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A foot-controlled interface for endoscope holder in functional endoscopic sinus surgery

Frontiers in Biomedical Devices, BIOMED - 2017 Design of Medical Devices Conference, DMD 2017

作者： Dai, Xinxin Zhao, Baoliang He, Yucheng Sun, Yu Hu, Ying Shenzhen Graduate School Harbin Institutes of Technology China Shenzhen Institutes of Advanced Technology Chinese Academy of Science China Key Laboratory of Human-Machine Intelligence-Synergy Systems Chinese Academy of Sciences China

ISBN: (纸本)9780791840672

Endoscopic nasal surgery is with minimal invasiveness for the surgical treatment of nasal disease. During traditional functional endoscopic sinus surgery (FESS), the surgeon uses one hand to hold the surgical instrument leaving the other hand to hold the endoscope. When the surgeon needs to use two hands to perform some complex procedure, an assistant surgeon is required to help holding the endoscope, and this requires good teamwork and long-time training. To solve this problem, researchers proposed to use robots to hold the endoscope, freeing the surgeon’s hands for bimanual operation. Sun developed a passive arm with pneumatic locking mechanism to hold the endoscope in FESS, but the surgeon needs to adjust the pose of the endoscope manually, which interrupts the surgery flow and lengthens the surgery time [1]. Many motor-driven endoscope holders have been proposed in literature [2], the surgeon interact with the robot with joystick, voice command, pedals or head movement [3–5]. However, there exists some drawbacks with these interacting methods, for example, joystick requires one of the surgeon’s hands, voice command is usually subject to interference and has long time-delay, foot pedals and head movement distract surgeon’s attention. Lin used a foot-attached IMU sensor to control an active robotic endoscopic holder, the inversion/eversion and abduction/adduction motions of foot are used to select and control different joints, but the motor can be only selected in order, which is unhandy for the four-joint scenario [6].

关键词： Endoscopic devices Surgery Endoscopes

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Parameter Tuning of PID Controller of Servo System Based on Particle Swarm Optimization Algorithm

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IOP Conference Series: Materials Science and Engineering 2019年第1期533卷

作者： Chen Lianbo Xiong Xinhong Zheng Yousheng Zhang Yanhui Zhang Guoqing Wu Xinyu Feng Wei Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen 518055 China CAS Key Laboratory of Human-Machine-Intelligence Synergic Systems Shenzhen Institutes of Advanced Technology Shenzhen 518055 China School of Logistics Engineering Wuhan University of Technology Wuhan 430070 China

In order to improve the control precision of permanent magnet synchronous motor servo drive, a Proportional-Integral-Differential (PID) control method based on particle swarm optimization (PSO) algorithm is proposed. Firstly, the mathematical model of the permanent magnet synchronous motor was established. Then the PSO algorithm was used to adjust the parameters of the PID controller. Finally, the simulation experiment was carried out under the MATLAB/Simulink environment to test its performance. Compared with the traditional manual parameters tuning, the PID controller based on PSO algorithm had better performance and better stability.

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Research on Position Sensorless Control of PMSM Based on Improved SMO

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IOP Conference Series: Materials Science and Engineering 2019年第1期533卷

作者： Zhang Guoqing Xiong Xinhong Zheng Yousheng Zhang Yanhui Chen Lianbo Wu Xinyu Feng Wei Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen 518055 China CAS Key Laboratory of Human-Machine-Intelligence Synergic Systems Shenzhen Institutes of Advanced Technology Shenzhen 518055 China School of Logistics Engineering Wuhan University of Technology Wuhan 430070 China

The sliding mode observer (SMO) can effectively achieve the permanent magnet synchronous motor (PMSM) to perform position sensorless control, but there are still drawbacks of system chattering and high complexity. In this paper, an improved SMO is established based on hyperbolic tangent function and Kalman filter. The system chattering is effectively suppressed, and the accuracy of position and speed observation error is significantly improved without phase compensation. It is found that the convergence rate of the hyperbolic tangent function has a strong correlation with the system chattering degree and the speed observation error. When a is between 3 and 4, the speed error accuracy of the improved SMO is the optimum situation.

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Mobile manipulation task simulation using ROS with MoveIt

Mobile manipulation task simulation using ROS with MoveIt

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2017 IEEE International Conference on Real-Time computing and Robotics, RCAR 2017

作者： Deng, Hao Xiong, Jing Xia, Zeyang Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen University Town 1068 Xueyuan Avenue Shenzhen China CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Chinese Academy of Sciences Shenzhen China

ISBN: (纸本)9781538620342

Visualized simulation has always been one of the most flexible techniques for quick verification of prototype or algorithms. In this paper, we illustrate a simple and effective method of how to implement the simulation of mobile manipulation task using Robot Operation System (ROS) with MoveIt. First, we propose a quick and modular architecture which includes the entire configuration process of system modeling, kinematics, control, and visualization. Then, we demonstrated its application on simulation of a mobile manipulation task in the automatic production line. Experimental results have shown that the proposed architecture achieves an easy configuration, a good integration and functional visualization for manipulation simulation. © 2017 IEEE.

