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第33届中国控制与决策会议

作者： Jiangbo Zhao Qiang Zhao Junzheng Wang Xin Zhang Yanlong Wang Key Laboratory of Complex System Intelligent Control and Decision School of AutomationBeijing Institute of Technology Key Laboratory of Servo Motion System Drive and Control Ministry of Industry and Information TechnologySchool of AutomationBeijing Institute of Technology Technical center Xinxing Cathay International Group Co.Ltd. Technology Center of Special Vehicle Manufacture and Evaluation Enginneering of Beijing Beijing North Vehicle Group Co.Ltd.

This paper takes 6-DOF manipulator as the research object,proposes the improved Artificial Potential Field(APF) method to plan the obstacle avoidance path of the manipulator,and combines the Danger Field(DF) method to evaluate the safety of the path planned using *** to the characteristics of the manipulator,the kinematics model of the manipulator is analyzed,and the ball envelope algorithm is applied to simplify the physical model of the *** with the traditional APF method,the improved APF searches in the joint space and introduces the joint attraction potential to improve the search speed and *** problem of local minimum is dealt with by the combination of adding virtual obstacles and increasing joint attraction *** improved APF not only has the advantages of good real-time performance and smooth path,but also solves the problem of the traditional APF falling into a local minimum,and combines the danger field method to judge the path rationality to ensure no collision with *** simulation verification,the proposed method realizes the obstacle avoidance path planning of the manipulator and the safety evaluation of the planned path.

关键词： Artificial potential field Danger field Obstacle avoidance Path planning Collision detection

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Constructing Epidermal Rete Ridges Using Composite Hydrogel to Enhance Multiple Signaling Pathways for the Maintenance of Epidermal Stem Cell Niche

SSRN

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SSRN 2023年

作者： Shen, Zhizhong Liu, Zixian Sun, Lei Li, Meng Han, Lu Wang, Jianming Wu, Xunwei Sang, Shengbo Shanxi Key Laboratory of Micro Nano Sensors & Artificial Intelligence Perception College of Information and Computer Taiyuan University of Technology Taiyuan030024 China Key Lab of Advanced Transducers and Intelligent Control System the Ministry of Education Taiyuan University of Technology Taiyuan030024 China Shanxi Research Institute of 6D Artificial Intelligence Biomedical Science Taiyuan030031 China General Hospital of TISCO North Street Xinghualing District Taiyuan030809 China Engineering Laboratory for Biomaterials and Tissue Regeneration Ningbo Stomatology Hospital Savaid Stomatology School Hangzhou Medical College Ningbo China Department of Tissue Engineering and Regeneration School and Hospital of Stomatology Cheeloo College of Medicine Shandong University Shandong Key Laboratory of Oral Tissue Regeneration Shandong Engineering Laboratory for Dental Materials and Oral Tissue Regeneration Shandong Jinan China Cutaneous Biology Research Center Massachusetts General Hospital Harvard Medical School BostonMA United States

The undulating microstructure rete ridge (RR) located at the junction between the dermis and epidermis plays a crucial role in improving skin mechanical properties and maintaining skin homeostasis. However, the investigation of RR microstructures are usually neglected in current tissue engineering for skin regeneration. Here, to create an epidermal model with RR microstructures, keratinocytes were inoculated onto a patterned GelMA-PEGDA hydrogel constructed using molding technology. Furthermore, grafting acryloylated Arg-Gly-Asp (RGD) peptides on the hydrogel surface significantly improved cell adhesion, fusion, and development. RT-PCR, Western blot, and immunofluorescence staining confirmed that cells on RR microstructures exhibited higher gene and protein expression associated with epidermal stem cells. RNA sequencing analysis of cells on RR microstructure showed higher gene expression profiles related to stem cell maintenance, basement membrane formation, and epidermal development. Furthermore, RT-PCR analysis of epidermal models of various dimensions demonstrated that smaller microstructures were more conducive to epidermal stem cell marker gene expression, which is analogous to human skin. Overall, we have successfully developed a method for integrating RR microstructures into an epidermal model that mimics natural skin to maintain epidermal stem cell niche, providing a valuable reference for researching skin regeneration within the fields of tissue engineering and regenerative medicine. © 2023, The Authors. All rights reserved.

