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2021 2nd International Conference on Machine Learning and Computer Application, ICMLCA 2021

作者： Zhang, Tao Sun, Xuyang Shao, Zhong School of Electrical Engineering Dalian University of Technology Dalian China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China Software College Shenyang University of Technology Liaoning Shenyang China

ISBN: (纸本)9783800757398

With the rapid iterative development of software development technology, the increasing scale of software and the increasing demand for reliability, the research on automatic code generation and reliability prediction technology has increasingly become a hot issue in the field of software engineering. The purpose of this paper is to obtain data from the user modeling process and store it, and then use software metrics to analyze and judge the corresponding data, and obtain a method for optimizing the model, so as to prevent some errors made by users in the modeling phase. And incomplete information, and then iteratively improve and repair the model. © VDE VERLAG GMBH · Berlin · Offenbach.

关键词： Reliability analysis

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Fiber Bragg Grating-Based Sensor System for Sensing the Shape of Flexible Needles

SSRN

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SSRN 2022年

作者： Zhang, Leifeng Li, Changle Dong, Huijuan Liu, Xiaojing Sun, Tong Grattan, Kenneth T.V. Zhao, Jie State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin150001 China Department of Oral and Maxillofacial Surgery Peking University School and Hospital of Stomatology National Engineering Laboratory for Digital and Material Technology of Stomatology Beijing Key Laboratory of Digital Stomatology Beijing100034 China School of Engineering & Technology City University of London Northampton Square LondonEC1V 0HB United Kingdom

Shape sensing is of importance for the manipulation of flexible needles. In this work, a 0.6 mm diameter stylet with five Fiber Bragg Gratings (FBGs) installed as triplets was designed. A novel model of local curvature is established. A gradient-based optimization method has been integrated into the complete algorithm for shape sensing and this is used to reduce the difference between the midpoint curvature and the mean curvature. The experimental results obtained show that the mean tip errors are 0.35mm, 0.30mm, 0.38mm in the single-bending, double-bending and space-bending experiments, respectively. In a torsion test experiment which was performed, when the rotation angle of the tip was less than 25°, the error seen was less than 0.5mm. Further, when the needle designed in this work was used to puncture a 60mm thickness, ex vivo biological tissue, the mean error of the measurement of the needle tip was 0.39mm. © 2022, The Authors. All rights reserved.

关键词： Fiber Bragg gratings

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EEG activity under different speeds and prompt types in motor imagery and motor execution

EEG activity under different speeds and prompt types in moto...

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International Conference on Mechatronics and Machine Vision in Practice (M2VIP)

作者： Yidan Ding Peiyuan Xie Songwei Li Jianjun Meng School of Mechanical Engineering Shanghai Jiao Tong University Shanghai China School of Mechanical Engineering and State Key Laboratory of Mechanical Systems and Vibrations of Robotics Shanghai Jiao Tong University Shanghai China

ISBN: (纸本)9781665431545

Motor imagery has been widely employed in noninvasive brain-computer interface (BCI) systems. Maintaining and manipulating specific motor imagery is essential to these systems, but motor imagery is usually performed using individual strategies and thus can be quite challenging for some healthy and disabled users. Kinematic movement parameters, such as the clenching speed, are important factors affecting the modulation strength of brain rhythm. Intuitively, prompts containing more detailed instruction related to the task could inform the users more precisely and vividly and hopefully could alleviate the challenge of motor imagination. In this sense, we explored the electroencephalography (EEG) characteristics of performing motor imagery and motor execution under different motion speeds and different prompt types. Ten subjects were invited to participate in motor imagery (MI) and motor execution (ME) tasks of the left hand and right hand at seven different speeds with either audio prompt or GIF prompt. A hypothesis of a linear relationship between the modulation of alpha (8-12 Hz) and beta band (18-28 Hz) ERD/ERS and motion speeds were tested. The experimental results showed that motion speeds were not linearly correlated to relative EEG changes at the alpha and beta bands in the sensorimotor cortex. Different prompts are found to have an effect on EEG activities in alpha and beta bands across the scalp, especially at occipital and frontal areas. Compared with audio prompts, subjects performed tasks with significantly improved accuracy with the assistance of GIF instructions. The current results could provide meaningful guidance for a better MI-based BCI system design as well as the MI classification enhancement.

关键词： Mechatronics Machine vision Scalp Modulation Kinematics Rhythm Electroencephalography

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Low Power and Temperature- Resilient Compute-In-Memory Based on Subthreshold-FeFET

Low Power and Temperature- Resilient Compute-In-Memory Based...

