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International Conference on Guidance, Navigation and Control, ICGNC 2022

作者： Dai, Shijie Wu, Zhengxing Tan, Min Yu, Junzhi School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100049 China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China State Key Laboratory for Turbulence and Complex System Department of Advanced Manufacturing and Robotics BIC-ESAT College of Engineering Peking University Beijing100871 China

ISBN: (纸本)9789811966125

This paper investigates the formation control problem for a multi-robotic fish system and a distributed event-triggered-based formation control framework is proposed. The framework consists of a communication topology, a distributed formation control law, and a dynamic event-triggered communication mechanism. In particular, a position-based formation control law is presented to drive the multi-robotic fish system to an anticipated configuration based on local measurements while keeping pace with a moving target. Meanwhile, a dynamic event-triggered mechanism is utilized to measure importance of the interactive information and decide the communication timing. The proposed formation control method shows its merits to greatly reduce communication consumption with a limited loss of formation control performance. Finally, simulations with quantitative comparisons are presented to verify the effectiveness of the proposed framework. This formation control framework provides a solid foundation for future marine cooperative control of the multi-robotic fish system. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Multi agent systems

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Towards Autonomous Robotic Ultrasound Scanning Using the Reinforcement Learning-Based Volumetric Data Navigation Method 5

Towards Autonomous Robotic Ultrasound Scanning Using the Rei...

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5th World Robot Conference Symposium on Advanced robotics and Automation, WRC SARA 2023

作者： Shen, Cuifeng Deng, Zhaokun Wang, Jinzhi Wang, Shuangyi Chen, Chen Peking University State Key Laboratory for Turbulence and Complex Systems Department of Mechanics and Engineering Science College of Engineering Beijing100871 China University of Chinese Academy of Sciences School of Artificial Intelligence Beijing China Institute of Automation Chinese Academy of Sciences State Key Laboratory of Multimodal Artificial Intelligence Systems Beijing China Hong Kong Institute of Science & Innovation Chinese Academy of Sciences Centre for Artificial Intelligence and Robotics Hong Kong

ISBN: (纸本)9798350307320

Ultrasound scanning is an indispensable diagnostic tool in modern medicine, but obtaining an accurate standard plane relies heavily on the sonographer's skill and expertise. This paper presents a novel approach toward autonomous robotic ultrasound scanning using a reinforcement learning-based navigation method with volumetric ultrasound data. The proposed method enables an ultrasound robot to autonomously acquire high-quality 2D standard planes from patients, thereby reducing the need for human intervention. The core of the approach is a deep reinforcement learning algorithm that detects 2D standard planes within the 3D ultrasound volume and guides the ultrasound probe to extract high-quality standard planes. To assess the effectiveness of the 2D standard plane detection method, an evaluation was conducted using a realworld ultrasound dataset, and a comparison was made between its performance and that of other state-of-the-art autonomous approaches. The simulation experiment was also conducted to validate the autonomous robotic ultrasound acquisition workflow. Results demonstrate that the reinforcement learning-based volumetric data navigation method outperforms existing techniques in terms of standard plane accuracy and is very effective for volumetric data-based robotic navigation. © 2023 IEEE.

关键词： Diagnosis

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Bonding and antibonding electromagnetic coupling in two interacting toroidal metamolecules

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Physical Review B 2024年第11期110卷 115408页

作者： Tong Wu Andrey B. Evlyukhin Vladimir R. Tuz State Key Laboratory on Integrated Optoelectronics College of Electronic Science and Engineering International Center of Future Science Institute of Quantum Optics Cluster of Excellence PhoenixD School of Radiophysics Biomedical Electronics and Computer Systems

The existence of a toroidal-like eigenmode and its electromagnetic coupling in a system of dielectric particles are studied. A constituent structure (metamolecule) is made of a ring consisting of the radial arrangement of several vertically standing dielectric disks (meta-atoms). In the eigenstate of the given metamolecule, the second-order term related to the exact electric dipole in the multipole decomposition is much greater than the first-order term. This eigenstate is defined as a toroidal-like mode. Then, the characteristics of a system (metamacromolecule) composed of two identical rings are studied in both eigen- and excited states to reveal the peculiarities of the toroidal-like mode coupling. Similar to the well-known electric dipole-dipole and magnetic dipole-dipole interactions, the interaction of toroidal-like modes also appears in symmetric (bonding) and antisymmetric (antibonding) forms. Their excitation in the metamacromolecule depends on the propagation direction and polarization of the irradiating wave. The manifestation of toroidal-like mode coupling is confirmed by checking the extinction cross section and near-field distributions obtained from the full-wave numerical simulation and microwave experiment. A clear understanding of the nature of toroidicity is important from the fundamental physics perspective and practical implementation of metamaterials operated in such exotic states.

