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43rd Chinese Control Conference, CCC 2024

作者： Qin, Xiaolin Cheng, Lei Tao, Xiang Engineering Research Center for Metallurgical Automation and Measurement Technology of Ministry of Education Wuhan430081 China Wuhan University of Science and Technology Institute of Robotics and Intelligent Systems Wuhan430081 China Wuhan University of Science and Technology School of Information Science and Engineering Wuhan430081 China

ISBN: (纸本)9789887581581

Accurately and promptly identifying harmful gases in the environment can effectively prevent many accidents. Most existing pattern recognition methods are focused on addressing gas classification problems in static scenarios, but the real world is a dynamic and changing environment. Therefore, researching gas classification in continuous learning scenarios will better meet the needs of suddenly emerging gas classification tasks in real-world environments. To address this issue, an incremental learning model was introduced into gas classification, and an improved deep convolutional network was proposed for gas image feature extraction. The proposed model and other baseline methods experimented on an open-source gas dataset. The proposed model reduces knowledge loss due to catastrophic forgetting and effectively classifies the 10 gas samples in the dataset in continuous learning scenarios compared to non-incremental methods. It outperforms other baseline incremental methods by optimizing the network's shortcut connections, making the feature extraction network easier to train and improving gas classification performance. In dynamic learning scenarios, the proposed model achieved a classification accuracy of 86.30% for 10 gas samples. The experimental results demonstrate that the proposed method effectively mitigates catastrophic forgetting interference and completes gas classification tasks in continuous learning scenarios. © 2024 Technical Committee on Control Theory, Chinese Association of automation.

关键词： Contrastive Learning

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Synthesis of Decoherence-Free Modes in Linear Quantum Passive Systems via Robust Pole Placement

Synthesis of Decoherence-Free Modes in Linear Quantum Passiv...

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2024 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2024

作者： Miao, Zibo Pan, Yu Gao, Qing School of Mechanical Engineering and Automation Adaptive Robotics Harbin Institute of Technology Guangdong Key Laboratory of Intelligent Morphing Mechanisms Shenzhen518055 China The Institute of Cyber-Systems and Control College of Control Science and Engineering Zhejiang University State Key Laboratory of Industrial Control Technology Hangzhou310027 China The School of Automation Science and Electrical Engineering Beijing Advanced Innovation Center for Big Data and Brain Computing Beihang University Beijing100191 China

ISBN: (纸本)9781665410205

In this paper we extend our previous research on coherent observer-based pole placement approach to study the synthesis of robust decoherence-free (DF) modes for linear quantum passive systems, which is aimed at preservation of quantum information. In particular, DF modes can be generated by placing the poles on the imaginary axis via a coherent feedback design scheme, and these modes can further be simultaneously made robust against perturbations to the system parameters by minimizing the condition number associated with imaginary poles. We develop explicit algebraic conditions for the existence of such a coherent quantum controller, with the corresponding deign procedure provided. Examples are given to illustrate the process of tuning the DF modes towards perfect robustness via the proposed pole placement technique. © 2024 IEEE.

关键词： Poles

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Electrospinning drug-loaded polycaprolactone/polycaprolactone-gelatin multi-functional bilayer nanofibers composite scaffold for postoperative wound healing of cutaneous squamous cell carcinoma

Biomedical Technology

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Biomedical Technology 2024年 8卷 65-80页

作者： Song, Yongteng Hu, Qingxi Liu, Suihong Yao, Guotai Zhang, Haiguang Rapid Manufacturing Engineering Center School of Mechatronic Engineering and Automation Shanghai University Shanghai 200444 China Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai University Shanghai 200072 China National Demonstration Center for Experimental Engineering Training Education Shanghai University Shanghai 200444 China Department of Dermatology Shanghai Fourth People's Hospital School of Medicine Tongji University Shanghai 200434 China Engineering Science and Mechanics Department Penn State University University Park 16802 PA United States

