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第33届中国控制与决策会议

作者： Yuwen Li Chaobing Zheng Shiqian Wu Wangming Xu Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering Wuhan University of Science and Technology The Institute of Robotics and Intelligent Systems School of Information Science and EngineeringWuhan University of Science and Technology

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 *** end-to-end system is proposed in this paper to reduce defects by combining the prior knowledge and deep learning *** 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 ***,the base layer image is passed to the efficient deep convolutional network for estimating the transmission *** 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 *** 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,***,the haze image is *** show that the proposed method achieves superior performance over existing methods.

关键词： single image haze removal Weighted guided image filtering prior knowledge Convolutional Neural Networks

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Distributed Vehicle Platoon Control with Leader Selection Strategy

Distributed Vehicle Platoon Control with Leader Selection St...

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第40届中国控制会议

作者： Zikai Ouyang Zhicheng Li Shibo Chen Zaiyue Yang Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy Engineering and the Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Academy for Advanced Interdisciplinary Studies Southern University of Science and Technology

This paper investigates the control problem of vehicle platoon with leader selection strategy. The current research on vehicle platoon control is based on the leader-follower communication structure. Under such structure, each follower tracks the state of its front vehicle to maintain a proper distance and form a platoon. However, the disadvantage of this fixed communication structure is that followers are short of capacity of resisting disturbance when the first vehicle(FV) of platoon is disturbed. To solve this problem, a vehicle platoon model where each follower is able to take any front vehicle as its leader is proposed. Based on this model, the corresponding controller and leader selection strategy are designed. That is, first, a controller considering the string stability of vehicle platoon with various communication topologies is designed;then, each follower changes its connecting vehicle in the communication link to reduce the impact of disturbance on FV when FV suddenly slows down or speeds up. The simulation results show the effectiveness of the control method and the strategy.

关键词： Vehicle platoon leader selection strategy distributed control

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Optimal path planning using CAMIS: A Continuous Anisotropic Model for Inclined Surfaces

arXiv

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arXiv 2021年

作者： Sánchez-Ibáñez, J. Ricardo Pérez-Del-Pulgar, Carlos J. Serón, Javier García-Cerezo, Alfonso The Space Robotics Laboratory Department of Systems Engineering and Automation Universidad de Málaga C/Ortiz Ramos s/n Málaga29071 Spain

The optimal traverse of irregular terrains made by ground mobile robots heavily depends on the adequacy of the cost models used to plan the path they follow. The criteria to define optimality may be based on minimizing energy consumption and/or preserving the robot stability. This entails the proper assessment of anisotropy to account for the robot driving on top of slopes with different directions. To fulfill this demand, this paper presents the Continuous Anisotropic Model for Inclined Surfaces, a cost model compatible with anisotropic path planners like the bi-directional Ordered Upwind Method. This model acknowledges how the orientation of the robot with respect to any slope determines its energetic cost, considering the action of gravity and terramechanic effects such as the slippage. Moreover, the proposed model can be tuned to define a trade-off between energy minimization and Roll angle reduction. The results from two simulation tests demonstrate how, to find the optimal path in scenarios containing slopes, in certain situations the use of this model can be more advantageous than relying on isotropic cost functions. Finally, the outcome of a field experiment involving a skid-steering robot that drives on top of a real slope is also discussed. Copyright © 2021, The Authors. All rights reserved.

关键词： Anisotropy

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Efficient Robust Principal Component Analysis via Block Krylov Iteration and CUR Decomposition

Efficient Robust Principal Component Analysis via Block Kryl...

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Conference on Computer Vision and Pattern Recognition (CVPR)

作者： Shun Fang Zhengqin Xu Shiqian Wu Shoulie Xie School of Information Science and Engineering Wuhan University of Science and Technology China Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology China MoE Key Lab of Artificial Intelligence AI Institute Shanghai Jiao Tong University China Hubei Province Key Laboratory of Intelligent Information Processing and Real-Time Industrial Systems Signal Processing RF & Optical Dept. Institute for Infocomm Research A*STAR Singapore

Robust principal component analysis (RPCA) is widely studied in computer vision. Recently an adaptive rank estimate based RPCA has achieved top performance in low-level vision tasks without the prior rank, but both the rank estimate and RPCA optimization algorithm involve singular value decomposition, which requires extremely huge computational resource for large-scale matrices. To address these issues, an efficient RPCA (eRPCA) algorithm is proposed based on block Krylov iteration and CUR decomposition in this paper. Specifically, the Krylov iteration method is employed to approximate the eigenvalue decomposition in the rank estimation, which requires $O(ndrq+n(rq)^{2})$ for an $(n\times d)$ input matrix, in which $q$ is a parameter with a small value, $r$ is the target rank. Based on the estimated rank, CUR decomposition is adopted to replace SVD in updating low-rank matrix component, whose complexity reduces from $O(rnd)$ to $O(r^{2}n)$ per iteration. Experimental results verify the efficiency and effectiveness of the proposed eRPCA over the state-of-the-art methods in various low-level vision applications.

