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第26届中国控制与决策会议

作者： Long Cheng Yunpeng Wang Zeng-Guang Hou Min Tan State Key Laboratory of Management an Control for Complex Institute of Automation Chinese Academy of Sciences

This paper studies the mean square and almost sure consensus of discrete-time linear multi-agent systems with communication noises under Markovian switching topologies. By a sophisticated stochastic-approximation type protocol, the closed-loop dynamics of this linear multi-agent system can be transformed into a discrete-time first-order integral multi-agent system. It is proved that if all roots of a polynomial, whose coefficients are the parameters in the gain vector of the proposed protocol, are in the unit circle, there is certain equivalence between the consensus of original linear multi-agent system and the consensus of transformed first-order integral multi-agent system. Then some sufficient conditions on the mean square/almost sure consensus of linear multi-agent systems can be obtained accordingly. Finally,theoretical analysis is verified by simulation examples.

关键词： Multi-agent systems,Consensus,Stochastic noise,Markovian switching topology,Linear time-invariant dynamics.

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The Chinese ‘‘HumanFlesh’’ Web:the first decade and beyond

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Chinese Science Bulletin 2014年第26期59卷 3352-3361页

作者： Fei-Yue Wang Daniel Zeng Qingpeng Zhang James A. Hendler Jianping Cao The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Department of Management Information Systems The University of Arizona Tucson Department of Systems Engineering and Engineering Management City University of Hong Kong Tetherless World Constellation Department of Computer Science Rensselaer Polytechnic Institute Troy The Research Center for Computational Experiments and Parallel Systems National University of Defense Technology

Human flesh search(HFS), a Web-enabled crowdsourcing phenomenon, originated in China a decade ago. In this article, we present the first comprehensive empirical analysis of HFS, focusing on the scope of HFS activities, the patterns of HFS crowd collaboration process, and the characteristics of HFS participant networks. A survey of HFS participants was conducted to provide an in-depth understanding of the HFS community and various factors that motivate these participants to contribute. This article also advocates a new stream of Web science and social computing research that will be important in predicting the future growth and use of the World Wide Web.

关键词：中国人网址肉 Web功能实证分析参与者共同体万维网

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Fluorescence and SEM correlative microscopy for nanomanipulation of subcellular structures

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Light(Science & Applications) 2014年第1期3卷 13-19页

作者： Zheng Gong Brandon K Chen Jun Liu Chao Zhou Dave Anchel Xiao Li Ji Ge David P Bazett-Jones Yu Sun Advanced Micro and Nanosystems Laboratory University of TorontoTorontoON M5S 3G8Canada State Key Laboratory of Intelligent Control and Management of Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China The Genetics and Genome Biology Program the Hospital for Sick ChildrenTorontoON M5G 1X8Canada

Nanomanipulation under scanning electron microscopy(SEM)enables direct interactions of a tool with a *** recently developed a nanomanipulation technique for the extraction and identification of DNA contained within sub-nuclear locations of a single cell *** nanomanipulation of sub-cellular structures,a key step is to identify targets of interest through correlating fluorescence and SEM *** DNA extraction task must be conducted with low accelerating voltages resulting in low imaging *** is imposed by the necessity of preserving the biochemical integrity of the *** poor imaging conditions make the identification of nanometer-sized fiducial marks *** paper presents an affine scale-invariant feature transform(ASIFT)based method for correlating SEM images and fluorescence microscopy *** performance of the image correlation approach under different noise levels and imaging magnifications was quantitatively *** optimal mean absolute error(MAE)of correlation results is 68634 nm under standard *** with manual correlation by skilled operators,the automated correlation approach demonstrates a speed that is higher by an order of *** the SEM-fluorescence image correlation approach,targeted DNA was successfully extracted via nanomanipulation under SEM conditions.

关键词： correlative microscopy fluorescence image correlation nanomanipulation SEM subcellular structures

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FEM-based guide wire simulation and interaction for a minimally invasive vascular surgery training system

FEM-based guide wire simulation and interaction for a minima...

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World Congress on Intelligent control and Automation (WCICA)

作者： Peng Wei Zhen-Qiu Feng Xiao-Liang Xie Gui-Bin Bian Zeng-Guang Hou State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China

Minimally invasive vascular surgery is an important surgical procedure which requires specialized skills to manipulate surgical instruments. However, the insufficient conventional training paradigm of “see one, do one, teach one” cannot meet the urgent need for training surgeons. In this paper we present a novel computer-based training system which aims at helping the trainees with acquiring manipulation skills and gaining simulated surgical experience. This system integrates a physics model of guide wire, a 3D vasculature segmented from real patients and a self-designed haptic device. We use the finite element method (FEM) to model the guide wire based on its specific physical parameters. Trainees can advance and rotate the simulated instrument by the haptic device to interact with the human vasculature. The experimental results of delivering the guide wire to the entrance of the coronary in real time validated that the guide wire simulation is effective.

关键词： Wires Surgery Training Instruments Computational modeling Haptic interfaces Force

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Stroke Bank: A High-Level Representation for Scene Character Recognition

Stroke Bank: A High-Level Representation for Scene Character...

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International Conference on Pattern Recognition

作者： Song Gao Chunheng Wang Baihua Xiao Cunzhao Shi Zhong Zhang The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences

ISBN: (纸本)9781479952106

Text information contained in scene images is very useful for image understanding. In this paper, we propose a high-level representation named stroke bank for scene character recognition. Inspired by the work of object bank, we train stroke detectors and use detectors' maximal output as features. Specifically, we collect training samples for stroke detectors based on labeled key points. We also propose to restrict classification areas of each stroke detector to particular local regions, which alleviates computation burden and retains discrimination power at the same time. Experiments on benchmark datasets demonstrate the effectiveness of our method and the results outperform state-of-the-art algorithms.

