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The manufacturing procedure of 3D printed models for endoscopic endonasal transsphenoidal pituitary surgery

TECHNOLOGY AND HEALTH CARE 2020年第S1期28卷 S131-S150页

作者： Shen, Zhen Xie, Yi Shang, Xiuqin Xiong, Gang Chen, Shi Yao, Yong Pan, Zhouxian Pan, Hui Dong, Xisong Li, Yuqing Guo, Chao Wang, Fei-Yue Chinese Acad Sci Beijing Engn Res Ctr Intelligent Syst & Technol Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China Qingdao Acad Intelligent Ind Qingdao 266109 Shandong Peoples R China Chinese Acad Sci Guangdong Engn Res Ctr 3D Printing & Intelligent Cloud Comp Ctr Dongguan 523808 Guangdong Peoples R China Chinese Acad Med Sci & Peking Union Med Coll Dept Endocrinol Peking Union Med Coll Hosp Key Lab EndocrinolNatl Hlth Commiss Beijing 100730 Peoples R China Chinese Acad Med Sci & Peking Union Med Coll Dept Neurosurg Peking Union Med Coll Hosp Beijing 100730 Peoples R China Chinese Acad Med Sci & Peking Union Med Coll Dept Allergy Peking Union Med Coll Hosp Beijing 100730 Peoples R China Univ Southern Calif Viterbi Sch Engn Los Angeles CA 90089 USA Univ Chinese Acad Sci Sch Artificial Intelligence Beijing 101408 Peoples R China

BACKGROUND: Endoscopic endonasal transsphenoidal pituitary surgery is usually difficult and risky. With limited sources of cadaveric skulls, traditional methods of using virtual images to study the surgery are difficult for neurosurgeons and students because the surgery requires spatial imagination and good understanding of the patient's conditions as well as practical experience. The three-dimensional (3D) printing technique has played an important role in clinical medicine due to its advantages of low cost, high-efficiency and customization. OBJECTIVE: CT images are used as the source data of 3D printing. The data obtained directly from the CT machine has limited accuracy, which cannot be printed without processing. Some commercial platforms can help build an accurate model but the cost and customization are not satisfactory. In this situation, a tactile, precise and low-cost 3D model is highly desirable. METHODS: Three pieces of computer software are used in the manufacturing of medical 3D models and the processing procedure is easy to understand and operate. RESULTS: This study proposes a practical and cost-effective method to obtain the corrected digital model and produce the 3D printed skull with complete structures of the nasal cavity, sellar region and different levels of pituitary tumors. The model is used for the endoscopic endonasal transsphenoidal pituitary surgery preparation. CONCLUSION: The 3D printed medical model can directly help neurosurgeons and medical students to practice their surgery skills on both general and special cases with customized structures and different levels of tumors.

关键词： Endoscopic endonasal transsphenoidal pituitary surgery 3D printing surgery simulation pituitary tumor

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Comparative Study of Four Speed controllers of Brushless DC Motors for Industrial Applications

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IFAC-PapersOnLine 2020年第5期53卷 59-64页

作者： Tariku Sinshaw Tamir Gang Xiong Zhen Shen Xiaoyan Gong Sheng Liu Ehtisham Lodhi Li Wan Xisong Dong State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing 100049 China Guangdong Engineering Research Center of 3D Printing and Intelligent Manufacturing Cloud Computing Center Chinese Academy of Sciences Donggguan 523808 China Beijing Engineering Research Center of Intelligent Systems and Technology Institute of Automation Chinese Academy of Sciences Beijing 100190 China Ten Dimensions (Guangdong) Technology Co. Ltd. Foshan 528225 China

Direct current (DC) motors are one of the most important kind of motors and are widely used in robotic and industrial applications. Recently, there have been significant efforts to develop direct current (DC) motors in an attempt to control speed of motors. However, conventional controlling approaches perform undesirably in terms of stability and quick response. Therefore, this paper presents a hybrid intelligent controller configuration for optimized speed control of brushless direct current (BLDC) motors in a factory supervisory control data acquisition (SCADA) system. We compare this hybrid intelligent controller with a conventional PID controller, fuzzy logic controller (FLC), and artificial neural network model reference controller (ANNMRC) in MATlab., and the results show that the hybrid (neuro-fuzzy) controller performs superior in terms of stability, speed trajectory tracking capability, fast response, and simplicity for implementation.

