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4th IEEE International Conference on Digital Twins and Parallel Intelligence, DTPI 2024

作者： Yue, Zhijian Shen, Zhen Dong, Xiangyang Fang, Qihang Wang, Weixing Dong, Xisong Xiong, Gang Wang, Fei-Yue University of Chinese Academy of Sciences School of Artificial Intelligence Beijing100049 China Chinese Academy of Sciences State Key Laboratory of Multimodal Artificial Intelligence Systems Beijing Engineering Research Center of Intelligent Systems and Technology Institute of Automation Beijing100190 China Qingdao Academy of Intelligent Industries Intelligent Manufacturing Center Qingdao266109 China Chinese Academy of Sciences Guangdong Engineering Research Center of 3D Printing and Intelligent Manufacturing Cloud Computing Center Dongguan523808 China Chinese Academy of Sciences State Key Laboratory for Management and Control for Complex Systems Institute of Automation Beijing100190 China

ISBN: (纸本)9798350349252

With the development of continuous fiber-reinforced composites (CFRCs) 3D printing technology, timely, efficient and accurate detection of fiber path defects is essential for ensuring product quality and performance. However, challenges still need to be addressed in this field, such as inadequate training data coverage and the complexity of fiber path structures. These factors hinder the capability of traditional methods to accurately assess the status of printed products. Therefore, developing accurate and robust fiber path defect detection techniques is crucial for CFRCs 3D printing technology. In this paper, we propose a precise detection method for fiber path defects in CFRCs 3D printing using the YOLOv7 object detection model combined with a Squeeze-and-Excitation (SE) attention mechanism. By introducing the SE attention mechanism, we enhance the perception capability of the YOLOv7 model for crucial features, thereby improving the accuracy of fiber path defect detection. The experimental results show that the YOLOv7 model, when augmented with an attention mechanism, achieves an average accuracy of 93.9% in identifying fiber path defects during the printing process. Compared to models without this attention mechanism, the results show that there is 10.7% increase, with a notably enhanced learning capacity during the training phase, which substantiates the efficacy and practicality of the proposed approach. © 2024 IEEE.

关键词： Fiber reinforced plastics

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Forming Circle Formations of Multi-agent systems Under Actuator Faults 5th

Forming Circle Formations of Multi-agent Systems Under Actu...

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5th Chinese Conference on Swarm Intelligence and Cooperative control, CCSICC 2021

作者： Liu, Jiajun Ru, Xinfeng Xia, Weiguo Wang, Chen China National Aeronautical Radio Electronic Research Institute and National Key Laboratory of Science and Technology on Avionics System Integration Shanghai China Key Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education and School of Control Science and Engineering Dalian University of Technology Dalian China National Engineering Research Center of Software Engineering and the State Key Laboratory of Turbulence and Complex Systems Intelligent Biomimetic Design Lab College of Engineering Peking University Beijing China

ISBN: (纸本)9789811939976

A distributed fault-tolerant formation control law is designed in this paper for multi-agent systems under external disturbances and actuator faults including time-varying loss of effectiveness faults. The initial position of each agent is already on a circle and the control purpose is to form a desired formation on this circle. Based on this local information, a distributed adaptive formation control law is designed by employing the congelation of variables method to deal with time-varying actuator faults. Finally, a simulation example is given to verify the effectiveness of the adaptive fault-tolerant control design method. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Multi agent systems

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Continuous grip force estimation from surface electromyography using generalized regression neural network

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TECHNOLOGY AND HEALTH CARE 2023年第2期31卷 675-689页

作者： Mao, He Fang, Peng Zheng, Yue Tian, Lan Li, Xiangxin Wang, Pu Peng, Liang Li, Guanglin Shenzhen Inst Adv Technol CAS Key Lab Human Machine Intelligence Synergy Sy Shenzhen Guangdong Peoples R China Univ Chinese Acad Sci Shenzhen Coll Adv Technol Shenzhen Guangdong Peoples R China Shenzhen Engn Lab Neural Rehabil Technol Shenzhen Guangdong Peoples R China Sun Yat Sen Univ Dept Rehabil Med Affiliated Hosp 7 Shenzhen Guangdong Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing Peoples R China