关键词： Metamaterials Mie scattering Optical & microwave phenomena Optical microcavities Microwave techniques

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Asymmetry in circulation system and cardiovascular diseases

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Medicine in Novel Technology and Devices 2024年第1期21卷 1-9页

作者： Chang Liu Sheng Xie Yangchen Li Da Zhang Deyu Li Chi Zhang Key Laboratory of Biomechanics and Mechanobiology Beijing Advanced Innovation Center for Biomedical EngineeringSchool of Biological Science and Medical EngineeringBeihang UniversityBeijing100191China Department of Radiology China-Japan Friendship HospitalBeijing100029China Children’s Hospital Capital Institute of Pediatrics Beijing100020China Department of Physics Sichuan Cancer HospitalChengdu610041China State Key Laboratory of Virtual Reality Technology and Systems Beihang UniversityBeijing100191China

Asymmetries in the human vascular system and cardiovascular disease are *** physiological asymmetry can manifest in the morphological structure and blood flow state,whereas pathological asymmetry can reflect differences in the occurrence and cure of bilateral vascular *** causes associated with these asymmetrical differences may be demand-driven or due to vascular grading or asymmetries in other physiological *** article aims to review the asymmetry of several typical arteries,including cerebral,cervical,and limb arteries,and lists possible causes to emphasize the necessity of considering asymmetric factors in the prevention,treatment,and rehabilitation of vascular *** research on asymmetries in the vascular system may improve the risk assessment and personalized treatment of vascular diseases.

关键词： Vascular morphology Hemodynamics Cardiovasculardiseases Asymmetry

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Unsupervised Cross-Domain 3D Human Pose Estimation via Pseudo-Label-Guided Global Transforms

arXiv

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arXiv 2025年

作者： Liu, Jingjing Wang, Zhiyong Fan, Xinyu Dadashzadeh, Amirhossein Liu, Honghai Mirmehdi, Majid School of Computer Science University of Bristol United Kingdom State Key Laboratory of Robotics and Systems Harbin Institute of Technology Shenzhen China School of Aerospace Engineering Xiamen University China

Existing 3D human pose estimation methods often suffer in performance, when applied to cross-scenario inference, due to domain shifts in characteristics such as camera viewpoint, position, posture, and body size. Among these factors, camera viewpoints and locations have been shown to contribute significantly to the domain gap by influencing the global positions of human poses. To address this, we propose a novel framework that explicitly conducts global transformations between pose positions in the camera coordinate systems of source and target domains. We start with a Pseudo-Label Generation Module that is applied to the 2D poses of the target dataset to generate pseudo-3D poses. Then, a Global Transformation Module leverages a human-centered coordinate system as a novel bridging mechanism to seamlessly align the positional orientations of poses across disparate domains, ensuring consistent spatial referencing. To further enhance generalization, a Pose Augmentor is incorporated to address variations in human posture and body size. This process is iterative, allowing refined pseudo-labels to progressively improve guidance for domain adaptation. Our method is evaluated on various cross-dataset benchmarks, including Human3.6M, MPI-INF-3DHP, and 3DPW. The proposed method outperforms state-of-the-art approaches and even outperforms the target-trained model. Copyright © 2025, The Authors. All rights reserved.

关键词： Three dimensional computer graphics

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A New Workspace and Structural Parameter Optimization Method of Parallel Robot 18

A New Workspace and Structural Parameter Optimization Method...

