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Cyber-Physical Social Intelligence (ICCSI), International Conference on

作者： Jialiang Luo Shichao Chen Yisheng Lv Wenqiao Sun Fan Yang Ruijie Xu The State Key Laboratory for Management and Control of Complex System State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences School of Information Engineering China University of Geosciences Beijing China The State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences The Center of National Railway Intelligent Transportation System Engineering and Technology China Academy of Railway Sciences Corporation Limited Beijing China The State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences Beijing China Transportation and Economics Research Institute and the Center of National Railway Intelligent Transportation System Engineering and Technology China Academy of Railway Sciences Corporation Limited China The State Key Laboratory for Management and Control of Complex System State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences College of Rail Transit Shan Dong JiaoTong University Jinan China Department of Aeronautical and Aviation Engineering The Hong Kong Polytechnic University Hong Kong China

With the rapid development and widespread application of Inertial Measurement Units (IMUs), IMU-based human localization has become critically important in environments lacking Global Navigation Satellite systems (GNSS) signals. Methods such as UWB/WIFI and other anchor-based localization have been employed to enhance the positioning accuracy. However, these methods are susceptible to the environmental interference and increased costs. In contrast, SINS-based localization methods eliminate reliance on the external data. However, this method can suffer from drift errors due to cumulative integration errors. Inertial navigation error correction techniques like Zero Detection Update Technology (ZUPT) provide potential solutions to address drift errors. This paper proposes an error correction method based on the multithreshold zero-velocity detection and Square Root Cubature Kalman Filter (SRCKF) updates. Compared to the single fixed threshold detection, the multi-threshold zero-velocity detection reduces the likelihood of missed zero velocity detection and false alarms, providing accurate time intervals for error correction. Experimental results demonstrate that the SRCKF-based algorithm reduces position deviation to approximately 0.3146 meters, corresponding to an error ratio of1.14%. The proposed method enables cost-effective and accurate pedestrian localization, driving advancements in the field.

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A Human-Robot Skill Transfer Framework of Mobile Medical Robots for Autonomous Motion with Teaching by Demonstration

A Human-Robot Skill Transfer Framework of Mobile Medical Rob...

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International Conference on Advanced Robotics and Mechatronics (ICARM)

作者： Jiehao Li Junzheng Wang Shoukun Wang Hui Peng Qi Wen Longbin Zhang Meina Lin Politecnico di Milano Milan Italy State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing China College of Intelligence Science and Technology National University of Defense Technology Changsha China BioMEx Center KTH Mechanics KTH Royal Institute of Technology Stockholm Sweden Guangdong Key Laboratory of IoT Information Technology Guangdong University of Technology Guangzhou China

ISBN: (数字)9781728164793

ISBN: (纸本)9781728164809

The accuracy of autonomous motion is the main challenge for mobile medical robots, especially running in narrow space conditions to transport the casualties in the hospital. This article mainly centers on the human-robot transmission of the mobile medical robot for narrow space autonomous motion. In order to enable mobile medical robots to autonomously and smoothly transport hospital casualties through narrow aisles, in this paper, we present a robot skill transfer technology, namely a human-robot skill transfer framework of mobile medical robots for autonomous motion with teaching by demonstration, which is that a smooth optimal path is planned through the human motion, and then the Kinect sensor is used to detect human bone movement to learn its motion trajectory so as to achieve trajectory tracking control. Meanwhile, using the Remote Center of Motion (RCM) constraint to minimize the error between the actual trajectory of the medical robot and the tracking reference path to control the motion trajectory accurately, human-computer interactive mobile medical robots can smoothly pass through narrow channels. Through research and analysis, it is demonstrated that the mobile medical robot proposed in this paper has great feasibility, which is of great reference value in the field of medical rescue.

