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Correction to "Attitude coordination control for a group of spacecraft without velocity measurements" [Sep 12 1146-1159]

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IEEE Transactions on control systems Technology 2013年第3期21卷 1044-1044页

作者： An-Min Zou Krishna Dev Kumar Zeng-Guang Hou Department of Aerospace Engineering Ryerson University Toronto ON Canada Institute of Automation Chinese Academy of Sciences State Key Laboratory of Intelligent Control and Management of Complex Systems Beijing China

Some errors in the above titled paper (ibid., vol. 20, no. 5, Sep. 2012, pp. 1146-1159) are corrected here.

关键词： Attitude control Space vehicles Observers Neural networks Adaptive control Aerospace engineering

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Pain recognition and pain empathy from a human-centered AI perspective

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ISCIENCE 2024年第8期27卷 110570页

作者： Cao, Siqi Fu, Di Yang, Xu Wermter, Stefan Liu, Xun Wu, Haiyan Chinese Acad Sci Inst Psychol CAS Key Lab Behav Sci Beijing Peoples R China Univ Chinese Acad Sci Dept Psychol Beijing Peoples R China Univ Surrey Sch Psychol Guildford England Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing Peoples R China Univ Hamburg Dept Informat Hamburg Germany Univ Macau Ctr Cognit & Brain Sci Taipa Macau Peoples R China Univ Macau Dept Psychol Taipa Macau Peoples R China

Sensory and emotional experiences are essential for mental and physical well-being, especially within the realm of psychiatry. This article highlights recent advances in cognitive neuroscience, emphasizing the significance of pain recognition and empathic artificial intelligence (AI) in healthcare. We provide an overview of the recent development process in computational pain recognition and cognitive neuroscience regarding the mechanisms of pain and empathy. Through a comprehensive discussion, the article delves into critical questions such as the methodologies for AI in recognizing pain from diverse sources of information, the necessity for AI to exhibit empathic responses, and the associated advantages and obstacles linked with the development of empathic AI. Moreover, insights into the prospects and challenges are emphasized in relation to fostering artificial empathy. By delineating potential pathways for future research, the article aims to contribute to developing effective assistants equipped with empathic capabilities, thereby introducing safe and meaningful interactions between humans and AI, particularly in the context of mental health and psychiatry.

关键词： Applied sciences Cognitive neuroscience Social sciences

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Design and Experiments of a Novel Halbach-Cylinder-Based Magnetic Skin: A Preliminary Study

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IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT 2022年 71卷 1页

作者： Gui, Mei-Jiang Zhou, Xiao-Hu Xie, Xiao-Liang Liu, Shi-Qi Li, Hao Xiang, Tian-Yu Wang, Jin-Li Hou, Zeng-Guang 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 China Univ Min & Technol Sch Mech Elect & Informat Engn Beijing 100083 Peoples R China CAS Ctr Excellence Brain Sci & Intelligence Techn Beijing 100190 Peoples R China Macau Univ Sci & Technol Inst Syst Engn Joint Lab Intelligence Sci & Technol Taipa Macao Peoples R China

Robotic tactile sensing plays a vital role in realizing the precise perception of complex environments, affecting the application of robots in a wide range of industrial and household fields. However, existing tactile sensors are limited by weakly interpretable information mapping relationships. In this article, a novel Halbach-cylinder-based magnetic skin is constructed with permanent magnets and elastic rubber to address such problems. Furthermore, a highly interpretable and widely applicable method is deduced to effectively represent the skin & x2019;s information conversion as a Halbach cylinder deforms to an elliptical cylinder under external force. Experiments of simulated models and actual skins with different compressions are conducted to evaluate the proposed method. The results show that 0.24 & x0025;and 0.26 & x0025;relative errors in simulated and real environments, respectively, can be achieved. Our method can reach the minimum error in almost all situations compared with state-of-the-art approaches. These promising results demonstrate the method & x2019;s great potential to provide a basis for developing a practical magnetic-force mapping relationship.

关键词： Soft magnetic materials Skin Magnetic analysis Magnetoelasticity Magnetic levitation Force Magnetic hysteresis Analytical magnetic calculation deformation experiments finite element simulation Halbach cylinder tactile perception

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Radiopharmaceuticals and Fluorescein Sodium Mediated Triple-Modality Molecular Imaging Allows Precise Image-Guided Tumor Surgery

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ADVANCED SCIENCE 2019年第13期6卷 1900159页