BACKGROUND: Grip force estimation is highly required in realizing flexible and accurate prosthetic control. OBJECTIVE: This study presents a method to accurately estimate continuous grip force from surface electromyography (sEMG) under three forearm postures for unilateral amputees. METHODS: Ten able-bodied subjects and a transradial amputee were recruited. sEMG signals were recorded from six forearm muscles on the dominant side of each able-bodied subject and the stump of amputee. Meanwhile, grip force was synchronously measured from the ipsilateral hands of able-bodied subjects and contralateral hand of amputee. Three force profiles (triangle, trapezoid, and fast triangle) were tested under three forearm postures (supination, neutral and pronation). Two algorithms (Generalized Regression Neural Network (GRNN) and Multilinear Regression Model (MLR)) were compared using several EMG features. The estimation performance was evaluated by coefficient of determination ( R2) and mean absolute error (MAE). RESULTS: The optimal regressor combining TD and GRNN achieved R-2 = 96.33 +/- 1.13% and MAE = 2.11 +/- 0.52% for the intact subjects, and R-2 = 86.86% and MAE = 2.13% for the amputee. The results indicated that multiple grip force curves under three forearm postures could be accurately estimated for unilateral amputees using mirrored bilateral training. CONCLUSIONS: The proposed method has the potential for precise force control of prosthetic hands.

关键词： Electromyography amputees rehabilitation machine learning

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Anomaly detection in digital twin model 1

Anomaly detection in digital twin model

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1st IEEE International Conference on Digital Twins and Parallel Intelligence, DTPI 2021

作者： Wang, Yutong Cao, Yansong Wang, Fei-Yue Institute of Automation Chinese Academy of Sciences The State Key Laboratory for Management and Control of Complex Systems Beijing China Macau Institute of Systems Engineering Macau University of Science and Technology China

ISBN: (纸本)9781665433372

As the simulation model of a physical system, digital twin has been widely used in many complicated control systems. Providing an effective way to perform simulation, digital twin makes the evaluation, prediction and optimization process cheaper and easier than on physical systems. For smart manufacturing, digital twin achieves high productivity with less operation and maintenance cost. However, the advantages of digital twin in anomaly detection during manufacturing are always neglected. Taking a two-speed transmission system as an example, we generate three kinds of faults on this digital twin model. After extracting features from the system output, we train an anomaly detection model on these features to classify each type of fault. By this digital twin model, we can find the fault in the whole system at the very beginning, and reduce the time and cost of debugging and diagnosing. © 2021 IEEE.

关键词： Anomaly detection

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Intelligent Vehicle Carriers to Support General Civilian Purposes

IEEE TRANSACTIONS ON INTELLIGENT VEHICLES

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IEEE TRANSACTIONS ON INTELLIGENT VEHICLES 2023年第10期8卷 4292-4295页

作者： Huang, Hailong Shen, Zhipeng Huang, Chao Wang, Yutong Wang, Fei-Yue Hong Kong Polytech Univ Dept Aeronaut & Aviat Engn Hong Kong 999077 Peoples R China Hong Kong Polytech Univ Dept Ind & Syst Engn Hong Kong 999077 Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China Macau Univ Sci & Technol Inst Engn Taipa 999078 Macao Peoples R China

This letter, as a brief summary of the fourth part of the Distributed/Decentralized Hybrid Workshop on Sustainability for Transportation and Logistics (DHW-STL), explores new opportunities for vehicle carriers (VCs) and the potential of various carrier types in different domains, including seabed, underwater, maritime, ground-based, aerial, high-altitude, and space applications. It discusses the advancements in intelligent vehicles (IVs) technology that have revolutionized the capabilities of intelligent vehicle carriers (IVCs). These advancements have garnered the interest of technology enthusiasts alike, prompting an examination of the unique advantages and potential of these carrier types. It analyzes the current status of this integration and explores the possibilities presented by future platforms. By embracing these advancements, the future of carrier operations holds promising prospects for diverse civilian applications worldwide.

关键词： Intelligent vehicle carriers (IVCs) intelligent vehicles (IVs) transportation and logistics

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Mechanical design paradigm based on ACP method in parallel manufacturing 1

Mechanical design paradigm based on ACP method in parallel m...

