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Data Driven Control and Learning systems (DDCLS)

作者： Yanchao Zhang Hao Geng Bin Liu Yinlong Zhang Xudong Yuan Sichao Zhang School of Information Science and Engineering Shenyang University of Technology Shenyang China Guangzhou Institute of Industrial Intelligence Guangzhou China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China

ISBN: (数字)9798350361674

ISBN: (纸本)9798350361681

In order to solve the problems of long-term cumulative error and the absence of absolute pose in the existing Lidar-Inertial Measurement Unit (IMU) fusion methods for Automated Guided Vehicle (AGV) Simultaneous Localization and Mapping (SLAM), we propose a new SLAM method for mobile robot, integrating Lidar, IMU, and a downward vision camera. Firstly, we tightly couple Lidar-IMU and downward vision camera using a multimodal fusion framework. Downward visual measurements are integrated as QR factors into the factor graph, providing absolute pose information to correct cumulative error in the Lidar-IMU system and enable the joint pose estimation of the AGV. Secondly, an enhanced Iterative Closest Point (ICP) point cloud matching algorithm has been developed to correct the incorrect pose. This approach achieves Scan-to-Map alignment by employing a coarse-to-fine matching strategy, thereby enhancing the accuracy of point cloud alignment. Finally, the extended Kalman filter is used to optimize the Lidar pose drift, as well as the Lidar mapping effectively by using the Lidar-IMU as the measurements and the downward visual measurements as the updates. The algorithm has been extensively evaluated on the developed AGV experimental platform. The experimental results show that the position error is less than 0.02 meters and the orientation error is less than 1°, which solves the problems of long-term error accumulation and the lack of absolute pose information for AGV navigation.

关键词： Point cloud compression Visualization Laser radar Simultaneous localization and mapping Conferences Robot vision systems Measurement uncertainty

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Towards Fast Face Image Quality Assessment via Latent Diffusion Model 18th

Towards Fast Face Image Quality Assessment via Latent Diffu...

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18th Chinese Conference on Biometric Recognition, CCBR 2024

作者： Yan, Zheyu Zhao, Weisong Zhu, Xiangyu Gao, Li Zhang, Xiao-Yu Lei, Zhen State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences Beijing China China Mobile Financial Technology Co. Ltd. Beijing China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China Centre for Artificial Intelligence and Robotics Hong Kong Institute of Science and Innovation Chinese Academy of Sciences Hong Kong Institute of Information Engineering Chinese Academy of Sciences Beijing China School of Cyber Security University of Chinese Academy of Sciences Beijing China

ISBN: (纸本)9789819610679

Face recognition technology has gradually come into wide application in real life. However, in real-life unconstrained scenarios, low-quality images could be matched to unpredictable individuals, thereby affecting the stability of recognition and even causing security problems. Conducting quality assessment on face images before facial recognition can help alleviate these problems by rejecting low-quality samples. In this paper, we propose a Fast Diffusion-model-based Face Image Quality Assessment method (FDif-FIQA). It uses a diffusion model to perturb face images and measures image quality based on the similarity of features before and after the perturbation. The denoising process is transferred from the pixel space to the latent space, thereby reducing the computational cost. We evaluated the performance of this method with multiple mainstream face recognition models on various public datasets. Compared to state-of-the-art methods, our approach demonstrates highly competitive performance and significant improvements in computational efficiency. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Face recognition

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In Vivo Pulsatility and Resistivity Measurement of Rat Spinal Cord Using Ultrafast Doppler Imaging: A Preliminary Study

In Vivo Pulsatility and Resistivity Measurement of Rat Spina...

