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3rd International Conference on Mechanical, Electronic and Information Technology engineering, ICMITE 2017

作者： Zhang, Yinyan Li, Shuai Guo, Hongliang Department of Computing Hong Kong Polytechnic University Hong Kong Hong Kong Center for Robotics School of Automation Engineering University of Electronic Science and Technology of China Chengdu China

In this paper, we extend a bio-inspired algorithm called the porcellio scaber algorithm (PSA) to solve constrained optimization problems, including a constrained mixed discrete-continuous nonlinear optimization problem. Our extensive experiment results based on benchmark optimization problems show that the PSA has a better performance than many existing methods or algorithms. The results indicate that the PSA is a promising algorithm for constrained optimization. © The Authors, published by EDP Sciences, 2017.

关键词： Constrained optimization

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Vibration Control Based on Reinforcement Learning for a Single-link Flexible Robotic Manipulator

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IFAC-PapersOnLine 2017年第1期50卷 3476-3481页

作者： Ouyang Y. He W. Li X. Liu J.-K. Li G. School of Automation Engineering and Center for Robotics University of Electronic Science and Technology of China Chengdu 611731 China School of Automation and Electrical Engineering University of Science and Technology Beijing Beijing 100083 China Delft Center for Systems and Control Delft University of Technology Delft CD 2628 Netherlands School of Automation Science and Electrical Engineering Beihang University Beijing 100191 China School of Engineering and Materials Science Queen Mary University of London Mile End Road London E1 4NS United Kingdom

In this paper, we focus on the reinforcement learning control of a single-link flexible manipulator and attempt to suppress the vibration due to its flexibility and lightweight structure. The assumed mode method (AMM) and the Lagrange's equation are adopted in modeling to enhance the satisfaction of precision. Two radial basis function neural networks (RBFNNs) are employed in the designed control algorithm, actor neural network (NN) for generating a policy and critic NN for evaluating the cost-function. Rigorous stability of the system has been proven via Lyapunov's direct method. According to the performance of simulation for the proposed control scheme, the superiority and feasibility of the proposed controller is verified. © 2017

关键词： Assumed Mode Method Flexible Robotic Manipulator Neural Networks Reinforcement Learning Vibration Control

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Boundary Control Design for a Flexible Manipulator with Input Backlash

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IFAC-PapersOnLine 2017年第1期50卷 6049-6053页

作者： Zou M. He W. He X. Zhao M. Yang C. Li G. Center for Robotics and School of Automation Engineering University of Electronic Science and Technology of China Chengdu 611731 China School of Automation and Electrical Engineering University of Science and Technology Beijing Beijing 100083 China School of Engineering and Materials Science Queen Mary University of London Mile End Road London E1 4Ns United Kingdom

Boundary control design for a class of flexible manipulator with input backlash is our uppermost work of this paper. The original infinite dimensional model of the manipulator is represented by a partial differential equation (PDE) and a set of ordinary differential equations (ODEs). Our control aims are: 1) moving the manipulator to the certain desired angle; 2) suppressing the vibration at the neighbourhood of the desired angle; 3) handling the backlash nonlinearity existing in the practical system. The stability of the system and the effectiveness of the designed controller are analysed by Lyapunov's direct method and numerical simulation. © 2017

关键词： Boundary control Distributed parameter system Flexible manipulator Input backlash

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A robust and accurate SLAM algorithm for omni-directional mobile robots based on a novel 2.5D lidar device

A robust and accurate SLAM algorithm for omni-directional mo...

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IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Yu Yang Guilin Yang Yingzhong Tian Tianjiang Zheng Long Li Zhenhua Wang CAS Ningbo Institute of Materials Technology and Engineering Ningbo China School of Mechatronic Engineering and Automation ShangHai University Shanghai China Jiangsu Provincial Key Laboratory of Advanced Robotics & Collaborative Innovation Center of Suzhou Nano Science and Technology Soochow University Suzhou China

Lidars are commonly employed in mobile robot SLAM applications due to their high stability and high measuring accuracy. For a conventional 2D Lidar, only the planar points can be detected in once scan, which limits the robustness of SLAM algorithms. Omni-directional mobile robots with powered caster wheels have 3-DOF planar motion capabilities so that they are widely deployed in narrowly constrained environment. This paper presents a novel design of a 2.5D Lidar device, in which a 2D Lidar is mounted onto a 1-DOF liner stage that moves along the vertical direction. As a result, the 2.5D Lidar device can also perform vertical scanning within the motion range of the liner stage. Consequently, a robust SLAM algorithm based on the 2.5D Lidar device is proposed for the omni-directional mobile robot, where a frame-to-frame scan matching using ICP algorithm is employed to improve the robustness and accuracy of the scan matching. As the 2.5D points cloud is actually located in a belt-shaped space, the map can be finally constructed in a 2D mode to reduce the computational complexity. In addition, when an incorrect matching occurs, the odometry information of the mobile robot will be employed to further improve the robustness and accuracy of the scan matching algorithm. The effectiveness of the proposed approach is validated through computer simulations.