关键词： Visualization

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Cognitive-LPWAN: Towards intelligent wireless services in hybrid low power wide area networks

arXiv

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arXiv 2018年

作者： Chen, Min Miao, Yiming Jian, Xin Wang, Xiaofei Humar, Iztok School of Computer Science and Technology Huazhong University of Science and Technology Wuhan China College of Communication Engineering Chongqing University Chongqing400030 China Tianjin Key Laboratory of Advanced Networking College of Intelligence and Computing Tianjin University Tianjin300350 China University of Ljubljana Ljubljana Slovenia

The relentless development of the Internet of Things (IoT) communication technologies and the gradual maturity of Artificial intelligence (AI) have led to a powerful cognitive computing ability. Users can now access efficient and convenient smart services in smart-city, green-IoT and heterogeneous networks. AI has been applied in various areas, including the intelligent household, advanced health-care, automatic driving and emotional interactions. This paper focuses on current wireless-communication technologies, including cellular-communication technologies (4G, 5G), low-power wide-area (LPWA) technologies with an unlicensed spectrum (LoRa, SigFox), and other LPWA technologies supported by 3GPP working with an authorized spectrum (EC-GSM, LTE-M, NB-IoT). We put forward a cognitive low-power wide-area-network (Cognitive-LPWAN) architecture to safeguard stable and efficient communications in a heterogeneous IoT. To ensure that the user can employ the AI efficiently and conveniently, we realize a variety of LPWA technologies to safeguard the network layer. In addition, to balance the demand for heterogeneous IoT devices with the communication delay and energy consumption, we put forward the AI-enabled LPWA hybrid method, starting from the perspective of traffic control. The AI algorithm provides the smart control of wireless-communication technology, intelligent applications and services for the choice of different wireless-communication technologies. As an example, we consider the AIWAC emotion interaction system, build the Cognitive-LPWAN and test the proposed AI-enabled LPWA hybrid method. The experimental results show that our scheme can meet the demands of communication-delay applications. Cognitive-LPWAN selects appropriate communication technologies to achieve a better interaction experience. Copyright © 2018, The Authors. All rights reserved.

关键词： Wide area networks

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Acoustic and Kinematic Examination of Dysarthria in Cantonese Patients of Parkinson’s Disease

Acoustic and Kinematic Examination of Dysarthria in Cantones...

引用

International Symposium on Chinese Spoken Language Processing

作者： Yue Sun Manwa L. Ng Chongyuan Lian Lan Wang Feng Yang Nan Yan College of Big Data and Information Engineering Guizhou University Guiyang China Speech Science Laboratory University of Hong Kong Hong Kong China CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen China Department of Speech Therapy Shenzhen Children’s Hospital Shenzhen China Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Instimtes of Advanced Technology Chinese Academy of Sciences Shenzhen China

ISBN: (纸本)9781538656280;9781538656273

Hypokinetic dysarthria is one of the core symptoms of Parkinson's disease, characterized by reduced loudness, slurred speech and distorted consonant productions. Dopaminergic medication for Parkinson's disease (PD) has been proven to be effective in treating limb and gross motor movement problems. However, the literature sees contradictory findings regarding dopaminergic effects on speech problems associated with PD. Previous perceptual and acoustic studies of PD hypokinetic dysarthria mostly involved heterogeneous population and variations of speech tasks which complicated data interpretation. Also, the lack of kinematic data limited our understanding of the details of articulation errors associated with PD, as well as the medication effects. Electromagnetic articulography (EMA) enabled the examination of PD articulatory patterns with high degree of accuracy and safety. The aim of the present study was to address these inconsistencies by providing an integrative description of basic kinematic and acoustic parameters of speech production about the dopaminergic effect on early PD speech by using EMA. The results revealed a significant improvement of articulatory function on dopaminergic effects for PD speech, evidenced by increased vowel space, the velocity and accelerated velocity initiation and coordination of articulation during bilabial or alveolar productions.