作者： Zheng, Sheng Zhang, Zeyu Qu, Yawei Zhang, Xiaojun Guo, Hongbo Shi, Xiaojing Cai, Meishan Cao, Caiguang Hu, Zhenhua Liu, Haifeng Tian, Jie Chinese Peoples Liberat Army Gen Hosp Med Ctr 3 Dept Gastroenterol Beijing 100039 Peoples R China Anhui 2 Prov Peoples Hosp Dept Gastroenterol Hefei 230041 Anhui Peoples R China Xidian Univ Sch Life Sci & Technol Xian 710071 Shaanxi Peoples R China Chinese Peoples Liberat Army Gen Hosp Dept Nucl Med Beijing 100853 Peoples R China Northwest Univ Sch Informat Sci & Technol Xian 710127 Shaanxi Peoples R China Chinese Acad Sci State Key Lab Management & Control Complex Syst Beijing Key Lab Mol Imaging CAS Key Lab Mol ImagingInst AutomatUniv Chinese Beijing 100190 Peoples R China

Radical resection is the most effective method for malignant tumor treatments. However, conventional imaging cannot fully satisfy the clinical needs of surgical navigation. This study presents a novel triple-modality positron emission tomography (PET)-Cerenkov radiation energy transfer (CRET)-confocal laser endomicroscopy (CLE) imaging strategy for intraoperative tumor imaging and surgical navigation. Using clinical radiopharmaceuticals and fluorescein sodium (FS), this strategy can accurately detect the tumor and guide the tumor surgery. The FS emission property under Cerenkov radiation excitation is investigated using 2-deoxy-2-F-18-fluoroglucose and C-11-choline. Performances of the PET-CRET-CLE imaging and the CRET-CLE image-guided surgery are evaluated on mouse models. The CRET signal at 8 mm depth is stronger than the Cerenkov luminescence at 1 mm depth in phantoms. In vivo experiments indicate that 0.5 mL kg(-1) of 10% FS generates the strongest CRET signal, which can be observed immediately after FS injection. A surgical navigation study shows that the tumors are precisely detected and resected using intraoperative CRET-CLE. In summary, a PET-CRET-CLE triple-modality imaging strategy is developed. This strategy can detect the tumors and precisely guide the tumor resection using clinical pharmaceuticals. This triple-modality imaging shows high potential in surgical navigation research and clinical translation.

关键词： Cerenkov luminescence imaging Cerenkov radiation energy transfer confocal laser endomicroscopy malignant tumors positron emission computed tomography

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Antitumorigenic and antiangiogenic efficacy of apatinib in liver cancer evaluated by multimodality molecular imaging

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EXPERIMENTAL AND MOLECULAR MEDICINE 2019年第7期51卷 76-76页

作者： Liang, Qian Kong, Lingxin Du, Yang Zhu, Xu Tian, Jie Chinese Acad Sci Inst Automat CAS Key Lab Mol Imaging State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China Univ Chinese Acad Sci Beijing 100080 Peoples R China Beijing Key Lab Mol Imaging Beijing 100190 Peoples R China Peking Univ Dept Intervent Therapy Key Lab Carcinogenesis & Translat Res Minist Educ BeijingSch Oncol 52 Fucheng Rd Beijing 100142 Peoples R China Beihang Univ Beijing Adv Innovat Ctr Big Data Based Precis Med Sch Med Beijing 100191 Peoples R China Xidian Univ Engn Res Ctr Mol & Neuro Imaging Sch Life Sci & Technol Minist Educ Xian 710126 Shaanxi Peoples R China

Hepatocellular carcinoma (HCC) is one of the most common causes of cancer-related mortality worldwide. Sorafenib is the standard first-line treatment for advanced HCC, but its efficacy is limited. Apatinib is a small-molecule tyrosine kinas e inhibitor that has shown promising antitumor effects in gastric and non-small cell lung cancers in clinical trials, but there have been only a few studies reporting its anti-HCC effects in vitro and in HCC xenograft models. Hence, our present study systemically investigated and compared the antitumorigenic and antiangiogenic efficacy of apatinib and sorafenib in HCC in vitro and in vivo using multimodality molecular imaging, including bioluminescence imaging (BLI), bioluminescence tomography (BLT), fluorescence molecular imaging (FMI), and computed tomography angiography ( CTA). Moreover, the safety and side effects of the two drugs were systemically evaluated. We found that apatinib showed a comparable therapeutic efficacy to sorafenib for the inhibition of HCC. The drug safety evaluation revealed that both of these drugs caused hypertension and mild liver and kidney damage. Sorafenib caused diarrhea, rash, and weight loss in mice, but these effects were not observed in mice treated with apatinib. In conclusion, apatinib has similar antitumorigenic and antiangiogenic efficacy as sorafenib in HCC with less toxicity. These findings may provide preclinical evidence supporting the potential application of apatinib for the treatment of HCC patients.

