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第35届中国控制会议

作者： MENG Xiangrui WANG Shuo CAO Zhiqiang ZHANG Leijie State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences University of Chinese Academy of Sciences

ISBN: (纸本)9781509009107

As legged robots are suitable to be used in unstructured environments,it becomes a popular field of research *** this paper,the development of quadruped robots is *** several typical and recent robot systems are addressed in details,such as HyQ series,StarlETH,ANYmal,MIT Cheetah and BigDog,***,some key techniques of environment perception for quadruped robots,including sensors,feature extraction and identification,mapping and SLAM,are also ***,future researches of quadruped robots in environment perception are given.

关键词： Quadruped robot environment perception sensors feature extraction mapping and SLAM

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Long short-term memory based on a reward/punishment strategy for recurrent neural networks

Long short-term memory based on a reward/punishment strategy...

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Youth Academic Annual Conference of Chinese Association of Automation (YAC)

作者： Jiangjiang Liu Biao Luo Pengfei Yan Ding Wang Derong Liu School of Automation and Electrical Engineering University of Science and Technology Beijing Beijing China The State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781538629024

Recurrent neural networks and their variants have received huge success in many difficult tasks, such as handwriting recognition and generation, natural language processing, acoustic modeling of speech, and so on. As a kind of recurrent neural network architectures, the long short-term memory (LSTM) has attracted great attention. Most research works focus on its structures, training algorithms and topology structures. As an improvement to the structure of LSTM, a reward/punishment strategy is developed for LSTM in this paper, which we call RP-LSTM. In RP-LSTM, a reward/punishment (RP) strategy is proposed to evaluate its memory cells' memorization such that it improves its efficiency by forgetting more reasonably. Analysis of properties of the developed RP-LSTM is conducted from the neuroscience aspect. To test the performance of the developed RP-LSTM, comparative simulation studies are conducted on three structures, i.e., LSTM, LSTM with forget gate (LSTM-FG) and RP-LSTM. Simulation results on sentiment analysis model and sequence to sequence model demonstrate that RP-LSTM achieves better performance.

关键词： Logic gates Mathematical model Training Memory management Recurrent neural networks Speech Neuroscience

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ϵ-SVR-based estimation for the motion trajectory of human lower limb using acceleration signals

ϵ-SVR-based estimation for the motion trajectory of human l...

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2016 IEEE International Conference on Information and Automation, IEEE ICIA 2016

作者： Dongxu, Zhang Zengguang, Hou Long, Cheng Guibin, Bian Xiaoliang, Xie Liang, Peng State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781509041022

Active training mode has good clinical effect for patients who need lower limb rehabilitation, and estimation for the motion trajectory of human lower limb is one of the most important and fundamental work for active training. In this study, a novel estimation method is proposed based on ϵ-support vector regression (ϵ-SVR) using acceleration signals of lower limb. Firstly, some qualitative variation regularities between acceleration signals of lower limb superficial muscle group and angle values of hip, knee and ankle joints were obtained through the preliminary analysis of the data, which were acquired in the experiments designed and performed in different motion trajectories that were cycling, walk and pedaling. Then, according to the regularities, the input vectors and the output vectors of ϵ-SVR were determined for the estimation model. After that, experimental data were divided into training data and test data. The estimation model was built based on ϵ-SVR using training data. At last, the estimation model was verified through the test data. The results were that the absolute mean error between predicted values and measured values were respectively 6.26, 4.86 and 5.75 for three kinds of motion trajectories that were cycling, walk and pedaling. The effectiveness and applicability of the estimation model for active training of rehabilitation were confirmed. © 2016 IEEE.

