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29th International Conference on Neural Information Processing

作者： Zhang, Bo Liu, Shiqi Xie, Xiaoliang Zhou, Xiaohu Hou, Zengguang Song, Meng Ma, Xiyao Zhang, Linsen Univ Sci & Technol Beijing Beijing 100083 Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China Univ Chinese Acad Sci Beijing 100049 Peoples R China

ISBN: (纸本)9789819916474;9789819916481

Abdominal aortic aneurysm (AAA) is a disease with high rates of morbidity and mortality. For AAA treatment, appropriately covered stents are placed to prevent blood from entering the aneurysm. Before the interventional procedure, the morphology of the abdominal arteries (the aorta and its branches) is of the utmost importance to formulate surgical plans and prepare surgical instruments. Due to accurate vessel measurements, in particular, custom-made fenestrated stent grafts and chimney stent grafts are widely used for complicated AAAs. Therefore, rapid and accurate reconstruction of the vascular from CTA images is necessary. In this study, we proposed a novel network for automated segmentation of the human abdominal aorta and its branches. The hybrid feature extraction module, which combines convolution and transformer, represents intra-frame vessel feature information well. And the inter-frame vessel structure information is extracted by a special attention mechanism that includes the LSTM module. The results of 38 patients' CTA image sequences show that the proposed network achieves state-of-the-art performance. The proposed method can assist physicians with preoperative diagnosis.

关键词： Abdominal Aortic Aneurysm Segmentation Computed Tomography Angiography

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VistaGPT: Generative Parallel Transformers for Vehicles With Intelligent systems for Transport Automation

IEEE TRANSACTIONS ON INTELLIGENT VEHICLES

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IEEE TRANSACTIONS ON INTELLIGENT VEHICLES 2023年第9期8卷 4198-4207页

作者： Tian, Yonglin Li, Xuan Zhang, Hui Zhao, Chen Li, Bai Wang, Xiao Wang, Xiao Wang, Fei-Yue Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China Peng Cheng Lab Shenzhen 518000 Peoples R China Beijing Jiaotong Univ Sch Comp & Informat Technol Beijing 100044 Peoples R China Hunan Univ Coll Mech & Vehicle Engn State Key Lab Adv Design & Mfg Vehicle Body Changsha 410082 Peoples R China Purdue Univ Dept Comp Sci W Lafayette IN 47906 USA Anhui Univ Hefei 266114 Peoples R China

Diverse transport demands have resulted in the wide existence of heterogeneous vehicle automation systems. While these systems have demonstrated effectiveness, they also pose challenges in terms of the share of technological advancements among different organizations and lead to poor generalization ability of individual systems. This article proposes a Transformer-based unified framework, VistaGPT, to address these challenges. VistaGPT, composed of Modular Federations of Vehicular Transformers (M-FoV) and Automated Composing of Autonomous Driving systems (AutoAuto), aims to overcome the information barriers due to system-level and module-level heterogeneity. M-FoV collects and organizes Transformer-based models in a modular fashion to facilitate system integration by providing diversity and versatility. AutoAuto utilizes large language models (LLMs) to automatically compose end-to-end autonomous driving systems with a "Dividing and Recombining" strategy. Besides, we deploy Scenario Engineering systems to evaluate the composed systems and provide systematic feedback for the optimization of AutoAuto, and Federated intelligence to contribute to diverse training samples and applications. With its capacity, scalability, and diversity, VistaGPT provides a new paradigm of LLM-aided system development for transport automation, which promotes virtual-real interactive parallel driving and advances progress toward "6S" objectives.

关键词： Transformers Task analysis Autonomous vehicles Planning Biological system modeling Navigation Automation Generative parallel transformers end-to-end driving transport automation large-language models federation of vehicular transformers scenario engineering

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Constructing Constraint Force Field in Musculoskeletal Robot by Co-optimizing Muscle Arrangements and Constant Activations

Constructing Constraint Force Field in Musculoskeletal Robot...