关键词： Laser radar Mobile robots Two dimensional displays Three-dimensional displays Simultaneous localization and mapping Wheels

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Author Correction: Dynamic response of the nonlocal strain-stress gradient in laminated polymer composites microtubes

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Scientific reports 2020年第1期10卷 19083页

作者： Mohammad Amin Oyarhossein As'ad Alizadeh Mostafa Habibi Mahmoud Makkiabadi Mohsen Daman Hamed Safarpour Dong Won Jung Department of Civil Engineering University of Aveiro Aveiro Portugal. Department of Mechanical Engineering Urmia University of Technology Urmia Iran. Department of Mechanical Engineering College of Engineering University of Zakho Zakho Iraq. Center of Excellence in Design Robotics and Automation School of Mechanical Engineering Sharif University of Technology Tehran Iran. moctafa_habibi@***. Department of Mechanical Engineering Amirkabir University of Technology Tehran Iran. Department of Mechanics Imam Khomeini International University Qazvin Iran. School of Mechanical Engineering Jeju National University Jeju Jeju-do 690-756 South Korea. jdwcheju@jejunu.ac.kr.

An amendment to this paper has been published and can be accessed via a link at the top of the paper.

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Visual Place Recognition in Long-term and Large-scale Environment based on CNN Feature

Visual Place Recognition in Long-term and Large-scale Enviro...

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2018 IEEE Intelligent Vehicles Symposium, IV 2018

作者： Zhu, Jianliang Ai, Yunfeng Tian, Bin Cao, Dongpu Scherer, Sebastian School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100190 China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China Cloud Computing Center Chinese Academy of Sciences Dongguan523808 China Department of Mechanical and Mechatronics Engineering University of Waterloo WaterlooONN2L 3G1 Canada Robotics Institute Carnegie Mellon University PittsburghPA15213 United States

ISBN: (纸本)9781538644522

With the universal application of camera in intelligent vehicles, visual place recognition has become a major problem in intelligent vehicle localization. The traditional solution is to make visual description of place images using hand-crafted feature for matching places, but this description method is not very good for extreme variability, especially for seasonal transformation. In this paper, we propose a new method based on convolutional neural network (CNN), by putting images into the pre-trained network model to get automatically learned image descriptors, and through some operations of pooling, fusion and binarization to optimize them, then the similarity result of place recognition is presented with the Hamming distance of the place sequence. In the experimental part, we compare our method with some state-of-the-art algorithms, FABMAP, ABLE-M and SeqSLAM, to illustrate its advantages. The experimental results show that our method based on CNN achieves better performance than other methods on the representative public datasets. © 2018 IEEE.

关键词： Hamming distance

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Plasmonic bubbles in n-alkanes

arXiv

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arXiv 2019年

作者： Zaytsev, Mikhail E. Lajoinie, Guillaume Wang, Yuliang Lohse, Detlef Zandvliet, Harold J.W. Zhang, Xuehua Physics of Fluids Max Planck Center Twente for Complex Fluid Dynamics and J.M. Burgers Centre for Fluid Mechanics MESA+ Institute for Nanotechnology University of Twente P.O. Box 217 Enschede7500AE Netherlands Physics of Interfaces and Nanomaterials MESA+ Institute for Nanotechnology University of Twente Enschede7500AE Netherlands TechMed Centre University of Twente Enschede Netherlands Robotics Institute School of Mechanical Engineering and Automation Beihang University Beijing100191 China Max Planck Institute for Dynamics and Self-Organization Am Fassberg 17 Göttingen37077 Germany Department of Chemical and Materials Engineering University of Alberta 12-211 Donadeo Innovation Centre for Engineering EdmontonAB Canada

In this paper we study the formation of microbubbles upon the irradiation of an array of plasmonic Au nanoparticles with a laser in n-alkanes (CnH2n+2, with n = 5-10). Two different phases in the evolution of the bubbles can be distinguished. In the first phase, which occurs after a delay time τd of about 100 µs, an explosive microbubble, reaching a diameter in the range from 10 µm to 100 µm, is formed. The exact size of this explosive microbubble barely depends on the carbon chain length of the alkane, but only on the laser power Pl. With increasing laser power, the delay time prior to bubble nucleation as well as the size of the microbubble both decrease. In the second phase, which sets in right after the collapse of the explosive microbubble, a new bubble forms and starts growing due to the vaporization of the surrounding liquid, which is highly gas rich. The final bubble size in this second phase strongly depends on the alkane chain length, namely it increases with decreasing number of carbon atoms. Our results have important implications for using plasmonic heating to control chemical reactions in organic solvents. Copyright © 2019, The Authors. All rights reserved.

