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2023 IEEE International Conference on Robotics and Biomimetics, ROBIO 2023

作者： Xu, Zhihui Wei, Tanyong Li, Zongze Huang, Ding Liu, Shoubin Hu, Chengzhi Southern University of Science and Technology Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy Engineering Shenzhen China Southern University of Science and Technology Guangdong Prov. Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Shenzhen China Harbin Institute of Technology School of Mechanical Engineering and Automation Shenzhen China

ISBN: (纸本)9798350325706

Capsule robots have emerged as a promising solution for non-invasive and painless screening of gastrointestinal diseases, offering significant advantages in patient comfort and reduced risk of cross-infection. Despite these advantages, existing capsule robots fall short in their ability to conduct targeted biopsies and deliver drugs to specific gastric lesions. To address this limitation, this paper presents the design and development of a magnetically driven capsule robot that leverages visual feedback to achieve accurate targeting for biopsy and drug administration in gastric lesions. Internal magnets, responsive to an external gradient magnetic field, enable the controlled propulsion of the capsule robot. A kinetic model of the capsule robot is analyzed, allowing it to recognize lesion contours through the endoscopic camera. This recognition determines the rotation angle or small adjustments required for the capsule robot's attitude and positioning. Experimental results in a simplified in vitro stomach model showcase the capability of the capsule robot to achieve targeted biopsy and drug delivery. These results highlight the potential feasibility of the proposed capsule robot in enhancing diagnostic accuracy and treatment efficacy with broader applications within the realm of gastric healthcare. © 2023 IEEE.

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Using Deep Reinforcement Learning in Optimal Energy Management for Residential House Aggregators with Uncertain User Behaviors 7

Using Deep Reinforcement Learning in Optimal Energy Manageme...

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7th IEEE Student Conference on Electric Machines and systems, SCEMS 2024

作者： Lin, Yujun Yan, Linfang Hui, Hongxun Chen, Yin Chen, Xia Wen, Jinyu School of Electrical and Electronic Engineering Huazhong University of Science and Technology State Key Laboratory of Advanced Electromagnetic Technology Wuhan China City & Energy Research Institute Suzhou China University of Macau State Key Laboratory of Internet of Things for Smart City Department of Electrical and Computer Engineering China University of Strathclyde Department of Electronic and Electrical Engineering Glasgow United Kingdom

ISBN: (纸本)9798350366945

In this study, the home energy management problem, which can be regarded as a high-dimensional optimization problem, for numerous residential houses, is addressed. The concept of the aggregator is utilized to reduce the state and action space and to handle the high dimensionality. A two-stage deep reinforcement learning (DRL)-based approach is proposed for the aggregators to track the schedule from a superior grid and guarantee the operation constraints. In the first stage, a DRL control agent is set to learn the optimal scheduling strategy interacting with the environment based on the soft-actor-critic framework and generate the aggregate control actions. In the second stage, the aggregate control actions are disaggregated to individual appliances considering the users' behaviors. The uncertainty of an electric vehicle's charging demand is quantitatively expressed based on the driver's experience. An aggregate anxiety concept is introduced to characterize the driver's anxiety on the electric vehicle's range and uncertain events. Finally, simulations are conducted to verify the effectiveness of the proposed approach under dynamic user behaviors, and comparisons show the superiority of the proposed approach over other benchmark methods. © 2024 IEEE.

关键词： Deep reinforcement learning

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Negatively Correlated Search for Constrained Optimization

Negatively Correlated Search for Constrained Optimization

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2023 IEEE Congress on Evolutionary Computation, CEC 2023

作者： Li, Yuan Lu, Xiaofen Yao, Xin Southern University of Science and Technology The Guangdong Provincial Key Laboratory of Brain-Inspired Intelligent Computation Department of Computer Science and Engineering Shenzhen518055 China School of Computer Science University of Birmingham Edgbaston BirminghamB15 2TT United Kingdom

ISBN: (纸本)9798350314588

Evolutionary algorithms (EAs) combined with constraint handling techniques (CHTs) are very effective in solving constrained optimization problems (COPs). Recently, negatively correlated search (NCS) has been shown to be powerful for real-world multimodal optimization problems (MMOP). However, there has been few works on utilizing NCS to solve COPs. In this paper, we present a novel constrained optimization evolutionary algorithm (COEA) named NCS-E which combined NCS with a new CHT ensemble method to deal with COPs. It integrates three complementary CHTs as voters, and individuals are first voted by each voter, then the individual with more weighted votes is considered better. In addition, the negative correlation information of the voted individuals is utilized to adaptively adjust the voting weights. To demonstrate the performance of NCS-E, NCS-E is compared with four NCS-based COEAs and two state-of-the-art methods, MAgES and MAgES-VMCH, on 57 real-world COPs. The statistical results show that NCS-E exhibits the best performance among the compared methods. Moreover, NCS-E was applied to solve the Deep Neural Network pruning problem and compared with the state-of-the-art pruning method OLMP on three reference models. Empirical results show that the proposed method improves the performance of OLMP on all three DNN pruning tasks. © 2023 IEEE.