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IEEE International Symposium on Applications of Ferroelectrics (ISAF)

作者： Junjin Yu Qiwen Hu Kailiang Xu Department of Biomedical Engineering School of Information Science and Technology Fudan University China State Key Laboratory of Integrated Chips and Systems Fudan University China Shanghai Poda Medical Technology Co. Ltd. China

ISBN: (数字)9798350371901

ISBN: (纸本)9798350371918

Pulse waves propagating along vasculature serve as indicators reflecting vital parameters such as heart rate and blood pressure. Pulse wave in spinal cord may not only signifies functional status of spinal cord but also indicates potential risks of diseases. Therefore, wide-field imaging of the spinal cord pulsatility propagation from main feeding arteries to arterioles is crucial for hemodynamics evaluation and corresponding disease treatment. Despite the inherent challenges in spinal cord blood flow imaging, ultrafast Doppler presents advantages in pulsatility measurement due to its high imaging resolution and sensitivity. Moreover, in comparison to conventional pulsed-wave Doppler ultrasound, which operates at local areas with limited field of view, ultrafast Doppler enables the simultaneous estimation of full Doppler spectra across all pixels within wide field-of-view images. In this study, ultrafast Doppler imaging was performed on a rat spinal cord for in vivo pulsatility and resistivity measurement. key indicators were extracted including peak systolic velocity (PSV), end diastolic velocity (EDV), and mean flow velocity (MFV). Then, pulsatility index (PI) and resistivity index (RI) were quantified by computing the key indicators and were mapped over the entire vascular network.

关键词： In vivo Spinal cord Ultrasonic variables measurement Imaging Conductivity measurement Conductivity Hemodynamics Doppler effect Indexes Diseases

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Sub-femtonewton force sensing in solution by super-resolved photonic force microscopy (Jun, 10.1038/s41566-024-01462-7, 2024)

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NATURE PHOTONICS 2024年第9期18卷 998-998页

作者： Shan, Xuchen Ding, Lei Wang, Dajing Wen, Shihui Shi, Jinlong Chen, Chaohao Wang, Yang Zhu, Hongyan Huang, Zhaocun Wang, Shen S. J. Zhong, Xiaolan Liu, Baolei Reece, Peter John Ren, Wei Hao, Weichang Lu, Xunyu Lu, Jie Su, Qian Peter Chang, Lingqian Sun, Lingdong Jin, Dayong Jiang, Lei Wang, Fan Beihang University School of Physics Beijing People’s Republic of China (GRID:grid.64939.31) (ISNI:0000 0000 9999 1211) University of Technology Sydney School of Biomedical Engineering Faculty of Engineering and Information Technology Sydney Australia (GRID:grid.117476.2) (ISNI:0000 0004 1936 7611) RMIT University Centre for Atomaterials and Nanomanufacturing School of Science Melbourne Australia (GRID:grid.1017.7) (ISNI:0000 0001 2163 3550) University of Technology Sydney Institute for Biomedical Materials and Devices (IBMD) School of Mathematical and Physical Sciences Faculty of Science Sydney Australia (GRID:grid.117476.2) (ISNI:0000 0004 1936 7611) The Australian National University Australian Research Council Centre of Excellence for Transformative Meta-Optical Systems Department of Electronic Materials Engineering Research School of Physics Canberra Australia (GRID:grid.1001.0) (ISNI:0000 0001 2180 7477) Beihang University Key Laboratory of Biomechanics and Mechanobiology (Ministry of Education) Beijing Advanced Innovation Center for Biomedical Engineering School of Biological Science and Medical Engineering Beijing People’s Republic of China (GRID:grid.64939.31) (ISNI:0000 0000 9999 1211) University of Melbourne Computing and Information Systems Department Melbourne School of Engineering Melbourne Australia (GRID:grid.1008.9) (ISNI:0000 0001 2179 088X) The University of New South Wales School of Physics Sydney Australia (GRID:grid.1005.4) (ISNI:0000 0004 4902 0432) Shaanxi Normal University School of Chemistry & Chemical Engineering Xi’an People’s Republic of China (GRID:grid.412498.2) (ISNI:0000 0004 1759 8395) The University of New South Wales Particles and Catalysis Research Laboratory School of Chemical Engineering Sydney Australia (GRID:grid.1005.4) (ISNI:0000 0004 4902 0432) University of Technology Sydney Australian Artificial Intelligence Institute Faculty of Engineering and IT Sydney Australia (GRID:grid.117476.2) (ISNI:0000 0004 1936 7611) University of