关键词： Paraffins

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Common Limitations of Image Processing Metrics: A Picture Story

arXiv

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arXiv 2021年

作者： Reinke, Annika Tizabi, Minu D. Sudre, Carole H. Eisenmann, Matthias Rädsch, Tim Baumgartner, Michael Acion, Laura Antonelli, Michela Arbel, Tal Bakas, Spyridon Bankhead, Peter Benis, Arriel Blaschko, Matthew Buettner, Florian Cardoso, M. Jorge Chen, Jianxu Cheplygina, Veronika Christodoulou, Evangelia Cimini, Beth A. Collins, Gary S. Engelhardt, Sandy Farahani, Keyvan Ferrer, Luciana Galdran, Adrian van Ginneken, Bram Glocker, Ben Godau, Patrick Haase, Robert Hamprecht, Fred Hashimoto, Daniel A. Heckmann-Nötzel, Doreen Hirsch, Peter Hoffman, Michael M. Huisman, Merel Isensee, Fabian Jannin, Pierre Kahn, Charles E. Kainmueller, Dagmar Kainz, Bernhard Karargyris, Alexandros Karthikesalingam, Alan Kavur, A. Emre Kenngott, Hannes Kleesiek, Jens Kleppe, Andreas Koehler, Sven Kofler, Florian Kopp-Schneider, Annette Kooi, Thijs Kozubek, Michal Kreshuk, Anna Kurc, Tahsin Landman, Bennett A. Litjens, Geert Madani, Amin Maier-Hein, Klaus Martel, Anne L. Mattson, Peter Meijering, Erik Menze, Bjoern Moher, David Moons, Karel G.M. Müller, Henning Nichyporuk, Brennan Nickel, Felix Noyan, M. Alican Petersen, Jens Polat, Gorkem Rafelski, Susanne M. Rajpoot, Nasir Reyes, Mauricio Rieke, Nicola Riegler, Michael A. Rivaz, Hassan Saez-Rodriguez, Julio Sánchez, Clara I. Schroeter, Julien Saha, Anindo Selver, M. Alper Sharan, Lalith Shetty, Shravya Smeden, Maarten V.A.N. Stieltjes, Bram Summers, Ronald M. Taha, Abdel A. Tiulpin, Aleksei Tsaftaris, Sotirios A. Calster, Ben V.A.N. Varoquaux, Gaël Wiesenfarth, Manuel Yaniv, Ziv R. Jäger, Paul Maier-Hein, Lena Division of Intelligent Medical Systems and HI Helmholtz Imaging Heidelberg Germany Faculty of Mathematics and Computer Science Heidelberg University Heidelberg Germany Division of Intelligent Medical Systems Heidelberg Germany NCT Heidelberg DKFZ University Medical Center Heidelberg Germany MRC Unit for Lifelong Health and Ageing UCL Centre for Medical Image Computing Department of Computer Science University College London London United Kingdom School of Biomedical Engineering and Imaging Science King’s College London London United Kingdom Division of Medical Image Computing Heidelberg Germany Instituto de Cálculo CONICET – Universidad de Buenos Aires Buenos Aires Argentina Centre for Medical Image Computing University College London London United Kingdom McGill University Montréal Canada Division of Computational Pathology Dept of Pathology & Laboratory Medicine Indiana University School of Medicine IU Health Information and Translational Sciences Building Indianapolis United States University of Pennsylvania Richards Medical Research Laboratories FL7 PhiladelphiaPA United States Institute of Genetics and Cancer University of Edinburgh Edinburgh United Kingdom Department of Digital Medical Technologies Holon Institute of Technology Holon Israel European Federation for Medical Informatics Le Mont-sur-Lausanne Switzerland Center for Processing Speech and Images Department of Electrical Engineering KU Leuven Kasteelpark Arenberg 10 - box 2441 Leuven3001 Belgium Frankfurt/Mainz DKFZ UCT Frankfurt-Marburg Germany Heidelberg Germany Goethe University Frankfurt Department of Medicine Germany Goethe University Frankfurt Department of Informatics Germany Frankfurt Cancer Insititute Germany Leibniz-Institut für Analytische Wissenschaften – ISAS – e.V. Dortmund Germany Department of Computer Science IT University of Copenhagen Copenhagen Denmark Imaging Platform Broad Institute of MIT and Harvard CambridgeMA United States Centre for St