关键词： Kinematics Acoustics Auditory system Sun Parameter extraction Schedules Lips

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Sequential scheme for locally discriminating bipartite unitary operations without inverses

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Physical Review A 2017年第2期96卷 022303-022303页

作者： Lvzhou Li Institute of Computer Science Theory School of Data and Computer Science Sun Yat-sen University Guangzhou 510006 China and Ministry of Education Key Laboratory of Machine Intelligence and Advanced Computing (Sun Yat-sen University) Guangzhou China

Local distinguishability of bipartite unitary operations has recently received much attention. A nontrivial and interesting question concerning this subject is whether there is a sequential scheme for locally discriminating between two bipartite unitary operations, because a sequential scheme usually represents the most economic strategy for discrimination. An affirmative answer to this question was given in the literature, however with two limitations: (i) the unitary operations to be discriminated were limited to act on d⊗d, i.e., a two-qudit system, and (ii) the inverses of the unitary operations were assumed to be accessible, although this assumption may be unrealizable in experiment. In this paper, we improve the result by removing the two limitations. Specifically, we show that any two bipartite unitary operations acting on dA⊗dB can be locally discriminated by a sequential scheme, without using the inverses of the unitary operations. Therefore, this paper enhances the applicability and feasibility of the sequential scheme for locally discriminating unitary operations.

关键词： Quantum channels Quantum gates

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Adversarial attribute-image person re-identification

arXiv

引用

arXiv 2017年

作者： Yin, Zhou Zheng, Wei-Shi Wu, Ancong Yu, Hong-Xing Wan, Hai Guo, Xiaowei Huang, Feiyue Lai, Jianhuang School of Data and Computer Science Sun Yat-sen University Guangzhou China YouTu Lab Tencent Key Laboratory of Machine Intelligence and Advanced Computing Ministry of Education China

While attributes have been widely used for person re-identification (Re-ID) which aims at matching the same person images across disjoint camera views, they are used either as extra features or for performing multi-task learning to assist the image-image matching task. However, how to find a set of person images according to a given attribute description, which is very practical in many surveillance applications, remains a rarely investigated cross-modality matching problem in person Re-ID. In this work, we present this challenge and formulate this task as a joint space learning problem. By imposing an attribute-guided attention mechanism for images and a semantic consistent adversary strategy for attributes, each modality, i.e., images and attributes, successfully learns semantically correlated concepts under the guidance of the other. We conducted extensive experiments on three attribute datasets and demonstrated that the proposed joint space learning method is so far the most effective method for the attribute-image cross-modality person Re-ID problem. Copyright © 2017, The Authors. All rights reserved.

关键词： Semantics

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Measurement of the multiplicity dependence of Υ production ratios in pp collisions at = 13 TeV

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Journal of High Energy Physics 2025年第5期2025卷 1-24页