关键词： BLDC motor fuzzy logic controller (FLC) artificial neural network model reference controller (ANNMRC) hybrid (neuro-fuzzy) control

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Optimization of Grouping Evacuation Strategy in High-rise Building Fires Based on Graph Theory and Computational Experiments

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IEEE/CAA Journal of Automatica Sinica 2018年第6期5卷 1104-1112页

作者： Yuling Hu Xiwei Liu School of Electrical and Information Engineering Beijing University of Civil Engineering and Architecture Beijing 100044China Beijing Key Laboratory of Intelligent Processing for Building Big Data Beijing 100044China State Key Laboratory fo Management and Control for Complex Systems Institute of Automation Chinese Academy of SciencesBeijing 100190China Qingdao Academy of Intelligent Industries Qingdao 266109China

It is difficult to rescue people from outside, and emergency evacuation is still a main measure to decrease casualties in high-rise building fires. To improve evacuation efficiency, a valid and easily manipulated grouping evacuation strategy is proposed. Occupants escape in groups according to the shortest evacuation route is determined by graph theory. In order to evaluate and find the optimal grouping, computational experiments are performed to design and simulate the evacuation processes. A case study shown the application in detail and quantitative research conclusions is obtained. The thoughts and approaches of this study can be used to guide actual high-rise building evacuation processes in future.

关键词： Computational experiments grouping evacuation graph theory high-rise building fire management strategies

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A novel hybrid share reporting strategy for blockchain miners in PPLNS pools

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DECISION SUPPORT systems 2019年 118卷 91-101页

作者： Qin, Rui Yuan, Yong Wang, Fei-Yue Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing Peoples R China Qingdao Acad Intelligent Ind Qingdao Peoples R China Natl Univ Def Technol Res Ctr Mil Computat Expt & Parallel Syst Changsha Hunan Peoples R China Macau Univ Sci & Technol Inst Syst Engn Macau Peoples R China Univ Chinese Acad Sci Beijing Peoples R China Chinese Acad Sci Beijing Engn Res Ctr Intelligent Syst & Technol Inst Automat Beijing Peoples R China

In blockchain pool mining, Pay-Per-Last-N-Shares (PPLNS) is one of the most commonly used reward mechanisms in practice, in which the mining pools will distribute the reward among the miners whose reported shares fall in the last N shares, according to the proportion of the number of shares of the miner in the last N shares. In the PPLNS mechanism, miners' reporting strategies may impose significant impacts to their rewards via determining the number of shares appeared in the last N shares. As such, how to strategically report their shares to the pool has become an important decision faced by miners. In this paper, we study the share reporting problem in PPLNS pools, and establish a share reporting model for a miner to optimize his/her rewards. We also propose a novel hybrid share reporting strategy for the miner based on our model, and design computational experiments to evaluate our hybrid share reporting strategy. The experimental results show that the hybrid strategy outperforms two baseline share reporting strategies commonly used in practice. This work is the first attempt to study the share reporting issue faced by miners in PPLNS pools, and it can provide important managerial insights for blockchain pool miners when making their share reporting decisions.

关键词： Share reporting strategy Blockchain mining PPLNS reward Pool mining Computational experiments approach

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A pigeon-inspired optimization algorithm for many-objective optimization problems

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Science China(Information Sciences) 2019年第7期62卷 131-138页

作者： Zhihua CUI Jiangjiang ZHANG Yechuang WANG Yang CAO Xingjuan CAI Wensheng ZHANG Jinjun CHEN Complex System and Computational Intelligence Laboratory Taiyuan University of Science and Technology Beijing Institute of Petrochemical Technology Faculty of Information Technology Beijing University of Technology State Key Laboratory of Intelligent Control and Management of Complex Systems Institute of Automation Chinese Academy of Sciences School of Software University of Technology Sydney

