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IEEE International Conference on robotics and Automation (ICRA)

作者： Shuai Wang Qingxiang Zhao Jian Chen Mingcong Chen Guanglin Cao Jian Hu Runfeng Zhu Danny Tat Ming Chan Ming Feng Hongbin Liu centre for Artificial Intelligence and Robotics (CAIR) Hong Kong Institute of Science and Innovation Chinese Academy of Sciences CAIR and CASIA Department of Biomedical Engineering City University of Hong Kong HKSAR School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences (CASIA) Beijing China Department of Mechanical Engineering The Hong Kong Polytechnic University Department of Surgery The Chinese University of Hong Kong HKSAR Beijing Union Medical College Hospital

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Transorbital Neuro Surgery (TNS) offers a novel treatment towards the lesion inside skull pursuing minimal invasiveness. Most conventional TNS tools are rigid and straight, limiting the dexterity and accessibility in passing a small port. Bendable and steerable surgical tools provides an alternative for this issue. In this work, we proposed a dual-segment slender surgical robot arm for TNS, which is a Co-Axial Slender Tubular robot (CAST), and modelled it using novel approaches. Another contribution is tendon-mortise shaped slits along the axial direction, enhancing the overall stiffness. The bending of CAST is actuated by pushing/pulling distance, and the maximum diameter is only 1.7mm with high dexterity after mounting on a rigid robot arm. Experiments demonstrates that the proposed the slit design doubles the stiffness properties compared to traditional rectangle slit designs. The path-following task shows that the position error was maximally 3mm in open-looped control. Test on a skull model demonstrates that the whole system could successfully perform electrocoagulation procedure inside the depth of skull in a robotized manner effectively.

关键词： Medical robotics Limiting Instruments Robot vision systems Kinematics Manipulators Neurosurgery

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BLIP-Adapter: Bridging Vision-Language Models with Adapters for Generalizable Face Anti-spoofing

BLIP-Adapter: Bridging Vision-Language Models with Adapters ...

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IEEE International Joint Conference on Biometrics (IJCB)

作者： Bin Zhang Xiangyu Zhu Li Gao Xiaoyu Zhang Zhen Lei Institute of Information Engineering Chinese Academy of Sciences China School of Cyber Security University of Chinese Academy of Sciences China State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences China School of Artificial Intelligence University of Chinese Academy of Sciences China China Mobile Financial Technology Co. Ltd. China Centre for Artificial Intelligence and Robotics Hong Kong Institute of Science & Innovation Chinese Academy of Sciences China

ISBN: (数字)9798350364132

ISBN: (纸本)9798350364149

Face anti-spoofing is essential for ensuring the security of facial recognition systems against spoofing attacks. Recent methods have transferred Vision-Language models to face anti-spoofing (e.g., FLIP and CLIPC8), demonstrating that learning perception from supervision in natural language can enhance the model’s detection performance. However, such methods exhibit limited depth in the interaction between images and texts, resulting in poor performance on fine-grained understanding tasks such as face anti-spoofing. Besides, the lack of diversity in image-text pairs for face anti-spoofing further hinders such methods from playing their best. To address these issues, we propose a novel fine-tuning strategy for Vision-Language models in face anti-spoofing. This strategy introduces the Bootstrapping Language-Image Pre-training model (BLIP), known for its novel interaction mechanisms and superior image-text comprehension, to construct a more generalized feature representation for face anti-spoofing. Furthermore, we propose an Adapter module for the text branch to reduce the negative impact of insufficient data diversity and catastrophic forgetting. Extensive experiments conducted on various cross-domain testing benchmarks demonstrate the significant superiority of our method over the state-of-the-art, highlighting its effectiveness and robustness.

关键词： Adaptation models Analytical models Face recognition Biological system modeling Transfer learning Natural languages Benchmark testing Robustness Security Visual perception

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

Position Sensorless Control of Permanent Magnet Synchronous ...

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Chinese Control and Decision Conference, CCDC

作者： Anna Wang Yingjie Xiong Tao Zhang College Of Information Science and Engineering Northeastern University Shenyang China 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

ISBN: (纸本)9781665478977

In the position sensorless control strategy of permanent magnet synchronous motor (PMSM), the back-EMF method based on sliding mode observer (SMO) is favored because of its robustness. In this paper, a SMO based on the piecewise sigmoid function is designed. Based on the back-EMF observation error, the gain adaptation of the SMO is realized, which effectively reduces the high-frequency chattering problem of the conventional SMO. The low-pass filter of the conventional SMO is improved, and an adaptive filter based on the back-EMF low-pass filter is proposed. According to the back-EMF observation error, the cut-off frequency of the low-pass filter is changed in real-time, and the estimation of rotor position is improved. After Matlab/Simulink simulation verification, the control strategy is feasible and achieves a better control effect.