关键词： Microstructure

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Research method of identifying transformer inrush current and fault current based on VMD-HHT

Research method of identifying transformer inrush current an...

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第三十八届中国控制会议

作者： Shangbin Jiao Yuan Chang Qing Zhang Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing(Xi'an University of Technology)

To settle the problem that identifying inrush current and fault current of large transformer is difficult,a new identification method which is a combination of variational mode decomposition(VMD)and Hilbert-Huang transform(HHT)is come up ***,the inrush current and fault current signals are decomposed into multi-band intrinsic mode function(IMF)by using ***,the instantaneous frequencies of each intrinsic mode function(IMF)of inrush current and fault current are calculated respectively by Hilbert-Huang transform,so that the corresponding Hilbert spectrum is ***,the Hilbert spectra of inrush current and fault current are filtered by band-pass filter to remove the similar main lobes and some *** is concluded that the Hilbert spectra of inrush current and fault current are significantly different from each *** order to facilitate engineering application,the energy values of the first 16 sites in the Hilbert spectra of the two are taken to identify the inrush current and fault current,and the protection criteria are obtained.

关键词： inrush current fault current variational mode decomposition Hilbert-Huang transform

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Temperature prediction of generator carbon brush based on LSTM neural network

Temperature prediction of generator carbon brush based on LS...

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Chinese Automation Congress (CAC)

作者： Qing Zhang Tingyang Jiao Yinxing Ma Youmin Zhang Xiaohui Wu Pengyue Wu Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi’an University of Technology Xi’an China The Faculty of Computing Science The University of Alberta Edmonton Alberta Canada Concordia University Montreal Canada Huaneng Weihai Power Generation Co. Ltd Wei’hai China Xi’an Thermal Power Research Institute Co. Ltd Xi’an China

ISBN: (纸本)9781665426480

In order to improve the prediction accuracy of the carbon brush temperature trend of the generator, analyzing the operating state of the generator more accurately, and reduce other accidents like the unplanned outage caused by carbon brush failure of the generator in the power plant. A multi-step temperature prediction model based on the LSTM (Long Short-Term Memory) neural network is proposed. The data comes from real operating carbon brush temperature of Weihai Power Plant in ten days. Then the temperature prediction model is established to achieve an accurate prediction of the carbon brush temperature in the future day. The prediction error is stable within 0.4 °C. By comparing the predicted results of the BP model and Elman model, the error between the predicted results of each model and the actual temperature data is analyzed. By comparing the indicators and analyzing the actual curves, the results show that LSTM neural network has higher accuracy in predicting the temperature of generator carbon brush. This method is of reference significance for the accurate analysis of the operation state of the generator and the load analysis of the excitation system.

关键词： Analytical models Temperature distribution Brushes Neural networks Predictive models Market research Generators

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Strategy evolution on dynamic networks

arXiv

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arXiv 2023年

作者： Su, Qi McAvoy, Alex Plotkin, Joshua B. Department of Automation Shanghai Jiao Tong University Shanghai200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China School of Data Science and Society University of North Carolina at Chapel Hill Chapel HillNC27599 United States Department of Mathematics University of North Carolina at Chapel Hill Chapel HillNC27599 United States Department of Biology University of Pennsylvania PhiladelphiaPA19104 United States Center for Mathematical Biology University of Pennsylvania PhiladelphiaPA19104 United States

Models of strategy evolution on static networks help us understand how population structure can promote the spread of traits like cooperation. One key mechanism is the formation of altruistic spatial clusters, where neighbors of a cooperative individual are likely to reciprocate, which protects prosocial traits from exploitation. But most real-world interactions are ephemeral and subject to exogenous restructuring, so that social networks change over time. Strategic behavior on dynamic networks is difficult to study, and much less is known about the resulting evolutionary dynamics. Here, we provide an analytical treatment of cooperation on dynamic networks, allowing for arbitrary spatial and temporal heterogeneity. We show that transitions among a large class of network structures can favor the spread of cooperation, even if each individual social network would inhibit cooperation when static. Furthermore, we show that spatial heterogeneity tends to inhibit cooperation, whereas temporal heterogeneity tends to promote it. Dynamic networks can have profound effects on the evolution of prosocial traits, even when individuals have no agency over network structures. © 2023, CC BY.

