检索结果-内蒙古大学图书馆

Design and Validation of a Self-Aligning Index Finger Exoskeleton for Post-Stroke Rehabilitation

IEEE TRANSACTIONS ON NEURAL systems AND REHABILITATION ENGINEERING 2021年 29卷 1513-1523页

作者： Sun, Ning Li, Guotao Cheng, Long Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China Univ Chinese Acad Sci Sch Artificial Intelligence Beijing 100049 Peoples R China

Rehabilitation of hand functions is necessary to improve post-stroke patients' quality of life. There is initial evidence that hand exoskeletons should exercise flexion/extension (f/e) and abduction/adduction (a/a) of the fingers to rebuild hand functions. However, designing a self-alignment mechanism of the metacarpophalangeal (MCP) joint to improve its wearing comfort is still a challenge. In this paper, a novel index finger exoskeleton with three motors is proposed to help post-stroke patients perform finger a/a and f/e training. A spatial mechanism with passive degrees of freedom for the MCP joint is designed to realize human-robot axes self-alignment. The proposed mechanism's kinematic compatibility is analyzed to show its self-aligning capability, and the kineto-statics analysis is performed to present the exoskeleton's static characteristics. Finally, kinematic and static experiments have been conducted, and the results indicate that the standardized reaction forces square sum of the exoskeleton to the MCP joint can be reduced by 65.8% compared with the state-of-the-art exoskeleton. According to the experimental results, the exoskeleton can achieve the a/a and f/e training and human-robot axes self-alignment, and improve its comfortability. In the future, clinical trials will be further studied to test the exoskeleton.

关键词： Exoskeletons Indexes Kinematics Training Force Electronics packaging Task analysis Finger exoskeleton self-aligning mechanism kinematic compatibility kineto-statics

来源：评论

学校读者我要写书评

暂无评论

AdvDiffuser: Generating Adversarial Safety-Critical Driving Scenarios via Guided Diffusion

AdvDiffuser: Generating Adversarial Safety-Critical Driving ...

引用

2024 International Conference on Intelligent Robots and systems

作者： Xie, Yuling Guo, Xianda Wang, Cong Chen, Long Liu, Kunhua Sun Yat Sen Univ Sch Comp Sci & Engn Guangzhou Peoples R China Wuhan Univ Sch Comp Sci Wuhan Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst & Beijing Peoples R China Qingdao Univ Technol Sch Mech & Automot Engn Qingdao Shandong Peoples R China

ISBN: (纸本)9798350377712;9798350377705

Safety-critical scenarios are infrequent in natural driving environments but hold significant importance for the training and testing of autonomous driving systems. The prevailing approach involves generating safety-critical scenarios automatically in simulation by introducing adversarial adjustments to natural environments. These adjustments are often tailored to specific tested systems, thereby disregarding their transferability across different systems. In this paper, we propose AdvDiffuser, an adversarial framework for generating safety-critical driving scenarios through guided diffusion. By incorporating a diffusion model to capture plausible collective behaviors of background vehicles and a lightweight guide model to effectively handle adversarial scenarios, AdvDiffuser facilitates transferability. Experimental results on the nuScenes dataset demonstrate that AdvDiffuser, trained on offline driving logs, can be applied to various tested systems with minimal warm-up episode data and outperform other existing methods in terms of realism, diversity, and adversarial performance.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Novel Feature Fusion Module-Based Detector for Small Insulator Defect Detection

引用

IEEE SENSORS JOURNAL 2021年第15期21卷 16807-16814页

作者： Gao, Zishu Yang, Guodong Li, En Liang, Zize Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China Univ Chinese Acad Sci Sch Artificial Intelligence Beijing 100049 Peoples R China

The failure of an insulator may compromise the safety of the entire power transmission system. Therefore, insulator defect detection is vital for the safe operation of power systems. However, insulator defects in an insulator image may have varying sizes, and several currently available methods do not have satisfactory detection accuracy for small defects. To address this issue, we propose an improved detection network for small insulator defects with a batch normalization convolutional block attention module (BN-CBAM) and a feature fusion module. The BN-CBAM is designed to better exploit channel information and enhance the effect of different channels on the feature map. In addition, we propose a feature fusion module that fuses multi-scale features from different layers to improve small object detection performance. Moreover, to address the scarcity of aerial images, a data augmentation method based on the fusion of the target segment and background is introduced. Experiments demonstrate that the proposed method achieves better small insulator defect detection performance than other state-of-the-art approaches. In addition, data augmentation methods enrich sample diversity and enhance the generalizability of the network.