关键词： Constrained optimization

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An automatic isotropic/anisotropic hybrid grid generation technique for viscous flow simulations based on an artificial neural network

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Chinese Journal of Aeronautics 2022年第4期35卷 102-117页

作者： Peng LU Nianhua WANG Xinghua CHANG Laiping ZHANG Yadong WU School of Information Engineering Southwest University of Science and TechnologyMianyang 621010China School of Intelligent Manufacturing Engineering Chongqing University of Arts and ScienceChongqing 402160China Stake Key Laboratory of Aerodynamics China Aerodynamics Research and Development CenterMianyang 621000China Unmanned Systems Research Center National Innovation Institute of Defense TechnologyBeijing 100071China School of Computer Science and Technology Sichuan University of Science&EngineeringYibin 644005China

Based on the author’s previous research, a novel hybrid grid generation technique is developed by introducing an Artificial Neural Network(ANN) approach for realistic viscous flow simulations. An initial hybrid grid over a typical geometry with anisotropic quadrilaterals in the boundary layer and isotropic triangles in the off-body region is generated by the classical mesh generation method to train two ANNs on how to predict the advancing direction of the new point and to control the grid size. After inputting the initial discretized fronts, the ANN-based Advancing Layer Method(ALM) is adopted to generate the anisotropic quadrilaterals in boundary layers. When the high aspect ratio of the anisotropic grid reaches a specified value, the ANN-based Advancing Front Method(AFM) is adopted to generate isotropic triangles in the off-body computational *** initial isotropic triangles are smoothed to further improve the grid quality. Three typical cases are tested and compared with experimental data to validate the effectiveness of grids generated by the ANN-based hybrid grid generation method. The experimental results show that the two ANNs can predict the advancing direction and the grid size very well, and improve the adaptability of the isotropic/anisotropic hybrid grid generation for viscous flow simulations.

关键词： Advancing front method Advancing layer method Anisotropic quadrilateral grid generation Artificial neural network Isotropic triangular grid generation Machine learning

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TOWARD ADVERSARIAL TRAINING ON CONTEXTUALIZED LANGUAGE REPRESENTATION 11

TOWARD ADVERSARIAL TRAINING ON CONTEXTUALIZED LANGUAGE REPRE...

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11th International Conference on Learning Representations, ICLR 2023

作者： Wu, Hongqiu Liu, Yongxiang Shi, Hanwen Zhao, Hai Zhang, Min Department of Computer Science and Engineering Shanghai Jiao Tong University China Key Laboratory of Shanghai Education Commission for Intelligent Interaction and Cognitive Engineering Shanghai Jiao Tong University Shanghai China School of Computer Science and Technology Soochow University Suzhou China

Beyond the success story of adversarial training (AT) in the recent text domain on top of pre-trained language models (PLMs), our empirical study showcases the inconsistent gains from AT on some tasks, e.g. commonsense reasoning, named entity recognition. This paper investigates AT from the perspective of the contextualized language representation outputted by PLM encoders. We find the current AT attacks lean to generate sub-optimal adversarial examples that can fool the decoder part but have a minor effect on the encoder. However, we find it necessary to effectively deviate the latter one to allow AT to gain. Based on the observation, we propose simple yet effective Contextualized representation-Adversarial Training (CreAT), in which the attack is explicitly optimized to deviate the contextualized representation of the encoder. It allows a global optimization of adversarial examples that can fool the entire model. We also find CreAT gives rise to a better direction to optimize the adversarial examples, to let them less sensitive to hyperparameters. Compared to AT, CreAT produces consistent performance gains on a wider range of tasks and is proven to be more effective for language pretraining where only the encoder part is kept for downstream tasks. We achieve the new state-of-the-art performances on a series of challenging benchmarks, e.g. AdvGLUE (59.1 → 61.1), HellaSWAG (93.0 → 94.9), ANLI (68.1 → 69.3). © 2023 11th International Conference on Learning Representations, ICLR 2023. All rights reserved.

