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The CASTLab in CASIA [ITS Research Lab]

IEEE INTELLIGENT TRANSPORTATION systems MAGAZINE 2020年第2期12卷 85-94页

作者： Olaverri-Monreal, Cristina State Key Laboratory for Management and Control of Complex Systems

The complex Adaptive systems for Transportation laboratory (CASTLab) was established by Prof. Fei-Yue Wang in July 1999 for the task of designing and implementing the proposed intelligent traffic system for the city of Xinxiang, Henan, one of the first initiatives in intelligent transportation systems (ITS) in China. At the end of 1999, the CASTLab became a part of the newly created Center for Intelligent Control and systems in the Institute of Automation, Chinese Academy of Sciences (CASIA), one of the premier and oldest national research organizations in information, automation, and artificial intelligence in China and worldwide.

关键词： Research laboratories

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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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Design and Performance Analysis of a Series-Parallel Self-Aligning Index Finger Exoskeleton

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IEEE Robotics and Automation Letters 2025年第6期10卷 6456-6463页

作者： Sun, Ning Wang, Zelong Cheng, Long Li, Houcheng Niu, Ben Sun, Xijin Li, Ke Shandong Normal University School of Information Science and Engineering Jinan China Chinese Academy of Sciences State Key Laboratory of Management and Control for Complex Systems Institute of Automation Beijing China University of Chinese Academy of Sciences School of Artificial Intelligence Beijing China Shandong University Institute of Intelligent Medical Engineering School of Control Science and Engineering Jinan China

Hand exoskeletons have become increasingly crucial for the rehabilitation of hand function, as relevant studies have shown that using the exoskeletons to assist in rehabilitation training can improve hand motor function. However, developing a human-robot kinematic compatibility exoskeleton while providing sufficient assistance torque is still a challenge. This paper develops a series-parallel self-aligning index finger exoskeleton to assist the index finger in flexion/extension and adduction/abduction training. A series-parallel mechanism driven by two motors simultaneously was proposed for the metacarpophalangeal (MCP) joint, which can ensure human-robot joint axes self-alignment and increase the joint assistance torque. A kinematic compatibility analysis method was proposed, and the kinematic compatibility of the series-parallel mechanism was analyzed. The degrees of freedom and forward kinematics of the proposed mechanism were analyzed, and its workspace was calculated, which results show that the motion range of the MCP joint can meet the grasping training requirements. Preliminary experiments were carried out, and the results indicate that the motion trajectory coefficients of the marker points at the MCP, PIP, and DIP joints averaged for all subjects with and without the proposed exoskeleton are 0.993, 0.956, and 0.939, respectively, which can verify the kinematic transparency of the proposed mechanism. The assistance torque generated by the proposed mechanism on the MCP joint can meet the joint assistance torque requirements. In a word, the proposed exoskeleton can achieve flexion/extension and adduction/abduction training, human-robot joint axes self-alignment, and provide sufficient assistance torque. © 2016 IEEE.

关键词： Exoskeleton (Robotics)

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Exploring Token-Level Augmentation in Vision Transformer for Semi-Supervised Semantic Segmentation

arXiv

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arXiv 2025年

作者： Zhang, Dengke Tang, Quan Liu, Fagui Mei, Haiqing Chen, C.L. Philip The School of Computer Science and Engineering South China University of Technology Guangzhou510006 China The Department of New Network Pengcheng Laboratory Shenzhen518000 China The China Tobacco Guangdong Industrial Corporation Guangzhou510385 China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100080 China

Semi-supervised semantic segmentation has witnessed remarkable advancements in recent years. However, existing algorithms are based on convolutional neural networks and directly applying them to Vision Transformers poses certain limitations due to conceptual disparities. To this end, we propose TokenMix, a data augmentation technique specifically designed for semi-supervised semantic segmentation with Vision Transformers. TokenMix aligns well with the global attention mechanism by mixing images at the token level, enhancing learning capability for contextual information among image patches. We further incorporate image augmentation and feature augmentation to promote the diversity of augmentation. Moreover, to enhance consistency regularization, we propose a dual-branch framework where each branch applies image and feature augmentation to the input image. We conduct extensive experiments across multiple benchmark datasets, including Pascal VOC 2012, Cityscapes, and COCO. Results suggest that the proposed method outperforms state-of-the-art algorithms with notably observed accuracy improvement, especially under limited fine annotations. Copyright © 2025, The Authors. All rights reserved.