关键词： Medical robotics Education Trajectory Mobile robots Tracking Hospitals

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complex Fault Tree Analysis Based on BDD Route-based Rules

Complex Fault Tree Analysis Based on BDD Route-based Rules

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7th World Congress on intelligent control and Automation (WCICA 2008), vol.7

作者： Lin Zhu Jie Chen Key Laboratory of Complex System Intelligent Control and Decision Ministry of Education Beijing China Department of Automatic control School of Information Science and Technology Beijing Institute of Technology Beijing China

Since traditional methods was limited in terms of accuracy of the solutions and the processing time required when dealing with large-scale complex fault tree (CFT), a new method for CFT analysis based on Binary Decision Diagram (BDD) was introduced in this paper. Firstly, FT was decomposed by the proposed rule, Share-node CBDD connection rules were proposed to reduce the size of the intermediate BDD. Furthermore route-based BDD reduction rule was proposed and proved, with which intermediate BDD was reduction. The route sequence and cut sets can be gotten at the same time of BDD composition for FT analysis. processing time and computational & storage complexity is greatly reduced by the proposed method. Finally, with an example the procedure of the proposed method is presented. The affectivity and practicability is also proved.

关键词： Fault Tree Binary Decision Diagram Cut set Reduction rules

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Research on Highly Anti-Humidity and Selective NO2 Detection Based on GaN/MoO3 N-N Heterojunction

SSRN

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SSRN 2024年

作者： Hong, Yutao Han, Dan Li, Donghui He, Xiuli Zhao, Li Wang, Weidong Li, Hongwei Sang, Shengbo Liang, Hua Shanxi Key Laboratory of Micro Nano Sensors & Artificial Intelligence Perception College of Electronic Information and Optical Engineering Taiyuan University of Technology Taiyuan030024 China Key Lab of Advanced Transducers and Intelligent Control System Ministry of Education Taiyuan University of Technology Taiyuan030024 China State Key Laboratory of Transducer Technology Aerospace Information Research Institute Chinese Academy of Sciences Beijing100190 China Bioengineering Research Center Medical Innovation Research Division Chinese PLA General Hospital Beijing China Shanxi Academy of Medical Sciences China

Effective and accuratedetection of NO2 gas is crucial for protecting the environment and public health. In this work, balsam pear-like GaN/MoO3 porous nanosheets (GaN/MoO3) composites were synthesized by the in situ assembling, the hydrothermal method, and the nitridation process to detect NO2. A series of characterization methods were used to manifest the successful synthesis and to analyze the morphology and elemental composition features of GaN/MoO3 composites. The results of the gas-sensing experiments show that at the operating temperature of 225 °C, the gas sensor based on the optimal ratio of GaN/MoO3 composites exhibits a low theoretical limit of detection (0.78 ppb) for NO2, which is significantly improved compared with the limit of detection of MoO3 (5 ppm). Further, the response value of the sensor based on GaN/MoO3 composites to 200 ppm NO2 (44.74) is 4.36 times higher than that of the sensor based on pure GaN, with an improvement in stability. Meanwhile, the sensor also possessed excellent repeatability, selectivity, stability, and splendid anti-humidity ability at 15-70 % RH. The improved gas-sensing performance is ascribed to the unique microstructure of both GaN and MoO3, and the heterojunction effect between them. This work provides a way to improve the efficiency and anti-humidity ability of real-time monitoring of NO2 for the sensors of MoO3-based composite. © 2024, The Authors. All rights reserved.

关键词： Gallium nitride

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SUNet: Scale-aware Unified Network for Panoptic Segmentation

arXiv

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arXiv 2022年

作者： Yan, Weihao Qian, Yeqiang Wang, Chunxiang Yang, Ming The 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 University of Michigan-Shanghai Jiao Tong University Joint Institute Shanghai Jiao Tong University Shanghai200240 China

Panoptic segmentation combines the advantages of semantic and instance segmentation, which can provide both pixel-level and instance-level environmental perception information for intelligent vehicles. However, it is challenged with segmenting objects of various scales, especially on extremely large and small ones. In this work, we propose two lightweight modules to mitigate this problem. First, Pixel-relation Block is designed to model global context information for large-scale things, which is based on a query-independent formulation and brings small parameter increments. Then, Convectional Network is constructed to collect extra high-resolution information for small-scale stuff, supplying more appropriate semantic features for the downstream segmentation branches. Based on these two modules, we present an end-to-end Scale-aware Unified Network (SUNet), which is more adaptable to multi-scale objects. Extensive experiments on Cityscapes and COCO demonstrate the effectiveness of the proposed methods. Copyright © 2022, The Authors. All rights reserved.