关键词： Global optimization

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Online, Target-Free LiDAR-Camera Extrinsic Calibration via Cross-Modal Mask Matching

arXiv

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arXiv 2024年

作者： Huang, Zhiwei Zhang, Yikang Chen, Qijun Fan, Rui The Department of Control Science & Engineering The College of Electronics & Information Engineering Shanghai Institute of Intelligent Science and Technology Shanghai Research Institute for Intelligent Autonomous Systems The State Key Laboratory of Intelligent Autonomous Systems Frontiers Science Center for Intelligent Autonomous Systems Tongji University Shanghai201804 China

LiDAR-camera extrinsic calibration (LCEC) is crucial for data fusion in intelligent vehicles. Offline, target-based approaches have long been the preferred choice in this field. However, they often demonstrate poor adaptability to real-world environments. This is largely because extrinsic parameters may change significantly due to moderate shocks or during extended operations in environments with vibrations. In contrast, online, target-free approaches provide greater adaptability yet typically lack robustness, primarily due to the challenges in cross-modal feature matching. Therefore, in this article, we unleash the full potential of large vision models (LVMs), which are emerging as a significant trend in the fields of computer vision and robotics, especially for embodied artificial intelligence, to achieve robust and accurate online, target-free LCEC across a variety of challenging scenarios. Our main contributions are threefold: we introduce a novel framework known as MIAS-LCEC, provide an open-source versatile calibration toolbox with an interactive visualization interface, and publish three real-world datasets captured from various indoor and outdoor environments. The cornerstone of our framework and toolbox is the cross-modal mask matching (C3M) algorithm, developed based on a state-of-the-art (SoTA) LVM and capable of generating sufficient and reliable matches. Extensive experiments conducted on these real-world datasets demonstrate the robustness of our approach and its superior performance compared to SoTA methods, particularly for the solid-state LiDARs with super-wide fields of view. Our toolbox and datasets are publicly available at ***/MIAS-LCEC. Copyright © 2024, The Authors. All rights reserved.

关键词： Cameras

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SCIPaD: Incorporating Spatial Clues into Unsupervised Pose-Depth Joint Learning

arXiv

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arXiv 2024年

作者： Feng, Yi Guo, Zizhan Chen, Qijun Fan, Rui The Department of Control Science & Engineering The College of Electronics & Information Engineering Shanghai Research Institute for Intelligent Autonomous Systems Shanghai Institute of Intelligent Science and Technology The State Key Laboratory of Intelligent Autonomous Systems Frontiers Science Center for Intelligent Autonomous Systems Tongji University Shanghai201804 China

Unsupervised monocular depth estimation frameworks have shown promising performance in autonomous driving. However, existing solutions primarily rely on a simple convolutional neural network for ego-motion recovery, which struggles to estimate precise camera poses in dynamic, complicated real-world scenarios. These inaccurately estimated camera poses can inevitably deteriorate the photometric reconstruction and mislead the depth estimation networks with wrong supervisory signals. In this article, we introduce SCIPaD, a novel approach that incorporates spatial clues for unsupervised depth-pose joint learning. Specifically, a confidence-aware feature flow estimator is proposed to acquire 2D feature positional translations and their associated confidence levels. Meanwhile, we introduce a positional clue aggregator, which integrates pseudo 3D point clouds from DepthNet and 2D feature flows into homogeneous positional representations. Finally, a hierarchical positional embedding injector is proposed to selectively inject spatial clues into semantic features for robust camera pose decoding. Extensive experiments and analyses demonstrate the superior performance of our model compared to other state-of-the-art methods. Remarkably, SCIPaD achieves a reduction of 22.2% in average translation error and 34.8% in average angular error for camera pose estimation task on the KITTI Odometry dataset. Our source code is available at https://***/SCIPaD. Copyright © 2024, The Authors. All rights reserved.

关键词： Cameras

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Design of Capsule Robot for Magnetic Gastric Biopsy and Drug Administration 20

Design of Capsule Robot for Magnetic Gastric Biopsy and Drug...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Xu, Zhihui Li, Zongze Liu, Shoubin Hu, Chengzhi Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy Engineering Southern University of Science and Technology Shenzhen China Guangdong Prov. Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen China Harbin Institute of Technology School of Mechanical and Electrical Engineering Shenzhen China

ISBN: (纸本)9798350320831

Capsule robots have emerged as a promising tool for the early diagnosis of gastrointestinal diseases. Unlike conventional gastroscopy, they offer the potential for minimally invasive or even non-invasive treatment, and can alleviate discomfort and pain in patients. However, current capsule robots have some limitations. For instance, they lack stomach tissue biopsy and drug administration functions, and the capsule robot used for biopsy does not consider the tolerance of gastrointestinal tissue. Similarly, the capsule robot used for drug administration does not account for the outlet speed of drug administration. This paper proposes a new biopsy method using a magnetically manipulated capsule robot and analyzes the principles governing the robot's manipulation during the biopsy and drug administration processes. Furthermore, an ANSYS gastric model was established and used to simulate and experimentally analyze damage to the gastric tissue model from different types of biopsy needles and their moving speeds. The appropriate type of biopsy needle and moving speed were determined to prevent damage to the gastric tissue. The study also used FLUENT to determine the appropriate thrust at the entrance of the drug cavity and the impact of the drug density on the drug outlet velocity to ensure complete adherence of the drug to the lesion. © 2023 IEEE.