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1st IEEE International Conference on Digital Twins and Parallel Intelligence, DTPI 2021

作者： Li, Shimeng Wang, Yutong Wang, Xiao Wang, Feiyue Institute of Automation Chinese Academy of Sciences The State Key Laboratory for Management and Control of Complex Systems Beijing China Qingdao Academy of Intelligent Industries Qingdao China

ISBN: (纸本)9781665433372

Parallel Manufacturing is a new manufacturing paradigm in industry, deeply integrating informalization, automation, and artificial intelligence. In this paper we propose a new mechanical design paradigm in Parallel Manufacturing based on ACP method. The key is to regard the design procedure based on artificial design and emulation method as two independent procedures, which can be modeled as a parallel system. The design procedure based on ACP method does not include a real system, which is an inventive extension of the traditional parallel system. This method can be implemented with social information by introducing the definition of SDV, SDM, and Intelligent Design Manager, making it highly adaptive for social manufacturing and Parallel Manufacturing. © 2021 IEEE.

关键词： Manufacture

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Speed control of a Biomimetic Robotic Fish Based on Linear Active Disturbance Rejection control

Speed Control of a Biomimetic Robotic Fish Based on Linear A...

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2021 China Automation Congress, CAC 2021

作者： Huang, Yupei Wu, Zhengxing Du, Sheng The State Key Laboratory of Management and Control for Complex Systems Insititute of Automation Chinese Academy of Sciences Beijing China University of Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781665426473

This paper proposes a speed control method for a biomimetic robotic fish based on linear active disturbance rejection control. Inspired by a bluefin tuna in nature, a robotic fish with a two-joint propulsive mechanism and a crescent-shaped caudal fin is first designed. Thereafter, for a steady forward swimming speed, a speed control framework based on the linear form of active disturbance rejection control method is proposed, where the oscillation frequency of the caudal fin is adopted to regulate the swimming speed. Meanwhile, a swimming speed estimation approach based on the oscillation period is provided to effectively reduce the phenomenon of swimming speed fluctuation. Finally, both simulation and experiment results illustrate that the proposed method is effective for the speed control of robotic fish. © 2021 IEEE

关键词： Speed control

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DRR-Net: A Dense-Connected Residual Recurrent Convolutional Network for Surgical Instrument Segmentation From Endoscopic Images

IEEE TRANSACTIONS ON MEDICAL ROBOTICS AND BIONICS

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IEEE TRANSACTIONS ON MEDICAL ROBOTICS AND BIONICS 2022年第3期4卷 696-707页

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

The precise segmentation of surgical instruments is the key link for the stable and reasonable operation of surgical robots. However, accurate surgical instrument segmentation is still a challenging task due to the complex surgical environment in endoscopic images, low contrast between surgical instruments and tissues, and the diversity of surgical instruments and their morphological variability. In recent years, deep learning has been widely applied into medical image segmentation and achieved a certain achievements, especially U-Net and its variants. However, existing surgical instrument segmentation networks still suffer from some shortcomings, such as insufficient processing of local feature maps, lack of temporal modeling information, etc. To address the above issues, in order to effectively improve the segmentation accuracy of surgical instruments, based on an encoder-decoder network structure, a novel dense residual recurrent convolutional network, called DRR-Net, is proposed in this paper for automatic and accurate surgical instrument segmentation from endoscopic images. Faced with lack of temporal modeling information, inspired by the recurrent neural networks (RNNs), an attention dense-connected recurrent convolutional block (ADRCB) is proposed to optimize the backbone network to obtain temporal information and learn the correspond pixel relationship between frames. To address the insufficient processing issue of local feature maps, to replace the simple skip connections, a residual path is proposed to enhance the context feature representation. Meanwhile, it could also reduce the effect of semantic gap issue. Further, to improve the segmentation accuracy on segmented objects with different sizes, a context fusion block (CFB) is proposed to embed into the bottleneck layer to extract multi-scale attention context features. Multiple public data sets on surgical instrument segmentation are adopted for model evaluation and comparison, including kvasir-instrume

关键词： Surgical instruments deep learning semantic segmentation residual path recurrent neural network

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Phosphopeptides P140 cause oxidative burst responses of pulmonary macrophages in an imiquimod-induced lupus model

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MOLECULAR BIOMEDICINE 2023年第1期4卷 38页

