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UW-DNeRF: Deformable Soft Tissue Reconstruction with Uncertainty-Guided Depth Supervision and Local Information Integration

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IEEE Transactions on Medical Imaging 2025年 PP卷 PP页

作者： Shan, Jiwei Zhang, Zixin Li, Hao Hsieh, Cheng-Tai Li, Yirui Wu, Wenhua Wang, Hesheng School of Electronic Information and Electrical Engineering of Shanghai Jiao Tong University Shanghai200240 China Shanghai Jiao Tong University School of Mechanical Engineering Shanghai200240 China Shanghai Jiao Tong University State Key Laboratory of Avionics Integration and Aviation System-of-Systems Synthesis Department of Automation Key Laboratory of System Control and Information Processing of Ministry of Education Shanghai200240 China

Reconstructing deformable soft tissues from endoscopic videos is a critical yet challenging task. Leveraging depth priors, deformable implicit neural representations have seen significant advancements in this field. However, depth priors from pre-Trained depth estimation models are often coarse, and inaccurate depth supervision can severely impair the performance of these neural networks. Moreover, existing methods overlook local similarities in input sequences, which restricts their effectiveness in capturing local details and tissue deformations. In this paper, we introduce UW-DNeRF, a novel approach utilizing neural radiance fields for high-quality reconstruction of deformable tissues. We propose an uncertainty-guided depth supervision strategy to mitigate the impact of inaccurate depth information. This strategy relaxes hard depth constraints and unlocks the potential of implicit neural representations. In addition, we design a local window-based information sharing scheme. This scheme employs local window and keyframe deformation networks to construct deformations with local awareness and enhances the model's ability to capture fine details. We demonstrate the superiority of our method over state-of-The-Art approaches on synthetic and in-vivo endoscopic datasets. Code is available at: https://***/IRMVLab/UW-DNeRF. © 2025 IEEE.

关键词： Endoscopy

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Harmonic Disturbance Suppression for High-Performance Nonlinear Repetitive-control systems

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IFAC-PapersOnLine 2023年第2期56卷 4545-4550页

作者： Shengnan Tian Kang-Zhi Liu Manli Zhang Chengda Lu Min Wu Jinhua She School of Automation China University of Geosciences Wuhan 430074 China. Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan 430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan 430074 China Department of Electrical and Electronic Engineering Chiba University Chiba 263-8522 Japan School of Engineering Tokyo University of Technology Hachioji Tokyo 192-0982 Japan

This study focuses on the performance design issue of nonlinear repetitive control (RC) systems subject to harmonic disturbances. First, a Takagi-Sugeno fuzzy model is used to describe a nonlinear plant. Then, a repetitive controller featuring a harmonic disturbance period is integrated with an EID estimator to form an RC-EID structure. The structure has a learning feature that gradually reduces the harmonic disturbance estimation error by self-learning. The linear inequality matrices guarantee the stability of nonlinear RC systems. A case study with two permanent magnet synchronous motors shows that the presented RC-EID estimator enhances the harmonic disturbance-suppression performance while compensating for the phase lag caused by the conventional EID filter.

关键词： Nonlinear repetitive control systems harmonic disturbance suppression equivalent input disturbance performance enhancement

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An Experimental Research on Temperature Accuracy Algorithm in Fan Coil Thermostat

An Experimental Research on Temperature Accuracy Algorithm i...

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China International Electrical and Energy Conference (CIEEC)

作者： Yunus Arı Ergün Cücük Seda Karateke Electric and Electronic Engineering Institute of Graduate Studies Istanbul University - Cerrahpaşa Istanbul Turkey Department of Research and Development Ges Teknik Air Conditioning Control and Automation Systems Industry and Trade Inc. Istanbul Turkey Department of Computer Engineering Faculty of Engineering Istanbul Topkapı University Istanbul Turkey

The efficient operation of HVAC&R systems are based on keeping indoor temperature and air quality at an optimum level without disturbing comfort. Starting from this point, in this experimental research, the factors affecting the measurement accuracy during the room temperature detection of a wall mount fan coil thermostat were examined. Among the external effects, the effect of the device components on the measurement was focused and the solution of the measurement deviations occurred in this extent was investigated. Based on the experiments, the algorithm that must be applied to reach the optimum temperature measurement of a room thermostat developed for Fan Coil systems was proposed.