关键词： Adaptation models Low-pass filters Adaptive filters Rotors Sensorless control Observers Permanent magnet motors

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Programmable cell aggregation by a synthetic biosilicification approach

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iscience 2025年第6期28卷

作者： Wang, Qing Sun, Jing Zang, Lei Yao, Huaxiong Wang, Lin Zhu, Runtao Li, Jie Zeng, Simin Tang, Hongting Wang, Teng Liu, Ji Wang, Bo Li, Bo Liu, Zhiyuan Dai, Zhuojun State Key Laboratory of Quantitative Synthetic Biology Shenzhen Institute of Synthetic Biology Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen 518055 China School of Chemistry and Chemical Engineering Harbin Institute of Technology Harbin 150001 China Center of Neural Engineering CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen 518055 China Department of Mechanical and Energy Engineering Southern University of Science and Technology Shenzhen 518055 China Department of Civil Engineering University of Nottingham Ningbo China 199 Taikang East Road Ningbo 315100 China

Programmable cell aggregation offers valuable insights into the natural development of synthetic multicellular systems and enables precise control over spatial organization and material structuring. Previous efforts have focused on modifying cells with designed organic-based adhesive modules and assembling cells into defined patterns. Here, we present a different approach to guide cell assembly by tuning the organic-inorganic interactions. Our method involves engineering cells to express a silicifying peptide on their surfaces, which promotes silica deposition on the cell walls. This peptide simultaneously binds to the silica synthesized on adjacent cells, triggering cell clustering. The engineered cells exhibit rapid aggregation, with approximately 95% of cells assembling within 15 min. We further show that this capability can facilitate materials assembly and chemical production. Our biosilicification-based approach offers novel insights into natural multicellularity mechanisms and holds potential for applications in biomanufacturing and materials engineering. © 2025 The Author(s)

关键词： Bioengineering Biomaterials Synthetic biology

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Origami-inspired soft twisting actuator

arXiv

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arXiv 2021年

作者： Li, Diancheng Fan, Dongliang Zhu, Renjie Lei, Qiaozhi Liao, Yuxuan Yang, Xin Pan, Yang Wang, Zheng Wu, Yang Liu, Sicong Wang, Hongqiang Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy Engineering Southern University of Science and Technology Shenzhen518055 China Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen518055 China Shenzhen518055 China Shenzhen518055 China Guangzhou510642 China

Soft actuators have shown great advantages in compliance and morphology matched for manipulation of delicate objects and inspection in a confined space. There is an unmet need for a soft actuator that can provide torsional motion to e.g. enlarge working space and increase degrees of freedom. Towards this goal, we present origami-inspired soft pneumatic actuators (OSPAs) made from silicone. The prototype can output a rotation of more than one revolution (up to 435°), more significant than its counterparts. Its rotation ratio (=rotation angle/aspect ratio) is more than 136°, about twice the largest one in other literature. We describe the design and fabrication method, build the analytical model and simulation model, and analyze and optimize the parameters. Finally, we demonstrate the potentially extensive utility of the OSPAs through their integration into a gripper capable of simultaneously grasping and lifting fragile or flat objects, a versatile robot arm capable of picking and placing items at the right angle with the twisting actuators, and a soft snake robot capable of changing attitude and directions by torsion of the twisting actuators. © 2021, CC BY-NC-ND.