关键词： Trajectories

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Training and testing object detectors with virtual images

arXiv

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arXiv 2017年

作者： Tian, Yonglin Li, Xuan Wang, Kunfeng Wang, Fei-Yue Department of Automation University of Science and Technology of China Hefei230027 China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China School of Automation Beijing Institute of Technology Beijing100081 China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China Qingdao Academy of Intelligent Industries Qingdao266000 China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China Research Center for Computational Experiments and Parallel Systems Technology National University of Defense Technology Changsha410073 China

In the area of computer vision, deep learning has produced a variety of state-of-the-art models that rely on massive labeled data. However, collecting and annotating images from the real world has a great demand for labor and money investments and is usually too passive to build datasets with specific characteristics, such as small area of objects and high occlusion level. Under the framework of Parallel Vision, this paper presents a purposeful way to design artificial scenes and automatically generate virtual images with precise annotations. A virtual dataset named ParallelEye is built, which can be used for several computer vision tasks. Then, by training the DPM (Deformable Parts Model) and Faster R-CNN detectors, we prove that the performance of models can be significantly improved by combining ParallelEye with publicly available real-world datasets during the training phase. In addition, we investigate the potential of testing the trained models from a specific aspect using intentionally designed virtual datasets, in order to discover the flaws of trained models. From the experimental results, we conclude that our virtual dataset is viable to train and test the object detectors. Copyright © 2017, The Authors. All rights reserved.

关键词： Object detection

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Report on crowd sourcing and social transportation workshop in itsc 2015: Transportation 5.0 discussed in las palmas report

Report on crowd sourcing and social transportation workshop ...

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作者： Cao, Jianping Wang, Xiao China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences China

Reports on the events, activities, and papers presented at the annual IEEE International Conference of Intelligent Transportation systems (ITSC 2015) that was held on September, 15th, 2015, in Las Palmas, Spain. ©... 详细信息

关键词： Intelligent systems

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A hybrid heading control scheme for a biomimetic underwater vehicle 26

A hybrid heading control scheme for a biomimetic underwater ...

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26th Annual International Ocean and Polar Engineering Conference, ISOPE 2016

作者： Wang, Rui Wang, Shuo Wang, Yu State Key Laboratory of Management Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781880653883

This paper addresses the novel design of a biomimetic underwater vehicle (BUV) propelled by undulatory fins and its heading control problems. Inspired by the cuttlefish, which can perform flexible motions by undulatory propulsion in narrow spaces, our BUV with two undulatory fins is designed. The specific implementation of mechanical structure is elaborated. Moreover, a hybrid heading control which combines active disturbance rejection control (ADRC) with fuzzy strategy is proposed to achieve accurate heading control for this BUV. In the end, experimental results demonstrate the feasibility and effectiveness of the mechanism and control system. © Copyright 2016 by the International Society of Offshore and Polar Engineers (ISOPE).

关键词： Fins (heat exchange)

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Motion Detection Based on Improved Sobel and ViBe Algorithm 35

Motion Detection Based on Improved Sobel and ViBe Algorithm

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第35届中国控制会议

作者： ZHANG Yujia ZHAO Xiaoguang TAN Min State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences University of Chinese Academy of Sciences School of Computer and Control Engineering

ISBN: (纸本)9781509009107

Motion detection plays a crucial role in most video based applications.A particular background subtraction technique called ViBe(Visual Background Extractor) is commonly used to obtain foreground objects from the background due to its high detection rate and low computational ***,the performance is not very ***,this paper presents an improved ViBe algorithm to increase the accuracy and robustness of motion ***,a foreground feature map is created by optimizing the result of ViBe *** the edge detection of the original video frames is achieved after pre-sharpening using improved Sobel operator and Otsu ***,by feature fusion(of the foreground and background feature maps) and contour filling,the motion detection results can be *** experiments demonstrate the improvements of the proposed modifications at a limited additional cost.

关键词： Motion detection Otsu algorithm Sobel operator Visual Background Extractor(ViBe)

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Theranostics: Boosting Postsurgical Outcomes of Orthotopic Hepatocellular Carcinoma via an EpCAM-Targeting Theranostic Nanoparticle (Part. Part. Syst. Charact. 8/2019)

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Particle & Particle systems Characterization 2019年第8期36卷

作者： Min Hu Kun Wang Wenting Shang Ziyu Han Hongmei Jiang Chihua Fang Jie Tian Department of Hepatobiliary Surgery Zhujiang Hospital Southern Medical University Guangzhou 510280 China CAS Key Laboratory of Molecular Imaging The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China Department of Hepatobiliary Surgery The First Affiliated Hospital of Jinan University Guangzhou 510630 China Institute of Automation University of Chinese Academy of Sciences Beijing 100080 China Guangdong Provincial Clinical and Engineering Technology Research Center of Digital Medicine Guangzhou 510280 China

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Towards Robot-Assisted Post-Stroke Hand Rehabilitation: Fugl-Meyer Gesture Recognition Using sEMG

Towards Robot-Assisted Post-Stroke Hand Rehabilitation: Fugl...