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Design, Automation and Test in Europe Conference and Exhibition

作者： Yifei Zhou Xuchu Huang Jianyi Yang Kai Ni Hussam Amrouch Cheng Zhuo Xunzhao Yin Zhejiang University Hangzhou China ZJU - Hangzhou Global Scientific and Technological Innovation Center Hangzhou China Department of Electrical Engineering University of Notre Dame Notre Dame USA Chair of AI Processor Design Technical University of Munich TUM School of Computation Information and Technology Munich Institute of Robotics and Machine Intelligence Munich Germany Key Laboratory of Collaborative Sensing and Autonomous Unmanned Systems of Zhejiang Province Hangzhou China

ISBN: (数字)9783981926385

ISBN: (纸本)9798350348606

Compute-in-memory (CiM) is a promising solution for addressing the challenges of artificial intelligence (AI) and the Internet of Things (IoT) hardware such as “memory wall” issue. Specifically, CiM employing nonvolatile memory (NVM) devices in a crossbar structure can efficiently accelerate multiply-accumulation (MAC) computation, a crucial operator in neural networks among various AI models. Low power CiM designs are thus highly desired for further energy efficiency optimization on AI models. Ferroelectric FET (FeFET), an emerging device, is attractive for building ultra-low power CiM array due to CMOS compatibility, high ION / $I$ O F F ratio, etc. Recent studies have explored FeFET based CiM designs that achieve low power consumption. Nevertheless, subthreshold-operated FeFETs, where the operating voltages are scaled down to the subthreshold region to reduce array power consumption, are particularly vulnerable to temperature drift, leading to accuracy degradation. To address this challenge, we propose a temperature-resilient 2T-1FeFET CiM design that performs MAC operations reliably at subthreahold region from 0°C to 85°C, while consuming ultra-low power. Benchmarked against the VGG neural network architecture running the CIFAR-10 dataset, the proposed 2T1FeFET CiM design achieves 89.45% CIFAR-10 test accuracy. Compared to previous FeFET based CiM designs, it exhibits immunity to temperature drift at an 8-bit wordlength scale, and achieves better energy efficiency with 2866 TOPS/W.

关键词： Semiconductor device modeling Power demand Nonvolatile memory Microprocessors Neural networks Computer architecture Energy efficiency

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Force Sensing Guided Artery-Vein Segmentation via Sequential Ultrasound Images

arXiv

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arXiv 2024年

作者： Geng, Yimeng Meng, Gaofeng Chen, Mingcong Cao, Guanglin Zhao, Mingyang Zhao, Jianbo Liu, Hongbin State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences Beijing China School of Artificial Intelligence University of Chinese Academy of Sciences China Centre for Artificial Intelligence and Robotics HK Institute of Science & Innovation Chinese Academy of Sciences Hong Kong City University of Hong Kong Hong Kong School of Biomedical Engineering and Imaging Sciences King’s College London London United Kingdom

Accurate identification of arteries and veins in ultrasound images is crucial for vascular examinations and interventions in robotics-assisted surgeries. However, current methods for ultrasound vessel segmentation face challenges in distinguishing between arteries and veins due to their morphological similarities. To address this challenge, this study introduces a novel force sensing guided segmentation approach to enhance artery-vein segmentation accuracy by leveraging their distinct deformability. Our proposed method utilizes force magnitude to identify key frames with the most significant vascular deformation in a sequence of ultrasound images. These key frames are then integrated with the current frame through attention mechanisms, with weights assigned in accordance with force magnitude. Our proposed force sensing guided framework can be seamlessly integrated into various segmentation networks and achieves significant performance improvements in multiple U-shaped networks such as U-Net, Swin-unet and Transunet. Furthermore, we contribute the first multimodal ultrasound artery-vein segmentation dataset, Mus-V, which encompasses both force and image data simultaneously. The dataset comprises 3114 ultrasound images of carotid and femoral vessels extracted from 105 videos, with corresponding force data recorded by the force sensor mounted on the US probe. Our code and dataset will be publicly available. © 2024, CC BY-NC-SA.

关键词： Ultrasonic imaging

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Decentralized Strategy for Cooperative Multi-Robot Exploration and Mapping

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IFAC-PapersOnLine 2020年第2期53卷 9682-9687页

作者： Ana Batinović Juraj Oršulić Tamara Petrović Stjepan Bogdan University of Zagreb Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems (LARICS) 10000 Zagreb Croatia

This work presents a novel approach to autonomous decentralized multi-robot frontier exploration and mapping of an unknown area. A mobile robot team simultaneously explores the environment, discovers frontier points (points on the border between explored and unexplored space), and shares information in order to become dispersed throughout the environment. During the exploration, information exchanged between the mobile robots is limited to data containing mobile robot positions and current mobile robot target points. The main goal of the approach is to allocate the mobile robots to target frontier points in a way which minimizes the overall exploration time. Moreover, a mobile robot team at the same time creates a common map of the environment. The proposed strategy has been implemented in a simulation environment and compared with a state-of-the-art exploration strategy. Simulation results demonstrate the advantages of the proposed decentralized multi-robot strategy.

关键词： Mobile Robot Multi-Robot System Frontier Points Target Point Decentralized Strategy Exploration Mapping

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Performance Comparison between Backstepping and P.I Regulators Methods for Four Level Flying Capacitor Inverter Based Active Power Filter Control 4

Performance Comparison between Backstepping and P.I Regulato...