关键词： Biopsy

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Three-dimensional reconstruction of mobile binocular stereo vision based on push-broom line structured light for a workpiece surface

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Journal of the Optical Society of America A: Optics and Image science, and Vision 2023年第11期40卷 2096-2107页

作者： Wang, Yue Han, Xueyou Rui, Jing Zhang, Hailan Yin, Lei Zhang, Xuefeng Wang, Xiangjun School of Computer Science and Technology Anhui University of Technology Maanshan China Anhui Engineering Research Center for Intelligent Applications and Security of Industrial Internet Anhui University of Technology Maanshan243032 China School of Electrical and Information Engineering Anhui University of Technology Maanshan China The 53th Research Institute of China Electronics Technology Group Corporation Tianjin China State Key Laboratory of Precision Measuring Technology and Instruments Tianjin University Tianjin China Key Laboratory ofMOEMS of the Ministry of Education Tianjin University Tianjin China

Stereo vision technology based on line structured light can effectively solve the problem of a three-dimensional (3D) reconstruction of a smooth surface. A method for 3D reconstruction of mobile binocular stereo vision based on push-broom line structured light for a workpiece surface is presented in this paper. The subpixel coordinates of the light strip centers of the line structured light are obtained by the Steger algorithm while the binocular module moves along the guide rail, and the polar constraint is used to achieve the matching of the extracted light strip centers. As a result, the3Dcoordinates of the light strip centers in each location can be calculated because of the known interior and external parameters of the binocular module. To obtain the 3D point cloud data of the entire surface, a relative pose optimization method with respect to the initial frame is proposed, which accurately estimates the pose of the cameras in each location with respect to that in the initial location and unifies the 3D coordinates of the light strip centers in each location to the datum coordinates. The relative pose optimization method first estimates the rough values by using the direct linear transform method, and then iteratively calculates the refined solutions based on the principle of minimizing the re-projection errors. Simulation data and substantial experimental results validate the effectiveness of our method. Our method is compared to the direct linear transform method and the frame-by-frame transfer method, and the root mean square error (RMSE) of the distance from 3D point cloud to fitted plane is used to evaluate the 3D reconstruction accuracy. The repeatability experiment shows that the RMSE fromour method is as lowas 0.83mm. © 2023 Optica Publishing Group.

关键词： Location

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Van der Waals integration inch-scale 2D MoSe_(2) layers on Si for highly-sensitive broadband photodetection and imaging

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Nano Research 2023年第8期16卷 11422-11429页

作者： Yupiao Wu Shuo-En Wu Jinjin Hei Longhui Zeng Pei Lin Zhifeng Shi Qingming Chen Xinjian Li Xuechao Yu Di Wu School of Physics and Microelectronics and Key Laboratory of Material PhysicsZhengzhou UniversityZhengzhou 450052China Department of Electrical and Computer Engineering University of California San DiegoLa JollaCA 92093USA School of Microelectronics Science and Technology Sun Yat-Sen UniversityZhuhai 519082China Key Laboratory of Multifunctional Nanomaterials and Smart Systems Suzhou Institute of Nano-Tech and Nano-BionicsChinese Academy of SciencesSuzhou 215123China

As one of the most promising materials for two-dimensional transition metal chalcogenides(2D TMDs),molybdenum diselenide(MoSe_(2))has great potential in photodetectors due to its excellent properties like tunable bandgap,high carrier mobility,and excellent air *** 2D MoSe_(2)-based photodetectors have been reported to exhibit admired performance,the large-area 2D MoSe_(2)layers are difficult to be achieved via conventional synthesis methods,which severely impedes its future ***,we present the controllable growth of large-area 2D MoSe_(2)layers over 3.5-inch with excellent homogeneity by a simple post-selenization ***,a high-quality n-MoSe_(2)/p-Si van der Waals(vdW)heterojunction device is in-situ fabricated by directly growing 2D n-MoSe_(2)layers on the patterned p-Si substrate,which shows a self-driven broadband photoresponse ranging from ultraviolet to mid-wave infrared with an impressive responsivity of 720.5 mA·W^(−1),a high specific detectivity of 10^(13) Jones,and a fast response time to follow nanosecond pulsed optical *** addition,thanks to the inch-level 2D MoSe_(2)layers,a 4×4 integrated heterojunction device array is achieved,which has demonstrated good uniformity and satisfying imaging *** large-area 2D MoSe_(2)layer and its heterojunction device array have great promise for high-performance photodetection and imaging applications in integrated optoelectronic systems.

关键词： molybdenum diselenide large-area synthesis broadband photodetector integrated device array van der Waals(vdW)heterojunction

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