关键词： Semantics

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Robust quantum teleportation via a non-Markovian channel

arXiv

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arXiv 2023年

作者： Wang, Yanfang Xue, Shibei Song, Hongbin Jiang, Min 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 General Education Division Shenzhen Key Lab of Semiconductor Lasers The Chinese University of Hong Kong Guang Dong Shenzhen518116 China School of Electronics and Information Engineering Soochow University Suzhou215006 China

In this paper, we propose a non-Markovian quantum channel approach to mitigating the degradation of the average fidelity in continuous-variable quantum teleportation. The non-Markovian quantum channel is modeled by an augmented system, where ancillary systems are introduced to represent the internal modes of non-Markovian environments. With a proper non-Markovianity, enhanced effects of the channels on continuous-variable quantum teleportation are observed. Also, the logarithmic negativity of entangled states can be effectively maintained so that the decay of the average fidelity of quantum teleportation is mitigated. In addition, the analysis on different teleported quantum states shows that coherent states exhibit stronger robustness than those of squeezed states and cat states in quantum teleportation with a non-Markovian channel. Copyright © 2023, The Authors. All rights reserved.

关键词： Quantum entanglement

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Pneumatically Actuated MR-Safe Parallel Robot for Deep Brain Stimulation Electrode Implantation

Pneumatically Actuated MR-Safe Parallel Robot for Deep Brain...

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IEEE International Conference on Robotics and Biomimetics

作者： Weihang Huang Shenghao Dai Anze Xu Xianyi He Shaoping Huang Anzhu Gao School of Mechanical Engineering Shanghai Jiao Tong University Shanghai Jiao Tong University Institute of Medical Robotics and School of Biomedical Engineering Shanghai Jiao Tong University Shanghai China the Key Laboratory of System Control and Information Processing Ministry of Education Shanghai Jiao Tong University Shanghai China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China

ISBN: (纸本)9781665405362

Deep brain stimulation (DBS) has been widely used in clinical practice as an effective therapy for neurological disorders. MR-conditional robot-assisted electrode implantation has attracted more attention for DBS because of its great accuracy and high-quality guiding images by using MRI. This paper develops a pneumatically actuated MR-safe parallel robot for deep brain electrode implantation. Its fully plastic components and MR-safe pneumatic actuators enable the robotic system to be MR-safe, posing no known hazards in MR environment. A 6-DOF parallel robot is developed using six slider-crank mechanisms for prismatic motions. Inverse kinematics is built to investigate its workspace and achieve the precise control. Experiments are carried out to validate the feasibility, and results shows that the average error of the motion is 0.11 mm. The developed parallel robot shows the potential advantages in the automatic and precise robot-assisted neurosurgical surgery in future.

关键词： Electrodes Pneumatic actuators Neurological diseases Parallel robots Magnetic resonance imaging Satellite broadcasting Deep brain stimulation

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Robust filtering for networked systems with random transmission delays and packet dropouts

Robust filtering for networked systems with random transmiss...

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作者： Cai, Yunze Wang, Hua O. Tanaka, Kazuo Xu, Xiaoming Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing 800 Dongchuan Rd. Shanghai 200240 China Department of Mechanical Engineering Boston University Boston MA 02215 United States Department of Mechanical Systems and Intelligent Systems University of Electro-Communications Tokyo 182-8585 Japan Department of Automation Shanghai Jiao Tong University 800 Dongchuan Rd. Shanghai 200240 China University of Shanghai for Science and Technology 16 Jun Gong Rd. Shanghai 200093 China

ISBN: (纸本)9781457700804

This paper addresses a robust H∞ filtering problem for networked systems that are subject to both random transmission delays and packet dropouts. To start with, a data transmission model is established by employing random series with Bernoulli distributions. A sufficient condition for robust stability with H∞ constraints is derived for the filtering error system. The robust filter is designed in terms of the feasibility of a linear matrix inequality (LMI). The numerical examples are provided to show the effectiveness of the data transmission model and the proposed filtering method. © 2011 AACC American Automatic control Council.

