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第41届中国控制会议

作者： Feng Liu Feiyue Zhuo Shujiang Sun Zhi-Hong Guan Hua O Wang School of Automation China University of Geosciences Engineering Research Center of Ministry of education for intelligent technology of earth exploration Hubei key Laboratory of Advanced Control and Intelligent Automation for Complex Systems School of Artificial Intelligence and Automation Department of Mechanical Engineering Boston University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

This paper presents a ring synthetic gene network model described by fractional differential equations,studies the conditions of Hopf bifurcation in the model,and discusses the limit cycle oscillation phenomenon due to the existence of bifurcation,which causes the system to become unstable,and then We propose a method to control the bifurcation behavior in the system,so that the system can be stable over a large *** addition,the dynamic behavior of the fractional-order model is simulated by triggering a genetic oscillator(a single inhibitory gene) composed of a transistor composed of linear and nonlinear electronic *** circuit simulation results well verify the theoretical analysis conclusion,and the circuit simulation model can well demonstrate the biological characteristics of gene regulatory networks.

关键词： Synthetic gene networks fractional-order bifurcation control circuit simulation

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Multi-speed walking gait generation for bipedal robots based on reinforcement learning and human motion imitation

Multi-speed walking gait generation for bipedal robots based...

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第42届中国控制会议

作者： Mengya Su Yan Huang Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology Key Laboratory of Biomimetic Robots and Systems Ministry of Education

Gait generation is significant for a humanoid robot to realize flexible motion adapt to complex environments. With the wide applications of data-driven methods, gait generation approaches based on reinforcement learning have been *** this study, we proposed a multi-speed walking gait generation method based on reinforcement learning and human motion imitation. Multi-speed walking gaits were generated with imitation of human walking of only one speed. Moreover, we also analyzed multi-speed walking gait generation for a biped robot with reduced human motion data(e.g. motion data of trunk orientation and hip and knee angles without ankle angle, or motion data of trunk orientation and hip angle only) and reduced training time. This study provides a novel method for generation of multi-speed and human-like walking gaits of biped robot.

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A Multi-view Non-negative Matrix Factorization Single-cell Clustering Algorithm for Missing Data

A Multi-view Non-negative Matrix Factorization Single-cell C...

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2022 International Conference on Algorithms, Data Mining, and Information technology, ADMIT 2022

作者： Yu, Ailian Zhu, Yuan School of Automation China University of Geosciences Wuhan430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China

ISBN: (数字)9781665454728

ISBN: (纸本)9781665454728

A significant study focus on the field of bioinformatics has been on how to quickly and accurately accomplish the cell clustering task using computational approaches for single-cell RNA sequencing (scRNA-seq) data. Technical issues with scRNA-seq data include missing values, high noise levels, and a large batch impact. While the single-cell data recovery method based on data filling can enhance data quality, it will subjectively alter the distribution of data. To address the above-mentioned issues, we propose a non-negative matrix factorization clustering algorithm (scMVNMF) based on multi-view data of scRNA-seq. Under the assumption of essentially unchanging original data distribution, it can not only identify the typical low-dimensional representation patterns of multi-view data but also produce final explicable clustering findings. The results of the experiments demonstrate that the suggested algorithm has some advantages over the filling approach in terms of clustering tasks and can maintain a certain level of stability when the quality of single-cell data varies. © 2022 IEEE.

关键词： Non-negative matrix factorization

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Optical scrambler using WGM micro-bottle cavity

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Chinese Optics Letters 2023年第6期21卷 6-10页

作者：常朋发王晨蒋涛王龙生赵彤高华贾志伟郭园园王云才王安帮 Key Laboratory of Advanced Transducers&Intelligent Control Systems Ministry of Education and Shanxi ProvinceCollege of Physics&Optoelectronic EngineeringTaiyuan University of TechnologyTaiyuan 030024China Guangdong Provincial Key Laboratory of Photonics Information Technology School of Information EngineeringGuangdong University of TechnologyGuangzhou 510006China

An optical scrambler using a whispering-gallery-mode[WGM]micro-bottle cavity to scramble a complex optical signal to generate an uncorrelated output is *** experimentally demonstrated this micro-cavity scrambler by using chaotic laser light as the incident signal and studied the influence of the coupling *** achieved full scrambling with a low cross correlation of 0.028 between the output and the *** indicate that the scrambling effect originates from the interference among numerous WGMs in the bottle *** is believed that the micro-bottle cavity with an efficient scrambling function can become a promising candidate for encryption.