Cutaneous squamous cell carcinoma (cSCC) tumor resection surgery poses challenges due to incomplete cancer cell removal, which increases the risk of local recurrence and micrometastasis, while large-scale surgical wounds are susceptible to severe infections. Therefore, a drug-loaded multi-functional bilayer nanofibers skin scaffold was fabricated for postoperative wound care of cSCC. Briefly, the antibacterial drug enrofloxacin (ENR) was loaded into polycaprolactone (PCL) nanofibers using electrospinning to form an antibacterial nanofiber membrane (PCL-ENR) as the outer layer of scaffold. The anticancer drug bleomycin (BLM) was loaded into PCL/Gelatin (Gel) nanofibers via electrospinning to form an anticancer nanofiber membrane (PG-BLM) as the inner layer of scaffold. ENR and BLM were successfully loaded into the scaffold. The scaffold had excellent physicochemical properties, with the outer layer exhibiting hydrophobicity and excellent antibacterial activity, and the inner layer showing hydrophilicity and outstanding anticancer activity. The elongation at break and tensile modulus of the scaffold were 26.35 ± 1.61 % and 15.25 ± 1.56 MPa, respectively. In vitro and in vivo experiments suggested that the scaffold not only has good biocompatibility to promote wound healing but also could inhibit the proliferation of A431 cells, which has great potential clinical application in postoperative wound care of cSCC. © 2024 The Authors

关键词： Antibacterial and anticancer Bilayer nanofibers skin scaffold Cutaneous squamous cell carcinoma Drug-loaded Electrospinning Postoperative wound care

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Microhardness and Wear Rate Analysis on Laser Cladded Composites of AZ91D Alloy with SiC by Grey Technique

Microhardness and Wear Rate Analysis on Laser Cladded Compos...

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International Conference on Mechanical engineering: Researches and Evolutionary Challenges, ICMech-REC 2023

作者： Karthick, L. Loganathan, Ganesh Babu Jagadish, C.A. Somasundaram, B. Kandavalli, Sumanth Ratna Chithambaranathan, P. Department of Mechanical Engineering Hindusthan College of Engineering and Technology Coimbatore641032 India Department of Robotics and Automation Rajalakshmi Engineering College Chennai602105 India School of Mechanical Engineering REVA University Bengaluru India Department of Mechanical Engineering Tandon School of Engineering New York University 6 Metro Tech Center BrooklynNY11201 United States Department of Mechanical Engineering Rajalakshmi Engineering College Thandalam Chennai602105 India

ISBN: (纸本)9789819722488

Owing to increments in heavy vehicles for transporting the materials and reducing the vehicle weight, magnesium alloys play the mandatory role in various fabricating industries. The Mg alloy alone does not satisfy their necessities without adding the strengthening particles;therefore, this investigation stated the silicon carbide (SiC) was the reinforcing into AZ91D Mg alloy to compose the coating metal matrix composites through the laser cladding process. This method is unique when appropriated processing parameters are chosen and compared to laser melting process;laser cladding is the significant one. The laser cladding processing parameters are scanning speed (3–5 m/s), SiC proportions (10–30%) and laser output power (0.6–0.8 kW), respectively. Then the composed coating AZ91D Mg alloy with SiC specimen is accounted for experimentation of microhardness and wear rates. The microhardness and wear rates are improved at increasing of weight percentage from 20 to 30%, maximum of scanning speed at 5 m/s and 0.7 kW of laser output power parameters. The grey relational multi-task optimization method was utilized to recognize the single responses from various laser cladding processing parameters. Finally, the SEM with worn surfaces was taken on the optimal specimen composite. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Silicon carbide

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Model-Free Large-Scale Cloth Spreading With Mobile Manipulation: Initial Feasibility Study 19

Model-Free Large-Scale Cloth Spreading With Mobile Manipulat...

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19th IEEE International Conference on automation Science and engineering, CASE 2023

作者： Chu, Xiangyu Wang, Shengzhi Feng, Minjian Zheng, Jiaxi Zhao, Yuxuan Huang, Jing Samuel Au, K.W. The Chinese University of Hong Kong Department of Mechanical and Automation Engineering Hong Kong Multi-Scale Medical Robotics Center Hong Kong School of Engineering Westlake University China The Hong Kong University of Science and Technology Department of Mechanical and Aerospace Engineering Hong Kong

ISBN: (纸本)9798350320695

Cloth manipulation is common in domestic and service tasks, and most studies use fixed-base manipulators to manipulate objects whose sizes are relatively small with respect to the manipulators' workspace, such as towels, shirts, and rags. In contrast, manipulation of large-scale cloth, such as bed making and tablecloth spreading, poses additional challenges of reachability and manipulation control. To address them, this paper presents a novel framework to spread large-scale cloth, with a single-arm mobile manipulator that can solve the reachability issue, for an initial feasibility study. On the manipulation control side, without modeling highly deformable cloth, a vision-based manipulation control scheme is applied and based on an online-update Jacobian matrix mapping from selected feature points to the end-effector motion. To coordinate the control of the manipulator and mobile platform, Behavior Trees (BTs) are used because of their modularity. Finally, experiments are conducted, including validation of the model-free manipulation control for cloth spreading in different conditions and the large-scale cloth spreading framework. The experimental results demonstrate the large-scale cloth spreading task feasibility with a single-arm mobile manipulator and the model-free deformation controller. © 2023 IEEE.