关键词： Cancer imaging Targeted therapies

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Self-Supervised Contact Geometry Learning by GelStereo Visuotactile Sensing

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IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT 2022年 71卷 1页

作者： Cui, Shaowei Wang, Rui Hu, Jingyi Zhang, Chaofan Chen, Lipeng Wang, Shuo Univ Chinese Acad Sci Sch Future Technol Beijing 100049 Peoples R China Chinese Acad Sci Inst Automat Beijing 100190 Peoples R China 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 Tencent Robot X Lab Shenzhen 518054 Peoples R China Chinese Acad Sci Ctr Excellence Brain Sci & Intelligence Technol Shanghai 200031 Peoples R China

Vision-based tactile sensors have recently shown promising contact information sensing capabilities in various fields, especially for dexterous robotic manipulation. However, dense contact geometry measurement is still a challenging problem. In this article, we update the design of our previous GelStereo tactile sensor and present a self-supervised contact geometry learning pipeline. Specifically, a self-supervised stereo-based depth estimation neural network (GS-DepthNet) is proposed to achieve real-time disparity estimation, and two specifically designed loss functions are proposed to accelerate the convergence of the network during the training process and improve the inference accuracy. Furthermore, extensive qualitative and quantitative experiments of perceived contact shape were performed on our GelStereo sensor. The experimental results verify the accuracy and robustness of the proposed contact geometry sensing pipeline. This updated GelStereo tactile sensor with dense contact geometric sensing capability has predictable application potential in the field of industrial and service robots.

关键词： Geometry Sensors Three-dimensional displays Estimation Image reconstruction Tactile sensors Color Depth estimation robotic sensing systems self-supervised learning tactile sensors

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Spiking Neuron Networks based Energy-Efficient Object Detection for Mobile Robot

Spiking Neuron Networks based Energy-Efficient Object Detect...

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Chinese Automation Congress (CAC)

作者： Bo-Chao Liu Qian Yu Jing-Wen Gao Shuang Zhao Xiong-Chang Liu Yan-Feng Lu Beijing Information Science and Technology University Institute of Automation Chinese Academy of Sciences Beijing China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China School of Instrument Science and Optoelectronic Engineering Beijing Information Science and Technology University Beijing China The State Key Laboratory of Management and Control for Complex Systems CASIA Beijing China Science and Technology on Underwater Vehicle Technology Laboratory Harbin Engineering University Harbin China

ISBN: (纸本)9781665426480

This paper focuses on the highly energy-efficient visual detection method, which first apples spiking neuron networks based object detection method in mobile robot. Visual perception is an important part of mobile robot, but the real-time visual perception is with high energy consumption that limits the battery running time of the robotic platform. In this paper, we bring in a Spiking-YOLO algorithm for the visual detection of the mobile robot, which combines the YOLO algorithm with the third generation artificial neural network-Spiking Neural Network (SNN). The Spiking-YOLO integrates the characteristics in real-time and high precision of the YOLO, and event-driven and low-powered nature of the SNN. We introduce the Spiking-YOLO model to the Robotnik's SUMMIT-XL mobile robot to perform the task of visual detection and the experimental verification is carried out on data sets. The experimental results show that this method has excellent energy-efficient and precision on the detection task of the robot.

关键词： Visualization Energy consumption Neurons Object detection Energy efficiency Real-time systems Mobile robots

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Smart Self-Assembly Amphiphilic Cyclopeptide-Dye for Near-Infrared Window-II Imaging

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ADVANCED MATERIALS 2021年第16期33卷 2006902-2006902页

作者： Chen, Hao Shou, Kangquan Chen, Si Qu, Chunrong Wang, Zhiming Jiang, Lei Zhu, Mark Ding, Bingbing Qian, Kun Ji, Aiyan Lou, Hongyue Tong, Ling Hsu, Alexander Wang, Yuebing Felsher, Dean W. Hu, Zhenhua Tian, Jie Cheng, Zhen Chinese Acad Sci Shanghai Inst Mat Med Ctr Mol Imaging Res Shanghai 201203 Peoples R China Stanford Univ Canary Ctr Stanford Canc Early Detect BioX Program Mol Imaging Program Stanford MIPS Stanford CA 94305 USA Stanford Univ Canary Ctr Stanford Canc Early Detect Dept Radiol Stanford CA 94305 USA Stanford Univ Sch Med Div Oncol Dept Med Stanford CA 94305 USA Stanford Univ Sch Med Div Oncol Dept Pathol Stanford CA 94305 USA Chinese Acad Sci State Key Lab Management & Control Complex Syst Beijing Key Lab Mol Imaging CAS Key Lab Mol ImagingInst Automat Beijing 100190 Peoples R China

