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2023 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2023

作者： Tang, Xi Li, Qingge Tang, Yao Tian, Lan Zheng, Yue Li, Xiangxin Jiang, Naifu Shang, Peng Li, Guanglin Peng, Liang Fang, Peng Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Cas Key Laboratory of Human-Machine Intelligence-Synergy Systems The Shenzhen Engineering Laboratory of Neural Rehabilitation Technology Shenzhen518055 China University of Chinese Academy of Sciences Shenzhen College of Advanced Technology Shenzhen518055 China Chinese Academy of Sciences State Key Laboratory of Management and Control for Complex Systems Institute of Automation Beijing100190 China

ISBN: (纸本)9798350327182

Motion is one of the basic physiological functions of human beings. However, many brain diseases such as stroke may cause different degrees of motor dysfunctions for patients. As a commonly used rehabilitation method, active and passive exercise training may enhance patients' neuromuscular functions and recover their motor abilities. It is known that limb movements are strongly coupled with brain activation but there is currently insufficient exploration on the coupling behaviors from the perspective of informatics. In this study, the coupling relationship between limb movements and brain activation was preliminarily studied based on three healthy subjects. Electroencephalogram (EEG) and functional near-infrared spectroscopy (fNIRS) signals were synchronously collected during lower limb movements, and time-frequency analysis (TFA) and transfer entropy (TE) analysis were performed to quantitatively study the brain activation behaviors. In the experiments, a desynchronization phenomenon of μ rhythm in EEG was observed during exercise states, and the experimental results demonstrate the activation rule of motor and prefrontal cortexes upon limb movements. Calculations show that there exists a bidirectional flow of information between EEG and cerebral oxygen metabolism signals, but with a difference between different directions. This work may support the rehabilitation for patients with motor dysfunctions with a guidance of quantitative indicators and also benefit the exploration on neuroscience. © 2023 IEEE.

关键词： Electroencephalography

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Evaluation of indocyanine green inhalation to detect air leak sites during video-assisted thoracoscopic surgery: a prospective study

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BMC Surgery 2025年第1期25卷 1-9页

作者： Wang, Zhenfan Tian, Xue Wei, Zihan Xu, Hao He, Kunshan Chi, Chongwei Zhao, Songjing Jiang, Ruiheng Yang, Fan Li, Yun Zhou, Jian Department of Thoracic Surgery Peking University People’s Hospital Beijing 100044 China Department of Anaesthesia Peking University People’s Hospital Beijing China China-Japan Friendship Hospital Beijing China CAS Key Laboratory of Molecular Imaging Beijing Key Laboratory of Molecular Imaging The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Peking University Health Science Center Beijing China Department of Thoracic Surgery Beijing Aerospace General Hospital Beijing China

Background: This study aimed to investigate the feasibility and clinical benefits of indocyanine green (ICG) inhalation for detecting air leak sites during video-assisted thoracoscopic surgery (VATS). Methods: Between February 2023 and May 2023, a total of 288 patients underwent VATS were enrolled in this study. Among the population, 72 patients received ICG inhalation test following the traditional submersion sealing test. And 216 patients only underwent the submersion sealing test were matched using 1:3 propensity score matching analysis. The results of ICG inhalation test and the clinical outcomes were compared. Results: In the ICG group, 48 air leak sites were detected in 25 patients (25/72, 34.7%). The conventional submersion sealing test identified 30 air leak sites, while the ICG inhalation test detected 47 sites. Among these detected air leak sites, 34 sites were repaired by suturing or stapling. The postoperative air leak rate in the ICG group (20.8%) was significantly lower than the control group (37.0%, P = 0.011). ICG inhalation test was a favorable factor for reducing postoperative air leaks (OR: 0.40;95%CI: 0.20–0.78;P = 0.008). Conclusions: The ICG inhalation test facilitates the identification of air leak sites that may have been overlooked in the conventional submersion sealing test. This technique is useful to reduce postoperative air leaks for patients undergoing VATS. Trial registration : Chinese Clinical Trial Registry: ChiCTR2300067603 on January 13rd 2023. © The Author(s) 2025.

关键词： Air leaks Indocyanine green Inhalation Video-assisted thoracoscopic surgery

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AR-C&P: A Tangible Programming for Children Based Augmented Reality 22

AR-C&P: A Tangible Programming for Children Based Augmented ...