关键词： Feature extraction Insulators Sensors Image segmentation Inspection Fuses Support vector machines Insulator defect detection anchor-free object detection data augmentation aerial image

来源：评论

学校读者我要写书评

暂无评论

A hybrid deep segmentation network for fundus vessels via deep-learning framework

引用

NEUROCOMPUTING 2021年 448卷 168-178页

作者： Yang, Lei Wang, Huaixin Zeng, Qingshan Liu, Yanhong Bian, Guibin Zhengzhou Univ Sch Elect Engn Zhengzhou 450001 Peoples R China Robot Percept & Control Engn Lab Zhengzhou 450001 Henan Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China

High-precision segmentation of fundus vessels is a fundamental step in the diagnosis and treatment of fundus diseases, in which both thick and thin vessels are important features for symptom detection. With the rapid development of artificial intelligence, the deep convolutional neural network (DCNN) has been widely applied into image analysis of fundus vessels. Nevertheless, due to the imbalanced ratio between thick and thin vessels, the existing segmentation methods are weak in the task of microvessel extraction from fundus images. To address this problem, this paper proposes a new hybrid deep image segmentation method for fundus vessels that consists of a multitask segmentation network and a fusion network. For the proposed method, a multitask segmentation network is developed to precisely segment both thick vessels and thin vessels from fundus images separately. In addition, an effective loss function is designed to adapt to the two different vessel segmentation tasks and ultimately solve the imbalanced ratio between these two vessels. Furthermore, an improved U-net network model is proposed to serve as the basic segmentation network to ensure the segmentation performance of the multitask segmentation network. Together with these networks, a fusion network is also proposed to fuse these two kinds of blood vessels to obtain the fusion images as the final segmentation results of fundus vessels. The proposed segmentation method is validated on many different public data sets of fundus images, such as DRIVE, STARE and CHASE_DB1. Experimental results show that the proposed method obtains a better segmentation performance on fundus images and acquires a higher recall, F_1 value, and accuracy than other advanced segmentation methods. (c) 2021 Elsevier B.V. All rights reserved.

关键词： Image segmentation Fundus vessels U-net network Multitask segmentation network Fusion network

来源：评论

学校读者我要写书评

暂无评论

Blockchain-Based Crypto management for Reliable Real-Time Decision-Making

引用

IEEE TRANSACTIONS ON COMPUTATIONAL SOCIAL systems 2023年第6期10卷 3333-3342页

作者： Wang, Ge Li, Juanjuan Wang, Xiao Li, Junqing Yuan, Yong Wang, Fei-Yue Macau Univ Sci & Technol Macao Inst Syst Engn Macau Peoples R China Chinese Acad Sci State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China Qingdao Acad Intelligent Ind Qingdao 266109 Peoples R China Shandong Univ Sci & Technol Coll Comp Sci & Engn Qingdao 266590 Peoples R China Renmin Univ China Sch Math Beijing 100872 Peoples R China

Crypto management is proposed to tackle the management decision-making challenges under data asymmetry and trust asymmetry that cannot be solved merely by technical means. It emphasizes the novel management model for the real-time generation of reliable, trustworthy, and usable management decisions based on blockchain and blockchain-driven technologies. First, the framework model of crypto management with detailed descriptions of each technique is introduced, where blockchain is the underlying technology, decentralized autonomous organization (DAO) is the management structure, federated data is the decision basis, smart contract is the decision method, and non-fungible token (NFT) is the main decision incentive. Then, its collaboration mechanisms of on-blockchain DAO and off-blockchain organization as well as intra-organization and extra-organization nodes are discussed. Moreover, the potential applications of crypto management are addressed, and a case of task-oriented performance management is given to state how crypto management works to generate the real-time management decisions. Toward the end, the future research directions are pointed out in this emerging new area.

