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DG-NBV: A Cognitive Framework for Direct Generation of Next Best View in Continuous View Space

IEEE Transactions on Cognitive and Developmental systems 2024年

作者： Liu, Zhicheng Cao, Zhiqiang Li, Jianjie Guan, Peiyu Yu, Junzhi Chinese Academy of Sciences State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Beijing100190 China University of Chinese Academy of Sciences School of Artificial Intelligence Beijing100049 China Peking University Department of Advanced Manufacturing and Robotics BIC-ESAT College of Engineering Beijing100871 China

The next best view (NBV) plays an important role in the three-dimensional object reconstruction. Existing NBV methods mainly adopt the generate-and-test strategy to select the best view in the discrete view space. This affects the adaptation to diverse objects. To solve this problem, a new NBV paradigm to directly generate the next best view in the continuous view space according to the input point cloud is proposed. Specifically, a point cloud feature extraction module with learnable view and position tokens is presented. These tokens are added upon the neighborhood and the position features of the point cloud to fully mine global contextual information, enhancing the feature representation. The predicted view from the proposed network is linked to a pre-trained view evaluation network. By duplicating this prediction view and then concatenating the duplication result with the extracted point cloud feature, the evaluation network is endowed with the ability to evaluate arbitrary views. Take the evaluation score of the evaluation network corresponding to the predicted view as the supervision signal, the network is trained. In this way, an effective solution of the next best view selection in the continuous view space is obtained. Accordingly, the adaptability to different objects is reinforced. Experimental results on the ShapeNet and MIT CSAIL datasets demonstrate the effectiveness of the proposed method. © 2024 IEEE.

关键词： Feature extraction

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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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IEEE International Conference on systems, Man and Cybernetics

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

ISBN: (数字)9781665410205

ISBN: (纸本)9781665410212

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.

关键词： Perturbation methods Design methodology Quantum optics Robustness Feedback control Closed loop systems Tuning Cybernetics

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Kinematic Parameter Calibration for Parallel Robot Based on Robust Estimation and PCR Algorithm

Kinematic Parameter Calibration for Parallel Robot Based on ...

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Advanced Algorithms and Control engineering (ICAACE), International Conference on

作者： Jin Wang Renge Zhang Weijun Hu Haiyun Zhang Guodong Lu Silu Chen Jingbo Luo State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical Engineering Zhejiang University Hangzhou China Robotics Institute of Zhejiang University Hangzhou China School of Robotics Ningbo University of Technology Ningbo China Zhejiang Qiantang Robot and Intelligent Equipment Research Co. LTD Hangzhou China Ningbo Institute of Materials Technology and Engineering Chinese Academy of Sciences Ningbo China

ISBN: (数字)9798350361445

ISBN: (纸本)9798350361452

Due to the existence of redundant identification parameters and parallel branch chains, the nonlinear error model of parallel robot is likely to produce multicollinearity, which will lead to the undesirable ill-conditioned identification matrix. Though PCR method can modify the ill-conditioned identification matrix, it is still susceptible to the gross error of the original data. In terms of these problems, this paper proposes a parameter calibration algorithm for parallel robot based on robust estimation and principal component regression (RE-PCR). Firstly, the linear identification model is established based on the closed-loop vector chain perturbation theory to improve the identification accuracy. On this basis, for the configuration types with redundant identification parameters and parallel branch chains, PCR is used to modify the ill-conditioned matrix and a robust estimation (RE) algorithm is designed to improve the resistance capacities of PCR to gross error data points. Finally, through the identification experiment based on 4PPa-2PaR parallel robot, the proposed algorithm demonstrates higher efficiency and stronger robustness in comparison with traditional methods.

关键词： Resistance Parallel robots Parameter estimation Perturbation methods Estimation Kinematics Vectors

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Single-step precision programming of decoupled multiresponsive soft millirobots

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Proceedings of the National Academy of Sciences of the United states of America 2024年第13期121卷 e2320386121页

作者： Zheng, Zhiqiang Han, Jie Shi, Qing Demir, Sinan Ozgun Jiang, Weitao Sitti, Metin Physical Intelligence Department Max Planck Institute for Intelligent Systems Stuttgart 70569 Germany State Key Laboratory for Manufacturing Systems Engineering Xi’an Jiaotong University Xi’an 710054 China School of Mechanical Engineering Xi’an Jiaotong University Xi’an 710054 China Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology Beijing 100081 China Key Laboratory of Biomimetic Robots and Systems Beijing Institute of Technology) Ministry of Education Beijing 100081 China Institute for Biomedical Engineering ETH Zurich Zurich 8092 Switzerland School of Medicine College of Engineering Koç University Istanbul 34450 Turkey