关键词： scrambler encryption whispering gallery mode micro-bottle cavity secure communication

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Variation of sEMG with Muscle Fatigue for Lower Limb Stroke Patient During Walking

Variation of sEMG with Muscle Fatigue for Lower Limb Stroke ...

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2024 IEEE International Conference on Robotics and Biomimetics, ROBIO 2024

作者： Shang, Wenze Huang, Ruisen Liao, Wei-Hsin Wu, Xinyu Gao, Fei Southern University of Science and Technology Shenzhen518005 China Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen518055 China The Chinese University of Hong Kong Department of Mechanical and Automation Engineering Hong Kong999077 Hong Kong

ISBN: (纸本)9781665481090

SEMG signal is widely used and explored in control strategies of powered assistive human-robot interaction systems due to its non-invasive nature and ability to estimate motion intention well. However, prolonged use of the sEMG-based systems leads to muscle fatigue, contributing to unstable sEMG signals and regarding the performance of sEMG-based control strategies. In this study, three subjects, including two healthy subjects and one stroke subject, participated in our experiment, and the time domain, frequency domain, and complex features extracted from their sEMG signals were utilized to evaluate muscle fatigue. The results indicate that sEMG from the stroke side of the stroke subject contains more non-linear and chaotic parts, and the statistical differences between different trials are more significant, indicating that stroke has a more significant impact on the stroke side of the stroke subject. This study suggests that RMS in the stroke side of stroke subjects is less than that in others, whereas FuzzyEn in the stroke side of stroke subjects is greater than that in others, indicating that stroke leads to different motion patterns and more susceptibility to muscle fatigue. © 2024 IEEE.

关键词： Human robot interaction

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Progress and Development Trend of Space intelligent Robot technology

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Space(Science & technology) 2022年第1期2022卷 286-296页

作者： Zhihong Jiang Xiaolei Cao Xiao Huang Hui Li Marco Ceccarelli School of Mechatronic Engineering Beijing Institute of TechnologyBeijing 100081China Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of TechnologyBeijing 100081China Key Laboratory of Biomimetic Robots and Systems of Chinese Ministry Beijing Institute of TechnologyBeijing 100081China Department of Industrial Engineering University of Rome Tor VergataVia del Politecnico 100133 RomaItaly

Since space intelligent robots are not restricted by physiological conditions,it is an attractive choice for the development of automation technology to use them for space exploration and *** is currently the key development direction of the major space powers over the *** paper first investigates the robotic manipulators and humanoid robot systems for space station applications and reviews theories and methods for robots to achieve large-range stable motion and intelligent dexterous ***,the intelligent robot systems for on-orbit satellite maintenance are reviewed,and the related technologies of multirobot collaboration are ***,we investigate the intelligent robot systems for on-orbit assembly of large-scale spatial structures and summarize the technologies of modular assembly and on-orbit ***,this paper reviews the technological progress and development trends of space robots,which provides a good reference for further technical research in this field.

关键词： robot Robot attractive

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Exoskeleton-Based Lower Limb Rehabilitation Robot Design and Simulation for Children with Cerebral Palsy

Exoskeleton-Based Lower Limb Rehabilitation Robot Design and...

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2024 International Convention on Rehabilitation Engineering and Assistive technology and World Rehabilitation Robot Convention, i-CREATE and WRRC 2024

作者： Cao, Wujing Zhang, Shuo Zou, Yupeng Guo, Xinqiang Li, Changyu Wang, Jingxin Kobsiriphat, Worawarit Wu, Xinyu Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen518005 China SIAT Branch Shenzhen Institute of Artificial Intelligence and Robotics for Society SIAT-CUHK Joint Laboratory of Robotics and Intelligent Systems China School of Mechanical Engineering China University of Petroleum China Jining Zhongke Intelligent Technology Co. Ltd. China Zhengzhou Central Hospital Zhengzhou University Department of Rehabilitation Medicine Zhengzhou China National Metal and Materials Technology Center Thailand

ISBN: (纸本)9798350355123

Squat gait is the most common abnormal gait in children with cerebral palsy. Gait training with lower limb rehabilitation robots can improve rehabilitation efficiency and reduce manual labor for them. A novel exoskeleton-based lower limb rehabilitation robot for children with cerebral palsy is proposed, considering the squat gait characteristics of children with cerebral palsy. The structure of the lower limb rehabilitation robot, which combines hip and knee with 4 active degrees of freedom exoskeleton and mobile walker, is designed and optimized. Static analysis of the key mechanical structure of the exoskeleton is conducted using ANSYS Workbench, and local structures are optimized to ensure the safety factor of the mechanical structure is greater than 1, guaranteeing reasonable structural strength and stiffness design. Dynamic simulation analysis based on the ADAMS model validates the reliability and dynamic walking effect of the lower limb exoskeleton rehabilitation robot, obtaining the curve relationship between joint angles and motion cycles, thus verifying the effectiveness of the mechanical system motion. © 2024 IEEE.