关键词： Degrees of freedom (mechanics)

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Automated Controller Placement for Software-Defined Networks to Resist DDoS Attacks

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Computers, Materials & Continua 2021年第9期68卷 3147-3165页

作者： Muhammad Reazul Haque Saw Chin Tan Zulfadzli Yusoff Kashif Nisar Lee Ching Kwang Rizaludin Kaspin Bhawani Shankar Chowdhry Rajkumar Buyya Satya Prasad Majumder Manoj Gupta Shuaib Memon Faculty of Computing&Informatics Multimedia UniversityPersiaran MultimediaCyberjaya63100SelangorMalaysia Faculty of Engineering Multimedia UniversityPersiaran MultimediaCyberjaya63100SelangorMalaysia Faculty of Computing and Informatics University Malaysia SabahJalan UMSKota Kinabalu Sabah88400Malaysia Telekom Malaysia Research&Development TM Innovation CentreCyberjaya63000SelangorMalaysia National Center of Robotics and Automation Mehran University of Engineering&TechnologyJamshoroPakistan Department of Computer Science and Engineering Hanyang UniversitySeoul04763South Korea School of Electrical and Electronic Engineering Nanyang Technological University639798Singapore Cloud Computing and Distributed Systems Laboratory The University of MelbourneMelbourneVIC 3053Australia Department of Electrical and Electronic Engineering Bangladesh University of Engineering and Technology(BUET)Dhaka1205Bangladesh Department of Electronics and Communication Engineering JECRC UniversityVidhaniJaipur303905India Auckland Institute of Studies Mt AlbertAucklandNew Zealand

In software-defined networks(SDNs),controller placement is a critical factor in the design and planning for the future Internet of Things(IoT),telecommunication,and satellite communication *** research has concentrated largely on factors such as reliability,latency,controller capacity,propagation delay,and energy ***,SDNs are vulnerable to distributed denial of service(DDoS)attacks that interfere with legitimate use of the *** ever-increasing frequency of DDoS attacks has made it necessary to consider them in network design,especially in critical applications such as military,health care,and financial services networks requiring high *** propose a mathematical model for planning the deployment of SDN smart backup controllers(SBCs)to preserve service in the presence of DDoS *** a number of input parameters,our model has two distinct ***,it determines the optimal number of primary controllers to place at specific locations or nodes under normal operating ***,it recommends an optimal number of smart backup controllers for use with different levels of DDoS *** goal of the model is to improve resistance to DDoS attacks while optimizing the overall cost based on the *** simulated results demonstrate that the model is useful in planning for SDN reliability in the presence of DDoS attacks while managing the overall cost.

关键词： SDN automated controller placement SBC ILP DDoS attack

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Rfid-based warehouse management system prototyping using a heterogeneous team of robots 23rd

Rfid-based warehouse management system prototyping using a h...

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23rd International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2020

作者： Khazetdinov, Artur Aleksandrov, Andrey Zakiev, Aufar Magid, Evgeni Hsia, Kuo-Hsien Laboratory of Intelligent Robotic Systems Intelligent Robotics Department Higher Institute of Information Technology and Intelligent Systems Kazan Federal University 35 Kremlevskya street Kazan420008 Russia Department of Electrical Engineering National Yunlin University of Science and Technology Tainan City74448 Taiwan

ISBN: (纸本)9781916449046

Robotic warehouse management is a promising field of research with a high practical applicability. Typically, warehouses are strictly organized and controlled environments with a high potential for rapid robot deployments. To provide system robustness every robotic deployment should be tested in advance using simulations. Such virtual testing environment should correspond well with a real world warehouse environment and be consistent with international and national standards. In this paper, we present a warehouse Gazebo simulation that was constructed in accordance with Government Standards of Russian Federation and international standards. We implemented a simplified Radio Frequency IDentification (RFID) transmitter-receiver mechanism within the Gazebo simulator and tested it in a virtual warehouse environment using a heterogeneous team of TIAGo Base mobile robot and PX4-based UAV. Our constructed virtual warehouse environment and RFID mechanism models are open-source for academic community use. © CLAWAR Association Ltd.

关键词： Robots

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High-Precision 3D Printing by Deploying Expandable Microspheres

SSRN

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SSRN 2024年

作者： Xu, Yang Wang, Fucheng Zhang, Pei Lu, Chengbang Liu, Weixuan Guo, Yueying Ni, Zhipeng Wang, Jinqing Lu, Baoyang Lou, Qin Liang, Xiangyu Liu, Ji Department of Mechanical and Energy Engineering Southern University of Science and Technology Shenzhen518055 China Department of Metrology and Measurement Engineering China Jiliang University Hangzhou310018 China Agricultural Genomics Institute at Shenzhen Chinese Academy of Agricultural Sciences Shenzhen518120 China Institute of Bast Fiber Crops Center of Southern Economic Crops Chinese Academy of Agricultural Sciences Changsha410205 China Department of Mechanics and Aerospace Engineering Southern University of Science and Technology Shenzhen518055 China Yiwu Saiens Polymer Materials Co. Ltd Jinhua322099 China Jiangxi Key Lab of Flexible Electronics Flexible Electronics Innovation Institute Jiangxi Science & Technology Normal University Nanchang330013 China Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems Southern University of Science and Technology Shenzhen518055 China

