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IEEE International Conference on Autonomous Robot systems and Competitions (ICARSC)

作者： Luan C. Klein João Braun Felipe N. Martins Heinrich Wörtche Andre Schneider de Oliveira João Mendes Vítor H. Pinto Paulo Costa José Lima Universidade Tecnológica Federal do Paraná Campus Curitiba UTFPR/PR Brasil Research Centre in Digitalization and Intelligent Robotics (CeDRI) Instituto Politécnico de Braganca Campus de Santa Apolonia Portugal Laboratory for Sustainability and Technology in Mountain Regions (SusTEC) Instituto Politécnico de Bragança Bragança Portugal Faculty of Engineering of University of Porto Portugal INESC Technology and Science Porto Portugal Sensors and Smart Systems Group Institute of Engineering Hanze University of Applied Sciences The Netherlands Department of Electrical Engineering Eindhoven University of Technology The Netherlands SYSTEC (DIGI2) ARISE & ECE Dept. Fac. de Engenharia Universidade do Porto Rua Dr. Roberto Frias 4200-465 Porto Portugal

The use of machine learning in embedded systems is an interesting topic, especially with the growth in popularity of the Internet of Things (IoT). The capacity of a system, such as a robot, to self-localize, is a fundamental skill for its navigation and decision-making processes. This work focuses on the feasibility of using machine learning in a Raspberry Pi 4 Model B, solving the localization problem using images and fiducial markers (ArUco markers) in the context of the RobotAtFactory 4.0 competition. The approaches were validated using a realistically simulated scenario. Three algorithms were tested, and all were shown to be a good solution for a limited amount of data. Results also show that when the amount of data grows, only Multi-Layer Perception (MLP) is feasible for the embedded application due to the required training time and the resulting size of the model.

关键词： Location awareness Training Embedded systems Machine learning algorithms Navigation Decision making Machine learning

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Achieving consensus in spite of stubbornness: time-varying concatenated Friedkin-Johnsen models

Achieving consensus in spite of stubbornness: time-varying c...

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IEEE Conference on Decision and Control

作者： L. Wang C. Bernardo Y. Hong F. Vasca G. Shi C. Altafini Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Chinese Academy of Sciences University of Chinese Academy of Sciences Beijing China Group for Research on Automatic Control Engineering University of Sannio Benevento Italy Tongji University Shanghai China Australian Center for Field Robotics School of Aerospace Mechanical and Mechatronic Engineering The University of Sydney NSW Sydney Division of Automatic Control Linköping University Linköping Sweden

ISBN: (纸本)9781665436601

A concatenated Friedkin-Johnsen (FJ) model is a two time-scale opinion dynamics model in which stubborn agents discuss a sequence of issues. For each issue, a FJ model is adopted, and concatenation refers to the fact that the final opinion of the agents at issue s becomes the initial condition at issue s + 1. In this paper we deal with the case in which the system is open, i.e., the group of interacting agents changes at each issue, and so does their stubbornness. A concatenated FJ model can in this case be represented as an infinite product of stochastic matrices. For such system, we obtain sufficient conditions under which the opinions of the agents converge to consensus.

关键词： Sufficient conditions Conferences Stochastic processes

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Fundus-Image-Based Retinal Vascular Analysis in Myopic Eyes

Fundus-Image-Based Retinal Vascular Analysis in Myopic Eyes

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Chinese Control Conference (CCC)

作者： Jichen Shen Haohan Zou Yan Wang Jinchao Liu Ningbo Yu College of Artificial Intelligence Nankai University Tianjin China Clinical College of Ophthalmology Tianjin Medical University Tianjin China Tianjin Key Lab of Ophthalmology and Visual Science Tianjin Eye Institute Tianjin Eye Hospital Nankai University Affiliated Eye Hospital Tianjin China Nankai University Eye Institute Nankai University Tianjin China Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin China Engineering Research Center of Trusted Behavior Intelligence Ministry of Education Nankai University Tianjin China Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University Shenzhen China

Myopia is prevalent worldwide and it is of great significance to prevent, control and intervene myopia in an early stage. The etiopathogenesis of myopia remains unclear and needs further research. Fundus photographs can show biomarkers and lesions of the retina in a non-invasive way directly. To discover some potential changes in myopic eyes, we extracted the retinal vascular features from vessel segmented results, and calculated the Spearman correlation coefficients between the retinal vascular features and the spherical refractive errors. The Kruskal-Wallis test was applied to explore the difference exists in the characteristics of retinal vessels among the mild, moderate and high myopia groups. The statistical analysis results indicated that the higher the degrees of myopia, the smaller the retinal vessels. This study found vascular changes in myopic eyes through fundus images, which could help to explain the mechanism of myopia and the damage caused by myopia.