Precise force measurement is critical to probe biological events and physics processes, spanning from molecular motor’s motion to the Casimir effect, as well as the detection of gravitational waves. Yet, despite extensive technological developments, the three-dimensional nanoscale measurement of weak forces in aqueous solutions still faces major challenges. Techniques that rely on optically trapped nanoprobes are of significant potential but are beset with limitations, including probe heating induced by high trapping power, undetectable scattering signals and localization errors. Here we report the measurement of the long-distance interaction force in aqueous solutions with a minimum detected force value of 108.2 ± 510.0 attonewton. To achieve this, we develop a super-resolved photonic force microscope based on optically trapped lanthanide-doped nanoparticles coupled with nanoscale three-dimensional tracking-based force sensing. The tracking method leverages neural-network-empowered super-resolution localization, where the position of the force probe is extracted from the optical-astigmatism-modified point spread function. We achieve a force sensitivity down to 1.8 fN Hz–1/2, which approaches the nanoscale thermal limit. We experimentally measure electrophoresis forces acting on single nanoparticles as well as the surface-induced interaction force on a single nanoparticle. This work opens the avenue of nanoscale thermally limited force sensing and offers new opportunities for detecting sub-femtonewton forces over long distances and biomechanical forces at the single-molecule ***-resolved photonic force microscopy employs the fluorescence of lanthanide-doped nanoparticles as a force probe, enabling the measurement of sub-femtonewton forces with a sensitivity of 1.8 fN Hz–1/2, approaching the thermal limit.

关键词： Electrophoresis

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Editorial: Multi-omics research as biomedical interfaces with the engineering and informatics for healthcare

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Frontiers in Bioengineering and Biotechnology 2023年 11卷 1281462页

作者： Wang, Yuning Huang, Xiaodan Qian, Kun State Key Laboratory for Oncogenes and Related Genes School of Biomedical Engineering and Institute of Medical Robotics Shanghai Jiao Tong University Shanghai China Australian Institute for Bioengineering and Nanotechnology The University of Queensland BrisbaneQLD Australia

treatment based on precision disease patterns. Diseases diagnostics at an advanced-stage is helpful to higher survival rates, lower treatment morbidity, and lower healthcare costs. However, current methods have challenges in clinical applications for diagnostics and management. The comprehensive multi-omics analysis in biological systems, including transcriptomics, proteomics and metabolomics, has important theoretical significance and practical application *** can not only deepen the understanding of the biological system, but also provide molecular biological basis for the detection of various physiological and pathological processes. Therefore, this special issue aims to give state-of-the-art findings in advanced technologies for disease management. In this special issue, we have collected five articles, including three articles on proteomics or metabolomics analysis for disease diagnosis and two articles on novel innovations for *** muti-omics analysis for disease diagnosis, metabolomics directly reflect the physiological or pathological state of organism. Lin et al. conducted a metabolomics platform to identify diagnostic biomarkers for the early stage of acute aortic dissection with acute lung injury, aiming to address the perturbed pathways underlying disease progression and pathophysiological mechanisms. Wan's group developed a nano-material-based chips for high-performance metabolic analysis by direct metabolic fingerprinting of urine towards kidney stone diagnostics. Proteomic analysis as a promising strategy has been used to get a global view of complex biological processes, based on high-throughput profiling and extensive dynamic ranges. Liu's group launched a temporal quantitative proteomics approach combined with real-time live-cell imaging to discover the molecular changes in virus-host interactions at different hours post infection. The systematic proteomic analysis provided potential therapeutic biomarkers and biomedical appli

关键词： multi-omics bioinformatics diagnostics sensors devices nano-omics

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MM-LINS: a Multi-Map LiDAR-Inertial System for Over-Degenerate Environments

arXiv

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arXiv 2025年

作者： Ma, Yongxin Xu, Jie Yuan, Shenghai Zhi, Tian Yu, Wenlu Zhou, Jun Xie, Lihua School of Mechanical Engineering Shandong University Jinan250061 China Key Laboratory of High Efficiency and Clean Mechanical Manufacture Ministry of Education Jinan250061 China State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin150001 China College of Mechanical and Electrical Engineering Nanjing University of Aeronautics and Astronautics Jiangsu Nanjing210016 China School of Electrical and Electronic Engineering Nanyang Technological University 639798 Singapore