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IEEE International Conference on Fuzzy systems (FUZZ-IEEE) / IEEE World Congress on Computational Intelligence (IEEE WCCI) / International Joint Conference on Neural Networks (IJCNN) / IEEE Congress on Evolutionary Computation (IEEE CEC)

作者： Zhong, Shanlin Zhou, Junjie Wu, Wei Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China Univ Chinese Acad Sci Beijing 100049 Peoples R China

ISBN: (数字)9781728186719

ISBN: (纸本)9781728186719

Robots with high-precision motion and operation ability are of great application significance. By referring to the biomechanical structure and neural control mechanism of human motion system, the research of musculoskeletal robot system with rigid-flexible coupling characteristics is one of the important ways to improve the operation flexibility and control robustness of robot. Inspired by the equilibrium point hypothesis proposed in neuroscience, this paper proposes a co-optimization algorithm of muscle arrangement and activation to construct constraint force field in the workspace of musculoskeletal robot. When the muscle arrangement is rough due to the insufficient precision of the mechanical structure, the musculoskeletal robot can maintain accurate motion with the help of constraint force field by adopting the optimized constant activation. Experiments are carried out on a musculoskeletal robot model with human-mimetic muscle to demonstrate the effectiveness of the proposed algorithm in movement accuracy, noise robustness and generalization. This work may be of great significance for the further introduction of constraint force field into hardware system of musculoskeletal robot.

关键词： Musculoskeletal robot Constraint Force Field High precision control Schemes of robot

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A Framework and Operational Procedures for Metaverses-Based Industrial Foundation Models

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IEEE TRANSACTIONS ON systems MAN CYBERNETICS-systems 2023年第4期53卷 2037-2046页

作者： Wang, Jiangong Tian, Yonglin Wang, Yutong Yang, Jing Wang, Xingxia Wang, Sanjin Kwan, Oliver Univ Chinese Acad Sci Sch Artificial Intelligence Beijing 100049 Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China Qingdao Acad Intelligent Ind Qingdao 266109 Peoples R China China North Ind North Automatic Control Technol Re North Automat Control Technol Inst Taiyuan 030006 Peoples R China Mot G Inc Shenzhen 518071 Peoples R China

Industrial processes are typical cyber-physical-social systems (CPSSs), where the effective management of employees and the efficient control of machines play important roles. Traditional industries heavily rely on human labor and neglect the development of collection-utilization-transmission integrated information loops, thereby leading to high costs and low efficiency in operational procedures. To facilitate the natural interactions and smart operations for humans and machines, industrial foundation models (IFMs) based on metaverses are proposed in this article, serving as the operating systems of industrial parallel machines that provide sustainable data resources and scenarios for management and control experiments. On this basis, IFM comprised of vision foundation models, language foundation models, as well as operational foundation models, are constructed to manage resources in industrial parallel machines and provides comprehensive services for industrial procedures. On the one hand, IFM can efficiently manage various resources including computing power, digital assets, enterprise resources, and platform I/O via the proposed CPSS-based competing, sharing, scheduling, monitoring, allocating, and recovering mechanisms. On the other hand, imaginative intelligence, linguistic intelligence, and algorithmic intelligence can be achieved through vivid visualization of vision foundation models, natural conversations of language foundation models, and smart manipulation of operational foundation models. With the proposed IFM, cyber-physical-social intelligence (CPSI) can be achieved to enhance the efficient management and control of industrial processes.

关键词： Cyber-physical-social intelligence (CPSI) cyber-physical-social systems (CPSSs) industrial foundation models (IFMs) intelligent enterprises metaverses operational processes parallel intelligence

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Mobility Pattern Analysis during 2020 Chinese National Day under the COVID-19 pandemic

Mobility Pattern Analysis during 2020 Chinese National Day u...