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Mapping Surgeons Hand/Finger Movements to Surgical Tool Motion during Conventional Microsurgery Using Machine Learning

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Journal of Medical robotics Research 2021年第3-4期6卷

作者： Fattahi Sani, Mohammad Ascione, Raimondo Dogramadzi, Sanja Bristol Robotics Laboratory University of the West of England Bristol United Kingdom Bristol Heart Institute and Translational Biomedical Research Centre Faculty of Health Science University of Bristol Bristol United Kingdom Department of Automatic Control and Systems Engineering University of Sheffield Sheffiled United Kingdom

Purpose: Recent developments in robotics and artificial intelligence (AI) have led to significant advances in healthcare technologies enhancing robot-Assisted minimally invasive surgery (RAMIS) in some surgical specialties. However, current human-robot interfaces lack intuitive teleoperation and cannot mimic surgeon's hand/finger sensing required for fine motion micro-surgeries. These limitations make teleoperated robotic surgery not less suitable for, e.g. cardiac surgery and it can be difficult to learn for established surgeons. We report a pilot study showing an intuitive way of recording and mapping surgeon's gross hand motion and the fine synergic motion during cardiac micro-surgery as a way to enhance future intuitive teleoperation. Methods: We set to develop a prototype system able to train a Deep Neural Network (DNN) by mapping wrist, hand and surgical tool real-Time data acquisition (RTDA) inputs during mock-up heart micro-surgery procedures. The trained network was used to estimate the tools poses from refined hand joint angles. Outputs of the network were surgical tool orientation and jaw angle acquired by an optical motion capture system. Results: Based on surgeon's feedback during mock micro-surgery, the developed wearable system with light-weight sensors for motion tracking did not interfere with the surgery and instrument handling. The wearable motion tracking system used 12 finger/thumb/wrist joint angle sensors to generate meaningful datasets representing inputs of the DNN network with new hand joint angles added as necessary based on comparing the estimated tool poses against measured tool pose. The DNN architecture was optimized for the highest estimation accuracy and the ability to determine the tool pose with the least mean squared error. This novel approach showed that the surgical instrument's pose, an essential requirement for teleoperation, can be accurately estimated from recorded surgeon's hand/finger movements with a mean squared error (M

关键词： feature extraction hand tracking machine learning minimally invasive surgery real-Time low-cost hand tracking Robot-Assisted surgery

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HITTSFL: Design of a Cost-Effective HIS-Insensitive TNU-Tolerant and SET-Filterable Latch for Safety-Critical Applications

HITTSFL: Design of a Cost-Effective HIS-Insensitive TNU-Tole...

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Design Automation Conference

作者： Aibin Yan Xiangfeng Feng Xiaohu Zhao Hang Zhou Jie Cui Zuobin Ying Patrick Girard Xiaoqing Wen Anhui Engineering Laboratory of IoT Security Technologies / School of Computer Science and Technology Anhui University Hefei China Laboratory of Informatics Robotics and Microelectronics of Montpellier University of Montpellier / CNRS Montpellier France Graduate School of Computer Science and Systems Engineering Kyushu Institute of Technology Fukuoka Japan

ISBN: (数字)9781728110851

ISBN: (纸本)9781728158020

This paper proposes a cost-effective, high-impedance-state (HIS)-insensitive, triple-node-upset (TNU)-tolerant and single-event-transient (SET)-filterable latch, namely HITTSFL, to ensure high reliability with low-cost. The latch mainly comprises an output-level SET-filterable Schmitt-trigger and three inverters that make the values stored in three parallel single-node-upset (SNU)-recoverable dual-interlocked-storage-cells (DICEs) converge at a common node to tolerate any possible TNU. The latch does not use C-elements to be insensitive to the HIS. Simulation results demonstrate the TNU-tolerability and SET-filterability of the proposed HITTSFL latch. Moreover, due to the use of clock-gating technologies and fewer transistors, the proposed latch can reduce delay, power, and area by 76.65%, 6.16%, and 28.55%, respectively, compared with the state-of-the-art TNU hardened latch (TNUHL) that cannot filter SETs.