Stereolithography-based 3D printing (3DP) technology is widely employed in various industries, including manufacturing, healthcare, energy, biomedical, art and other fields. However, the precision issues, such as dimensional shrinkage and structural warping, significantly hinder its wide applications. In this study, we present a straightforward, efficient yet general strategy to engineer the photosensitive resins with thermally expandable microspheres, thus enabling significant improvement in structural fidelity of the 3DP constructs. Our findings demonstrate that addition of expandable microspheres substantially mitigates the volume shrinkage below 3.98%, in comparison to over 10% for commercially-available photosensitive resins. An exceptionally high precision of 0.035% in dimensional deviation could be achieved, in comparison to over 0.1% for commercial one. Furthermore, due to the low filling ratio, the improvement in 3DP precision does not sacrifice the mechanical properties, thus it does not affect the applications where those photosensitive resins are originally targeting. Our method represents an effective strategy to improve the 3D printing resolution of photosensitive resins, thus opening new directions for high precision 3D printing technology. © 2024, The Authors. All rights reserved.

关键词： Shrinkage

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A Soft Gripper Driven by Bellow Actuators and Twist Actuators for Dexterous Grasping

A Soft Gripper Driven by Bellow Actuators and Twist Actuator...

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IEEE International Conference on robotics and Biomimetics

作者： Diancheng Li Liangmin Zhou Renjie Zhu Jintao Yin Zhengbai Liu Han Yuan Hongqiang Wang Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Southern University of Science and Technology Shenzhen China Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen China Innovation and Entrepreneurship College Southern University of Science and Technology Shenzhen China School of Mechanical Engineering and Automation Harbin Institute of Technology (Shenzhen) Shenzhen China

ISBN: (纸本)9781665405362

Human hands are dexterous and capable of grasping objects of various shapes and manipulating the objects within the hands. Conventional soft grippers are able to grasp, but few can manipulate objects within the grippers. To fill this gap, this work designs a soft gripper with soft bellow actuators and soft twisting actuators, which can adaptively clutch objects and handle them in different postures in the gripper. Compared with the previous rigid grippers, this soft gripper possesses a higher adaption to complex shapes and fragile objects and greater reliability against a strong impact due to its compliance. We demonstrate its successful grasping on more than 15 daily items of different profiles and surface textures, rolling and picking up a piece of thin plastic film, and reversing the posture of a ball within the gripper. It has also survived brutal hammer attacks and robustly grabbed an object while experiencing strong impacts.

关键词： Actuators Bellows Torque Shape Grasping End effectors Robustness

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Polarization-independent resonant lattice Kerker effect in phase-change metasurface

arXiv

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arXiv 2022年

作者： Xiong, Lei Luo, Xiaoqing Ding, Hongwei Lu, Yuanfu Li, Guangyuan School of Information Science and Engineering Yunnan University Kunming650500 China Cas Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China Siat Branch Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen518055 China

Resonant lattice Kerker effect in periodic resonators is one of the most interesting generalizations of the Kerker effect that relates to various fascinating functionalities such as scattering management and Huygens metasurfaces. However, so far this effect has been shown to be sensitive to the incident polarization, restricting its applications. Here, we report, for the first time, polarization-independent resonant lattice Kerker effect in metasurfaces composed of periodic Ge2Se2Te5(GST) disks. For such a metasurface of square lattice, the spectrally overlap of the electric dipole and magnetic dipole surface lattice resonances can be realized by choosing an appropriate GST crystalline fraction regardless of the incident polarization. The operation wavelength and the required GST crystalline fraction can be conveniently tuned over large ranges since these parameters scale linearly with the disk size and the lattice period, greatly facilitating the design. Making use of the obtained resonant lattice Kerker effect, we realize a reconfigurable and polarization-independent lattice Huygens' metasurface with a dynamic phase modulation of close to 2π and high transmittance. This work will advance the engineering of the resonant lattice Kerker effect and promote its applications in phase modulation and wavefront control. Copyright © 2022, The Authors. All rights reserved.

关键词： Tellurium compounds

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