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2022 Australian and New Zealand control Conference

作者： Chen, Yuanyuan Lv, Yisheng Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China Univ Chinese Acad Sci Beijing 100190 Peoples R China

ISBN: (数字)9781665498876

ISBN: (纸本)9781665498876

With the fast development of new technologies, such as Internet of Things, big data and Internet plus, Intelligent Transportation systems (ITS) have made remarkable achievements and the intelligence in ITS has also been continuously increased, which a new field, i.e., "Social Transportation", is emerging. In social transportation systems, physical and cyber elements are tightly conjoined, coordinated, and integrated with human and social characteristics. In this paper, we collect and analyze traffic data from physical world and social media data from cyberspace to sense the human mobility patterns during holidays under the COVID-19 pandemic.

关键词： COVID-19 Social networking (online) Pandemics Transportation Cyberspace Big Data Internet of Things

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Tumor lesion detection in patients with cervical cancer by indocyanine green near-infrared imaging

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EUROPEAN JOURNAL OF NUCLEAR MEDICINE AND MOLECULAR IMAGING 2023年第4期50卷 1252-1261页

作者： Li, Pengfei Liu, Jiaqi He, Kunshan Gong, Shipeng Chi, Chongwei Liu, Pan Su, Guidong Li, Weili Duan, Hui Liu, Ping Tian, Jie Chen, Chunlin Southern Med Univ Nanfang Hosp Dept Obstet & Gynecol 1838 Guangzhou Ave Guangzhou 510515 Peoples R China Beihang Univ Beijing Adv Innovat Ctr Big Data Based Precis Med Sch Med & Engn Beijing 100191 Peoples R China Beihang Univ Key Lab Big Data Based Precis Med Minist Ind & Informat Technol Beijing 100191 Peoples R China Chinese Acad Sci Inst Automation CAS Key Lab Mol Imaging State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China

Purpose To investigate the feasibility and accuracy of near-infrared fluorescence (NIRF) imaging for detecting the extent of tumor invasion in cervical cancer using indocyanine green (ICG). Methods We enrolled 51 patients who were diagnosed with cervical cancer with FIGO stage IB1-IIA2 disease. Patients were administered indocyanine green (ICG) at a dose of 5 mg/kg 24 h prior to surgery. A customized near-infrared fluorescence (NIRF) imaging system was used to identify the extent of tumor invasion when radical hysterectomy specimens were harvested. The relationship between tumor fluorescence intensity and clinicopathological characteristics was analyzed. Results Of the 51 enrolled patients, 3 patients did not have residual tumors after cervical conization, and tumor lesions were identified by NIRF imaging in all the remaining 48 patients. The results of NIRF imaging were in agreement with the postoperative pathological findings in 95.8% of the patients with stromal invasion, 100% of those with surgical margin invasion, 100% of those with parametrial tumor involvement, and 100% of patients with uterine corpus invasion. The mean signal-to-background ratio (SBR) of the cervical tumors was 2.91 +/- 1.64, and the SBR was independent of clinicopathological characteristics. Fluorescence microscopy confirmed that ICG fluorescence was present in the tumor nests. Conclusions NIRF imaging enables objective, accurate, and safe identification of tumor invasion during cervical cancer surgery.

关键词： Cervical cancer Near-infrared fluorescence Indocyanine green Tumor invasion

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Efficient Calibration of Agent-Based Traffic Simulation Using Variational Auto-Encoder 25

Efficient Calibration of Agent-Based Traffic Simulation Usin...

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IEEE 25th International Conference on Intelligent Transportation systems (ITSC)

作者： Ye, Peijun Zhu, Fenghua Lv, Yisheng Wang, Xiao Chen, Yuanyuan Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China Qingdao Acad Intelligent Ind Qingdao 266109 Peoples R China

ISBN: (数字)9781665468800

ISBN: (纸本)9781665468800

In agent-based traffic simulation, calibration is an essential stage before the models applied to reproduce the individual/group travel behaviors. While traditional methods suffer from a high computational complexity, this paper proposes an improved method to alleviate the computational burden for large-scaled simulations. Specifically, we introduce variational auto-encoder to compress the original agent state vector into a lower dimensional hidden space, where the state transfer probability is calculated fast. Then the probability is mapped into the original space through a decoder, to achieve the agent travel parameters. The dynamic calibration method is tested with other baselines in urban travel demand analysis. Experiment results demonstrate that our method brings about 19% elevation of efficiency with the same accuracy of calibration.