SLAM plays a crucial role in automation tasks, such as warehouse logistics, healthcare robotics, and restaurant delivery. These scenes come with various challenges, including navigating around crowds of people, dealing with flying plastic bags that can temporarily blind sensors, and addressing reduced LiDAR density caused by cooking smoke. Such scenarios can result in over-degeneracy, causing the map to drift. To address this issue, this paper presents a multi-map LiDAR-inertial system (MM-LINS) for the first time. The front-end employs an iterated error state Kalman filter for state estimation and introduces a reliable evaluation strategy for degeneracy detection. If over-degeneracy is detected, the active map will be stored into sleeping maps. Subsequently, the system continuously attempts to construct new maps using a dynamic initialization method to ensure successful initialization upon leaving the over-degeneracy. Regarding the back-end, the Scan Context descriptor is utilized to detect inter-map similarity. Upon successful recognition of a sleeping map that shares a common region with the active map, the overlapping trajectory region is utilized to constrain the positional transformation near the edge of the prior map. In response to this, a constraint-enhanced map fusion strategy is proposed to achieve high-precision positional and mapping results. Experiments have been conducted separately on both public datasets that exhibited over-degenerate conditions and in real-world environments. These tests demonstrated the effectiveness of MM-LINS in over-degeneracy environment. Our codes are open-sourced on Github 1 Copyright © 2025, The Authors. All rights reserved.

关键词： Plastic containers

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Robust-Tube Model Predictive Control for Piezoelectrically Actuated Fast Mechanical Switches for Hybrid Circuit Breakers

Robust-Tube Model Predictive Control for Piezoelectrically A...

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Artificial Intelligence and Automation Control (AIAC), International Conference on

作者： Yu Chai Chen Yang Huijuan Dong Jie Zhao Yuri A. W. Shardt Bingfeng Ju ZJU-Hangzhou Global Scientific and Technological Innovation Center Hangzhou China State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China Department of Automation Engineering Technical University of Ilmenau Ilmenau Germany School of Mechanical Engineering Zhejiang University Hangzhou China

ISBN: (数字)9798331529147

ISBN: (纸本)9798331529154

Safeguarding high voltage direct current (HVDC) systems against direct current faults is an inherently demanding task. A promising solution to tackle this challenge is the application of piezoelectrically actuated fast mechanical switches (PA-FMS). However, mechanical resonance and random vibrations in the travel curves of P A-FMS have a substantial impact on their control accuracy. To tackle this challenge, a robust-tube model predictive control (RTMPC) strategy is developed. RTMPC drives the disturbed system state into the minimal robustly positively invariant (mRPI) set centered on the target and ensures that constraints are satisfied. The error feedback gain is calculated using the proposed linear matrix inequality (LMI) based method to minimize the effect of disturbances on the trajectory. An efficient outer approximation method is used to compute the mRPI set. Simulation results show that the critically damped travel curves have been achieved, along with a reduction of the external disturbances by 98%.

关键词： Vibrations Uncertain systems Uncertainty Simulation Switches High-voltage techniques Predictive models Trajectory Approximation methods Predictive control

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Joint Design of Radar Receive Filter and Unimodular ISAC Waveform with Sidelobe Level Control

arXiv

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arXiv 2025年

作者： Zhang, Kecheng Liu, Ya-Feng Wang, Zhongbin Yuan, Weijie Keskin, Musa Furkan Wymeersch, Henk Xia, Shuqiang School of System Design and Intelligent Manufacturing The Shenzhen Key Laboratory of Robotics and Computer Vision Southern University of Science and Technology Shenzhen518055 China State Key Laboratory of Scientific and Engineering Computing Institute of Computational Mathematics and Scientific/Engineering Computing Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing100190 China Department of Electrical Engineering Chalmers University of Technology Gothenburg41296 Sweden ZTE Corporation The State Key Laboratory of Mobile Network and Mobile Multimedia Technology Shenzhen518055 China