Dear editor,Swarm intelligence optimization algorithms are inspired by the behaviour of biological groups in nature. Such algorithms have the advantages of a clear structure, simple operation, comprehensible principles, strong parallelism, effective search abilities, and strong robustness. They can effectively solve difficult problems that traditional methods cannot. Pigeon-inspired optimization (PIO), a novel biomimetic swarm intelligence optimization algorithm, was proposed by Duan and Qiao in

关键词： A pigeon-inspired optimization algorithm for many-objective optimization problems Pareto

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Locomotion Mode Recognition With Robotic Transtibial Prosthesis in Inter-Session and Inter-Day Applications

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IEEE TRANSACTIONS ON NEURAL systems AND REHABILITATION ENGINEERING 2019年第9期27卷 1836-1845页

作者： Zheng, Enhao Wang, Qining Qiao, Hong Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100864 Peoples R China Peking Univ Coll Engn Robot Res Grp Beijing 100871 Peoples R China Peking Univ BIC ESAT Beijing 100871 Peoples R China Beijing Engn Res Ctr Intelligent Rehabil Engn Beijing 100871 Peoples R China Univ Chinese Acad Sci Beijing 100049 Peoples R China

Locomotion mode recognition across multiple sessions and days is an indispensable step towards the practical use of the robotic transtibial prosthesis. In this study, we proposed an adaptive recognition strategy to against the time-varying features of on-prosthesis mechanical signals in inter-session and inter-day recognition tasks. The strategy was designed with an automatic training algorithm which could update the classifiers with the data of the most recent completed gait cycles to seize the changes of the features brought by external disturbances. After implementation, we measured multiple experimental sessions on six transtibial amputees with intervals from a few hours (inter-session experiment) to several months (108 days at most in inter-day experiment). In each session, they performed five locomotion modes and eight locomotion transitions using the robotic prosthesis. Between each two experimental sessions, the subjects were required to doff the robotic prosthesis (including the socket). The proposed adaptive recognition algorithm significantly improved recognition accuracies in both experiments. In inter-session experiment, the proposed method increased the recognition accuracy from 89.3% to 92.8% than previous non-adaptive recognition method. In inter-day experiments, it increased the recognition accuracy from 60% to 88.8%. If taking three modes (level walking, stair ascending/descending) and four locomotion transitions into calculation, the recognizer produced an accuracy up to 96.6% (swing phase) for static mode and an accuracy of 96.9% for locomotion transitions on inter-day tasks without manual intervenes. Compared with state-of-the-art, our study extends the ability of the robotic transtibial prosthesis in locomotion mode recognition across multiple sessions and days. Future efforts are worth being paid in this direction to get more promising results.

关键词： Locomotion mode recognition inter-day and inter-session automatic training robotic transtibial prosthesis

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Collab.rative Optimization of Cyber Physical Social systems for Urban Transportation Based on Knowledge Automation

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IFAC-PapersOnLine 2020年第5期53卷 572-577页

作者： Gang Xiong Xiaoyu Chen Nan Shuo Yisheng Lv Fenghua Zhu Tianci Qu Peijun Ye State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing 100049 China Guangdong Engineering Research Center of 3D Printing and Intelligent Manufacturing The Cloud Computing Center Chinese Academy of Sciences Dongguan 523808 China Graduate School of System Design Tokyo Metropolitan University Tokyo 191-0065 Japan

The integration of signals from physical, social and cyber spaces, known as Cyber-Physical-Social systems (CPSS), is a new research paradigm for urban transportation, where the traffic control and management (C&M) is collab.rative optimized among the three sub-systems. Though some technologies and optimization methods have been studied since its proposition, there is a lack of a systemic architecture as well as an overall implementation about how to efficiently exploit the social signals. For this reason, this paper proposes a general framework of CPSS for urban transportation and presents a feasible solution for traffic optimization based on knowledge automation. The specific implementation includes basic modeling of CPSS, knowledge evolution and reasoning, and collab.rative optimization of C&P strategies. As a remarkable highlight, the influence of both individual activities and social learning is concerned during knowledge evolution and reasoning part. A case study from the application in the city of Dongguan is also given to validate our proposed framework and methods, showing that they can efficiently improve the average speed of the actual transportation.

