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3rd International Conference on Mechanical, Electronic and Information Technology Engineering, ICMITE 2017

作者： Lu, Guangyan Xue, Min Liu, Yin Chang, Wenjun Department of Operation Management CRRC Qishuyan Institute Co. Ltd Changzhou Jiangsu213011 China School of Management Hefei University of Technology Hefei Box 270 Hefei Anhui230009 China Key Laboratory of Process Optimization and Intelligent Decision-making Ministry of Education Hefei Box 270 Hefei Anhui230009 China

With the rapid development of science and technology, emerging information technologies have significantly changed the daily life of people. In such context, strategic project selection for high-end equipment manufacturing industries faces more and more complexities and uncertainties with the consideration of several complex criteria. For example, a group of experts rather than a single expert should be invited to select strategic project for high-end equipment manufacturing industries and the experts may feel difficulty to express their preferences towards different strategic projects due to their limited cognitive capabilities. In order to handle these complexities and uncertainties, the criteria framework of strategic project selection is firstly constructed based on the characteristics of high-end equipment manufacturing industries and then evidential reasoning (ER) approach is introduced in this paper to help experts express their uncertain preferences and aggregate these preferences to generate an appropriate strategic project. A real case of strategic project selection in a high-speed train manufacturing enterprise is investigated to demonstrate the validity of the ER approach in solving strategic project selection problem. © The Authors, published by EDP Sciences, 2017.

关键词： decision making

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Face Tracking Strategy of 7-DOF Manipulator Using optimization Algorithm Based on Velocity Analysis

Face Tracking Strategy of 7-DOF Manipulator Using Optimizati...

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IEEE International Conference on Robotics and Biomimetics

作者： Shuai Zhang Cancan Zhao Xian He Bo Ouyang Shanlin Yang The School of Management Hefei University of Technology Hefei China The Key Laboratory of Process Optimization and Intelligent Decision-Making(Ministry of Education) Hefei University of Technology Hefei China

ISBN: (纸本)9781665481106

Patients' facial expressions can reflect their condition, but expressions cannot be captured like ECG or EEG monitor. Long-term monitoring will increase the workload of nurses. To tackle this issue, we develop a face tracking strategy using a 7-DOF robot manipulator with a camera mounted on the end-effector. First, we analyze the relationship between the manipulator's workspace and optimal tracking pose and design an optimization function to initialize the head position. By comparing the speed of the head and manipulator, knowledge of the maximum tracking limit of the head and the manipulator in the tracking process is given. Moreover, a configuration-based optimization algorithm is proposed to minimize the error with theoretical optimal pose by converting radian to arc length. We calculate the optimal configuration of the camera with the feedback of the head configuration while minimizing the difference between theoretical optimal pose. Simulation experimental results verified that the proposed face tracking strategy outperforms the visual servoing control strategy only based on the pseudo-inverse of the Jacobian matrix.

关键词： Jacobian matrices Tracking Robot kinematics Manipulators Cameras Visual servoing Trajectory

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Manipulating Constrained Soft Tissue while Avoiding Obstacles using Reinforcement Learning with Self-Attention

Manipulating Constrained Soft Tissue while Avoiding Obstacle...

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IEEE International Conference on Robotics and Biomimetics

作者： Xian He Shuai Zhang Shanlin Yang Bo Ouyang The School of Management Hefei University of Technology Hefei China The Key Laboratory of Process Optimization and Intelligent Decision-Making (Ministry of Education) Hefei University of Technology Hefei China

ISBN: (纸本)9781665481106

The complexity of dynamics raises challenges in deformable object manipulation, particularly the soft tissue shape control in in vivo environment. Previous studies assume the soft tissue is in an obstacle-free space, and the constraints are constant. To go one step further, a Soft Actor-Critic (SAC) algorithm is presented to manipulate the soft tissue under external disturbances while avoiding obstacles. K-Means is applied to reduce the dimension of the state space. Furthermore, self-attention is introduced to focus on the external forces and the constraints. Experiment results show that the agent can shape the soft tissue into the target deformation with the proposed approach under unknown external force, where the agent can automatically increase attention to the external force. The agent can find an obstacle-free path while manipulating the soft tissue. Compared with the SAC algorithm, the proposed approach with self-attention requires less training time, and the critic network is more stable.

关键词： Training Shape control Shape Biological tissues Force Surgery Reinforcement learning

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Learning Adaptive Mapless Navigation Skills Through Evidential Deep Learning

Learning Adaptive Mapless Navigation Skills Through Evidenti...