While the importance of automatic image analysis is continuously increasing, recent meta-research revealed major flaws with respect to algorithm validation. Performance metrics are particularly key for meaningful, objective, and transparent performance assessment and validation of the used automatic algorithms, but relatively little attention has been given to the practical pitfalls when using specific metrics for a given image analysis task. These are typically related to (1) the disregard of inherent metric properties, such as the behaviour in the presence of class imbalance or small target structures, (2) the disregard of inherent data set properties, such as the non-independence of the test cases, and (3) the disregard of the actual biomedical domain interest that the metrics should reflect. This living dynamically document has the purpose to illustrate important limitations of performance metrics commonly applied in the field of image analysis. In this context, it focuses on biomedical image analysis problems that can be phrased as image-level classification, semantic segmentation, instance segmentation, or object detection task. The current version is based on a Delphi process on metrics conducted by an international consortium of image analysis experts from more than 60 institutions worldwide. © 2021, CC BY.

关键词： Medical imaging

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Early Non-Small Cell Lung Cancer Heterogeneity and Recurrence Assessed by Tissue Next-Generation Sequencing Genotyping and Circulating Tumor Cell EZH2 Characterization

Journal of Liquid Biopsy, The

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Journal of Liquid Biopsy, The 2023年 1卷 100096-100096页

作者： Diaz, A. Garcia Moyano, M. de Miguel Perez, D. Bayarri-Lara, C. Exposito-Hernandez, J. Ortuño, F. Malapelle, U. Garcia-Moreno, A. Landeira, D. Lorente, J. Rolfo, C. Garrido-Navas, M. Serrano, M. GENYO Centre for Genomics and Oncological Research: Pfizer University of Granada Andalusian Regional Government Liquid Biopsy and Cancer Interception Group Granada Spain Department of Thoracic Surgery Virgen de las Nieves University Hospital Av de las Fuerzas Armadas Granada Spain Center for Thoracic Oncology Tisch Cancer Institute Mount Sinai Medical System & Icahn School of Medicine Mount Sinai New York USA IBS Granada Instituto de Investigacion Biosanitaria de Granada Granada Spain Computational Medicine Platform Andalusian Public Foundation Progress and Health-FPS Sevilla Spain Department of Computer Engineering Automation and Robotics University of Granada Granada Spain Department of Public Health University of Naples Federico II Naples Italy Bioinformatics Unit GENYO. Centre for Genomics and Oncological Research: Pfizer / University of Granada / Andalusian Regional Government PTS Granada - Avenida de la Ilustración 114 - 18016 Granada Spain Centre for Genomics and Oncological Research (GENYO) Avenida de la Ilustración 114 Granada Spain Department of Biochemistry and Molecular Biology II Faculty of Pharmacy University of Granada Granada Spain Lab. of Genetic Identification Department of Legal Medicine & Toxicology and Physical Anthropology School of Medicine University of Granada 18016 Granada Spain Genetics Department Faculty of Sciences University of Granada 18071 Granada Spain Comprehensive Oncology Division Virgen de las Nieves University Hospital Av de las Fuerzas Armadas 2 18014 Granada Spain

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WSN Architecture Design Based on Software Defined Networks

WSN Architecture Design Based on Software Defined Networks

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The 2nd International Conference on Automatic Control and Information engineering(ICACIE 2017）

作者： Tian He Zhao Hai Shao Shi-liang Engineering Practice Center Liaoning institute of Science and Technology School of Computer Science and Engineering Northeastern University Robotics Laboratory Shenyang Institute of Automation Chinese Academy of Sciences

ISBN: (纸本)9781510849563

In order to improve the performance of wireless sensor networks and adapt the development of network technology, proposed a software defined wireless sensor network model which had hierarchy architecture and based on OpenF low protocol under the software defined network architecture. Added the information fusion layer to the model, the Sink-nodes forwarded the link information after the sensor-nodes had collected information. Fused and fragmented logically the node data information using network virtualization technology of the OpenF low protocol. Managed centrally the path forward strategy by the controller, and then improved the network information forward mechanism under the new architecture. On that basis, simulated the new architecture model and contrasted traditional wireless sensor routing protocols. The experiment results show that the new architecture can extend the life cycle of network and improve network.

关键词： wireless sensor networks software defined networks network architecture Open Flow

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