关键词： CPSS knowledge automation urban transportation Collab.rative Optimization

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Cyber-Physical-Social systems for Smart City: An Implementation Based on intelligent Loop

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IFAC-PapersOnLine 2020年第5期53卷 501-506页

Cyber-Physical-Social systems (CPSS) provides a novel perspective for constructing “Smart City”, which is also known as the Human-Machine-Things-System (HMTS), focusing on the fusion of ternary space: social network of human society, network of machines and the Internet of things. In this paper, we propose a specific implementation framework of CPSS for Smart City based on intelligent loops, including basic modeling and interactive fusion, state perception and cognition, and adaptive learning. On this basis, an overall architecture of the CPSS platform is designed, which is applied in the urban transportation management in Hangzhou. The application results demonstrate that the intelligent loop could optimize the control and management strategies for actual urban transportation.

关键词： CPSS intelligent Loop Human-Cyber-Physical Ternary Space

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Multi-view adaptive fusion network for 3D object detection

arXiv

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arXiv 2020年

作者： Wang, Guojun Tian, Bin Zhang, Yachen Chen, Long Cao, Dongpu Wu, Jian State Key Laboratory of Automotive Simulation and Control Jilin University Changchun130022 China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100190 China School of Data and Computer Science Sun Yat-Sen University Guangzhou510275 China Lab University of Waterloo Canada College of Automotive Engineering Jilin University China

3D object detection based on LiDAR-camera fusion is becoming an emerging research theme for autonomous driving. However, it has been surprisingly difficult to effectively fuse both modalities without information loss and interference. To solve this issue, we propose a single-stage multi-view fusion framework that takes LiDAR Birds-Eye View, LiDAR Range View and Camera View images as inputs for 3D object detection. To effectively fuse multi-view features, we propose an Attentive Pointwise Fusion (APF) module to estimate the importance of the three sources with attention mechanisms which can achieve adaptive fusion of multi-view features in a pointwise manner. Besides, an Attentive Pointwise Weighting (APW) module is designed to help the network learn structure information and point feature importance with two extra tasks: foreground classification and center regression, and the predicted foreground probability will be used to reweight the point features. We design an end-to-end learnable network named MVAF-Net to integrate these two components. Our evaluations conducted on the KITTI 3D object detection datasets demonstrate that the proposed APF and APW module offer significant performance gain and that the proposed MVAF-Net achieves state-of-the-art performance in the KITTI benchmark. Copyright © 2020, The Authors. All rights reserved.

关键词： Object recognition

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Primitives generation policy learning without catastrophic forgetting for robotic manipulation 19

Primitives generation policy learning without catastrophic f...

引用

19th IEEE International Conference on Data Mining Workshops, ICDMW 2019

作者： Xiong, Fangzhou Liu, Zhiyong Huang, Kaizhu Yang, Xu Hussain, Amir State Key Lab of Management and Control for Complex Systems Institute of Automation Chinese Academy of Science China China CAS Centre for Excellence in Brain Science and Intelligence Technology Chinese Academy of Sciences China Department of EEE Xi'an Jiaotong-Liverpool University China School of Computing Edinburgh Napier University United Kingdom

ISBN: (纸本)9781728146034

Catastrophic forgetting is a tough challenge when agent attempts to address different tasks sequentially without storing previous information, which gradually hinders the development of continual learning. Except for image classification tasks in continual learning, however, there are little reviews related to robotic manipulation. In this paper, we present a novel hierarchical architecture called Primitives Generation Policy Learning to enable continual learning. More specifically, a generative method by Variational Autoencoder is employed to generate state primitives from task space, then separate policy learning component is designed to learn torque control commands for different tasks sequentially. Furthermore, different task policies could be identified automatically by comparing reconstruction loss in the autoencoder. Experiment on robotic manipulation task shows that the proposed method exhibits substantially improved performance over some other continual learning methods. © 2019 IEEE.

关键词： Learning systems

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