D Locating of Micropipett...

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第43届中国控制会议

作者： Zizhen Li Jie Li Qili Zhao Xin Zhao Mingzhu Sun National Key Laboratory of Intelligent Tracking and Forecasting for Infectious Diseases Engineering Research Center of Trusted Behavior Intelligence Ministry of Education Tianjin Key Laboratory of Intelligent Robotics (tikLIR) Institute of Robotics and Automatic Information System (IRAIS) Nankai University Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

The 21st century has been universally recognized by the scientific community as the era of neuroscience, with the patch clamp technique serving as a key to unraveling the intricate mysteries of brain science. Due to its advantages such as reduced sample damage and enhanced penetration capability, the application of two-photon microscope in deep imaging of live animals has become prevalent, making it a preferred choice over confocal microscope. At present, there exist a few near complete automation techniques of image-guided patching in vivo, which typically start from the micropipette tip appearing in the imaging field of view. The operational workflow for the step involving the installation of the micropipette until the micropipette tip becomes visible within the field of view has regrettably not been provided. However, it is crucial information that is of utmost importance to experimental personnel. In this paper, we present a comprehensive workflow for 3D locating of micropipette tip in a self-built two-photon microscope tailored for patch clamp experiments. Moreover, by fully incorporating the distinctive features of two-photon imaging, the study applies statistical methods to achieve automated execution of the corresponding workflow. The experimental results indicate that the process of micropipette tip locating takes an average of 58.4 ***, the method is not sensitive to parameter selection, allowing experimenters to obtain suitable parameters for different systems through simple testing. The automated 3D micropipette tip locating method proposed in this paper, with its versatility, holds great potential for seamless integration into commercial two-photon microscope systems. It significantly contributes to reducing the work burden on experimenters and minimizing the time required for experimental preparation.

关键词： 3D micropipette tip locating two-photon microscope automated method

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Industrial Wireless Network Access Selection Based on Multilevel Fuzzy Neural Network

Industrial Wireless Network Access Selection Based on Multil...

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Chinese Control and Decision Conference, CCDC

作者： Yan Xu Zhijun Gao Sichao Zhang School of Electrical and Control Engineering Shenyang Jianzhu University Shenyang China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China

ISBN: (数字)9798350387780

ISBN: (纸本)9798350387797

In order to solve the issues in the heterogeneous industrial wireless network access selection such as delay and reliability, this paper present an industrial wireless network access selection based on multilevel fuzzy neural network. The algorithm divides the input attributes into three categories: network attributes, terminal attributes, and environment attributes. It synchronously inputs them into the fuzzy neural network to obtain the candidate network scores, which effectively reduces the number of fuzzy rules and reduces the algorithm complexity. Furthermore, this paper also consider the influence of the industrial environment on network selection and quantitatively reduce the number of switching and blocking rate. The simulation experimental results show that this algorithm is able to achieve fast network access selection in noisy and occluded industrial heterogeneous wireless networks, and the blocking rate can remain low in the presence of dense terminals.

关键词： Wireless networks Neural networks Switches Mean square error methods Interference Fuzzy neural networks Delays

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Scattering Inversion Study for Suspended Label-Free Lymphocytes with Complex Fine Structures

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Biomedical engineering Frontiers 2022年第1期3卷 469-482页

作者： Lu Zhang Huijun Wang Jianyi Liu Shuang Chen He Yang Zewen Yang Zhenxi Zhang Hong Zhao Li Yuan Lifang Tian Bo Zhong Xiaolong Liu Xi’an Jiaotong University School of Mechanical EngineeringState Key Laboratory for Manufacturing Systems EngineeringXi’an 710049China Xi’an Jiaotong University Institute of Artificial Intelligence and RoboticsXi’an 710049China Xi’an Jiaotong University Key Laboratory of Biomedical Information Engineering of Ministry of EducationXi’an 710049China Xi’an Jiaotong University First Affiliated HospitalXi’an 710049China Xi’an Jiaotong University Second Affiliated HospitalXi’an 710049China Mengchao Hepatobiliary Hospital of Fujian Medical University The United Innovation of Mengchao Hepatobiliary Technology Key Laboratory of Fujian ProvinceFuzhou 350025China

Objective and Impact *** malignant lymphocytes from normal ones is vital in pathological *** proposed an inverse light scattering(ILS)method for label-free suspended lymphocytes with complex fine structures to identify their volumes for pathological *** scattering as cell’s“fingerprint”provides valuable morphology information closely related to its biophysical ***,the detail relationships between the morphology with complex fine structures and its scattering characters are not fully *** quantitatively inverse the volumes of membrane and nucleus as the main scatterers,clinical lymphocyte morphologies were modeled combining the Gaussian random sphere geometry algorithm by 750 reconstructed results after confocal scanning,which allowed the accurate simulation to solve ILS *** complex fine structures,the specificity for ILS study was firstly discussed(to our knowledge)considering the differences of not only surface roughness,posture,but also the ratio of nucleus to the cytoplasm and refractive *** volumes of membrane and nucleus were proved theoretically to have good linear relationship with the effective area and entropy of forward scattering *** specificity deviations were less than 3.5%.Then,our experimental results for microsphere and clinical leukocytes showed the Pearson product-moment correlation coefficients(PPMCC)of this linear relationship were up to 0.9830~*** scattering inversion method could be effectively applied to identify suspended label-free lymphocytes without destructive sample pretreatments and complex experimental systems.

关键词： inverse Inversion allowed

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Design and Characterization of a Flexure-Based Hybrid Mechanism for Precise Micro/Nano Positioning

Design and Characterization of a Flexure-Based Hybrid Mechan...

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International Conference on Mechatronics Technology (ICMT)

作者： Kim Sang Tran Kai Zhong Lai Bijan Shirinzadeh Armin Ehrampoosh Yanling Tian Dawei Zhang Yanding Qin Department of Mechanical and Aerospace Engineering Monash University Robotics and Mechatronics Research Laboratory (RMRL) Melbourne Australia School of Engineering University of Warwick Conventry UK Control and Systems Engineering Tianjin University Tianjin China

This paper presents a hybrid mechanism for micro/nano positioning and manipulation by combining a piezoelectric actuator (PEA) and a voice coil motor (VCM) using a flexure bridge. The research investigates the behavior of the hybrid mechanism, designs the amplification mechanism, and characterizes and compares the dominant parameters through modal and finite element analysis. The models were designed using Solidworks software and optimized using response surface in ANSYS. The hybrid mechanism provides both long-range displacement and precision movement capabilities, making it suitable for micro-assembly, micro-manipulation, and microfluidics applications. The results illustrate that the amplification ratio of the flexure mechanism obtained by modal analysis was 4.38, which was 3.42% larger than that simulated by finite element model. The input stiffness of the flexure mechanism was 2231.81 N/mm, which is slightly lower than the figure calculated by Finite element analysis (FEA) at 2325.58 N/mm. However, the difference between the two output stiffnesses of this mechanism obtained by the two methods is close, standing at 1.60%.

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