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Robust alignment of multi-exposed images with saturated regions

arXiv

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arXiv 2020年

作者： Jiang, Jun Li, Zhengguo Xie, Shoulie Wu, Shiqian Zeng, Liangcai Key Laboratory of Metallurgical Equipment and Control Technology Wuhan University of Science and Technology Wuhan China Institute for Infocomm Research Singapore Institute of Robotics and Intelligent Systems School of Information Science and Engineering Wuhan University of Science and Technology Wuhan China

It is challenging to align multi-exposed images due to large illumination variations, especially in presence of saturated regions. In this paper, a novel image alignment algorithm is proposed to cope with the multi-exposed images with saturated regions. Specifically, the multi-exposed images are first normalized by using intensity mapping functions (IMFs) in consideration of saturated pixels. Then, the normalized images are coded by using the local binary pattern (LBP). Finally, the coded images are aligned by formulating an optimization problem by using a differentiable Hamming distance. Experimental results show that the proposed algorithm outperforms state-of-the-art alignment methods for multi-exposed images in terms of alignment accuracy and robustness to exposure *** Codes CS © 2020, CC0.

关键词： Hamming distance

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Measurement-Induced Boolean Dynamics from Open Quantum Networks ⁎

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IFAC-PapersOnLine 2020年第2期53卷 275-280页

作者： Hongsheng Qi Biqiang Mu Ian R. Petersen Guodong Shi Key Laboratory of Systems and Control Institute of Systems Science Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing 100190 China School of Mathematical Sciences University of Chinese Academy of Sciences Beijing 100049 China Research School of Electrical Energy and Materials Engineering The Australian National University Canberra 0200 Australia Australian Center for Field Robotics School of Aerospace Mechanical and Mechatronic Engineering The University of Sydney NSW 2008 Australia

In this paper, we study the induced probabilistic Boolean dynamics for dynamical quantum networks subject to sequential quantum measurements. In this part of the paper, we focus on closed networks of quits whose states evolutions are described by a continuous Lindblad master equation. When measurements are performed sequentially along such continuous dynamics, the quantum network states undergo random jumps and the corresponding measurement outcomes can be described by a probabilistic Boolean network. First of all, we show that the state transition of the induced Boolean networks can be explicitly represented through realification of the master equation. Next, when the open quantum dynamics is relaxing in the sense that it possesses a unique equilibrium as a global attractor, structural properties including absorbing states, reducibility, and periodicity for the induced Boolean network are direct consequences of the relaxing property. Finally, we show that for quantum consensus networks as a type of non-relaxing open quantum network dynamics, the communication classes of the measurement-induced Boolean networks are encoded in the quantum Laplacian of the underlying interaction graph.

关键词： quantum networks open quantum systems quantum measurements Boolean networks

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Determination of the Correlation between Process Parameters and Kerf Characteristics in Abrasive Waterjet Milling of High Strength 7075-T6 Aluminum Alloy

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Procedia Manufacturing 2020年 51卷 812-817页

作者： Panagiotis Karmiris-Obratański Rafał Kudelski Nikolaos E. Karkalos Angelos P. Markopoulos AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Department of Manufacturing Systems al. Mickiewicza 30 30-059 Cracow Poland National Technical University of Athens School of Mechanical Engineering Laboratory of Manufacturing Technology Heroon Polytechniou 9 15780 Athens Greece

Non-conventional manufacturing processes are often advantageous compared to conventional ones, as they can achieve high productivity in demanding cases. Abrasive waterjet (AWJ) machining is one of the most established non-conventional machining processes, which can achieve high material removal rates without leading to undesired workpiece material alterations and can render a large variety of shapes. In the present work, experiments regarding the AWJ milling of high strength 7075-T6 aluminum alloy are conducted with a view to correlate the process parameters, such as waterjet pressure, jet standoff distance, jet traverse speed and abrasive mass flow rate with depth of penetration, width and taper angle of the produced kerf. After the correlation between input and output parameters of the process is established, statistical analysis enables the determination of the influence of input parameters on output quantities and finally, appropriate process conditions for the regulation of depth of cut and kerf characteristics are derived.