关键词： Blockchains Decision making Reliability Security Encryption Smart contracts Data models Blockchain crypto management decentralized autonomous organizations (DAOs) federated data non-fungible token (NFT) smart contract

来源：评论

学校读者我要写书评

暂无评论

Generalized Discrete-Time Variable Gain ADRC for Nonlinear systems and Its Application to Parallel Teleoperated Manipulators

引用

IEEE TRANSACTIONS ON CIRCUITS AND systems I-REGULAR PAPERS 2025年第6期72卷 2868-2877页

作者： Gu, Shaomeng Zhang, Jinhui Cheng, Long Wu, Yuanqing Yanshan Univ Inst Elect Engn Qinhuangdao 066004 Peoples R China Beijing Inst Technol Sch Automat Beijing 100081 Peoples R China Univ Chinese Acad Sci Sch Artificial Intelligence Beijing 100049 Peoples R China Chinese Acad Sci State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China Chinese Acad Sci Inst Automat Beijing 100190 Peoples R China Sun Yat Sen Univ Sch Intelligent Syst Engn Shenzhen 518107 Peoples R China

In this paper, we propose a novel generalized discrete-time variable gain active disturbance rejection control (DTVGADRC) method for the n-th order discrete-time nonlinear systems. The error-driven generalized DTVGADRC can dynamically improve the control performances, including generalized discrete-time variable gain tracking differentiator (DTVGTD), generalized discrete-time variable gain extended state observer (DTVGESO), and generalized discrete-time variable gain controller (DTVGC). Furthermore, the stability analysis of generalized DTVGADRC is performed, and the parameters in the variable gain functions are determined by the theoretical analysis. Finally, the generalized DTVGADRC method is applied to parallel teleoperated manipulators, and the experiment results are presented to illustrate effectiveness of the proposed method.

关键词： Digital TV Gain Nonlinear dynamical systems Transient analysis Sufficient conditions Stability analysis Convergence state estimation Manipulator dynamics Automation Nonlinear systems active disturbance rejection control tracking differentiator extended state observer variable gain parallel teleoperated manipulators

来源：评论

学校读者我要写书评

暂无评论

Reliable mode-dependent memorized projective lag synchronization for semi-Markovian jumping coupled networks

引用

PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF systems AND control ENGINEERING 2021年第8期235卷 1367-1374页

作者： Ji, Yidao Wu, Wei Univ Sci & Technol Beijing Sch Automat & Elect Engn Beijing Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China

This article investigates the reliable projective lag synchronization problem for semi-Markovian jumping coupled networks under the master-slave framework. More precisely, a novel mode-dependent memorized synchronization scheme is proposed for the master and slave dynamical networks. By utilizing the Lyapunov-Krasovskii method, sufficient delay-dependent conditions are derived to achieve the reliable synchronization in the mean-square sense. Based on the derived results, the mode-dependent synchronization controller is further designed by convex optimization. In the end, two numerical examples are given to illustrate the effectiveness of the obtained theoretical results.

关键词： Reliable synchronization projective lag synchronization memorized synchronization semi-Markovian jumping coupled networks

来源：评论

学校读者我要写书评

暂无评论

An Effective Microscopic Detection Method for Automated Silicon-Substrate Ultra-microtome (ASUM)

引用

NEURAL PROCESSING LETTERS 2021年第3期53卷 1723-1740页

作者： Cheng, Long Liu, Weizhou Chinese Acad Sci State Key Lab Management & Control Complex Syst Inst Automat Beijing 100190 Peoples R China Univ Chinese Acad Sci Sch Artificial Intelligence Beijing 100049 Peoples R China

Three-dimensional (3D) representation of whole-brain cellular connectomics is the fundamental challenge for brain-inspired intelligence. And orderly automatic collection of brain sections on the silicon substrate is essential for the 3D imaging of cerebral ultrastructure. With the self-designed automated silicon-substrate ultra-microtome, serial brain sections can be orderly collected on the circular silicon substrates. In order to automate the collection process and further improve the efficiency of section collection, the form-invariant "Single Shot MultiBox-Detector" is proposed to detect the brain sections and baffles in the field of view of the microscope. And the "Cycle Generative Adversarial Networks" data augmentation method is proposed to alleviate the problem of fewer samples of the collected microscopic image dataset. The experimental results suggest that the proposed detection method could effectively detect the foreground objects in the microscopic images.