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Proceedings of the Tenth International Symposium of Chinese CHI

作者： Danli Wang Yanyan Zhao Shuo Feng The State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences China and School of Artificial Intelligence University of Chinese Academy of Sciences China

ISBN: (纸本)9781450398695

Augmented Reality (AR) technology enables continuous visual feedback and varied digital scenes on the real world. This paper presents AR-C&P, an AR-based tangible programming tool for young children. It allows children to create AR maze map with low-cost materials and plan the route by constructing tangible program sequences. Meanwhile, a variety of real-time visual feedback from the screen will be superimposed on the real scenes of the whole process. AR-C&P is intuitive and intriguing which could enrich children’s creating experience, develops their cognitive developmental skills and helps children learn fundamental programming concepts. We conducted two experiments. The first experiment reveals the relationship between task completion and cognitive developmental skills. The second experiment reveals the effect of AR on learning programming.

关键词： Augmented Reality children edutainment programming languages tangible programming

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TAO-Based Data Governance in Intelligent Transportation systems

TAO-Based Data Governance in Intelligent Transportation Syst...

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International Conference on Intelligent Transportation

作者： Xiaolong Liang Juanjuan Li Rui Qin Wenwen Ding Fei-Yue Wang Faculty of Innovation Engineering Macau University of Science and Technology Macao China State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences Beijing China The State Key Laboratory for Management and Control of Complex Systems and State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences Beijing China The State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences and Collaborative Laboratory for Intelligent Science and Systems Beijing China

Intelligent Transportation systems (ITS) are heavily dependent on private user data. However, most ITS fails to harness the potential of this invaluable data due to the absence of effective data governance mechanisms promoting users' contributions. Moreover, data contributors face security risks such as privacy preservation, data leakage, etc., as well as high costs in data sharing, while benefits are disproportionately reaped by system operators and interaction. This systemic imbalance could indirectly incentivize a surge in inactions and even malicious actions. In response to these challenges, we propose the design of a True Autonomous Organization (TAO) for ITS, namely ITS TAO. Utilizing the newly designed decision models with decentralized organization structures and the three-power structure, ITS TAO aims to realize the fair distribution of rights and benefits for ITS data contributors. Furthermore, we design a real-time evaluation system based on parallel intelligence capable of identifying potential hazards.

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Power Flow Model for Medium-voltage Distribution systems Considering Measurement and Structure Characteristics

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Journal of Modern Power systems and Clean Energy 2024年第2期12卷 571-583页

作者： Zhengmei Lu Wei Yan Dezhi Huang Junjie Tang Ferdinanda Ponci Antonello Monti State Key Laboratory of Power Transmission Equipment&System Security and New Technology Chongqing UniversityChongqing 400044China State Grid Zhejiang Yiwu Power Supply Company State Grid Zhejiang Electric Power CompanyYiwu 322001China Institute for Automation of Complex Power Systems of the E.ON Energy Research Center at RWTH Aachen University Aachen52074Germany Digital Energy Fraunhofer FIT Aachen52072Germany IEEE

Medium-voltage distribution systems(MVDSs)mainly consist of a feeder head,lines,distribution transformers,and the equivalent load or power supply interfaced with the distribution *** information of such load or power supply can be measured via the three-wattmeter method(THM)and the two-wattmeter method(TWM).The measurements can be used to perform the control of the power supply and simulate the characteristics of the load,so the models of the load and the power supply need to consider the measurement *** research works on three-phase power flow(PF)just consider the measurement characteristics of ***,the PF equation of the bus measured via TWM is firstly *** on conventional measurements,an accurate and general model of the grounded and ungrounded slack bus is ***,the influence arising from the connection type and angle shift of distribution transformers on the admittance matrix is considered,and thus a general three-phase transformer model is summarized,which is applicable for all the transformers mentioned ***,Newton's method is adopted to solve the PF calculation,and the performance of the proposed PF model is demonstrated through designed tests.

关键词： Medium-voltage distribution system three-phase power flow calculation measurement characteristic slack bus modeling distribution transformer

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CFSeRec:A Contrastive Framework for Sequential Recommendation

CFSeRec:A Contrastive Framework for Sequential Recommendatio...

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第42届中国控制会议

作者： Tong Wang Yaping Dai Shuai Shao School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

In sequential recommender systems,the main problems are the long-tailed distribution of data and noise interference.A Contrastive Framework for Sequential Recommendation(CFSeRec) is proposed to solve these two problems *** shuffling and adversarial attack data augmentation methods are used in the framework to improve the quality and quantity of training data,so that the long-tailed problem is *** the application of projection head method,the sequence representation becomes more general and robust,rather than just adapted to the task of contrastive ***,the impact of noise on sequence recommender systems is effectively *** on four public datasets show that CFSeRec achieves state-of-the-art performance in the metrics of hit ratio and normalized discounted cumulative gain,when comparing to the seven previous frameworks.