关键词： Technological innovation Computational modeling Traffic control Probability Calibration Space exploration Decoding

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Robot Precision Assembly Combining With Passive and Active Compliant Motions

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 2022年第8期69卷 8157-8167页

作者： Su, Jianhua Liu, Chuankai Li, Rui 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 100190 Peoples R China Beijing Aerosp Control Ctr Beijing 100094 Peoples R China Chongqing Univ Chongqing 400044 Peoples R China

Precision assembly is one of the primary goals of robots in manufacturing. Assembly strategies combining active and passive compliant control are presented herein. In this article, we construct a high-dimensional configuration space of robot assembly and then divide the configuration space to its subspaces. We further map the active compliant motion and the passive compliant motion of the manipulator into different subspaces. In one subspace, we construct the constraint function and design the passive compliant motion of the manipulator in the constraint region, where the uncertainties of the system should be eliminated by the environment constraints. In another subspace, we design a force controller based on the low-resolution force sensory information to control the position of the robot. The proposed method avoids the design of precision mechanism systems and the usage of high-quality sensors. Several experiments pertaining to peg-in-hole insertions are conducted to demonstrate the efficiency of the proposed method.

关键词： Robots Robot sensing systems Force Robot kinematics Force feedback Uncertainty Trajectory Assembly compliant motion constraint region force controller

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Visual Grasping with Spectral Clustering and Heuristic Searching for Robot in Cluttered Environments

Visual Grasping with Spectral Clustering and Heuristic Searc...

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2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022

作者： Geng, Wenjie Cao, Zhiqiang Tang, Yingbo Wang, Shuo Jing, Fengshui The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100049 China

ISBN: (纸本)9781665481090

Grasping the target object is an essential requirement for the robot to provide better services. It becomes complicated especially in cluttered environments, which still remains challenging. This paper proposes a grasping chain generation solution that enables the robot to grasp the target after other obstruction objects are moved in a good order. SSD is firstly adopted to acquire the information of detectable objects and then Euclidean clustering is employed to obtain the untrained objects. After that, the minimum bounding box of each object is obtained, which is then projected on the plane and represented by a smooth differentiable minimum ellipse. On this basis, an information density kernel function is designed to express the interaction between objects. By abstracting each ellipse as a node of the graph whose edge weight is calculated by this kernel function, the whole scene is described in a form of graph. To simplify the complexity of the scene graph, we use spectral clustering algorithm to classify the objects, and the task-oriented objects graph is constructed according to the objects closely related to the target one. As a result, the searching space is reduced. With space division of task-oriented objects graph, each candidate grasping chain is iteratively extended by using the heuristic searching and the best chain with the shortest length is determined. The proposed method can deal with secondary obstruction and its effectiveness is testified by experiments. © 2022 IEEE.

关键词： Iterative methods

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An Automatic Hand Rehabilitation Assessment System: Implementation and Experiments 12

An Automatic Hand Rehabilitation Assessment System: Implemen...

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12th International Conference on CYBER Technology in Automation, control, and Intelligent systems, CYBER 2022

作者： Wang, Yifan Cheng, Long Institute of Automation Chinese Academy of Sciences State Key Laboratory of Management and Control for Complex Systems Beijing100190 China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100190 China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

The lack of rehabilitation therapists and the increase of disabled individuals have reduced the opportunities for patients to receive well rehabilitation assessment. Towards solving this challenge, establishing a therapist-assistance assessment system to reduce the medical resource consumption is demanding. This paper proposes an automatic hand rehabilitation assessment system based on the Leap Motion vision sensor and a self-designed hand strength measurement device. The assessment algorithm requires the patients to complete every motion given in Fugl-Meyer assessment scale (FMA), and automatically scores the completion level of each motion via recognizing different hand gestures and hand grasping strength. As illustrated by the experiments on ten volunteers, the proposed assessment system can obtain the reliable scores which are consistent with the ones manually obtained via FMA. © 2022 IEEE.

关键词： Patient rehabilitation

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