Stimuli-responsive soft robots offer new capabilities for the fields of medical and rehabilitation robotics, artificial intelligence, and soft electronics. Precisely programming the shape morphing and decoupling the multiresponsiveness of such robots is crucial to enable them with ample degrees of freedom and multifunctionality, while ensuring high fabrication accuracy. However, current designs featuring coupled multiresponsiveness or intricate assembly processes face limitations in executing complex transformations and suffer from a lack of precision. Therefore, we propose a one-stepped strategy to program multistep shape-morphing soft millirobots (MSSMs) in response to decoupled environmental stimuli. Our approach involves employing a multilayered elastomer and laser scanning technology to selectively process the structure of MSSMs, achieving a minimum machining precision of 30 µm. The resulting MSSMs are capable of imitating the shape morphing of plants and hand gestures and resemble kirigami, pop-up, and bistable structures. The decoupled multistimuli responsiveness of the MSSMs allows them to conduct shape morphing during locomotion, perform logic circuit control, and remotely repair circuits in response to humidity, temperature, and magnetic field. This strategy presents a paradigm for the effective design and fabrication of untethered soft miniature robots with physical intelligence, advancing the decoupled multiresponsive materials through modular tailoring of robotic body structures and properties to suit specific applications. Copyright © 2024 the Author(s).

关键词： environmental response miniature robot soft electronics soft robotics

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Distributed Optimization by Network Flows with Spatio-Temporal Compression

arXiv

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arXiv 2024年

作者： Ren, Zihao Wang, Lei Yi, Xinlei Wang, Xi Yuan, Deming Yang, Tao Wu, Zhengguang Shi, Guodong State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou310027 China College of Electronics and Information Engineering Tongji University China School of Electrical Engineering Telecommunications University of New South Wales Sydney Australia School of Automation Nanjing University of Science and Technology China State Key Laboratory of Synthetical Automation for Process Industries Northeastern University China Australian Centre for Robotics School of Aerospace Mechanical and Mechatronic Engineering The University of Sydney SydneyNSW2006 Australia

Several data compressors have been proposed in distributed optimization frameworks of network systems to reduce communication overhead in large-scale applications. In this paper, we demonstrate that effective information compression may occur over time or space during sequences of node communications in distributed algorithms, leading to the concept of spatio-temporal compressors. This abstraction classifies existing compressors as spatio-temporal compressors, with their effectiveness described by constructive stability criteria from nonlinear system theory. Subsequently, we apply these spatio-temporal compressors to standard continuous-time consensus flows and distributed prime-dual flows, establishing conditions ensuring convergence. Additionally, we introduce a novel observer-based distributed primal-dual continuous flow integrated with spatio-temporal compressors, which provides broader convergence conditions. These continuous flows achieve exponential convergence to the global optimum when the objective function is strongly convex and can be discretized using Euler approximations. Finally, numerical simulations illustrate the versatility of the proposed spatio-temporal compressors and verify the convergence of algorithms. Copyright © 2024, The Authors. All rights reserved.

关键词： Stability criteria

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Restoration of FMRP expression in adult V1 neurons rescues visual deficits in a mouse model of fragile X syndrome

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Protein & Cell 2022年第3期13卷 203-219页

