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IEEE International Conference on Mechatronics and Automation

作者： Xiaoliang Jin Shuxiang Guo Jian Guo Peng Shi Dapeng Song Faculty of Engineering and Design Kagawa University 2217-20 Hayashi-cho Takamatsu Kagawa Japan Key Laboratory of Convergence Medical Engineering System and Healthcare Technology the Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology Beijing China Tianjin Key Laboratory for Control Theory and Application in Complicated Systems and Intelligent Robot Laboratory Tianjin University of Technology Tianjin China

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

In the research of vascular interventional surgery robotic system, the force information acquisition of surgical tools (guidewires and catheters) has a significant affect on the safety of surgery, especially the contact force between the catheter tip and vascular wall. Therefore. In order to obtain this contact force, we noticed the pressure sensitive rubber because of its piezoresistive effect and easy processing into any shape. a force sensor based on the pressure sensitive rubber was developed in this paper. Once a force is applied on the force sensor attached to the catheter tip, the contact force can be approximated by the piezoresistive effect of the pressure sensitive rubber. The feasibility of the developed force sensor was verified by the experiments in “Vitro”. And the results showed that the force sensor was developed in this paper can accurately detect the contact force between the catheter tip and vascular wall at different positions in the vascular model, the extraction of contact force information of catheter tip is of great significance to the safety of surgery, and the application potential of pressure sensitive rubber.

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Seam carving algorithm based on saliency 1st

Seam carving algorithm based on saliency

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1st International Conference on Smart Vehicular technology, Transportation, Communication and Applications, VTCA 2017

作者： Lin, Wen Zhang, Fuquan Lian, Renbao Xu, Lin Chen, Xueyun Kuang, Linghong School of Electronic Information Science Fujian Jiangxia University Fuzhou University Town Fuzhou350108 China School of Software Beijing Institute of Technology Beijing100081 China Fujian Provincial Key Laboratory of Information Processing and Intelligent Control Minjiang University Fuzhou350121 China Innovative Information Industry Research Institute Fujian Normal University Fuzhou350300 China Institute of Information Engineering Longyan University Town DongXiao XinLuo District Longyan364012 China School of Information Science and Engineering Fujian University of Technology Fuzhou University Town Fuzhou350118 China

ISBN: (纸本)9783319707297

This paper proposes a seam carving algorithm based on saliency. This algorithm makes saliency detection to the source image. Images are classified according to the gray-scale of saliency detection. Adding different energy protection methods, it can protect the foreground area of a subject and detailed areas of the edge. Then the cumulative energy map is calculated. According to the principle of deleting the minimum energy pixel, single pixel-wide carves chosen to be deleted or copied. The experimental result shows that the algorithm avoids image restoration caused by extracting too many pixels in saliency area and non equal-ratio scaling. It reduces the deformed structures caused by displacement of edge pixel and also improves the integrity of algorithm. © Springer International Publishing AG 2018.

关键词： Pixels

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A Detection Method for Densely Distributed Coal and Gangue with Uneven Particle Based on Deeplabv3+

SSRN

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SSRN 2024年

作者： Wang, Xi Guo, Yongcun Hu, Kun Jia, Xiaofen Gang, Cheng School of Mechanical Engineering Anhui University of Science and Technology Huainan232001 China State Key Laboratory of Mining Response and Disaster Prevention and Control in Deep Coal Mines Anhui University of Science and Technology Huainan232001 China School of Artificial Intelligence Anhui University of Science and Technology Huainan232001 China School of New Energy and Intelligent networked Automobile Anhui University of Science and Technology Hefei230000 China

A detection network for densely distributed coal and gangue with uneven particle size is proposed based on DeepLabV3+. Firstly, group convolution and 1×1 convolution are used in the encoder to reduce the model parameters, and deformable convolution is introduced to enhance the feature extraction capability for irregularly shaped targets. Then, two shallow feature maps and CA are introduced into the decoder, to enhance the network's focus on the edge detailed information of the adhesion target and the small target location information. Finally, relying on the self-collected multi-condition coal and gangue dataset, the method's effectiveness is demonstrated through comparative validation and test experiments, with an average F1-score of 0.983 and a detection speed of 32.5 FPS. The technique can be adapted to the poor working environment in coal mine production, and realizes the low-cost and high-efficiency identification and localization of coal and gangue. © 2024, The Authors. All rights reserved.

关键词： Coal

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Circumnavigation control of Non-Holonomic Vehicle System with Distance-Rate Measurements

Circumnavigation Control of Non-Holonomic Vehicle System wit...

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IEEE Conference on Decision and control

作者： Yao Zou Liangyin Zhong Bing Zhu Liang Sun Wei He School of Intelligence Science and Technology University of Science and Technology Beijing Beijing P. R. China Key Laboratory of Perception and Control of Intelligent Bionic Unmanned Systems Ministry of Education University of Science and Technology Beijing Beijing P. R. China Seventh Research Division Beihang University Beijing P. R. China

This article studies the circumnavigation problem of a non-holonomic vehicle independent of the global coordinate. Specifically, the vehicle circumnavigates an unknown stationary target with anticipated distance and velocity. However, the position information (i.e., absolute position and positive position) is not available to the vehicle. Instead, the vehicle can just obtain the distance rate relative to the target. We propose a generic continuous and bounded control algorithm based on only the distance-rate measurement. It is demonstrated using Poincare-Bendixon Criterion that the proposed control algorithm in this article ensures the asymptotically stable circumnavigation. Simulation is finally given to verify the effectiveness of the proposed control algorithm.