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Hybrid Unmanned Aerial Underwater Vehicles: A Survey on Concepts and Technologies

SSRN

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SSRN 2023年

作者： Pinheiro, Pedro Miranda Dias de Oliveira Evald, Paulo Jefferson Grando, Ricardo Bedin Neto, Armando Alves Jorge Drews, Paulo Lilles Intelligent Robotics and Automation Group Federal University of Rio Grande Rio Grande Brazil Intelligent Systems and Control Group Federal University of Pelotas Pelotas Brazil Department of Robotics Technological University of Uruguay Rivera Uruguay Department of Electronic Engineering Federal University of Minas Gerais Belo Horizonte Brazil

Hybrid Unmanned Aerial Underwater Vehicle (HUAUV) is a class of multi-modal mobile robots characterized by the ability to fly and navigate underwater, as well as being able to perform the transition between both environments. The development of modern vehicles of this class is driven by the enhancement of mobile robotic systems, sensors, and control techniques. However, the class definition and hierarchy for these vehicles are still vague and undefined. Therefore, this work presents a survey of concepts and prototypes of HUAUVs, developed from 2010 until 2022. The search for works was performed in relevant international conference proceedings and journals. We present a classification of state-of-the-art concepts and prototypes of HUAUVs based on specific main features of vehicles, allowing the identification of trends in HUAUV development, and an actuator-based taxonomy for HUAUVs. Hence, our categorization provides a more cohesive background for future works, as well as a better understanding of the main features of hybrid vehicles. Finally, a pragmatic approach to future applications is provided, given the current trends in Mobile Robotics, focusing on unmanned aerial/underwater vehicles. © 2023, The Authors. All rights reserved.

关键词： Antennas

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Extended State Observer Based Fault-Tolerant Predictive control for a Four-Mecanum Wheels Mobile Robot

Extended State Observer Based Fault-Tolerant Predictive Cont...

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IEEE International Conference on Cyber Technology in automation, control, and Intelligent systems

作者： Binghao Yang Dongliang Wang Ziling Wen Wu Wei Wenji Li Zhun Fan Key Lab of Digital Signal and Image Processing of Guangdong Province Shantou University Guangdong China School of Department of Electronic and Information Engineering Shantou University Guangdong China Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Guangzhou Guangdong China School of Automation Science and Engineering South China University of Technology Guangzhou Guangdong China

ISBN: (数字)9798331506056

ISBN: (纸本)9798331506063

The application of unmanned vehicles in industrial cargo transportation is becoming increasingly widespread, particularly playing a significant role in transporting heavy-duty goods. However, when performing such tasks, whether in single-vehicle transportation or multi-vehicle collaborative transportation, the occurrence of wheel failures can potentially lead to serious safety accidents. Therefore, this paper proposes a fault-tolerant control scheme, establishing a kinematic model considering disturbances and failures, and adopts model predictive control for trajectory tracking. Additionally, an extended state observer is introduced to observe system states and counteract disturbances. To address potential failure issues, a controller reconstruction strategy is proposed. Finally, the effectiveness and superiority of the controller is validated through numerical simulation and comparative experiment.

关键词： Fault tolerance Trajectory tracking Fault tolerant systems Wheels Transportation Kinematics Predictive models Safety State estimation Predictive control

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Error-state Kalman Filtering with Linearized State Constraints

TechRxiv

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TechRxiv 2023年

作者： Do, Hoang Viet Jung, Jae Hyung Park, Chan Gook Song, Jin Woo The Intelligent Navigation and Control Systems Laboratory Department of Convergence Engineering for Intelligent Drone School of Intelligent Mechatronics Engineering Sejong University Seoul05006 Korea Republic of The Department of Aerospace Engineering Automation and Systems Research Institute Seoul National University Seoul08826 Korea Republic of The Navigation and Electronic System Laboratory Department of Aerospace Engineering Institute of Advanced Aerospace Technology Seoul National University Seoul08826 Korea Republic of

