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Online conformal prediction for classifying different types of herbal medicines with electronic nose

Online conformal prediction for classifying different types ...

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IET Doctoral Forum on Biomedical Engineering, Healthcare, robotics and Artificial Intelligence 2018, BRAIN 2018

作者： Zhan, Xianghao Guan, Xiaoqing Wu, Rumeng Wang, Zhan Wang, You Luo, Zhiyuan Li, Guang State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou Zhejiang310027 China Computer Learning Research Centre Royal Holloway University of London Egham Hill Egham SurreyTW20 0EX United Kingdom

ISBN: (纸本)9781839530838

With the recognition of herbal medicines, reliable and convenient methods for herbal medicines discrimination are needed. This paper introduces a novel method of using an electronic nose with online conformal prediction to classify 12 different types of herbal medicines with similar appearance. The performances of different online conformal predictors based on different training set updating strategies and varied sizes of initial training sets are evaluated to investigate the effectiveness of online conformal prediction. The results show that online conformal prediction manages to classify these medicines and achieves improved accuracy and robustness with more observations if the reliability requirement for training set updating is strict enough. Furthermore, the validity of online conformal prediction is vindicated that with the accumulation of observations, the error rate of prediction gradually converges below the significance level set by users, which offers users a flexible control over reliability and information about potential risk. Finally, the efficiency of online conformal prediction is discussed that customers should make a trade-off between reliability and efficiency. © 2018 Institution of Engineering and Technology. All rights reserved.

关键词： Electronic nose

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An Infinite-Dimensional Luenberger-Like Observer for Water Waves

An Infinite-Dimensional Luenberger-Like Observer for Water W...

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Chinese control Conference (CCC)

作者： Yang YU Hai–Long PEI Cheng–Zhong XU Key Laboratory of Autonomous Systems and Networked Control University of Technology Guangzhou China LAGEP Batiment CPE University Claude Bernard-Lyon 1 Villeurbanne Cedex France

The paper deals with the observation problem by using an infinite dimensional observer for the water wave system governed by linearized water wave partial differential equations. We consider that the water wave system evolves in some infinite-dimensional Hilbert space. The output measurement of dynamical system is supposed to be the water wave surface elevation. An infinite-dimensional exponentially convergent Luenberger-like observer is proposed to estimate the states of water water system: water velocity potential and surface elevation. Numerical simulations by the finite difference scheme are carried out to validate the proposed observer.

关键词： Observers Sea surface Surface waves Propagation Eigenvalues and eigenfunctions Hilbert space Boundary conditions

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Active Planning of Robot Navigation for 3D Scene Exploration

Active Planning of Robot Navigation for 3D Scene Exploration

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Wenzhou Chen Yong Liu Institute of Cyber-Systems and Control Zhejiang University Zhejiang China State Key Laboratory of Industrial Control Technology and Institute of Cyber-Systems and Control Zhejiang University Zhejiang China

This work addresses the active planning of robot navigation tasks for 3D scene exploration. 3D scene exploration is an old and difficult task in robotics. In this paper, we present a strategy to guide a mobile autonomous robot equipped with a camera in order to autonomously explore the unknown 3D scene. By merging the particle filter into 3D scene exploration, we address the robot navigation problem in a heuristic way, and generate a sequence of camera poses to coverage the unknown 3D scene. First, we randomly generate a bunch of potential camera pose vectors. Then, we select the vectors through our criteria. After determining the first camera pose vector, we generate the next group of vectors based on the former one. We select the new camera pose vector and thereafter. We verify the algorithm theoretically and show the good performance in the simulation environment.

关键词： Cameras Three-dimensional displays Robot vision systems Task analysis Navigation Robot kinematics

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Output Tracking of Time-Varying Linear and Nonlinear systems Using ZN and ZG controllers with Pseudo Division-by-Zero Phenomena Shown

Output Tracking of Time-Varying Linear and Nonlinear Systems...

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第30届中国控制与决策会议

作者： Jinjin Guo Xuyun Yang Yunong Zhang Jian Li Min Yang School of Information Science and Technology Sun Yat-sen University SYSU Key Laboratory of Autonomous Systems and Networked Control Ministry of Education SYSU-CMU Shunde International Joint Research Institute Key Laboratory of Machine Intelligence and Advanced Computing Ministry of Education

This paper introduces Zhang neurodynamics(ZN) method and Zhang-gradient(ZG) method used to design ZN and ZG controllers for the output tracking of systems, especially time-varying nonlinear system. Thereinto, ZG method is composed of the ZN method and gradient neurodynamics(GN) method. By applying the ZN method and the ZG method, respectively, to the output tracking control problems of time-varying linear(TVL) system and time-varying nonlinear(TVN) system, specific ZN controllers and ZG controllers are obtained. Particularly, TVL system and TVN system discussed in this paper may both have pseudo division-by-zero phenomena. From the numerical results, though ZN controllers and ZG controllers perform the output tracking of TVL system and TVN system well, the infinite value of the former and the finite value of the latter at singular instants verify that the ZG method is more effective in dealing with pseudo division-by-zero problem.