关键词： Microscopic object detection Deep learning Data augmentation Serial sections

来源：评论

学校读者我要写书评

暂无评论

A Local Self-Attention Sentence Model for Answer Selection Task in CQA systems

引用

IEEE TRANSACTIONS ON COMPUTATIONAL SOCIAL systems 2023年第6期10卷 3283-3294页

作者： Liu, Donglei LuO, Hao Yuan, Yong Qin, Rui Zhu, Yifan Zhang, Chunxia Niu, Zhendong Beijing Inst Technol Sch Comp Sci & Technol Beijing 100081 Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China Renmin Univ China Sch Math Beijing 100872 Peoples R China Beijing Inst Technol Lib Beijing 100081 Peoples R China Univ Pittsburgh Sch Comp & Informat Pittsburgh PA 15260 USA

Current evidence indicates that the semantic representation of question and answer sentences is better generated by deep neural network-based sentence models than traditional methods in community answer selection tasks. In particular, as a widely recognized language model, the self-attention model computes the similarity between the specific word and the whole sets of words in the same sentence and generates new semantic representation through the similarity-weighted summation of semantic representations of the whole words. However, the self-attention operation entirely considers all the signals with a weighted sum operation, which disperses the distribution of attention, which may result in overlooking the relation of neighboring signals. This issue becomes serious when applying the self-attention model to online community question answering platforms because of the varied length of the user-generated questions and answers. To address this problem, we introduce an attention mechanism enhanced local self-attention (LSA), which restricts the range of original self-attention by a local window mechanism, thereby scaling linearly when increasing the sequence length. Furthermore, we propose stacking multiple LSA layers to model the relationship of multiscale n-gram features. It captures the word-to-word relationship in the first layer and then captures the chunk-to-chunk (such as lexical n-gram phrases) relationship in its deeper layers. We also test the effectiveness of the proposed model by applying the learned representation through the ISA model to a Siamese and a classification network in community question answer selection tasks. Experiments on the public datasets show that the proposed LSA achieves a good performance.

关键词： Answer selection community question answering (CQA) local window self-attention

来源：评论

学校读者我要写书评

暂无评论

City 5.0: Towards Spatial Symbiotic Intelligence via DAOs and Parallel systems

IEEE TRANSACTIONS ON INTELLIGENT VEHICLES

引用

IEEE TRANSACTIONS ON INTELLIGENT VEHICLES 2023年第7期8卷 3767-3770页

作者： Lin, Yilun Hu, Wei Chen, Xi Li, Shuang Wang, Fei-Yue Shanghai Artificial Intelligence Lab Urban Comp Lab Shanghai 20030 Peoples R China Shanghai Urban Construct Design & Res Inst Environm & Traff Design & Res Inst Shanghai 200125 Peoples R China Beijing Municipal Inst City Planning & Design Beijing 100045 Peoples R China Chinese Acad Sci State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China Macau Univ Sci & Technol Macao Inst Syst Engn Macau 999078 Peoples R China

The development of smart cities has been a significant trend in recent years, aiming to improve the quality of life of citizens by leveraging technology and data. However, the current models of smart cities have limitations in terms of their centralized control and lack of citizen participation. City 5.0 proposes a new paradigm for smart cities that emphasizes the symbiotic relationship between humans and technology. This article presents the concept of Spatial Symbiotic Intelligence, which refers to the ability of a city to dynamically respond to the needs of its citizens and environment through the integration of data from various sources and the use of Decentralized Autonomous Organizations (DAOs) and parallel systems. This letter also discusses the potential benefits and challenges of implementing City 5.0 and highlights some of the ongoing initiatives in this area.

关键词： City 5.0 DAOs Parallel System Spatial Symbiotic Intelligence

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：