In recent years, the error-state Kalman filter (ErKF) has been extensively employed across various applications, including but not limited to robotics, aerospace, and localization. However, incorporating constraints into the ErKF framework when state constraint is necessary has remained a challenging task due to its intrinsic properties. This paper explores all possible ways to achieve this goal in the context of the estimate projection method. In particular, the constraint can be enforced before or after the ErKF’s correction step. We approach the problem from a mathematical perspective by deriving analytical solutions and discussing their statistical properties. We prove that the two mentioned methods are statistically identical for a linear system with linear constraints. Conversely, the filter’s behavior remains uncertain in the presence of linearized constraints. However, we provide a special case of the nonlinear constraint, wherein the results of the linear case remain valid. To support our theorem and verify the filter’s performance when the assumptions are invalidated, we present two Monte Carlo simulations under the increasing initialization error and the constraint’s incompleteness. The simulation results clearly confirm our insights and lead to the conclusion that constraining the error-state after the correction may offer superior outcomes compared to its competitor. © 2023, CC BY.

关键词： Linearization

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Automatic control of Microwave Heating System Based on PID and Evolutionary Computation

Automatic Control of Microwave Heating System Based on PID a...

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Emerging Smart Technologies and Applications (eSmarTA), International Conference on

作者： Mohaiyedin Idris Ahmad Zuhaily Anuar Zamani Muhammad Khusairi Osman Ahmad Asri Abd Samat Hasnain Abdullah Idris Mohd Mydin M. Abdul Kader Esa Apriaskar Mohd Fauzi Abu Hassan Centre for Electrical Engineering Studies Universiti Teknologi MARA Cawangan Pulau Pinang Pulau Pinang Malaysia Faculty of Electrical Engineering Studies Universiti Malaysia Perlis Arau Perlis Malaysia Department of Electrical Engineering Faculty of Engineering Universitas Negeri Semarang Semarang Indonesia Intelligent Automotive Systems Research Cluster Electrical Electronic and Automation Section Universiti Kuala Lumpur Kulim Kedah Malaysia

ISBN: (数字)9798350354133

ISBN: (纸本)9798350354140

The food and beverage industry has progressed in tandem with the evolution of communication technologies. Researchers are drawn to the developing stream of modern technology, particularly microwave heating technology, which offers good temperature control. In order to optimise system efficiency, it is important to adjust the controller parameters precisely. However, the system poses a bit of a challenge to control and stabilize the optimum temperature. This is due to the generated temperature is affected by several factors such as load variations, changes in material properties, and electromagnetic field distribution, making the conventional control process ineffective. This paper proposed the whale optimization algorithm (WOA) and particle swarm optimization (PSO) to determine the ideal tuning parameters for Proportional–Integral–Derivative (PID) controllers. An evaluation and comparison of the method's performance is conducted against genetic algorithm (GA). The results demonstrate that the proposed PID controller with WOA achieved superior performance compared to the GA and PSO. The WOA obtained the optimal values for the proportional gain (Kp), integral gain (Ki), and derivative gain (Kd) as 1000, 80, and 80, respectively, with the lowest integral absolute error (IAE) of 214.79 and fastest convergence rate compared to the GA and PSO.

关键词： Electromagnetic heating Temperature distribution Process control Microwave communication Whale optimization algorithms Particle swarm optimization Tuning

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Mixing loop control using reinforcement learning 13

Mixing loop control using reinforcement learning

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13th REHVA World Congress, CLIMA 2019

作者： Overgaard, Anders Kallesøe, Carsten Skovmose Bendtsen, Jan Dimon Nielsen, Brian Kongsgaard Grundfos Holding A/S Control Technology Bjerringbro Denmark Aalborg University Department of Electronic Systems Section of Automation and Control Aalborg Denmark

In hydronic heating systems, a mixing loop is used to control the temperature and pressure. The task of the mixing loop is to provide enough heat power for comfort while minimizing the cost of heating the building. control strategies for mixing loops are often limited by the fact that they are installed in a wide range of different buildings and locations without being properly tuned. To solve this problem the reinforcement learning method known as Q-learning is investigated. To improve the convergence rate this paper introduces a Gaussian kernel backup method and a generic model for pre-simulation. The method is tested via high-fidelity simulation of different types of residential buildings located in Copenhagen. It is shown that the proposed method performs better than well tuned industrial controllers. © The Authors, published by EDP Sciences. This is an open access article distributed under the terms of the Creative Commons Attribution License 4.0

关键词： Reinforcement learning

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Review on recent progress in on-line monitoring technology for atmospheric pollution source emissions in China