作者： Chaojuan Yang Yonglu Tian Feng Su Yangzhen Wang Mengna Liu Hongyi Wang Yaxuan Cui Peijiang Yuan Xiangning Li Anan Li Hui Gong Qingming Luo Desheng Zhu Peng Cao Yunbo Liu Xunli Wang Min-hua Luo Fuqiang Xu Wei Xiong Liecheng Wang Xiang-yao Li Chen Zhang State Key Laboratory of Membrane Biology PKU-IDG/McGovern Institute for Brain ResearchSchool of Life SciencesPeking UniversityBeijing 100871China School of Basic Medical Sciences Beijing Key Laboratory of Neural Regeneration and RepairCapital Medical UniversityBeijing 100069China Peking-Tsinghua Center for Life Sciences Academy for Advanced Interdisciplinary StudiesPeking UniversityBeijing 100871China School of Mechanical Engineering and Automation Beihang UniversityBeijing 100191China School of Life Sciences Tsinghua UniversityBeijing 100084China Britton Chance Center for Biomedical Photonics Wuhan National Laboratory for Optoelectronics-Huazhong University of Science and TechnologyWuhan 430074China State Key Laboratory of Brain and Cognitive Sciences Institute of BiophysicsChinese Academy of Sciences(CAS)Beijing 100101China Institute of Laboratory Animal Science Peking Union Medical College/Chinese Academy of Medical ScienceBeijing 100021China Laboratory Animal Center Fujian University of Tradition Chinese MedicineFuzhou 350122China State Key Laboratory of Virology CAS Center for Excellence in Brain Science andIntelligence TechnologyWuhan Institute of VirologyCASWuhan 430071China Center for Brain Science Key Laboratory of Magnetic Resonance in Biological Systems and State Key Laboratory of Magnetic Resonance and Atomic and Molecular PhysicsWuhan Institute of Physics and MathematicsCASCenter for Excellence in Brain Science and Intelligence TechnologyChinese Academy of SciencesWuhan 430071China Department of Physiology Anhui Medical UniversityHefei 230032China Department of Physiology Institute of Neuroscience and Collaborative Innovation Center for Brain ScienceSchool of MedicineZhejiang UniversityHangzhou 310058China

Many people affected by fragile X syndrome(FXS)and autism spectrum disorders have sensory processing deficits,such as hypersensitivity to auditory,tactile,and visual *** FXS in humans,loss of Fmr1 in rodents also cause sensory,behavioral,and cognitive ***,the neural mechanisms underlying sensory impairment,especially vision impairment,remain *** remains elusive whether the visual processing deficits originate from corrupted inputs,impaired perception in the primary sensory cortex,or altered integration in the higher cortex,and there is no effective *** this study,we used a genetic knockout mouse model(Fmr1^(KO)),in vivo imaging,and behavioral measurements to show that the loss of Fmr1 impaired signal processing in the primary visual cortex(V1).Specifically,Fmr1^(KO) mice showed enhanced responses to low-intensity stimuli but normal responses to high-intensity *** abnormality was accompanied by enhancements in local network connectivity in V1 microcircuits and increased dendritic complexity of V1 *** effects were ameliorated by the acute application of GABAA receptor activators,which enhanced the activity of inhibitory neurons,or by reintroducing Fmr1 gene expression in knockout V1 neurons in both juvenile and young-adult ***,V1 plays an important role in the visual abnormalities of Fmr1^(KO) mice and it could be possible to rescue the sensory disturbances in developed FXS and autism patients.

关键词： autism spectrum disorder calcium imaging fragile X syndrome primary visual cortex visual hypersensitivity

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Self-frequency-conversion nanowire lasers

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Light(Science & Applications) 2022年第6期11卷 1109-1117页

作者： Ruixuan Yi Xutao Zhang Chen Li Bijun Zhao Jing Wang Zhiwen Li Xuetao Gan Li Li Ziyuan Li Fanlu Zhang Liang Fang Naiyin Wang Pingping Chen Wei Lu Lan Fu Jianlin Zhao Hark Hoe Tan Chennupati Jagadish Key Laboratory of Light Field Manipulation and Information Acquisition Ministry of Industry and Information Technologyand Shaanxi Key Laboratory of Optical Information TechnologySchool of Physical Science and TechnologyNorthwestern Polytechnical University710129 Xi'anChina Frontiers Science Center for Flexible Electronics Xi'an Institute of Flexible Electronics(IFE)and Xi'an Institute of Biomedical Materials&EngineeringNorthwestern Polytechnical University127 West Youyi Road710072 Xi'anChina Department of Electronic Materials Engineering Research School of PhysicsThe Australian National UniversityCanberraACT 2601Australia State Key Laboratory for Infrared Physics Shanghai Institute of Technical PhysicsChinese Academy of Sciences500 Yutian Road200083 ShanghaiChina University of Chinese Academy of Sciences 19 Yuquan Road100049 BeijingChina School of Physical Science and Technology ShanghaiTech University393 Middle Huaxia RoadPudong District201210 ShanghaiChina ARC Centre of Excellence for Transformative Meta-Optical Systems Research School of PhysicsThe Australian National UniversityCanberraACT 2601Australia