作者： Zhong, Jianghong Zheng, Chanyu Chen, Zhongheng Yue, Hangqi Gao, Haiqiang Jiang, Yunfan Hui, Hui Tian, Jie Beihang Univ Beihang Univ Sch Engn Med 37 Xueyuan Rd Beijing 100191 Peoples R China Beihang Univ Key Lab Big Data Based Precis Med Minist Ind & Informat Technol Beijing 100191 Peoples R China Beihang Univ Sch Biol Sci & Med Engn Beijing 100191 Peoples R China Chinese Acad Sci State Key Lab Management & Control Complex Syst CAS Key Lab Mol Imaging Beijing Key Lab Mol ImagingInst Automat Beijing 100190 Peoples R China

Recent studies challenge the dogma that a 21-mer phosphopeptide P140 protects against direct cell damage in the phase-III clinical trial (NCT02504645) for lupus, involving reactive oxygen species (ROS)-dependent release of citrullinated histone H3 (H3cit)-linked neutrophil extracellular traps. An open question is the cellular location of ROS production and H3cit formation in lupus. In this study, we examined the effects of P140 peptides on ROS production and H3cit location in lupus with in vivo and situ fluorescence imaging with subcellular resolution. We developed a mouse model of the B6 strain harbouring a bioluminescent reporter under the control of the Lysozyme M promoter. Based on the imiquimod-induced disease model of B6 mice, we used bioluminescent imaging, flow cytometry analysis, and immunohistology staining to study the effects of P140 peptides in lupus. We found a profound accumulation of CX3CR1-positive macrophages in the lungs of lupus mice after the application of P140, accompanied by lung fibrosis formation. The defined P140-mediated macrophage responses were associated with an increase of H3cit in the cytosol, interleukin-1 receptor type 1 on the extracellular membrane, and intracellular production of ROS. Of interest, the disease of imiquimod-induced lupus was prevented with an antioxidant drug apocynin. This study shows that P140 peptides play a role in aggravated murine lupus in a manner dependent on ROS production and H3cit upregulation through pulmonary macrophages.

关键词： Lupus ROS H3cit Neutrophils Macrophages

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PMWorld: A Parallel Testing Platform for Autonomous Driving in Mines

IEEE TRANSACTIONS ON INTELLIGENT VEHICLES

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IEEE TRANSACTIONS ON INTELLIGENT VEHICLES 2024年第1期9卷 1402-1411页

作者： Ai, Yunfeng Liu, Yuhang Gao, Yu Zhao, Chen Cheng, Xiang Han, Jinpeng Tian, Bin Chen, Long Wang, Fei-Yue Univ Chinese Acad Sci Sch Artificial Intelligence Beijing 100049 Peoples R China Waytous Inc Qingdao 266109 Peoples R China 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 Xi An Jiao Tong Univ Sch Software Engn Xian 710049 Peoples R China Chinese Acad Sci Inst Automat Beijing 100190 Peoples R China

Autonomous driving will be widely deployed in the near future which can efficiently reduce the workload on human drivers. Unlike complicated urban driving conditions, fully autonomous driving is expected to be implemented in closed and relatively simple environments, e.g., mines. Autonomous driving in mines holds substantial practical value that can significantly reduce mining costs and enhance operational efficiency. To ensure vehicle safety, unmanned driving systems should be rigorously tested before deployment. With the rapid development of digital twin technology, offline testing in cyberspace has gained increasing significance. While numerous driving simulators have been recently released, none of them can support simulation tests in mines. In addition, due to the ignorance of human factors in the system, the digital twin in CPS (Cyber-Physical systems) is inadequate for developing next-generation intelligent testing systems. To address these issues, we propose PMWorld (Parallel Mines World) based on parallel intelligence in this paper, which is a novel parallel testing platform for autonomous mining vehicles. It not only considers human behaviors during testing but also constitutes a closed loop between physical and virtual systems, allowing for more efficient testing methods. We also introduce the key technical infrastructures for constructing the PMWorld platform and present various testing functionalities supported by PMWorld, including HIL (Hardware-In-the-Loop) test, RIL (Road-In-the-Loop) test, virtual-real interactive test, and integrated test with the scheduling system.

关键词： Testing Autonomous vehicles Processor scheduling Digital twins Computational modeling Games Engines PMWorld (parallel mines world) parallel testing mining autonomous driving

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