Integrated sensing and communication (ISAC) has been considered a key feature of next-generation wireless networks. This paper investigates the joint design of the radar receive filter and dual-functional transmit waveform for the multiple-input multiple-output (MIMO) ISAC system. While optimizing the mean square error (MSE) of the radar receive spatial response and maximizing the achievable rate at the communication receiver, besides the constraints of full-power radar receiving filter and unimodular transmit sequence, we control the maximum range sidelobe level, which is often overlooked in existing ISAC waveform design literature, for better radar imaging performance. To solve the formulated optimization problem with convex and nonconvex constraints, we propose an inexact augmented Lagrangian method (ALM) algorithm. For each subproblem in the proposed inexact ALM algorithm, we custom-design a block successive upper-bound minimization (BSUM) scheme with closed-form solutions for all blocks of variable to enhance the computational efficiency. Convergence analysis shows that the proposed algorithm is guaranteed to provide a stationary and feasible solution. Extensive simulations are performed to investigate the impact of different system parameters on communication and radar imaging performance. Comparison with the existing works shows the superiority of the proposed algorithm. © 2025, CC BY-NC-SA.

关键词： Mean square error

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CTCF organizes inter-A compartment interactions through RYBP-dependent phase separation

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细胞研究（英文版） 2022年第8期32卷 744-760页

作者： Chao Wei Lumeng Jia Xiaona Huang Jin Tan Mulan Wang Jing Niu Yingping Hou Jun Sun Pengguihang Zeng Jia Wang Li Qing Lin Ma Xinyi Liu Xiuxiao Tang Fenjie Li Shaoshuai Jiang Jingxin Liu Tingting Li Lili Fan Yujie Sun Juntao Gao Cheng Li Junjun Ding RNA Biomedical Institute Sun Yat-Sen Memorial HospitalZhongshan School of MedicineSun Yat-Sen UniversityGuangzhouGuangdongChina Advanced Medical Technology Center The First Affiliated HospitalZhongshan School of MedicineSun Yat-sen UniversityGuangzhouGuangdongChina Center for Stem Cell Biology and Tissue Engineering Key Laboratory for Stem Cells and Tissue EngineeringMinistry of EducationZhongshan School of MedicineSun Yat-Sen UniversityGuangzhouGuangdongChina School of Life Sciences Peking UniversityBeijingChina School of Medicine Tsinghua UniversityBeijingChina Peking-Tsinghua Center for Life Sciences Academy for Advanced Interdisciplinary Studies Peking UniversityBeijingChina RNA Biomedical Institute Sun Yat-Sen Memorial HospitalZhongshan School of MedicineSun Yat-Sen UniversityGuangzhouGuangdongChina Advanced Medical Technology Center The First Affiliated HospitalZhongshan School of MedicineSun Yat-sen UniversityGuangzhouGuangdongChina Center for Stem Cell Biology and Tissue Engineering Key Laboratory for Stem Cells and Tissue EngineeringMinistry of EducationZhongshan School of MedicineSun Yat-Sen UniversityGuangzhouGuangdongChina Department of Cell Biology School of Basic Medical SciencesSouthern Medical UniversityGuangzhouGuangdongChina RNA Biomedical Institute Sun Yat-Sen Memorial HospitalZhongshan School of MedicineSun Yat-Sen UniversityGuangzhouGuangdongChina Advanced Medical Technology Center The First Affiliated HospitalZhongshan School of MedicineSun Yat-sen UniversityGuangzhouGuangdongChina Center for Stem Cell Biology and Tissue Engineering Key Laboratory for Stem Cells and Tissue EngineeringMinistry of EducationZhongshan School of MedicineSun Yat-Sen UniversityGuangzhouGuangdongChina Department of Pediatric Surgery Guangdong Provincial Key Laboratory of Research in Structural Birth Defect DiseaseGuangzhou Women and Children's Medical CenterGuangzhou Medical UniversityGuangzhouGuangdongChina State Key Laboratory of Proteomics National Ce