作者： Aaij, R. Abdelmotteleb, A. S. W. Abellan Beteta, C. Abudinén, F. Ackernley, T. Adefisoye, A. A. Adeva, B. Adinolfi, M. Adlarson, P. Agapopoulou, C. Aidala, C. A. Ajaltouni, Z. Akar, S. Akiba, K. Albicocco, P. Albrecht, J. Alessio, F. Alexander, M. Aliouche, Z. Alvarez Cartelle, P. Amalric, R. Amato, S. Amey, J. L. Amhis, Y. An, L. Anderlini, L. Andersson, M. Andreianov, A. Andreola, P. Andreotti, M. Andreou, D. Anelli, A. Ao, D. Archilli, F. Argenton, M. Arguedas Cuendis, S. Artamonov, A. Artuso, M. Aslanides, E. Ataíde Da Silva, R. Atzeni, M. Audurier, B. Bacher, D. Bachiller Perea, I. Bachmann, S. Bachmayer, M. Back, J. J. Baladron Rodriguez, P. Balagura, V. Balboni, A. Baldini, W. Balzani, L. Bao, H. Baptista de Souza Leite, J. Barbero Pretel, C. Barbetti, M. Barbosa, I. R. Barlow, R. J. Barnyakov, M. Barsuk, S. Barter, W. Bartolini, M. Bartz, J. Basels, J. M. Bashir, S. Bassi, G. Batsukh, B. Battista, P. B. Bay, A. Beck, A. Becker, M. Bedeschi, F. Bediaga, I. B. Behling, N. A. Belin, S. Belous, K. Belov, I. Belyaev, I. Benane, G. Bencivenni, G. Ben-Haim, E. Berezhnoy, A. Bernet, R. Bernet Andres, S. Bertolin, A. Betancourt, C. Betti, F. Bex, J. Bezshyiko, Ia. Bhom, J. Bieker, M. S. Biesuz, N. V. Billoir, P. Biolchini, A. Birch, M. Bishop, F. C. R. Bitadze, A. Bizzeti, A. Blake, T. Blanc, F. Blank, J. E. Blusk, S. Bocharnikov, V. Boelhauve, J. A. Boente Garcia, O. Boettcher, T. Bohare, A. Boldyrev, A. Bolognani, C. S. Bolzonella, R. Bonacci, R. B. Bondar, N. Bordelius, A. Borgato, F. Borghi, S. Borsato, M. Borsuk, J. T. Bouchiba, S. A. Bovill, M. Bowcock, T. J. V. Boyer, A. Bozzi, C. Brea Rodriguez, A. Breer, N. Brodzicka, J. Brossa Gonzalo, A. Brown, J. Brundu, D. Buchanan, E. Buonaura, A. Buonincontri, L. Burke, A. T. Burr, C. Butter, J. S. Buytaert, J. Byczynski, W. Cadeddu, S. Cai, H. Caillet, A. C. Calabrese, R. Calderon Ramirez, S. Calefice, L. Cali, S. Calvi, M. Calvo Gomez, M. Camargo Magalhaes, P. Cambon Bouzas, J. I. Campana, P. Campora Perez, D. H. Campoverde Quezada, A. F. Capelli, S. Capriotti, L. Nikhef National Institute for Subatomic Physics Amsterdam Netherlands Department of Physics University of Warwick Coventry United Kingdom Physik-Institut Universität Zürich Zürich Switzerland Oliver Lodge Laboratory University of Liverpool Liverpool United Kingdom Syracuse University Syracuse United States Instituto Galego de Física de Altas Enerxías (IGFAE) Universidade de Santiago de Compostela Santiago de Compostela Spain H.H. Wills Physics Laboratory University of Bristol Bristol United Kingdom Department of Physics and Astronomy Uppsala University Uppsala Sweden Université Paris-Saclay CNRS/IN2P3 IJCLab Orsay France University of Michigan Ann Arbor United States Université Clermont Auvergne CNRS/IN2P3 LPC Clermont-Ferrand France University of Cincinnati Cincinnati United States INFN Laboratori Nazionali di Frascati Frascati Italy Fakultät Physik Technische Universität Dortmund Dortmund Germany Lamarr Institute for Machine Learning and Artificial Intelligence Dortmund Germany European Organization for Nuclear Research (CERN) Geneva Switzerland School of Physics and Astronomy University of Glasgow Glasgow United Kingdom Department of Physics and Astronomy University of Manchester Manchester United Kingdom Cavendish Laboratory University of Cambridge Cambridge United Kingdom LPNHE Sorbonne Université Paris Diderot Sorbonne Paris Cité CNRS/IN2P3 Paris France Universidade Federal do Rio de Janeiro (UFRJ) Rio de Janeiro Brazil School of Physics State Key Laboratory of Nuclear Physics and Technology Peking University Beijing China INFN Sezione di Firenze Firenze Italy INFN Sezione di Ferrara Ferrara Italy INFN Sezione di Milano-Bicocca Milano Italy Università degli Studi di Milano-Bicocca Milano Italy University of Chinese Academy of Sciences Beijing China INFN Sezione di Roma Tor Vergata Roma Italy Università di Roma Tor Vergata Roma Italy Consejo Nacional de Rectores (CONARE) San Jose Costa Rica Aix Marseille Univ CNRS/IN2P3 CPPM Mar

The Υ(2S) and Υ(3S) production cross-sections are measured relative to that of the Υ(1S) meson, as a function of charged-particle multiplicity in proton-proton collisions at a centre-of-mass energy of 13 TeV. The measurement uses data collected by the LHCb experiment in 2018 corresponding to an integrated luminosity of 2 fb−1. Both the Υ(2S)-to-Υ(1S) and Υ(3S)-to-Υ(1S) cross-section ratios are found to decrease significantly as a function of event multiplicity, with the Υ(3S)-to-Υ(1S) ratio showing a steeper decline towards high multiplicity. This hierarchy is qualitatively consistent with the comover model predictions, indicating that final-state interactions play an important role in bottomonia production in high-multiplicity events.

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Sequential scheme for locally discriminating bipartite unitary operations without inverses

arXiv

引用

arXiv 2017年

作者： Li, Lvzhou Institute of Computer Science Theory School of Data and Computer Science Sun Yat-sen University Guangzhou The Key Laboratory of Machine Intelligence and Advanced Computing Ministry of Education 510006 China

Local distinguishability of bipartite unitary operations has recently received much attention. A nontrivial and interesting question concerning this subject is whether there is a sequential scheme for locally discriminating between two bipartite unitary operations, because a sequential scheme usually represents the most economic strategy for discrimination. An affirmative answer to this question was given in the literature, however with two limitations: (i) the unitary operations to be discriminated were limited to act on d ⊗ d, i.e., a two-qudit system, and (ii) the inverses of the unitary operations were assumed to be accessible, although this assumption may be unrealizable in experiment. In this paper, we improve the result by removing the two limitations. Specifically, we show that any two bipartite unitary operations acting on dA ⊗ dB can be locally discriminated by a sequential scheme, without using the inverses of the unitary operations. Therefore, this paper enhances the applicability and feasibility of the sequential scheme for locally discriminating unitary operations. Copyright © 2017, The Authors. All rights reserved.

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