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A novel single-phase-to-earth fault line method in small current grounding systems

A novel single-phase-to-earth fault line method in small cur...

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第三十八届中国控制会议

作者： Jiao Shangbin Guo Jingwen Li Yunjun Xiao Ting Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing(Xi'an University of Technology)

Aiming at the problem that the fault characteristics of single-phase-to-ground fault in small current grounding system are not obvious,the fault situation is complex,and the single fault criterion is difficult to accurately select the *** this paper,a new method for small current single-phase ground fault line selection is proposed based on improved Empirical Wavelet Transform(EWT)and D-S evidence *** method firstly smoothes the transient zero-sequence current spectrum of each feeder,and then performs EWT decomposition to extract the natural modal function that best characterizes the original signal,and obtains the energy peak and the intrinsic modal energy value to determine the probability of each line fault,***,the results of the two methods are fused by D-S evidence theory,and the final line selection results are obtained.

关键词： Small current Single-phase grounding Fault line selection EWT D-S evidence theory

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NiuEM: A Nested-iterative Unsupervised Learning Model for Single-particle Cryo-EM Image processing

NiuEM: A Nested-iterative Unsupervised Learning Model for Si...

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2020 IEEE International Conference on Bioinformatics and Biomedicine, BIBM 2020

作者： Hu, Rui Cai, Jiaming Zheng, Wangjie Yang, Yang Shen, Hong-Bin Shanghai Jiao Tong University Key Lab. of Shanghai Education Commission for Intelligent Interaction and Cognitive Engineering Department of Computer Science and Engineering Shanghai200240 China Institute of Image Processing and Pattern Recognition Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China Shanghai Jiao Tong University Department of Bioinformatics and Biostatistics Shanghai200240 China

ISBN: (纸本)9781728162157

Cryo-electron microscopy (cryo-EM) has become a mainstream technology for solving spatial structures of biomacromolecules, while the processing of cryo-EM images is a very challenging task. One of the great challenges is the high noise in the images. A common method is to cluster the images with close projecting angles to get mean images, which are used for 3D reconstruction. However, due to the extremely low signal-to-noise-ratio, common clustering methods often fail to obtain high-quality mean images, leading to poorly reconstructed structures. In this study, we present a new unsupervised learning framework, called NiuEM, to discriminate images captured from different angles and yield cluster-mean images. NiuEM first generates pseudo-labels and then exploits both contrastive loss and cross-entropy loss for training convolutional layers to learn feature representations. Moreover, the pseudo-labels are updated iteratively to enhance the reliability of labels. We assess the performance of NiuEM on four data sets via both visualized and quantitative experiments. Especially, two kinds of metrics are adopted to measure the performance, regarding the clustering quality and the resolution of reconstructed 3D models, respectively. The experimental results show that NiuEM achieves very competitive clustering accuracy in the comparison with the state-of-the-art image clustering methods. Moreover, the cluster mean images yielded by NiuEM lead to better initial 3D models compared with the mainstream reconstruction tools. © 2020 IEEE.

关键词： Image reconstruction

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Research on Vibration Isolation control of Six wheel-legged Robot Based on Impedance control

Research on Vibration Isolation Control of Six wheel-legged ...

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第三十九届中国控制会议

作者： Binkai Yue Shoukun Wang Zhihua Chen Kang Xu Junzheng Wang Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Key Laboratory of Servo Motion System Drive and Control Ministry of Industry and Information Technology School of Automation Beijing Institute of Technology

The electric parallel six wheel-legged robot（EPSWLR） is characterized by heavy load and fast moving speed. But the body will shake and vibrate while passing through rough roads, which affects its stability. In order to solve this problem, the single-leg structure based on Stewart structure was equivalent to the impedance system composed of mass block, spring and damping in this paper. Due to changes in environmental forces and environmental impedance parameters caused by environmental changes, the traditional impedance control（IC） still causes force error at the foot end of robot and thus results in poor vibration isolation effect. Therefore, a new adaptive algorithm was proposed in this paper and added to IC algorithm to reduce the force error caused by environmental changes and thus improve the vibration isolation effect. In this paper, the characteristic equation of adaptive impedance control（AIC） algorithm was first obtained and the condition for system stability was calculated based on Routh-Hurwitz stability criterion. Finally, the stability of this system was verified. The simulation experiment combining MATLAB and Adams was designed and performed with EPSWLR. The effectiveness of AIC was proved by monitoring the changes in the force of single leg and the attitude of robot body.