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Image Super Resolution by Double Dictionary Learning and its Application to Tool Wear Monitoring in Micro Milling

SSRN

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SSRN 2023年

作者： Li, Si Lin, Zhihao Zhu, Kunpeng Precision Manufacturing Institute Wuhan University of Science and Technology Hubei Wuhan430081 China Research Center of Advanced Manufacturing Technology Institute of Intelligent Machines Hefei Institutes of Physical Science Chinese Academy of Sciences Jiangsu Changzhou213164 China Key Laboratory of Metallurgical Equipment and Control Technology Ministry of Education Wuhan University of Science and Technology Hubei Wuhan430081 China Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering Wuhan University of Science and Technology Hubei Wuhan430081 China

It is an effective means to improve the machining quality of product by monitoring the tool wear conditions in micro milling. However, due to the small size and high speed of the micro milling cutter, it is difficult to capture the clear image of tool wear by CCD camera. Therefore, a double dictionary sparse coding super-resolution (SR) method is proposed to improve the resolution of micro milling tool wear images in this work. Based on the traditional single dictionary, this work proposes the residual dictionary to reconstruct the residual image of the tool, achieving the double dictionary coefficient encoding reconstruction. In order to extract local features of low resolution (LR) tool wear images, the Gobor filter banks are designed, and then the PCA method is used to reduce dimension of extracted features. The dictionary learning based on a single high resolution (HR) image is realized, which reduces the dependence of super-resolution algorithm on large datasets. The effectiveness of Gabor filter and double dictionary for restoration tool wear image details is verified by experiments. Compared with other conventional SR methods, the results have shown that the proposed method has excellent performance in super-resolution reconstruction of micro milling tool images for tool wear monitoring. © 2023, The Authors. All rights reserved.

关键词： Milling (machining)

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A structure feature algorithm for multi-modal forearm registration

arXiv

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arXiv 2021年

作者： Li, Jiaxin Ding, Yan Zhang, Weizhong Zhao, Yifan Guo, Lingxi Yang, Zhe Key Laboratory of Dynamics and Control of Flight Vehicle Ministry of Education School of Aerospace Engineering Beijing Institute of Technology Beijing100081 China School of Aerospace Transport and Manufacturing Cranfield University Wharley End Bedford United Kingdom Science and Technology on Space Physics Laboratory Beijing100076 China

Purpose: Augmented reality technology based on image registration is becoming increasingly popular for the convenience of pre-surgery preparation and medical education. This paper focuses on the registration of forearm images and digital anatomical models. Due to the difference in texture features of forearm multi-modal images, this paper proposes a forearm feature representation curve (FFRC) based on structure features to extract feature points of forearm images. In addition, we create an FFRC-compliant multi-modal image registration framework (FAM) for the forearm. Methods: FFRC counts the number of feature pixels in each column of the forearm binary image and uses the Kalman filter to eliminate data deviation. FAM screens matching spots using the FFRC feature of forearm pictures before applying affine transformation. FAM-TPS, which adds Thin Plate Spline to FAM, performs deformable registration by using the matched points as the interpolation function’s control points. FAM and FAM-TPS are evaluated on a dataset containing the axial rotation of the forearm. We employ Dice coefficient (DC), Jaccard coefficient (JC), Hausdorff distance (HD), Average surface distance metric (ASD), Average symmetric surface distance (ASSD) indicators to evaluate the registration accuracy of the framework and use Fréchet Inception Distance (FID) and Euler distance (ED) to evaluate the accuracy of the feature point matching. Results:Other classic feature-based registration methods were compared to FAM and FAM-TPS. In the registration experiment, our framework (FAM) achieved the DC of 0.987, JC of 0.974, HD of 387.21, ASD of 1.22, ASSD of 4.02, by adding thin-plate spline interpolation, our framework (FAM-TPS) achieved the DC of 0.991, JC of 0.982, HD of 395.69, ASD of 0.958, ASSD of 3.11. Furthermore, tests of resilience showed that our framework can register forearm images with varying rotation angles. Conclusions: The multi-modal forearm feature points can be retrieved properly using

关键词： Textures

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Fast accurate position control of light-responsive liquid crystal elastomer actuator

Fast accurate position control of light-responsive liquid cr...