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Policy iteration optimal tracking control for chaotic systems by using an adaptive dynamic programming approach

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Chinese Physics B 2015年第3期24卷 87-94页

作者：魏庆来刘德荣徐延才 The State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences

A policy iteration algorithm of adaptive dynamic programming（ADP） is developed to solve the optimal tracking control for a class of discrete-time chaotic systems. By system transformations, the optimal tracking problem is transformed into an optimal regulation one. The policy iteration algorithm for discrete-time chaotic systems is first described. Then,the convergence and admissibility properties of the developed policy iteration algorithm are presented, which show that the transformed chaotic system can be stabilized under an arbitrary iterative control law and the iterative performance index function simultaneously converges to the optimum. By implementing the policy iteration algorithm via neural networks,the developed optimal tracking control scheme for chaotic systems is verified by a simulation.

关键词： adaptive critic designs adaptive dynamic programming approximate dynamic programming neuro-dynamic programming

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Precise planar motion measurement of a swimming multi-joint robotic fish

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Science China(Information Sciences) 2016年第9期59卷 183-197页

作者： Jun YUAN Junzhi YU Zhengxing WU Min TAN State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences

This paper presents a method for planar motion measurement of a swimming multi-joint robotic fish. The motion of the robotic fish is captured via image sequences and a proposed tracking scheme is employed to continuously detect and track the robotic fish. The tracking scheme initially acquires a rough scope of the robotic fish and thereafter precisely locates it. Historical motion information is utilized to determine the rough scope, which can speed up the tracking process and avoid possible ambient interference. A combination of adaptive bilateral filtering and k-means clustering is then applied to segment out color markers accurately. The pose of the robotic fish is calculated in accordance with the centers of these markers. Further, we address the problem of time synchronization between the on-board motion control system of the robotic fish and the motion measurement system. To the best of our knowledge, this problem has not been tackled in previous research on robotic fish. With information about both the multi-link structure and motion law of the robotic fish, we convert the problem to a nonlinear optimization problem, which we then solve using the particle swarm optimization(PSO) algorithm. Further, smoothing splines are adopted to fit curves of poses versus time, in order to obtain a continuous motion state and alleviate the impact of noise. Velocity is acquired via a temporal derivative operation. The results of experiments conducted verify the efficacy of the proposed method.

关键词： motion measurement robotic fish time synchronization visual tracking localization

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SARS-CoV-2 Inhibits Exo-Endocytosis and Enhances Short-Term Depression at a Central Synapse

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Neuroscience Bulletin 2025年第1期41卷 165-171页

作者： Jiawei Hu Yuhan Zhang Qingzhuo Liu Jiaqi Hu Yichen Ru Lu Zhang Lixin Xie Lei Xue State Key Laboratory of Medical Neurobiology and MOE Frontiers Center for Brain Science Fudan UniversityShanghai200438China Department of Physiology and Neurobiology School of Life SciencesFudan UniversityShanghai200438China Department of Pulmonary and Critical Care Medicine Ruijin HospitalShanghai Jiao Tong University School of MedicineShanghai200025China Center for Rehabilitation Medicine Department of Pain ManagementZhejiang Provincial People’s HospitalAffiliated People’s HospitalHangzhou Medical CollegeHangzhou310014China Department of Microbiology and Immunology School of Life SciencesFudan UniversityShanghai200438China College of Pulmonary and Critical Care Medicine 8th Medical Center of Chinese PLA General HospitalBeijing100091China Research Institute of Intelligent Complex Systems Fudan UniversityShanghai200433China

Dear Editor,SARS-CoV-2 is the virus that caused the COVID-19 pandemic,leading to more than 774 million cases and 7,037,007 deaths by March 2024(World Health Organization,http://***/).Despite effective treatments,15%-20%of patients experience long-term symptoms,such as breathlessness,fatigue,depression,and cognitive impairment,which are often linked to an excessive immune response[1].All variants of the virus(α,,,Omicron,and BA.1),which can potentially access the brain via the olfactory mucosa,have been found in the brains of Syrian hamsters,triggering inflammation and demonstrating axonal travel[2].