关键词： Electric parallel six wheel-legged robot Impedance control Adaptive algorithm Stewart structure

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Inverse linear-quadratic discrete-time finite-horizon optimal control for indistinguishable homogeneous agents: a convex optimization approach

arXiv

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arXiv 2021年

作者： Zhang, Han Ringh, Axel Department of Automation School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China Department of Mathematical Sciences Chalmers University of Technology University of Gothenburg Gothenburg41296 Sweden

The inverse linear-quadratic optimal control problem is a system identification problem whose aim is to recover the quadratic cost function and hence the closed-loop system matrices based on observations of optimal trajectories. In this paper, the discrete-time, finite-horizon case is considered, where the agents are also assumed to be homogeneous and indistinguishable. The latter means that the agents all have the same dynamics and objective functions and the observations are in terms of "snap shots" of all agents at different time instants, but what is not known is "which agent moved where" for consecutive observations. This absence of linked optimal trajectories makes the problem challenging. We first show that this problem is globally identifiable. Then, for the case of noiseless observations, we show that the true cost matrix, and hence the closed-loop system matrices, can be recovered as the unique global optimal solution to a convex optimization problem. Next, for the case of noisy observations, we formulate an estimator as the unique global optimal solution to a modified convex optimization problem. Moreover, the statistical consistency of this estimator is shown. Finally, the performance of the proposed method is demonstrated by a number of numerical examples. Copyright © 2021, The Authors. All rights reserved.

关键词： Convex optimization

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Robotic Electrospinning Actuated by Non-Circular Joint Continuum Manipulator for Endoluminal Therapy

Robotic Electrospinning Actuated by Non-Circular Joint Conti...

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2021 IEEE International Conference on Robotics and Automation, ICRA 2021

作者： Wu, Zicong Lou, Chuqian Jin, Zhu Huang, Shaoping Liu, Ning Zou, Yun Kovac, Mirko Gao, Anzhu Yang, Guang-Zhong The Institute of Medical Robotics Department of Bioengineering Shanghai Jiao Tong University Shanghai200240 China Imperial College London Empa-Swiss Federal Laboratories for Materials Science and Technology United Kingdom Limited 999077 Hong Kong Aerial Robotics Laboratory Imperial College London LondonSW7 2AZ United Kingdom The Institute of Medical Robotics Department of Automation Shanghai Jiao Tong University The Key Laboratory of System Control and Information Processing Ministry of Education Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China The Institute of Medical Robotics Shanghai Jiao Tong University Shanghai200240 China

ISBN: (纸本)9781728190778

Electrospinning has exhibited excellent benefits to treat the trauma for tissue engineering due to its produced micro/nano fibrous structure. It can effectively adhere to the tissue surface for long-term continuous therapy. This paper develops a robotic electrospinning platform for endoluminal therapy. The platform consists of a continuum manipulator, the electrospinning device, and the actuation unit. The continuum manipulator has two bending sections to facilitate the steering of the tip needle for a controllable spinning direction. Non-circular joint profile is carefully designed to enable a constant length of the centreline of a continuum manipulator for stable fluid transmission inside it. Experiments are performed on a bronchus phantom, and the steering ability and bending limitation in each direction are also investigated. The endoluminal electrospinning is also fulfilled by a trajectory following and points targeting experiments. The effective adhesive area of the produced fibre is also illustrated. The proposed robotic electrospinning shows its feasibility to precisely spread more therapeutic drug to construct fibrous structure for potential endoluminal treatments. © 2021 IEEE

关键词： Electrospinning

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