关键词： Training Detectors Character recognition Feature extraction Text recognition Optical character recognition software Testing

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Welcome to IEEE/CAA Journal of Automatica Sinica

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IEEE/CAA Journal of Automatica Sinica 2014年第1期1卷 I页

作者： Wang, Fei-Yue State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China

Welcome to the first issue of IEEE/CAA Journal of Automatica Sinica. The Chinese version of IEEE/CAA Journal of Automatica Sinica, the first academic journal on automation in China, called Acta Automatica Sinica, was founded in 1963. It is now well established and well run with an outstanding reputation. This new journal, IEEE/CAA Journal of Automatica Sinica, is sponsored by Chinese Association of Automation (CAA), Institute of Automation of the Chinese Academy of Sciences (CASIA), and IEEE. The journal publishes high-quality papers on original theoretical and experiment research and development in the area of automation science and engineering. The coverage of IEEE/CAA Journal of Automatica Sinica includes but is not limited to: Automatic control; Artificial intelligence and intelligent control; systems theory and engineering; Pattern recognition and intelligent systems; Automation engineering and applications; Information processing and information systems; Network based automation; Robotics; Computer-aided technologies for automation systems; Sensing and measurement; and Navigation, guidance, and control.

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A Collision Response Algorithm for 3D Virtual Reality Minimally Invasive Surgery Simulator

A Collision Response Algorithm for 3D Virtual Reality Minima...

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第26届中国控制与决策会议

作者： Shao-Hua Mi Zeng-Guang Hou Fan Yang Xiao-Liang Xie Gui-Bin Bian State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences

ISBN: (纸本)9781479937097

In recent years, rapid development of minimally invasive surgery has taken place. Virtual reality simulator enables the trainees to obtain the core catheter/guide wire handling skills and to decrease the error rate of operation prior to performing them on a real patient. In this paper, we present and evaluate a collision response algorithm and a force feedback computing method for simulating a catheter/guide wire in the interactive 3D virtual realty simulator based on a robotic catheter/guide wire operating system. In order to provide a real-time virtual environment, a multi-threading technology is used to accelerate the medical simulation procedure. Finally, we test the virtual catheter/guide wire with a complex and realistic 3D vascular model, which is generated from computed tomography angiography(CTA) series in DICOM datasets captured in a actual patient. The results show that the collision response algorithm in the system is effective and promising.

关键词： Mass-spring model,Catheter/guide wire,Collision response,Force feedback,Multi-threading and Robotic

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Autonomous grasp of the embedded mobile manipulator with an eye-in-hand camera

Autonomous grasp of the embedded mobile manipulator with an ...

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IEEE International Conference on Networking, Sensing and control

作者： Jile Jiao Zhiqiang Cao Peng Zhao Xilong Liu Chao Zhou Min Tan State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China

This paper proposes an autonomous grasp method for the embedded mobile manipulator with an eye-in-hand CMOS camera. A three-stage scheme including object searching, approaching and grasping operation is adopted. With the help of visual information, the Bezier curve based approaching as well as vision-based approaching adjustment is applied, where an optimal Bezier path is obtained based on the evaluation of its length and curvature with constraints from the velocity, tangential acceleration and the minimum turning radius. When the mobile manipulator thinks that the object is within its grasping range, it executes the grasping operation according to image information and inverse kinematics. During the move-to-grasp process, the posture of the manipulator is adjusted in real time to endeavor to make the object be targeted. The validity of the proposed method is verified by experiments.

关键词： CMOS integrated circuits Trajectory Acceleration TV

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Visual recognition of the initial and end points of lap joint for welding robots

Visual recognition of the initial and end points of lap join...

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International Conference on Information and Automation (ICIA)

作者： Prasarn Kiddee Zaojun Fang Min Tan The State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China

This paper describes a recognition method for the initial and end points of lap joints based on the image processing techniques. The edge detection technique is used in order to find the edges of the image. And the image processing techniques are employed in order to link the broken edges and find T-junctions of the image which are determined as candidates for the initial and end points of the weld seam. The T-junctions that match the conditions of angles checking and coordinate comparing will be detected as initial and end points of weld seam. The proposed method mainly insists of the 4 steps namely 1) smoothing the image and extracting edges of the image by using Canny operator 2)linking broken edges 3)detecting T-junctions and 4)analysing the initial and end points of weld seams. The experimental results showed that the initial and end points of the lap joints can be precisely recognized using the methods proposed in this paper.

关键词： Image edge detection Welding Joints Robot kinematics Noise measurement

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Data-Driven Iterative Adaptive Dynamic Programming Algorithm for Approximate Optimal control of Unknown Nonlinear systems

Data-Driven Iterative Adaptive Dynamic Programming Algorithm...

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International Joint Conference on Neural Networks

作者： Hongliang Li Derong Liu Ding Wang Chao Li The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences

ISBN: (纸本)9781479914821

In this paper, we develop a data-driven iterative adaptive dynamic programming algorithm to learn offline the approximate optimal control of unknown discrete-time nonlinear systems. We do not use a model network to identify the unknown system, but utilize the available offline data to learn the approximate optimal control directly. First, the data-driven iterative adaptive dynamic programming algorithm is presented with a convergence analysis. Then, the error bounds for this algorithm are provided considering the approximation errors of function approximation structures. To implement the developed algorithm, two neural networks are used to approximate the state-action value function and the control policy. Finally, two simulation examples are given to demonstrate the effectiveness of the developed algorithm.

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