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Special Cases in the Attitude Determination of Three-Vehicle Heterogeneous Formations

Special Cases in the Attitude Determination of Three-Vehicle...

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International Conference on Control, Decision and Information Technologies (CoDIT)

作者： Pedro Cruz Pedro Batista Laboratory for Robotics and Engineering Systems Institute for Systems and Robotics Portugal Instituto Superior Técnico Universidade de Lisboa Portugal

ISBN: (数字)9781728159539

ISBN: (纸本)9781728159546

This paper considers the attitude determination problem of a three-vehicle heterogeneous formation, whose line of sight is constrained. By some reason, such as large distance, two of the vehicles, the deputies, cannot measure the direction of each other's position. The deputies can only measure the relative direction relative to the chief, which is the remaining vehicle in the formation. The special cases of the problem are described in terms of the number of solutions related to each configuration. In general, there is only one solution, but infinite or even two ambiguous solutions are possible, respectively in the degenerate and ambiguous configurations. These arise due to lack of information or symmetry in the data, respectively. Furthermore, the subset of special configurations is a zero measure set of the global set of configurations, which is an important property of the problem. Simulations that test and validate the described configurations are shown as well, which also help to understand what effects the quality of the solution obtained according to a special case proximity metric.

关键词： Position measurement Robot sensing systems Semiconductor device measurement Space vehicles Rotation measurement Quaternions Navigation

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Magnetic-Actuated Flexible Instruments with Enhanced Bending Capability through Magnetic Distribution Optimization

Magnetic-Actuated Flexible Instruments with Enhanced Bending...

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IEEE International Conference on Automation Science and engineering (CASE)

作者： Yuanrui Huang Runyu Ma Jian Hu Mingcong Chen Jian Chen Hongbin Liu 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 Beijing China School of General Engineering Beihang University Beijing China Centre of AI and Robotics (CAIR) Hong Kong Institute of Science & Innovation Chinese Academy of Sciences

Magnetically-actuated flexible surgical robot has promising applications for ultra-narrow and tortuous orifices. However, maximizing its bending capability and manipulability remains a significant hurdle for clinical use. In this study, we introduce an objective function that can accurately predict a catheter's bending angle with given numbers of internal permanent magnets (IPMs) under various magnetic fields through iterative calculation. The optimal magnets distribution that yields the maximal controllable bending angle, could be determined by optimizing this objective function. The effectiveness of this method is validated through simulations and experiments. Additionally, we propose a simple control scheme to control the bending angle of the magnetically-actuated catheter based on the piecewise constant curvature model. The experimental results demonstrate that the proposed method significantly improves the motion accuracy of the catheter. The catheter with the optimized magnet distribution achieved superior tracking performance with an Integral Absolute Error (IAE) of 1.08 rad·s and maximal controllable bending angle of 150°.

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

arXiv

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arXiv 2023年

作者： Zhou, Yifei Huang, Xuchu Yang, Jianyi Ni, Kai Amrouch, Hussam Zhuo, Cheng Yin, Xunzhao Zhejiang University Hangzhou China Department of Electrical Engineering University of Notre Dame Notre Dame United States 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

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/IOFF 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 2T-1FeFET 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. Copyright © 2023, The Authors. All rights reserved.

关键词： Energy efficiency

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Design and Experimental Evaluation of a Hexapod Mobile Robot with C-Shaped Legs

Design and Experimental Evaluation of a Hexapod Mobile Robot...

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International Conference on Advanced robotics and Mechatronics (ICARM)

作者： Yujie Wu Dangchao Li Xia Dong Xin Wang Chunli Zheng Aibin Zhu Zheng Zhang Xu Zhou Yulin Zhang Shaanxi Key Laboratory of Intelligent Robots Institute of Robotics & Intelligent Systems Xi'an Jiaotong University Xi'an China Key Laboratory of Education Ministry for Modern Design and Rotor-Bearing System Xi'an China School of Construction Machinery Chang'an University Xi'an China Xi'an Jiaotong University Xi'an China School of Energy and Power Engineering Xi'an Jiaotong University Xi'an China School of Mechanical Engineering Northwestern Polytechnical University Xi'an Taiyuan Research Institute of China Coal Technology & Engineering Group Co. Ltd Taiyuan China

Drawing on extant literature on hexapod robots, we present a novel obstacle-crossing hexapod robot that can adapt to multiple terrains. We designed the robot's entire mechanical structure, established a mathematical model for the robot leg, deduced the kinematic equation of the leg, and determined the relationship between the robot's motion speed and the motor angle. Through force analysis of the C-shaped leg, we obtained the function between motor output torque and motion phase. Subsequently, we constructed the physical hexapod robot and conducted performance testing. Our experimental results demonstrate that the hexapod robot can move at a speed of 0.5 m/s and successfully cross a 10 cm obstacle. The robot exhibits excellent movement performance and satisfies the functional requirements. Overall, our design offers a promising approach for developing hexapod robots that can navigate a variety of terrains.