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18th IEEE Conference on Industrial Electronics and Applications, ICIEA 2023

作者： Zhang, Haiyun Hu, Weijun Zhang, Renge Wang, Jin Lu, Guodong School of Robotics Ningbo University of Technology Ningbo315211 China Robotics Institute of Zhejiang University Hangzhou310027 China Zhejiang Qiantang Robot and Intelligent Equipment Reserch Co. Ltd Hangzhou310018 China State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical Engineering Zhejiang University Hangzhou310027 China Robotics Research Center of Yuyao City Ningbo315400 China

ISBN: (纸本)9798350312201

The parallel robot workspace refers to the set of points and boundary that can be reached by the parallel mechanism. With the continuous development and industrial application of parallel robots, the workspace analysis and optimization becomes a critical link in this process. In this paper, a workspace solution approach based on seed space segmentation and principal component analysis is proposed. In order to improve the working performance of parallel robots, a flexible workspace evaluation method based on quadratic fourth moment is proposed, and a relationship model between flexible workspace and structural parameters is established. Furthermore, based on the multi-objective genetic algorithm, the structure parameters of the parallel robot are optimized by the workspace and flexible workspace indexes. Finally, the advantage and effectiveness of proposed method are verified by experiment and comparison with traditional methods. © 2023 IEEE.

关键词： Principal component analysis

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A kinematic calibration method for robots based on the PGTF error model and Levenberg-Marquardt algorithm 18

A kinematic calibration method for robots based on the PGTF ...

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18th IEEE Conference on Industrial Electronics and Applications, ICIEA 2023

作者： Zheng, Zhi Wang, Jin Zhu, Jun Liu, Luan Zhang, Haiyun Lu, Guodong State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical Engineering Zhejiang University Hangzhou310027 China Robotics Research Center of Yuyao City Ningbo315400 China School of Robotics Ningbo University of Technology Ningbo315211 China Robotics Institute of Zhejiang University Hangzhou310027 China Zhejiang Qiantang Robot and Intelligent Equipment Research Co. Ltd Hangzhou310018 China

ISBN: (纸本)9798350312201

Robots use motors for power output and realize joint motion through reducers and mechanical transmissions, which affect the absolute positioning accuracy. In view of this problem, an error model based on Preprocessing-Geometric-Transmission-Flexibility (PGTF) is proposed and solved by Levenberg-Marquardt algorithm. First, the theoretical kinematic model is established by MD-H model method. Second, the data was pre-processed in dimension upgrade and the robot error identification model was established for geometric error, transmission error and flexible error. Third, Levenberg-Marquardt algorithm was used to find the global convergence solution to realize the identification of error parameters, and the actual robot kinematic model was compensated. Finally, the experiment is carried out on the real robot machine. Through theoretical analysis and verification of real machine data, the average error of kenbei-5kg robot is reduced from 6.8787 mm to 0.1267 mm, the positioning accuracy is improved by 98.16%, the accuracy compensation algorithm is accurate, and the compensation effect is remarkable. © 2023 IEEE.

关键词： Robots

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CPL-CLIP: Compound Prompt Learning for Flexible-Modal Face Anti-Spoofing 18

CPL-CLIP: Compound Prompt Learning for Flexible-Modal Face A...

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18th IEEE International Joint Conference on Biometrics, IJCB 2024

作者： Zhang, Ying Zhu, Xiangyu Liu, Ajian Lin, Xun Wan, Jun Zhang, Jing Lei, Zhen Beihang University School of Computer Science and Engineering China Chinese Academy of Sciences State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation China University of Chinese Academy of Sciences School of Artificial Intelligence China Macau University of Science and Technology School of Computer Science and Engineering China Chinese Academy of Sciences Centre for Artificial Intelligence and Robotics Hong Kong Institute of Science & Innovation China

ISBN: (纸本)9798350364132

Face anti-spoofing (FAS) is pivotal in safeguarding the integrity of face recognition systems. Flexible-modal FAS utilizes multi-modal data and trains a unified model adaptable to any single-modal testing scenario. This innovation addresses the shortcomings of conventional multi-modal FAS approaches, which typically demand separate model training and deployment for each modality. However, existing flexible-modal FAS approaches activate specific network branches based on the modality of the tested sample. This not only increases the model's parameters but also necessitates the provision of the image's modality for testing, thereby constraining deployment flexibility. To address the issue, we present Compound Prompt Learning CLIP (CPL-CLIP), a novel method for flexible-modal FAS. This approach capitalizes on a learned textual prompt that is nearly independent of modality, thus bolstering class-based classification across arbitrary modalities. Specifically, our CPL-CLIP introduces a Dual-Branch Prompt (DBP), consisting of class and modal prompts that describe and guide classification, where each prompt is composed of learnable vectors and fixed templates. To further render the class prompt as modality-agnostic as possible, a Cosine Similarity Loss (CSL) is proposed to facilitate the maximal separation of the class prompt from the modality prompt. With only the class prompt utilized during testing, CPL-CLIP enables deployment in diverse modal testing scenarios without the necessity of the test image's modality to be known. Extensive experiments demonstrate CPL-CLIP's superiority over existing methods on several flexible-modal FAS benchmarks. © 2024 IEEE.