关键词： Exoskeleton (Robotics)

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Centimeter-Scale Submarine Robot for Monitoring Coral Reef Ecosystem

Centimeter-Scale Submarine Robot for Monitoring Coral Reef E...

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IEEE International Conference on Mechatronics and Automation

作者： Zongze Li Yi Zhang Shujing He Xiyu Zhu Tanyong Wei Chengzhi Hu Key Laboratory of Biomimetic Robotics and Intelligent Systems Southern University of Science and Technology Shenzhen China Guangdong Provincial Key Laboratory of Advanced Biomaterials Southern University of Science and Technology Shenzhen China

ISBN: (数字)9798350388077

ISBN: (纸本)9798350388084

Monitoring coral reef ecosystem is of great importance for assessing their health and promoting conservation efforts to protect these valuable and vulnerable ecosystems. Underwater robots provide a feasible approach for long-term monitoring due to their compact size for navigating through narrow passages. However, existing underwater robots face limitations due to their large size, preventing them from entering narrow coral reef caves to gather information. To address this challenge, this paper proposes a highly integrated propeller- driven centimeter-scale submarine robot with a length of 4.4 cm for monitoring coral reef ecosystem. There are two propellers on two sides of the robot, facilitating lift motion, while an additional two propellers are mounted at the tail to enable forward propulsion and turning maneuvers. This robot can realize three degrees of freedom movement, such as circular motion at specific heights or cruising in a spiral paths under the control of external infrared signals. A kinematic and dynamic model is formulated to develop the control strategy. For object monitoring by the proposed submarine robot, distance and displacement measurement algorithms are developed based on a monocular camera. These algorithms have been experimentally evaluated, demonstrating a calculation error of less than 5%.

关键词： Spirals Propellers Heuristic algorithms Ecosystems Robot vision systems Marine vegetation Propulsion

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Thermal Modelling for an Electrothermal Model of GaN Devices 12

Thermal Modelling for an Electrothermal Model of GaN Devices

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12th International Renewable Energy Congress, IREC 2021

作者： Besserour, Mohamed Akram Eloued, Sonia Hadj Slama, Jaleleddine Ben Fouquet, Francois Kadi, Moncef Université De Sousse Ecole Nationale d'Ingénieurs De Sousse LATIS- Laboratory Of Advanced Technology And Intelligent Systems Sousse4023 Tunisia Esigelec General Engineering School Department Of Electrical Engineering Rouen France

ISBN: (纸本)9781665432900

Global resource constraints and climate change have led to rethink about the use of the combustion engine in traditional transport systems. As a result, automotive manufacturers and equipment suppliers are moving towards hybrid vehicles. This change is leading electronics designers to use Gallium Nitride (GaN) technology within power modules. The use of this new technology may call into question the reliability of the system, which is directly related to the device aging. Among factors that can influence component aging is temperature. This paper describes the internal structure of a chosen device which is presented in LGA (Land Grid Array) package in order to create a thermal model through a finite element study that aims at extracting an electrothermal model describing the real component behavior within power module. © 2021 IEEE.

关键词： Finite element method

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An Error Correcting Output Code Algorithm Based on Hierarchical Clustering for Lithology Identification

An Error Correcting Output Code Algorithm Based on Hierarchi...

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Chinese Control Conference (CCC)

作者： Ao Li Xi Chen School of Rail Transit Hunan University of Technology Zhuzhou China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

Lithology identification serves as a crucial foundation for the precise exploration and safe exploitation of geological resources. However, challenges arise from the inherent imbalance and overlap present in logging data, making the accurate identification of lithology a complex task. Addressing these challenges effectively, this paper introduces a novel algorithm, the Error Correcting Output Code algorithm based on Hierarchical Clustering(HC-ECOC). The proposed algorithm initially formulates a coding matrix using distance and overlap measures between class clusters. Subsequently, it extends the length of the coding matrix by considering both the accuracy of the integrated classifier and the diversity among base classifiers. To evaluate the efficacy of the proposed method, comparisons were conducted with alternative algorithms using UCI datasets and an authentic lithology dataset. The results unequivocally demonstrate the superior performance of our algorithm.

关键词： Codes Accuracy Geology Clustering algorithms Binary trees Encoding Classification algorithms

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