Chromatin is spatially organized into three-dimensional structures at different levels including A/B compartments,topologically associating domains and *** canonical CTCF-mediated loop extrusion model can explain the formation of ***,the organization mechanisms underlying long-range chromatin interactions such as interactions between A-A compartments are still poorly *** we show that different from the canonical loop extrusion model,RYBP-mediated phase separation of CTCF organizes inter-A compartment *** on this model,we designed and verified an induced CTCF phase separation system in embryonic stem cells(ESCs),which facilitated inter-A compartment interactions,improved self-renewal of ESCs and inhibited their differentiation toward neural progenitor *** findings support a novel and non-canonical role of CTCF in organizing long-range chromatin interactions via phase separation.

关键词： Chromatin structure Pluripotency

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一种用二氧六环制备紫杉醇冻干制剂的简易方法

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Science China Materials 2023年第6期66卷 2513-2522页

作者：孙勃旸邵帅 Sanjana Ghosh 黎杰鑫王晓洁李昌宁 Breandan Quinn Paschalis Alexandridis Jonathan F.Lovell 张育淼 School of Chemical Engineering and Technology Key Laboratory of Systems Bioengineering(Ministry of Education)Frontiers Science Center for Synthetic Biology(Ministry of Education)Tianjin UniversityTianjin 300350China Translational Medicine Center The First Affiliated Hospital of Zhengzhou UniversityZhengzhou 450000China Department of Biomedical Engineering The State University of New York at BuffaloBuffaloNY14260USA Department of Chemical and Biological Engineering The State University of New York at BuffaloBuffaloNY14260USA

第二代紫杉醇卡巴他赛(CTX)由于对P-gp糖蛋白的亲和力较低,具有不易产生耐药性等优点,被成功地应用于治疗耐药性前列腺癌的临床治疗中.由于CTX的疏水性较高,临床使用的制剂是由液体表面活性剂Tween-80和乙醇组成的(Tween-80与CTX的质量... 详细信息

第二代紫杉醇卡巴他赛(CTX)由于对P-gp糖蛋白的亲和力较低,具有不易产生耐药性等优点,被成功地应用于治疗耐药性前列腺癌的临床治疗中.由于CTX的疏水性较高,临床使用的制剂是由液体表面活性剂Tween-80和乙醇组成的(Tween-80与CTX的质量比为27:1).而Tween-80可能在血液中导致溶血问题,引起过敏反应.在此工作中,我们报道了一种只用少量表面活性剂(pluronic F127与CTX的质量比为3:1)的冻干CTX的制剂:CTX和Pluronic F127一起溶解在由水和1,4-二恶烷(两种常用的冷冻干燥溶剂)组成的混合溶剂系统中制成的冻干粉.胶束状态下的溶剂系统可以经过无菌过滤膜达到除菌效果,结果表明在5%和高于60%的1,4-二恶烷浓度下通过过滤才能达到理想的过滤效果.冻干CTX制剂和重溶胶束的特性取决于共溶剂/溶剂比和F127与CTX的比例,并且能够通过调整比例来调节纳米颗粒的尺寸.用60%的1,4-二恶烷溶解质量比为3:1的F127/CTX所得的冻干CTX产物,重溶后的胶束在水相中能稳定至少三小时.在对小鼠进行静脉给药后,血液中的CTX浓度不依赖于胶束的粒径大小,并且血液代谢和纯Tween-80制剂类似.小鼠抗肿瘤实验表明小鼠体内MIA Paca-2肿瘤抑制功效与Tween-80制剂相似.综上所述,此工作报道了一种简单的冻干方法用于制备紫杉醇药物制剂,具有制备方法高效和表面活性剂添加量低等优点.

关键词：抗肿瘤实验二氧六环肿瘤抑制溶剂系统静脉给药紫杉醇无菌过滤药物制剂

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