关键词： Linear matrix inequalities

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Tailoring the Anomalous Hall Effect in Van Der Waals Ferromagnet Fe3gete2

SSRN

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SSRN 2024年

作者： Wu, Kaile Wang, Qin Wang, Junshan Jiang, Jiaolin Zhao, Tian Zhao, Dong Han, Dan Quan, Zhiyong Ma, Zongmin Wang, Haomin Sang, Shengbo Ge, Yang Shanxi Key Laboratory of Micro Nano Sensors & Artificial Intelligence Perception College of Electronic Information and Optical Engineering 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 College of Materials Science and Engineering Taiyuan University of Technology Taiyuan030024 China Key Laboratory of Magnetic Molecules and Magnetic Information Materials of Ministry of Education School of Chemistry and Materials Science Shanxi Normal University Taiyuan030031 China State Key Laboratory of Dynamic Measurement Technology North University of China Shanxi Taiyuan030051 China School of Semiconductor and Physics North University of China Shanxi Taiyuan030051 China State Key Laboratory of Functional Materials for Informatics Shanghai Institute of Microsystem and Information Technology Chinese Academy of Sciences Shanghai200050 China Shanxi Research Institute of 6D Artificial Intelligence Biomedical Science Taiyuan030024 China

Two-dimensional van der Waals magnetic materials have shown fascinating natural ferromagnetic properties at the atomic level, which has great potential in fields of low power spintronics, quantum computing and optical communication. Herein, the ferromagnetism and magnetic anisotropy of bulk Fe3GeTe2 (FGT) were investigated, and the testing results indicate a pronounced vertical magnetic anisotropy below the Curie temperature (Tc=165 K) of FGT. In addition, the anomalous Hall effect of FGT nanoflakes was studied at various temperatures and thicknesses by standard Hall bar device in detail. The results show the anomalous Hall resistance (0.764 Ω at 20 K decreased to 0.332 Ω at 140 K) and the obvious rectangular magnetic hysteresis rings below Tc (165 K). Furthermore, we calculated the carrier concentration (2.5×1022 cm-3 at 20K) and mobility (13.3 cm2/(v·s) at 20K) under large magnetic field (-6 T~6 T). Particularly, we demonstrated that the strong tailoring ability of the anomalous Hall effect for FGT-based magnetoelectric transport devices comes form the regulation of magnetic moment by sample thickness and magnetic field angle. The above experimental results verify that FGT is expected to be a prime candidate material for ultrathin 2D spintronic devices to the next generation. © 2024, The Authors. All rights reserved.

关键词： Germanium alloys

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Quantum Interference between Photons and Single Quanta of Stored Atomic Coherence

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Physical Review Letters 2022年第8期128卷 083605-083605页

作者： Xingchang Wang Jianmin Wang Zhiqiang Ren Rong Wen Chang-Ling Zou Georgios A. Siviloglou J. F. Chen Shenzhen Institute for Quantum Science and Engineering and Department of Physics Southern University of Science and Technology Shenzhen 518055 China International Quantum Academy (SIQA) and Shenzhen Branch Hefei National Laboratory Futian District Shenzhen 518055 China State Key Laboratory of Precision Spectroscopy School of Physics and Electronic Science East China Normal University Shanghai 200241 China Key Laboratory of Advanced Transducers and Intelligent Control System of Ministry of Education College of Physics and Optoelectronics Taiyuan University of Technology Taiyuan 030024 Shanxi China CAS Key Laboratory of Quantum Information University of Science and Technology of China Hefei 230026 Anhui China Guangdong Provincial Key Laboratory of Quantum Science and Engineering Southern University of Science and Technology Shenzhen 518055 China

Essential for building quantum networks over remote independent nodes, the indistinguishability of photons has been extensively studied by observing the coincidence dip in the Hong-Ou-Mandel interferometer. However, indistinguishability is not limited to the same type of bosons. For the first time, we hereby observe quantum interference between flying photons and a single quantum of stored atomic coherence (magnon) in an atom-light beam splitter interface. We demonstrate that the Hermiticity of this interface determines the type of quantum interference between photons and magnons. Consequently, not only the bunching behavior that characterizes bosons is observed, but counterintuitively, fermionlike antibunching as well. The hybrid nature of the demonstrated magnon-photon quantum interface can be applied to versatile quantum memory platforms, and can lead to fundamentally different photon distributions from those occurring in boson sampling.

关键词： Electromagnetically induced transparency Quantum description of light-matter interaction Quantum optics Single photon sources Atomic ensemble Atom & ion cooling Coherent control Photon counting

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