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Journal of Environmental Sciences 2023年第1期123卷 367-386页

作者： Huanqin Wang Jitong Zhou Xue Li Qiang Ling Hongyuan Wei Lei Gao Ying He Ming Zhu Xiao Xiao Youjiang Liu Shan Li Chilai Chen Guotao Duan Zhimin Peng Peili Zhou Yufeng Duan Jianbing Wang Tongzhu Yu Yixin Yang Jiguang Wang Zhen Zhou Huaqiao Gui Yanjun Ding State Key Laboratory of Transducer Technology Institute of Intelligent MachinesHefei Institutes of Physical ScienceChinese Academy of SciencesHefei 230031China Institute of Mass Spectrometry and Atmospheric Environment Jinan UniversityGuangzhou 510632China Department of Automation University of Science and Technology of ChinaHefei 230027China China Automotive Technology and Research Center Tianjin 300300China Institute of Solid State Physics Chinese Academy of SciencesHefei 230031China Key Laboratory of Environmental Optics and Technology Anhui Institute of Optics and Fine MechanicsChinese Academy of SciencesHefei 230031China School of Electronic Information and Communications Huazhong University of Science and TechnologyWuhan 430074China School of Optical and Electronic Information Huazhong University of Science and TechnologyWuhan 430074China State Key Laboratory of Power Systems Department of Energy and Power EngineeringTsinghua UniversityBeijing 100084China Key Laboratory of Energy Thermal Conversion and Control of Ministry of Education School of Energy and EnvironmentSoutheast UniversityNanjing 210096China School of Chemical and Environmental Engineering China University of Mining and Technology(Beijing)Beijing 100083China CAS Center for Excellence in Regional Atmospheric Environment Institute of Urban EnvironmentChinese Academy of SciencesXiamen 361021China

Emissions from mobile sources and stationary sources contribute to atmospheric pollution in China,and its components,which include ultrafine particles(UFPs),volatile organic compounds(VOCs),and other reactive gases,such as NH3and NOx,are the most harmful to human *** has released various regulations and standards to address pollution from mobile and stationary ***,it is urgent to develop online monitoring technology for atmospheric pollution source *** study provides an overview of the main progress in mobile and stationary source monitoring technology in China and describes the comprehensive application of some typical instruments in vital areas in recent *** instruments have been applied to monitor emissions from motor vehicles,ships,airports,the chemical industry,and electric power *** only has the level of atmospheric environment monitoring technology and equipment been improving,but relevant regulations and standards have also been constantly ***,the developed instruments can provide scientific assistance for the successful implementation of *** to the potential problem areas in atmospheric pollution in China,some research hotspots and future trends of atmospheric online monitoring technology are ***,more advanced atmospheric online monitoring technology will contribute to a comprehensive understanding of atmospheric pollution and improve environmental monitoring capacity.

关键词： Atmospheric pollution Mobile sources Stationary sources On-line monitoring technology

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Design and Implementation of a Two-Limbed 3T1R Haptic Device

Design and Implementation of a Two-Limbed 3T1R Haptic Device

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IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Long Kang Yang Yang Byung-Ju Yi PCA Lab Key Laboratory of Intelligent Perception and Systems for High-Dimensional Information of Ministry of Education School of Computer Science and Engineering Nanjing University of Science and Technology Nanjing China Xi'an Modern Control Technology Research Institute Xi'an China School of Automation Nanjing University of Information Science and Technology Nanjing China Department of the Electronic Systems Engineering Hanyang University Ansan South Korea

This paper presents a haptic device with a simple architecture of only two limbs that can provide translational motion in three degrees of freedom (DOF) and one-DOF rotational motion. Actuation redundancy eliminates all forward-kinematic singularities and improves the motion-force transmission property. Thanks to the special structure of the kinematic chains, all actuators are close to the base and full gravity compensation is achieved passively by using springs. Force producibility analysis shows that this haptic device is able to produce long-term continuous force feedback of 15–30 N in each direction. By developing a prototype of the haptic device and a virtual three-dimensional simulator, a preliminary performance evaluation of the haptic device was conducted. In addition, a torque distribution algorithm considering a relaxed form of actuator-torque saturation was experimentally evaluated, and a comparison with other algorithms reveals that this algorithm offers several advantages.

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