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IEEE International Conference on Real-time Computing and Robotics (RCAR)

作者： Cancan Zhao Yufeng Yan Xuhao Liu Shuai Zhang Bo Ouyang School of Management Hefei University of Technology Hefei China The Key Laboratory of Process Optimization and Intelligent Decision-Making(Ministry of Education) Hefei University of Technology Hefei China

Traditional navigation methods tend to design and train navigation skills based on the consideration of multi-scenario applicability and perform well in general scenarios. However, this results in sub-optimal navigation performance in some context-specific scenarios, such as navigating through open or crowded scenarios. While some existing navigation skills can achieve satisfactory performance in context-specific scenarios, e.g., using PID in open scenarios and reinforcement learning-based training methods in crowded scenarios. Most methods currently do without consideration of the integration of navigation skills and contextual understanding. To address this gap, we propose an adaptive mapless navigation method to utilize the optimal capabilities of each skill corresponding to the context-specific scenario. Specifically, we package several existing navigation skills and train a scenario classifier to enable the agent to automatically select the most appropriate skill based on the current scenario. Furthermore, we incorporate evidential deep learning (EDL) to assess classification uncertainty and ensure the safe switching of navigation skills. Our method was tested in both simulated and real scenarios, and the results of the experiments confirmed the effectiveness and generalization of our method. Moreover, the proposed method exhibits notably enhanced, context-sensitive efficiency within a hybrid multi-scenario setting, in comparison to a single navigation skill.

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Measurement Method of Answerer Service Influence for Q & A Community

Measurement Method of Answerer Service Influence for Q & A C...

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E-Commerce and Internet Technology (ECIT), International Conference on

作者： Jianmin He Tingting Liu Yuanchun Jiang Ying Li Hao Wu Key Laboratory of Process Optimization and Intelligent Decision-making Ministry of Education Hefei University of Technology Hefei China School of Management Hefei University of Technology Hefei China

ISBN: (数字)9781728159027

ISBN: (纸本)9781728159034

In this paper, we explore the method of measuring answerer service influence on Q & A community in order to provide decision support for communities to obtain paid consultation questioners and high service influence answerers. From the social capital measuring angle, this paper selects three-dimensional indicators which contain unpaid services, paid services and services quality to measure answerer service influence on Q & A community. Accordingly, we construct a social capital measurement model method for answerer service influence and demonstrate its practical effectiveness. This method can help communities discover high service influence answerers, and formulate service strategies that motivate answerers and questioners to improve the overall service efficiency and effectiveness of the community. The numerical study on the dataset from *** indicates that the proposed method can obtain reasonable measurement results.

关键词： Q & A community paid consulting services service influence social capital measurement method for service influence Social Capital Communities Quality factor Legal Services decision making support Quality of service Dataset

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Research on consumers' cross-site transfer behavior based on complexnetwork theory

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ICIC Express Letters 2009年第4期3卷 1359-1364页

作者： Liu, Yezheng Zhang, Jiekui Yang, Shanlin School of Management Ministry of Education Hefei University of Technology Hefei 230009 China Key Laboratory of Process Optimization and Intelligent Decision-making Ministry of Education Hefei University of Technology Hefei 230009 China

Consumers' online information seeking process consists of two alternatelyjoining behaviors: intra-site visit and cross-site transfer. Current studiesmainly focused on the intra-site visit behavior while cross-site transferbehavior is little concerned. In this paper consumers' cross-site transferbehavior with specific information seeking task is studied for the first time,we collected client-side logs during consumers' online information seekingprocess under experimental circumstances, represented the logs as a cross-sitetransfer network and analyzed the cross-site transfer behavior based on complexnetwork theory. Main conclusions include: the cross-site transfer network hassome topological characteristics different from common networks;a largeproportion of transfer behaviors are carried out between different websitecategories;the proportion of transfers within the same website category isrelatively low as a whole, but transfers within different website categories arevery different;the transfers between websites have high degree of *** conclusions may help websites establish strategy alliance *** International © 2009.

关键词： Websites

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Research on the Operational Efficiency of Subscription Accounts

Research on the Operational Efficiency of Subscription Accou...

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E-Commerce and Internet Technology (ECIT), International Conference on

作者： Jianmin He Hao Wu Tingting Liu Key Laboratory of Process Optimization and Intelligent Decision-making Ministry of Education Hefei University of Technology Hefei China School of Management Hefei University of Technology Hefei China

ISBN: (数字)9781728159027

ISBN: (纸本)9781728159034

The operation and profit of the subscription account is an important guarantee for maintaining its own high-quality development. It constructs an operation efficiency evaluation index system, with customer acquisition input and profit acquisition input as input indicators, and customer acquisition output and profit acquisition output as output indicators. On this basis, the DEA-BCC model was used to evaluate the operational efficiency of 28 subscription accounts. Based on the analysis results, this paper puts forward the improvement measures for non-DEA effective subscription accounts. Finally, this article uses Tobit regression to explore the influencing factors of operational efficiency. The results show that only 14 subscription accounts are DEA efficiency. The quality of average non-original articles has a negative impact on operational efficiency, and the quality of average original articles and the number of daily non-original articles have a positive impact on operational efficiency. Therefore, subscription accounts should pay attention to the quality of original articles and balance the quantity and quality of articles in operation management.