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4th International Conference on Advanced systems and Emergent Technologies, IC_ASET 2020

作者： Manai, Lazhar Hakiri, Donia Besbes, Mongi Higher Institute of Information and Communication Technologies University of Carthage Hammam Chatt1164 Tunisia Laboratory of Robotics Informatics and Complex Systems National Engineering School of Tunis University of Tunis Tunis1002 Tunisia

ISBN: (纸本)9781728163567

In this paper a control strategy using backstepping technique for multilevel inverter based active power filter control is developed. Performances comparison between backstepping strategy and PI regulators based methods is provided. Simulation results prove the robustness and accuracy of proposed technique compared with conventional methods. © 2020 IEEE.

关键词： Backstepping

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Position Feedback Control of Lagrangian Robotic systems via an Affine PD-Based Control Law. Part 1: Design of LMI Conditions

Position Feedback Control of Lagrangian Robotic Systems via ...

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Sciences and Techniques of Automatic Control and Computer engineering MI-STA, IEEE International Maghreb Meeting of the Conference on

作者： Sahar Jenhani Hassè ne Gritli Giuseppe Carbone Higher Institute of Information and Communication Technologies University of Carthage Tunis Tunisia Laboratory of Robotics Informatics and Complex Systems (RISC Lab - LR16ES07) National Engineering School of Tunis University of Tunis El Manar Tunis Tunisia Department of Mechanical Energy and Management Engineering University of Calabria Rende (Cs) Italy

ISBN: (数字)9781665479189

ISBN: (纸本)9781665479196

Among the appropriate methods to describe the morphology of a robotic system, we note the development of a nonlinear dynamic model defined by the equations of the robot’s motion. Thus, the control design method can be based on the linearization of the nonlinear model. Therefore, in this work, we rely on the difference between the nonlinear model of Lagrangian robotic systems and the approximated linear dynamics to obtain a dynamical model that satisfies a certain Lipschitz condition. Thus, we introduce an affine PD-based control law in the obtained dynamic model to develop by three methods the stability conditions using the Schur complement, the Young inequality and the S-procedure lemma. These conditions are described by Linear Matrix Inequalities (LMIs). Finally, we present some results by adopting, as an illustrative example, the manipulator robot with two degrees of freedom, as a Lagrangian robotic system.

关键词： Conferences Dynamics Morphology Mathematical models Stability analysis Linear matrix inequalities Nonlinear dynamical systems

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Application of Complementary Sliding Mode Control with State Observer in Servo System of Voice Coil Motor

Application of Complementary Sliding Mode Control with State...

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第34届中国控制与决策会议

作者： Yang Liu Danping Jia Bingjie Zhao Tao Zhang Hualiang Zhang Hongyu Yan Xu Lu School of Artificial Intelligence Shenyang University of Technology School of Information Science and Engineering Shenyang University of Technology Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences School of Electrica l Engineering Dalian University of Technology

ISBN: (纸本)9781665478977

Due to the vulnerability of the voice coil motor(VCM) servo system to uncertain elements such as external disturbance,nonlinear friction,and inherent end impact,a dynamic model of the linear servo motor motion system with uncertainty is *** complementary sliding mode variable structure controller(CSMC) is built on the basis of the standard sliding mode control by merging the generalized sliding mode surface with the complimentary sliding mode *** study demonstrates that this controller can ensure the system's tracking error converges,suppresses uncertain factors,increases the system's transient reaction speed,and successfully reduces tracking ***,the saturation function is chosen as the switching function,which mitigates the sliding mode control chattering *** total interference is defined as the unmeasured and unknown interference in the mathematical model of the *** system's position and total disturbance are estimated using the nonlinear extended state observer(ESO).The estimated total disturbance is then feed-forward corrected to the control *** a result,a nonlinear extended state observer-based closed-loop complementary sliding mode position control technique is ***,the system experiment demonstrates the effectiveness and feasibility of the suggested control *** complimentary sliding mode control system with state observer offers a high degree of tracking accuracy and robustness,which considerably minimizes the system's tracking error.

关键词： Voice coil motor Complementary sliding mode control Extended state observer Servo system

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Position Sensorless Control of Permanent Magnet Synchronous Motor Based on Adaptive Sliding Mode Observer

Position Sensorless Control of Permanent Magnet Synchronous ...

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2021 China Automation Congress, CAC 2021

作者： Zhang, Tao Xiong, Yingjie Wang, Bolun Yan, Hongyu Chen, Xiyou School of Electrical Engineering Dalian University of Technology Dalian China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China College Of Information Science and Engineering Northeastern University Shenyang China School of Artificial Intelligence Shenyang University of Technology Shenyang China

ISBN: (纸本)9781665426473

Permanent magnet synchronous motors(PMSM) are popular in AC motor applications due to their small size, high efficiency. They have appeared widely in various areas of life. Due to the high-frequency chattering problem caused by sliding mode observer sensorless control of PMSM, an SMO with piecewise control function is designed in this *** the same time, based on the back EMF output of the SMO, the gain of the SMO is adapted to reduce the system bucket vibration problem caused by the conventional SMO. Finally, a simulation experiment was carried out in MATLAB/SIMULINK and compared with the conventional SMO. The results show that the improved SMO has achieved a better control effect. © 2021 IEEE

关键词： Sensorless control

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