关键词： Manipulators

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Online Robot Motion Planning Methodology Guided by Group Social Proxemics Feature

arXiv

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arXiv 2025年

作者： Mu, Xuan Liu, Xiaorui Guo, Shuai Chi, Wenzheng Wang, Wei Ge, Shuzhi Sam School of Automation Qingdao University Qingdao266000 China School of Automation Qingdao University Qingdao University Qingdao266000 China Robotics and Microsystems Center School of Mechanical and Electric Engineering Soochow University Suzhou215021 China School of Mechanical Engineering & Automation the Robotics Institute Beihang University Beijing100000 China Department of Electrical and Computer Engineering National University of Singapore Singapore117576 Singapore

Nowadays robot is supposed to demonstrate human-like perception, reasoning and behavior pattern in social or service application. However, most of the existing motion planning methods are incompatible with above requirement. A potential reason is that the existing navigation algorithms usually intend to treat people as another kind of obstacle, and hardly take the social principle or awareness into consideration. In this paper, we attempt to model the proxemics of group and blend it into the scenario perception and navigation of robot. For this purpose, a group clustering method considering both social relevance and spatial confidence is introduced. It can enable robot to identify individuals and divide them into groups. Next, we propose defining the individual proxemics within magnetic dipole model, and further established the group proxemics and scenario map through vector-field superposition. On the basis of the group clustering and proxemics modeling, we present the method to obtain the optimal observation positions (OOPs) of group. Once the OOPs grid and scenario map are established, a heuristic path is employed to generate path that guide robot cruising among the groups for interactive purpose. A series of experiments are conducted to validate the proposed methodology on the practical robot, the results have demonstrated that our methodology has achieved promising performance on group recognition accuracy and path-generation efficiency. This concludes that the group awareness evolved as an important module to make robot socially behave in the practical scenario. © 2025, CC BY-NC-ND.

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Lumbar spine localisation method based on feature fusion

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CAAI Transactions on Intelligence Technology 2023年第3期8卷 931-945页

作者： Yonghong Zhang Ning Hu Zhuofu Li Xuquan Ji Shanshan Liu Youyang Sha Xiongkang Song Jian Zhang Lei Hu Weishi Li Robotics Institute School of Mechanical Engineering and AutomationBeihang UniversityBeijingChina Beijing Zhuzheng Robot Co. LTDBeijingChina Department of Mechanical Aerospace and Biomedical EngineeringUniversity of TennesseeKnoxvilleTennesseeUSA Department of Orthopaedics Peking University Third HospitalBeijingChina Engineering Research Center of Bone and Joint Precision Medicine Ministry of EducationBeijingChina Beijing Key Laboratory of Spinal Disease Research BeijingChina School of Biological Science and Medical Engineering Beihang UniversityBeijingChina Department of Computer Science University of WarwickCoventryUK

To eliminate unnecessary background information,such as soft tissues in original CT images and the adverse impact of the similarity of adjacent spines on lumbar image segmentation and surgical path planning,a two‐stage approach for localising lumbar segments is ***,based on the multi‐scale feature fusion technology,a non‐linear regression method is used to achieve accurate localisation of the overall spatial region of the lumbar spine,effectively eliminating useless background information,such as soft *** the second stage,we directly realised the precise positioning of each segment in the lumbar spine space region based on the non‐linear regression method,thus effectively eliminating the interference caused by the adjacent *** 3D Intersection over Union(3D_IOU)is used as the main evaluation indicator for the positioning *** an open dataset,3D_IOU values of 0.8339�0.0990 and 0.8559�0.0332 in the first and second stages,respectively is *** addition,the average time required for the proposed method in the two stages is 0.3274 and 0.2105 s ***,the proposed method performs very well in terms of both pre-cision and speed and can effectively improve the accuracy of lumbar image segmentation and the effect of surgical path planning.