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Binary and Ternary Human Gait Phase Classification Using Machine Learning Algorithms

Binary and Ternary Human Gait Phase Classification Using Mac...

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International Conference on Innovation and Intelligence for Informatics, Computing, and Technologies (3ICT)

作者： Amal Mekni Jyotindra Narayan Hassène Gritli RISC Laboratory (LR16ES07) Higher Institute of Information and Communication Technologies University of Carthage ENIT University of Tunis El Manar Borj Cedria Tunis Tunisia Department of Mechanical Engineering Thapar Institute of Engineering and Technology Patiala Punjab India Department of Computing Imperial College London UK Laboratory of Robotics Informatics and Complex Systems (RISC Lab - LR16ES07) ENIT University of Tunis El Manar Le Belvédère Tunis Tunisia ISTIC University of Carthage Borj Cedria Tunis Tunisia

ISBN: (数字)9798331533137

ISBN: (纸本)9798331533144

Accurately identifying gait phases offers vital in-sights into medical diagnostics, requiring precise biomechanical assessment. Despite various machine learning (ML) methods, achieving high precision is challenging. This study uses ML techniques to classify the gait phases of 100 individuals (average age 41.91 ± 5.3 years). Classification algorithms considered in this work are: k-Nearest Neighbor (k-NN), Logistic Regression (LR), Decision Tree (DT), Random Forest (RF), Support Vector Machine (SVM), and Naive Bayesian (NB). The performance of these algorithms is evaluated using two training methods while classifying binary (stance/swing) and ternary (stance-I1stance-Illswing) subphases. In the first method, 80% of the data from binary or ternary phases is randomly selected for training and the rest for testing. In the second method, data is divided by participants, with 80% used for training and 20% for testing. The RF algorithm consistently outperforms others in both training methods, achieving 99.5% (first method) and 99.9% (second method) accuracy in binary classification and 99.4% (first method) and 99.5% (second method) in ternary classification. Despite the reduced performance while transitioning from bi-nary to ternary classification, consistency is maintained for all ML algorithms. Moreover, the second training method is more effective for classifying binary and ternary gait phases.

关键词： Training Support vector machines Radio frequency Technological innovation Machine learning algorithms Nearest neighbor methods Classification algorithms Medical diagnosis Random forests Testing

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Pulsed Microfluid Force-Based On-Chip Modular Fabrication for Liver Lobule-Like 3D Cellular Models

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Cyborg and Bionic systems 2021年第1期2021卷 222-233页

作者： J.Cui H.P.Wang Q.Shi T.Sun Science and Technology on Electronic Test and Measurement Laboratory North University of ChinaTaiyuan 030051China Intelligent Robotics Institute School of Mechatronical EngineeringBeijing Institute of TechnologyBeijing 100081China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of TechnologyBeijing 100081China Key Laboratory of Biomimetic Robots and Systems(Beijing Institute of Technology) Ministry of EducationBeijing 100081China

In vitro three-dimensional(3D)cellular models with native tissue-like architectures and functions have potential as alternatives to human tissues in regenerative medicine and drug ***,it is difficult to replicate liver constructs that mimic in vivo microenvironments using current approaches in tissue engineering because of the vessel-embedded 3D structure and complex cell distribution of the *** paper reports a pulsed microflow-based on-chip 3D assembly method to construct 3D liver lobule-like models that replicate the spatial structure and functions of the liver *** heterogeneous cell-laden assembly units with hierarchical cell distribution are fabricated through multistep photopatterning of different cell-laden *** fluid force interaction by pulsed microflow,the hierarchical assembly units are driven to a stack,layer by layer,and thus spatially assemble into 3D cellular models in the closed liquid chamber of the assembly *** 3D models with liver lobule-like hexagonal morphology and radial cell distribution allow the dynamic perfusion culture to maintain high cell viability and functional expression during long-term culture in *** results demonstrate that the fabricated 3D liver lobule-like models are promising for drug testing and the study of individual diagnoses and treatments.

关键词： culture maintain spatially

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