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Asian control Conference

作者： Xinyu Nie Jundong Wu Yawu Wang Chun-Yi Su Daiki Sato Jinhua She School of Automation China University of Geosciences Wuhan China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan China Gina Cody School of Engineering and Computer Science Concordia University Montreal Quebec Canada Laboratory for Future Interdisciplinary Research of Science and Technology (FIRST) Tokyo Institute of Technology Yokohama Kanagawa Japan The School of Engineering Tokyo University of Technology Tokyo Japan

ISBN: (数字)9789887581598

ISBN: (纸本)9798331540845

Light-responsive liquid crystal elastomers (LCEs) are promising for soft robot actuators due to their ability to respond to light stimuli and produce deformation. In order to realize their application in soft robots, fast and accurate position control is essential. Based on the intrinsic physical nature of LCE actuator's deformation, a terminal sliding mode controller (TSMC) is designed to efficiently adjust the temperature of the actuator, thus directly controlling the actuator deformation. In order to achieve the target temperature, a prediction model is established to predict the target temperature corresponding to the target displacement. Moreover, a proportional integration controller is applied to eliminate model errors and disturbances. The feasibility of the control strategy is experimentally verified, and compared with conventional PID controller. The results prove that the proposed control strategy can achieve fast and accurate control of displacement.

关键词： Heating systems Actuators Accuracy Deformation Position control Process control Elastomers

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Optimal Minimum Energy Path Planning of Mobile Robot Based on Improved WOA-GA with Hybrid Strategy for Community-Centric Application

Optimal Minimum Energy Path Planning of Mobile Robot Based o...

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International Conference on Machine Learning and Cybernetics (ICMLC)

作者： Jiang Du Zhou Da-Lin Li Gong-Fa Lu Bao-Li Yun Jun-Tong Liu Ying Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education Wuhan University of Science and Technology Wuhan China School of Computing University of Portsmouth Portsmouth UK Hubei key laboratory of hydroelectric machinery design & maintenance China Three Gorges University Yichang China Key Laboratory of Mechanical Transmission and Manufacturing Engineering of Hubei Province Wuhan University of Science and Technology Wuhan China Precision Manufacturing Research Institute Wuhan University of Science and Technology Wuhan China Institute of Semiconductors Chinese Academy of Sciences Beijing China Research Center for Biomimetic Robot and Intelligent Measurement and Control Wuhan University of Science and Technology Wuhan China

The path planning of mobile robots is investigated to minimize energy loss in intelligent manufacturing. To achieve optimal energy consumption planning, this paper proposes a hybrid strategy that enhances the whale optimization algorithm (WOA) and the genetic algorithm (GA). The WOA-GA algorithm combines their respective advantages and effectively mitigates premature convergence exhibited by the standard traditional algorithm. To enhance the global and local search capabilities of the standard WOA, we employ adaptive weighting and a Cauchy mutation strategy. Additionally, we introduce an adaptive crossover mutation probability and an elite strategy to mitigate the detrimental effects of the genetic algorithm's evolutionary operation in the late iterations, thereby improving its performance. This paper compares the performance of the standard GA, the standard WOA-GA algorithm, and the enhanced WOA-GA algorithm. The experimental results demonstrate that the enhanced WOA-GA algorithm can achieve optimal energy-efficient path planning using the hybrid strategy. The average energy consumption of the enhanced WOA-GA algorithm can be reduced by 30%, while the maximum energy consumption can be reduced by 47%. The results confirm the effectiveness and feasibility of the proposed method in enhancing the level of green manufacturing.

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Inchworm-inspired soft climbing robot using microspine arrays

Inchworm-inspired soft climbing robot using microspine array...

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2019 IEEE/RSJ International Conference on intelligent Robots and Systems (IROS)

作者： Qiqiang Hu Erbao Dong Gang Cheng Hu Jin Jie Yang Dong Sun CAS Key Laboratory of Mechanical Behavior and Design of Materials University of Science and Technology of China Hefei China CAS Key Laboratory of Mechanical Behavior and Design of Materials University of Science and Technology of China Hefei PRC Anhui Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System Engineering Beijing PRC Department of Biomedical Engineering City University of Hong Kong Hong Kong SAR

Animals in nature, such as geckos, inchworms, and felines can climb on various surfaces using different mechanisms and serve as references for the study of bio-inspired robots. This paper presents an inchworm-inspired climbing robot that consists of soft body and feet. The soft robot is actuated by shape memory alloy wires and utilizes microspine arrays to attach its feet to rough or soft surfaces. A series of experiments to test the functionality of the feet and torso of the designed robot have verified the theoretical feasibility of the robot. Results have shown that the designed bio-inspired robot can climb on inclined or vertical curved surfaces and flat surfaces. The robot can also adapt to the underwater environment. Thus, this robot has great potential for various applications such as pipeline inspection.

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Supply chain system complexity analysis

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Xitong Gongcheng Lilun yu Shijian/System Engineering Theory and Practice 2008年第SUPPL.期28卷 132-141页

作者： Wang, Hong-Wei Guo, Min Institute of Systems Engineering Key Laboratory of Image Processing and Intelligent Control Huazhong University of Science and Technology Wuhan 430074 China

Supply chain is a complex system. The complexity of supply chain can be categorized into two kinds: the complexity of supply chain components as well as the complexity of the supply chain organizations, and both information uncertainty with system dynamics are the main reasons that lead to supply chain complexity. Concerning supply chain complexity, we review the related researching approaches in the literature from uncertainty, the measure of supply chain complexity as well as the dynamic analysis of the supply chain (including dynamic games), and give suggestions in the future research.

关键词： Supply chains

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