关键词： CT image lumbar spatial orientation multi‐scale information fusion

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Semi-Closed-Loop Constant Force Control of a Multi-Modes Rigid-Flexible Underactuated Gripper 23rd

Semi-Closed-Loop Constant Force Control of a Multi-Modes Rig...

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23rd IFToMM China International Conference on Mechanism and Machine Science and engineering, IFToMM CCMMS 2022

作者： Chen, Weilin Feng, Zihong Lu, Qinghua Wei, Huiling Qin, Xiaolu Mo, Jiacheng Tang, Yu Wei, Sheng School of Mechatronics Engineering and Automation Foshan University 33 Guangyun Road Guangdong Foshan528000 China Academy of Interdisciplinary Studies Guangdong Polytechnic Normal University Guangzhou510665 China Engineering Research Center for Intelligent Robotics Jihua Laboratory Foshan528200 China

ISBN: (纸本)9789811993978

Grasping force control is important to realize safe and reliable robotic manipulation. In this paper, a semi-closed-loop constant grasping force control strategy of the multi-modes rigid-flexible underactuated gripper is designed to eliminate the influence of full-closed-loop control system on the grasping dexterity. For the two-point grasping mode and enveloped grasping mode, the inverse static model of gripper were established based on the forward static models proposed in our previous research and the numerical fitting. A semi-closed-loop PID constant grasping force control strategy was designed using the established statics models. Matlab Simulink was utilized to verify the proposed control strategy. Further, the multi-modes grasping force control system was built, and the effect of deformation for the flexible linkages on the equivalent size of grasped object was considered to correct the proposed control strategy by the analysis of balance position and numerical fitting. Finally, the rapidity, accuracy and stability of corrected control strategy were verified by experiments. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Force control

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Simulation Research on Residual Stress of Swage Autofrettage-processed High-Pressure Cylinder 9

Simulation Research on Residual Stress of Swage Autofrettage...

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2023 9th International Conference on Applied Materials and Manufacturing Technology, ICAMMT 2023

作者： Sun, Lihua Zhou, Rongxuan Li, Guiqin Li, Jianing Mitrouchev, Peter Engineering Training Center Changchun University of Technology Changchun China School of Mechanical Engineering and Automation Northeastern University Shenyang China Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai University Shanghai China University Grenoble Alpes G-SCOP Grenoble France

The vital component of the high-pressure pump is the high-pressure cylinder, which undergoes pulsating cyclic loads during operation. This exposure can lead to fatigue cracking and limit the pump's overall performance. To address this issue, a swage autofrettage treatment method for the high-pressure cylinder is proposed based on the principles of autofrettage technology. The structure parameters of the mandrel are designed to optimize its role in the treatment process. Subsequently, a swage autofrettage simulation model is established, considering the Bauschinger effect to analyze the distribution of residual stress about the mandrel interference percentage. The results demonstrate that the swage autofrettage treatment improves the stress distribution in the high-pressure cylinder, causing the inner wall surface to undergo a circumferential residual compressive stress. Within a specific range, the Bauschinger effect becomes more significant as the mandrel interference percentage increases. This study provides insights for enhancing the durability and performance of high-pressure cylinders while adhering to mechanical engineering standards. © Published under licence by IOP Publishing Ltd.

关键词： Residual stresses

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A novel image edge detection algorithm based on Multi-scale Hybrid Wavelet Transform

A novel image edge detection algorithm based on Multi-scale ...

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2022 International Conference on Neural Networks, Information, and Communication engineering, NNICE 2022

作者： Xia, Shanhong Li, Minghang Heilongjiang Water Traffic Rescue Center Heilongjiang Province China The Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai University Shanghai China

ISBN: (纸本)9781510655171

The classical wavelet transform in image processing is easy to lose the details, and the edge of the image is often easily disturbed by the noise which leads to poor extraction effect. In order to overcome the shortcomings of the classical image edge detection methods, an edge detection method based on multi-scale hybrid wavelet transform is proposed. A series of operations such as B-spline filter, Gaussian filter, multi-scale detection and adaptive threshold removal with pseudo-edge contour are carried out to remove the complex noise of image and to obtain the precise edge. Due to the importance of underwater image edge extraction in underwater target recognition, this method is applied to the edge detection of underwater images. The experimental results show that the method based on multi-scale hybrid wavelet transform can suppress the image noise and extract the accurate edge contour of the underwater image, which proves the effectiveness. © 2022 SPIE.

关键词： Wavelet transforms

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