关键词： Abrasive waterjet milling aluminum 7075-T6 depth of penetration kerf width kerf taper angle

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Surface Topography of Ti 6Al 4V ELI after High Power EDM

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Procedia Manufacturing 2020年 47卷 788-794页

作者： Panagiotis Karmiris-Obratański Krzysztof Zagórski Jacek Cieślik Emmanouil Lazaros Papazoglou Angelos Markopoulos AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Department of Manufacturing Systems al. Mickiewicza 30 30-059 Cracow Poland National Technical University of Athens School of Mechanical Engineering Laboratory of Manufacturing Technology Heroon Polytechniou 9 15780 Athens Greece

Titanium alloys find extensive applications in the modern aerospace and offshore industry, as well in the field of biomedical implants. Nevertheless, the titanium inherent thermo-physical properties (low thermal conductivity and high chemical reactivity) make it a hard to machine material. For the efficient machining of titanium alloys, non-conventional machining processes are employed. Electrical Discharge Machining (EDM) is a non-contact machining process, in which the material removal occurs through repetitive electrical sparks. The capabilities of machining any electrically conductive material, regardless of its thermo-physical and other properties, render it as one of the most widely used non-conventional machining processes. As titanium alloys are used in high-quality parts and products, the integrity and texture of the machined surface constitute an essential parameter. The current study presents an experimental investigation of the surface texture and integrity of Ti6Al4V ELI after its machining with high power EDM. Namely, a full-scale experiment has been carried out, for pulse currents up to 65A and pulse-on time up to 200 μs, using graphite electrode. The surface texture (ST) and integrity has been estimated in terms of arithmetic mean height (Sa), the maximum height of scale-limited surface (Sz), maximum peak height (Sp), maximum pit height (Sv) and skewness of the scale-limited surface (Ssk). Additionally, through microscopy observation, the surface topography and integrity have been estimated, distinguishing and characterizing the surface cracks and micro-cracks. For all the above mentioned ST parameters, an Analysis of Variance (ANOVA) test has been performed.

关键词： Electrical Discharge Machining Titanium alloy Surface topography high power

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Micro Robotic Manipulation System for the Force Stimulation of Muscle Fiber-like Cell Structure

Micro Robotic Manipulation System for the Force Stimulation ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Xie Chen Qing Shi Shingo Shimoda Tao Sun Huaping Wang Qiang Huang Toshio Fukuda Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology Beijing China Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology Beijing China Intelligent Behavior Control Collaboration Unit RIKEN Center of Brain Science Nagoya Japan Key Laboratory of Biomimetic Robots and Systems Beijing Institute of Technology Ministry of Education Beijing China Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology Beijing China

Many previous works have facilitated muscle cell (C2C12) alignment to form fiber-like cell structures. However, there still remains a challenge how to induce C2C12 myoblasts in the cell structures to differentiate into matured myocytes to form a functional muscle tissue, while external mechanical stimulation has been proved to have good effects on proliferation and differentiation of myoblasts. In this paper, we proposed a vision-based micro robotic manipulation system to achieve automatic mechanical stimulation for one single muscle fiber-like cell structures (MFCS). A tube, which is attached to a three degree-of-freedom (DOF) manipulator, and a probe are employed to apply the uniaxial mechanical stimulation to train the MFCS. To measure the force applied on MFCS, a vision-based measuring and correction method is utilized, which decrease the error by 74%. Moreover, based on the viscoelastic property of the MFCS, a feedback control algorithm has been applied to compensate for the force loss to realize the force stimulation. And the final value of force remains 699 ± 1μN after 110s experiment.

关键词： Force measurement Force Measurement uncertainty Muscles Manipulators Feedback control Electron tubes

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