Development of novel nanomaterials for disease theranostics represents an important direction in chemistry and precision medicine. Fluorescent molecular probes in the second near-infrared window (NIR-II, 1000-1700 nm) show high promise because of their exceptional high detection sensitivity, resolution, and deep imaging depth. Here, a sharp pH-sensitive self-assembling cyclopeptide-dye, SIMM1000, as a smart nanoprobe for NIR-II imaging of diseases in living animals, is reported. This small molecule assembled nanoprobe exhibits smart properties by responding to a sharp decrease of pH in the tumor microenvironment (pH 7.0 to 6.8), aggregating from small nanoprobe (80 nm at pH 7.0) into large nanoparticles (>500 nm at pH 6.8) with approximate to 20-30 times enhanced fluorescence compared with the non-self-assembled CH-4T. It yields micrometer-scale resolution in blood vessel imaging and high contrast and resolution in bone and tumor imaging in mice. Because of its self-aggregation in acidic tumor microenvironments in situ, SIMM1000 exhibits high tumor accumulation and extremely long tumor retention (>19 days), while being excretable from normal tissues and safe. This smart self-assembling small molecule strategy can shift the paradigm of designing new nanomaterials for molecular imaging and drug development.

关键词： fluorescence‐ imaging‐ guided tumor surgery NIR‐ II fluorescence imaging pH‐ responsive materials self‐ assembly tumor imaging

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An Improved eLBPH Method for Facial Identity Recognition: Expression-Specific Weighted Local Binary Pattern Histogram

An Improved eLBPH Method for Facial Identity Recognition: Ex...

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IEEE International Conference on Robotics and Biomimetics

作者： Xuanyang Xi Zhengke Qin Shuguang Ding Hong Qiao State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 Research Center of Precision Sensing and Control Institute of Automation Chinese Academy of Sciences Beijing 100190 Institute of Applied Mathematics AMSS Chinese Academy of Sciences Beijing 100190

ISBN: (纸本)9781467396769

Face perception is one of the most important tasks in robot vision especially for service robots. The spatially enhanced local binary pattern histogram (eLBPH) method has been proved to be effective for facial image representation and analysis, but the expression factor isn't considered and the region-dividing method is rough. In this paper, inspired by the biological mechanism of human memory and face perception, we improve the eLBPH and propose a new method, expressionspecific weighted local binary pattern histogram (EWLBPH). Accordingly, the new method introduces a semantic division process and an extended modulation process into the classical eLBPH. What's more, for the facial expression recognition, we propose a novel method which utilizes the convolutional deep belief network (CDBN) to extract discriminative information and represent them effectively. Finally, through experiments we verify the rationality and effectiveness of the improvement and two psychophysical findings.

关键词： eLBPH CDBN facial

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Multi-robot Path Planning and Trajectory Smoothing

Multi-robot Path Planning and Trajectory Smoothing

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IEEE International Conference on Automation Science and Engineering (CASE)

作者： Hub Ali Gang Xiong Huaiyu Wu Bin Hu Zhen Shen Hongxing Bai School of Mechanical and Electrical Engineering University of Electronic Science and Technology of China State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Guangdong Engineering Research Center of 3D Printing and Intelligent Manufacturing Cloud Computing Center Chinese Academy of Sciences Dongguan China Beijing Engineering Research Center of Intelligent Systems and Technology Institute of Automation Chinese Academy of Sciences China Hubei Jointown Technology Co. Ltd Artificial Intelligence Research Institute Wuhan China

ISBN: (数字)9781728169040

ISBN: (纸本)9781728169057

In this paper we consider a problem in task execution for multi-robot trajectory planning with collision avoidance in a shared working environment. Consider two or more robots generating trajectories towards their respective goal positions. The collision may occur if their trajectory coordinates are intersecting at a point or follow the same path segment simultaneously. The central planner is introduced to control robot motion in the collision state and to reduce the complexity of the multi-robot path planning system. The global path for every robot is generated by the $\mathrm{A}^{*}$ algorithm in a grid-based environment. The path has presented a sequence of optimal grid numbers and later transformed into Cartesian coordinates for smooth trajectory generation. The central planner takes an optimal grid sequence for every robot to analyze the collision state according to its cost value. It regenerates the trajectories to minimize the complexity cost value and replaces the previous trajectory based on minimum cost value. In the collision state, the central planner allows one robot at a time to pass along the conflict path segment and hold others in queue at a safety offset distance until the previous robot passes safely. The algorithm has been applied to robots working in a shared environment in complex maps and the simulations is performed with MATlab to calculate the efficiency of this approach for handling collision states in a multi-robot path planning system.

关键词： Robot kinematics Trajectory Collision avoidance Task analysis Resource management

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