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Comprehensive Gear Shift Schedule Design for 2-AMT Electric Vehicles Based on Sparrow Search Algorithm

Comprehensive Gear Shift Schedule Design for 2-AMT Electric ...

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第42届中国控制会议

作者： Tianyi Wang Liling Ma Junzheng Wang State Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

With the aim of 2-AMT electric vehicles,a comprehensive shift schedule that considers both power and economy is ***,the objective function of the comprehensive shift schedule is constructed,which is the weighted sum of vehicle acceleration time and vehicle power consumption per unit ***,Sparrow Search Algorithm is used to solve the objective function and obtain the comprehensive shift ***,AVL Cruise simulation software is used to simulate vehicle dynamics and economy under an *** results show that the comprehensive shift schedule is similar to the optimal power shift schedule in terms of dynamic performance,and the economy is optimized by 3%.The feasibility of the comprehensive shift schedule is verified.

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A practical PID variable stiffness control and its enhancement for compliant force-tracking interactions with unknown environments

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Science China(Technological Sciences) 2023年第10期66卷 2882-2896页

作者： ZHANG Xin ZHOU Hao LIU JinGuo JU ZhaoJie LENG YuQuan YANG ChenGuang State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China School of Computing University of PortsmouthPortsmouth PO13HEUK Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy EngineeringSouthern University of Science and TechnologyShenzhen 518055China Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and EngineeringSouth China University of TechnologyGuangzhou 510640China

Compliant interaction control is a key technology for robots performing contact-rich manipulation *** design of the compliant controller needs to consider the robot hardware because complex control algorithms may not be compatible with the hardware performance,especially for some industrial robots with low bandwidth *** paper focuses on effective and easy-to-use compliant control algorithms for position/velocity-controlled *** by human arm stiffness adaptation behavior,a novel variable target stiffness(NVTS)admittance control strategy is proposed for adaptive force tracking,in which a proportional integral derivative(PID)variable stiffness law is designed to update the stiffness coefficient of the admittance function by the force and position ***,its stability and force-tracking capability are theoretically *** addition,an impact compensator(Impc)is integrated into the NVTS controller to enhance its disturbance-suppression capability when the robot is subjected to strong vibration disturbances in complicated surface polishing *** proposed controllers are validated through four groups of experimental tests using different robots and the corresponding results demonstrate that they have high-accuracy tracking capability and strong adaptability in unknown environments.

关键词： compliant interaction control force tracking PID variable stiffness impact compensator unknown environments

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Two Degree of Freedom Active Disturbance Rejection control Strategy for Time Delay systems

Two Degree of Freedom Active Disturbance Rejection Control S...

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第42届中国控制会议

作者： Xiyuan Shan Tao Cai School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

This paper is concerned with the controller design and the theoretical analysis for time-delay systems,a two degree of freedom(feedforward and feedback) control method is proposed,which combines advantages of the Smith predictor and the active disturbance rejection control(ADRC).The feedforward part of controller is used to track the set point,the feedback part of controller(ADRC) is used to suppress interferences and the Smith predictor is used to correct time *** proposed control design is easy to tune parameters and has been proved to effectively control systems with large time *** bounded input bounded output(BIBO) stability of closed-loop system is ***,numerical simulations show the effectiveness and practicality of the proposed design.

关键词： Time-delay Active Disturbance Rejection control(ADRC) Smith Predictor(SP)

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Electric dual variable pump controlled hydraulic motor

Electric dual variable pump controlled hydraulic motor

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第42届中国控制会议

作者： Jianmin Yang Junzheng Wang Shanshuai Niu State Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

The combined control of variable speed and variable displacement is a new type of volume control with high efficiency and fast ***,due to the inherent nonlinearity of multiplication,it brings certain difficulties to the *** electric double-variable pump[1] is a dual-input single-output system,and it is a nonlinear system[2].It is necessary to linearize the system or use a nonlinear control method to control and solve the control problem of the *** this paper,an intelligent control rule is proposed for the nonlinear problem of double input and single *** backstepping design[3],the nonlinear system is transformed into multiple linear *** the original system is turned into two independent subsystems with single input and single output,which are controlled *** co-simulation platform based on AMESIM and Simulink[4] has been verified and compared with a single PID control algorithm to simulate the step response and sinusoidal tracking performance of the *** results show that the response speed of the system has been greatly improved.

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