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IEEE International Conference on Cyber Technology in Automation, control, and Intelligent systems

作者： Miao Chen Long Cheng Fubiao Huang Yan Yan Zeng-Guang Hou University of Chinese Academy of Sciences Faculty of Rehabilitation Capital Medical University Beijing China State Key laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China

Robot-assisted rehabilitation training requires to identify the patient's motion intention effectively. These motions are usually originated from rehabilitation actions included in the Fugl-Meyer assessment scale. Surface electromyography (sEMG) is the most commonly used physiological signal for identifying the motion intention of patients. The use of sEMG to classify different gesture patterns is one key technology for the human-machine interaction. Therefore, this paper investigates a Fugl-Meyer hand gesture recognition method towards robot-assisted hand rehabilitation. The experiment data set including eight hand gesture information is collected from six volunteers. Six single features (Difference Absolute Mean Value (DAMV), Integral of Absolute Value (IAV), Variance (VAR), Autoregressive Coefficients (AR), maximum value of Discrete Wave Transformation (DWTmax) and standard deviation of Discrete Wavelet Transform (DWTstd)) are used to recognize the gesture. The experimental results demonstrate that: (1) a segment length of 250 ms contains enough information to estimate the hand gestures and leaves sufficient time to do feature extraction and gesture recognition;(2) by comparing the performance of different single features, DWTstd wins the highest accuracy (i.e., 96%);(3) the combination of single features into a multi-feature can effectively improve the recognition accuracy, where the best performance is achieved by multi-feature combining DAMV, IAV and AR under BP neural network classifier (the average accuracy is 97.71%);(4) as to different classifiers, BP neural network has a better performance than Support Vector Machine (SVM) and Extreme Learning Machine (ELM).

关键词： Feature extraction Gesture recognition Discrete wavelet transforms Muscles Robots Thumb Training

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A real-time depth map refinement and disparity ranges expansion system (DRDE) for multiview rendering 16

A real-time depth map refinement and disparity ranges expans...

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33rd Computer Graphics International Conference, CGI 2016

作者： Pei, Renjing Geng, Zheng Zhang, Zhaoxing State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China

ISBN: (纸本)9781450341233

Glabes-free stereoscopic three dimensional (3D) displays is becoming a competitive alternative to traditional 2D dis-play presentations. Depth sensation, however, is still a ma-jor problem for most existing 3D displays. Multiview dis-plays usually exhibit a fairly shallow disparity of field, and often fail to present suficient disparity ranges for realistic natural scene. Besides, multiview rendering by depth im-age based rendering (DIBR) requires high-quality depth es-timates. However, the exiting depth refinement methods are computational extensive, real time rendering for display is difficult to achieve. In this paper, we present a practical depth-map refinement and disparity ranges expansion sys-tem (DRDE) technique designed specifically for multiview rendering in 3D display. We use a reference image guid-ing method to quickly refine the initial depth map. After our proposed depth refinement, the outlines of the objects in the depth are enhanced while the areas with leb texture are simultaneously smoothed, resulting in high quality mul-tiview rendering images. For a greater disparity range, we modify the traditional parallactic transformation, which is generated by a parallel geometrical model, to a rotation one, during the virtual viewpoint image rendering proceb. We carried out extensive visualization experiments, and the re-sults showed that our algorithm significantly improved the depth sensation in final 3D display. Our multiview rendering system with 1080 × 1920 image resolution for auto stereo-scopic multiview display is able to achieve a rendering speed as fast as 62.5 frames per second (fps) for 9 viewpoints. © 2016 ACM.

关键词： Three dimensional displays

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