Semiconductor nanowires(NWs)could simultaneously provide gain medium and optical cavity for performing nanoscale lasers with easy integration,ultracompact footprint,and low energy ***,we report Ⅲ-Ⅴsemiconductor NW lasers can also be used for self-frequency conversion to extend their output wavelengths,as a result of their non-centrosymmetric crystal structure and strongly localized optical field in the *** a GaAs/In0.16Ga0.84As core/shell NW lasing at 1016 nm,an extra visible laser output at 508 nm is obtained via the process of second-harmonic generation,as confirmed by the far-field polarization dependence measurements and numerical *** another NW laser with a larger diameter which supports multiple fundamental lasing wavelengths,multiple self-frequency-conversion lasing modes are observed due to second-harmonic generation and sum-frequency *** demonstrated self-frequency conversion of NW lasers opens an avenue for extending the working wavelengths of nanoscale lasers,even to the deep ultraviolet and THz range.

关键词： lasers polarization lasing

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A New Workspace and Structural Parameter Optimization Method of Parallel Robot

A New Workspace and Structural Parameter Optimization Method...

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IEEE Conference on Industrial Electronics and Applications (ICIEA)

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

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.

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Ray theory-Based Compounded Plane Wave Ultrasound Imaging for Aberration Corrected transcranial imaging: a Phantom Study

Ray theory-Based Compounded Plane Wave Ultrasound Imaging fo...

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IEEE Symposium (IUS) Ultrasonics

作者： Chen Jiang Shaoyuan Yan Chengcheng Liu Kailiang Xu Dean Ta Center for Biomedical Engineering School of Information Science and Technology Fudan University Shanghai China Academy for Engineering and Technology Fudan University Shanghai China State Key Laboratory of Integrated Chips and Systems Fudan University Shanghai China

Compounded plane wave imaging (CPWI) allows high-frame-rate measurement benefiting real-time brain imaging. The quality of transcranial brain imaging remains to be improved with the presence of skulls because of phase aberration. This study introduced methods of calculating the transmitting time-delays, and their accuracy was compared with numerical simulation using a transcranial model. Experiments were carried out on a 3D-printed skull phantom. High-quality intracranial images could be achieved using the right transmitting and receiving time-delays. This study suggested that the proposed methods might have the potential for real-time and non-invasive transcranial aberration-corrected imaging.

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Enhancing Robot Teleoperation in Remote Automation Production through an Event-Triggered Control Strategy

Enhancing Robot Teleoperation in Remote Automation Productio...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Mengke Wang Honghao Lv Ruohan Wang Haiteng Wu Lipeng Chen Yi Chen Haihui Yuan Geng Yang State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical Engineering Zhejiang University Hangzhou China Zhejiang Key Laboratory of Intelligent Operation and Maintenance Robot Hangzhou Shenhao Technology Hangzhou China Robotics X Tencent Shenzhen China Intelligent Manufacturing Center DongFang Electric Corporation Academy of Science and Technology Co Chengdu China China South Industries Group Corporation Hangzhou Automation Research Insititute Co. Ltd. China State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical Engineering Zhejiang University Zhejiang Key Laboratory of Intelligent Operation and Maintenance Robot Hangzhou China

ISBN: (数字)9798350394085

ISBN: (纸本)9798350394092

With the advancement of intelligent manufacturing, an increasing number of industrial production processes are transforming unmanned operations. This trend is particularly evident in factories that involve potential safety hazards, where the demand for unmanned production is becoming increasingly urgent. Teleoperation, as a core technology for achieving unmanned factories, holds tremendous importance in keeping workers safe from danger. However, traditional teleoperation strategies encounter challenges due to mismatches between master and slave workspaces, making it difficult to achieve both high precision and operation across large workspaces simultaneously. To address this issue, this paper proposes an event-triggered control strategy for a teleoperated robot system. By introducing a foot pedal as the event-triggered switch, the enablement and termination of teleoperation are associated with the activation of the pedal. Through resetting the start position, fine-grained teleoperation is achieved throughout the entire workspace of the robot. To demonstrate the advantages of the proposed control strategy, a mimicked wiring operation task scenario is constructed for experimental verification, and the teleoperation tasks are completed successfully and efficiently.

关键词： Wiring Accuracy Service robots Switches Market research Production facilities Main-secondary

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