关键词： subscription accounts operational efficiency DEA Tobit Subscriptions DEAS operating efficiency

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A study on generalising bayesian inference to evidential reasoning

Lecture Notes in Computer Science (including subseries Lectu...

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Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 2014年 8764卷 180-189页

作者： Yang, Jian-Bo Xu, Dong-Ling Decision and Cognitive Sciences Research Centre The University of Manchester ManchesterM15 6PB United Kingdom Key Laboratory of Process Optimization and Intelligent Decision-making Ministry of Education HefeiAnhui230009 China

In this paper the relationship between Bayes’ rule and the Evidential Reasoning (ER) rule is explored. The ER rule has been uncovered recently for inference with multiple pieces of uncertain evidence profiled as a belief distribution and takes Dempster’s rule in the evidence theory as a special case. After a brief introduction to the ER rule the conditions under which Bayes’ rule becomes a special case of the ER rule are established. The main findings include that the normalisation of likelihoods in Bayesian paradigm results in the degrees of belief in the ER paradigm. This leads to ER-based probabilistic (likelihood) inference with evidence profiled in the same format of belief distribution. Numerical examples are examined to demonstrate the findings and their potential applications in probabilistic inference. It is also demonstrated that the findings enable the generalisation of Bayesian inference to evidential reasoning with inaccurate probability information with weight and reliability. © Springer International Publishing Switzerland 2014.

关键词： decision making

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A Force-driven and Vision-driven Hybrid Control Method of Autonomous Laparoscope-Holding Robot

A Force-driven and Vision-driven Hybrid Control Method of Au...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Jin Fang Ling Li Xiaojian Li Hangjie Mo Pengxin Guo Xilin Xiao Yanwei Qu School of Management Hefei University of Technology Hefei China Key Laboratory of Process Optimization and Intelligent Decision-Making (Ministry of Education) Hefei University of Technology Hefei China

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Laparoscope-holding robots significantly enhance the stability and precision of visualization in minimally invasive surgeries. Most existing robots of this kind depend on visual servo systems and struggle with efficient, rapid adjustments in the field-of-view (FOV), especially when identifying organs and needles outside the FOV. This paper presents a laparoscope-holding robot system capable of employing both vision-driven and force-driven mechanisms for continuous and large-scale FOV adjustments, respectively. The system features an integrated tactile handle, enabling the reception of human-robot interaction forces during surgical navigation. We propose a hybrid control method that leverages both force and vision inputs for laparoscopic FOV adjustments. This approach integrates a virtual wrench, generated from visual information, and an interaction wrench, obtained from the tactile handle, into the robot's dynamic model, which complies with remote center of motion constraints. The interaction wrench's gain is adjusted with the gripping force on the integrated tactile handle, ensuring that unintended movements caused by accidental contacts are prevented, thus safeguarding operational safety. The proposed method eliminates the need to switch control modes, enabling simultaneous visual tracking and tactile interaction guidance. Experimental results demonstrate that the proposed method not only allows for FOV adjustments with surgical instrument guiding but also adapts well to large-scale FOV adjustment tasks.

关键词： Laparoscopes Visualization Tracking Instruments Force Human-robot interaction Switches

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Three-Dimensional Collision Avoidance Method for Robot-Assisted Minimally Invasive Surgery

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Cyborg and Bionic Systems 2023年第1期4卷 121-135页

作者： Ling Li Xiaojian Li Bo Ouyang Hangjie Mo Hongliang Ren Shanlin Yang School of Management Hefei University of TechnologyHefeiChina Key Laboratory of Process Optimization and Intelligent Decision-Making(Ministry of Education) Hefei University of TechnologyHefeiChina Philosophy and Social Sciences Laboratory of Data Science and Smart Society Governance(Ministry of Education) Hefei University of TechnologyHefeiChina Department of Biomedical Engineering Faculty of EngineeringNational University of SingaporeSingaporeSingapore Department of Electronic Engineering Shun Hing Institute of Advanced EngineeringThe Chinese University of Hong KongHong KongChina National Engineering Laboratory for Big Data Distribution and Exchange Technologies ShanghaiChina

In the robot-assisted minimally invasive surgery,if a collision occurs,the robot system program could be damaged,and normal tissues could be *** avoid collisions during surgery,a 3-dimensional collision avoidance method is proposed in this *** proposed method is predicated on the design of 3 strategic vectors:the collision-with-instrument-avoidance(CI)vector,the collision-with-tissues-avoidance(CT)vector,and the constrained-control(CC)*** CI vector demarcates 3 specific directions to forestall collision among the surgical *** CT vector,on the other hand,comprises 2 components tailored to prevent inadvertent contact between the robot-controlled instrument and nontarget ***,the CC vector is introduced to guide the endpoint of the robot-controlled instrument toward the desired position,ensuring precision in its movements,in alignment with the surgical *** results verify the proposed collision avoidance method for robot-assisted minimally invasive *** code and data are available at https://***/cynerelee/collision-avoidance.

关键词： collision desired verify

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