关键词： travel spite fatigue

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Feature Selection and Feature Learning for High-dimensional Batch Reinforcement Learning: A Survey

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International Journal of Automation and computing 2015年第3期12卷 229-242页

作者： De-Rong Liu Hong-Liang Li Ding Wang State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences

Tremendous amount of data are being generated and saved in many complex engineering and social systems every *** is significant and feasible to utilize the big data to make better decisions by machine learning techniques. In this paper, we focus on batch reinforcement learning(RL) algorithms for discounted Markov decision processes(MDPs) with large discrete or continuous state spaces, aiming to learn the best possible policy given a fixed amount of training data. The batch RL algorithms with handcrafted feature representations work well for low-dimensional MDPs. However, for many real-world RL tasks which often involve high-dimensional state spaces, it is difficult and even infeasible to use feature engineering methods to design features for value function approximation. To cope with high-dimensional RL problems, the desire to obtain data-driven features has led to a lot of works in incorporating feature selection and feature learning into traditional batch RL algorithms. In this paper, we provide a comprehensive survey on automatic feature selection and unsupervised feature learning for high-dimensional batch RL. Moreover, we present recent theoretical developments on applying statistical learning to establish finite-sample error bounds for batch RL algorithms based on weighted Lpnorms. Finally, we derive some future directions in the research of RL algorithms, theories and applications.

关键词： Intelligent control reinforcement learning adaptive dynamic programming feature selection feature learning big data.

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Interfacial Thermal Transport and Energy Dissipation in Multilayer PdSe2 Field Effect Transistors

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Advanced Materials 2025年 e2503264页

作者： Xie, Jiaqiu Yu, Zehao Sun, Yuanchen Gan, Qikang Liu, Chenhan Wang, Lei Zhang, Lifa Zhao, Yunshan Phonon Engineering Research Center of Jiangsu Province Ministry of Education Key Laboratory of NSLSCS Center for Quantum Transport and Thermal Energy Science Institute of Physics Frontiers and Interdisciplinary Sciences School of Physics and Technology Nanjing Normal University Nanjing210023 China National Laboratory of Solid-State Microstructures School of Physics Collaborative Innovation Center of Advanced Microstructures Nanjing University Nanjing210093 China Micro- and Nano-scale Thermal Measurement and Thermal Management Laboratory Jiangsu Key Laboratory for Numerical Simulation of Large-Scale Complex Systems School of Energy and Mechanical Engineering Nanjing Normal University Nanjing210046 China

The continuous miniaturization of 2D electronic circuits results in increased power density during device operation, leading to heat localization and placing higher demands on their performance thresholds. The risk to thermal breakdown and subsequent damage, due to the energy dissipation in the 2D semiconductor field-effect transistors (FETs) supported on the bulk substrates, represents a significant challenge in maintaining their optimal performance. Herein, this study investigates energy dissipation behavior in multilayer PdSe2 FETs for the first time. The high-field breakdown behavior is firstly studied in multilayer PdSe2 FETs on SiO2/Si substrates, where a maximum current density of ≈2.74 MA cm−2 is observed, which is comparable to that of multilayer black phosphorus FET and significantly higher—by about five times—than that of multilayer MoS2 FET. Additionally, the thermal boundary conductance (TBC) of PdSe2/SiO2 interface is measured at room temperature using Raman thermometry. The TBC is found to be ≈12–13 MW m−2 K−1, which is relatively low compared to the other known solid–solid interfaces, indicating that enhancing the performance of PdSe2 FETs can be possible by optimizing the TBC at the PdSe2/SiO2 interface. These findings provide valuable insights for design of high-quality and high-performance PdSe2 electronic and optoelectronic devices. © 2025 Wiley-VCH GmbH.

关键词： Multilayers

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Sliding Mode Control for Flexible-link Manipulators Based on Adaptive Neural Networks

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International Journal of Automation and computing 2018年第2期15卷 239-248页

作者： Hong-Jun Yang Min Tan State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences

This paper mainly focuses on designing a sliding mode boundary controller for a single flexible-link manipulator based on adaptive radial basis function （RBF） neural network. The flexible manipulator in this paper is considered to be an Euler-Bernoulli beam. We first obtain a partial differential equation （PDE） model of single-link flexible manipulator by using Hamiltons approach. To improve the control robustness, the system uncertainties including modeling uncertainties and external disturbances are compensated by an adaptive neural approximator. Then, a sliding mode control method is designed to drive the joint to a desired position and rapidly suppress vibration on the beam. The stability of the closed-loop system is validated by using Lyapunov＇s method based on infinite dimensional model, avoiding problems such as control spillovers caused by traditional finite dimensional truncated models. This novel controller only requires measuring the boundary information, which facilitates implementation in engineering practice. Favorable performance of the closed-loop system is demonstrated by numerical simulations.

关键词： Sliding mode control adaptive control neural network flexible manipulator partial differential equation (PDE).

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