关键词： Face recognition

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Au-MPN@Ag Nanocomposite-Assisted Mass Spectrometry for Metabolite Detection

Au-MPN@Ag Nanocomposite-Assisted Mass Spectrometry for Metab...

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International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M-NANO)

作者： Qi Sang Yanyan Li Wanshan Liu Yuning Wang Kun Qian State Key Labtoratory of Systems Medicine for Cancer School of Biomedical Engineering Institute of Medical Robotics and Shanghai Academy of Experiment Medicine Shanghai Jiao Tong University Shanghai China

ISBN: (数字)9798350362107

ISBN: (纸本)9798350362114

Sensitive detection of metabolites in biofluids plays an important role in disease diagnosis. Herein, we synthesized a novel noble metal based nanocomposite using metal-polyphenol network (MPN) as coordination and redox reaction. The formed Au-MPN@Ag nanocomposite exhibited excellent metabolite detection performance in laser desorption ionization mass spectrometry (LDI-MS). Notably, Au-MPN@Ag nanocomposite based LDI-MS platform achieved direct detection of metabolites in biofluids without any sample pretreatment. Our work provides a new advanced platform for metabolic analysis towards in vitro diagnostics.

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Enhanced optical imaging and fluorescent labeling for visualizing drug molecules within living organisms

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Acta Pharmaceutica Sinica B 2024年第6期14卷 2428-2446页

作者： Ting Sun Huanxin Zhao Luyao Hu Xintian Shao Zhiyuan Lu Yuli Wang Peixue Ling Yubo Li Kewu Zeng Qixin Chen School of Pharmaceutical Sciences National Key Laboratory of Advanced Drug Delivery SystemMedical Science and Technology Innovation CenterShandong First Medical University&Shandong Academy of Medical SciencesJinan 250062China Departments of Diagnostic Radiology SurgeryChemical and Biomolecular Engineeringand Biomedical EngineeringYong Loo Lin School of Medicine and College of Design and EngineeringNational University of SingaporeSingapore 119074Singapore Institute of Biochemical and Biotechnological Drugs School of Pharmaceutical SciencesCheeloo College of MedicineShandong UniversityJinan 250012China Key Laboratory of Biopharmaceuticals Postdoctoral Scientific Research WorkstationShandong Academy of Pharmaceutical ScienceJinan 250098China State Key Laboratory of Natural and Biomimetic Drugs School of Pharmaceutical SciencesPeking UniversityBeijing 100191China School of Life Sciences Science and Technology Innovation CenterShandong First Medical University&Shandong Academy of Medical SciencesJinan 250062China School of Chinese Materia Medica Tianjin University of Traditional Chinese MedicineTianjin 301617China Tianjin Pharmaceutical DA REN TANG Group Corporation Limited Traditional Chinese Pharmacy Research Institute Tianjin 300457China Key Laboratory of Systems Bioengineering(Ministry of Education) School of Chemistry Engineering and TechnologyTianjin UniversityTianjin 300072China

The visualization of drugs in living systems has become key techniques in modern *** advancements in optical imaging technologies and molecular design strategies have revolutionized drug *** the subcellular level,super-resolution microscopy has allowed exploration of the molecular landscape within individual cells and the cellular response to *** beyond subcellular imaging,researchers have integrated multiple modes,like optical near-infrared II imaging,to study the complex spatiotemporal interactions between drugs and their *** combining these visualization approaches,researchers gain supplementary information on physiological parameters,metabolic activity,and tissue composition,leading to a comprehensive understanding of drug *** review focuses on cutting-edge technologies in drug visualization,particularly fluorescence imaging,and the main types of fluorescent molecules ***,we discuss current challenges and prospects in targeted drug research,emphasizing the importance of multidisciplinary cooperation in advancing drug *** the integration of advanced imaging technology and molecular design,drug visualization has the potential to redefine our understanding of pharmacology,enabling the analysis of drug micro-dynamics in subcellular environments from new perspectives and deepening pharmacological research to the levels of the cell and organelles.

关键词： Optical imaging Drug visualization Fluorophore labeling Therapeutics

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