关键词： Time-varying linear system Time-varying nonlinear system Output tracking control problem ZN controller ZG controller Pseudo division-by-zero phenomena

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Jerk-Level Cyclic Motion Planning and control for Constrained Redundant Robot Manipulators Using Zhang Dynamics:Theoretics

Jerk-Level Cyclic Motion Planning and Control for Constraine...

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第30届中国控制与决策会议

作者： Min Yang Yunong Zhang Huanchang Huang Dechao Chen Jian Li School of Information Science and Technology Sun Yat-sen University(SYSU) Key Laboratory of Autonomous Systems and Networked Control Ministry of Education SYSU-CMU Shunde International Joint Research Institute Key Laboratory of Machine Intelligence and Advanced Computing Ministry of Education

In this paper,based on Zhang dynamics method（ZDM）,a cyclic motion planning（CMP） scheme is developed to remedy the joint drift phenomenon of redundant robot manipulators constrained by joint physical *** existing works resolved at velocity level or acceleration level,the scheme in this paper is resolved at jerk *** achieve superior performance,the jerk-level CMP scheme is improved by the feedback control,which further leads to a jerk-level cyclic motion planning and control（CMPC） *** cyclic motion criterion and the avoidance of joint physical limits（e.g.,joint-angle,joint-velocity,joint-acceleration and joint-jerk limits） are both considered into the jerklevel CMP and CMPC *** importantly,the correctness of the presented jerk-level schemes is guaranteed by the corresponding engineering-type theoretical analyses and ***,the jerk-level CMPC scheme is reformulated as a dynamical quadratic program（DQP） which can be solved by a piecewise-linear projection equation neural network（PLPENN）,and also can be solved by a suitable numerical algorithm.

关键词： Constrained robot manipulators Joint drift phenomenon Jerk level Feedback control Theoretics

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Different-Level Dynamic Quadratic Minimization Using Square Root Matrix Based Zhang Equivalency

Different-Level Dynamic Quadratic Minimization Using Square ...

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第30届中国控制与决策会议

作者： Min Yang Huanchang Huang Jian Li Haifeng Hu Yunong Zhang School of Information Science and Technology Sun Yat-sen University (SYSU) Key Laboratory of Autonomous Systems and Networked Control Ministry of Education SYSU-CMU Shunde International Joint Research Institute Key Laboratory of Machine Intelligence and Advanced Computing Ministry of Education

For quadratic minimization(QM), it is usually assumed that the solution objective is time-invariant and at the same level. However, the QM is always time-varying(i.e., naturally and implicitly dynamic) and may be at different levels(i.e., explicitly dynamic) in practice. In this paper, different from the general QM, a novel different-level dynamic QM(DLDQM) is proposed and investigated. First, the DLDQM solving is split up into two general time-varying QM(TVQM) solving. Then, a solution model is thus proposed and investigated for the DLDQM, by applying square root matrix based Zhang equivalency and Moore-Penrose(MP) generalized inverse. In addition, it is worth pointing out that solving the DLDQM is a new and important attempt of this research. Finally, illustrative numerical experiments are conducted with numerical results presented and analyzed.

关键词： Different-level dynamic quadratic minimization(DLDQM) Square root matrix Zhang equivalency MoorePenrose(MP) generalized inverse

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Computer Simulations and Comparisons of Jerk-Level Cyclic Motion Planning and control for CRRM

Computer Simulations and Comparisons of Jerk-Level Cyclic Mo...

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第37届中国控制会议

作者： Dechao Chen Min Yang Huanchang Huang Jian Li Yunong Zhang School of Information Science and Technology Sun Yat-sen University (SYSU) Key Laboratory of Autonomous Systems and Networked Control Ministry of Education SYSU-CMU Shunde International Joint Research Institute Key Laboratory of Machine Intelligence and Advanced Computing Ministry of Education

In this paper, a jerk-level cyclic motion planning and control（CMPC） scheme is presented to remedy the joint drift phenomenon of the constrained redundant robot manipulators（CRRM）. Furthermore, the path-tracking simulations are presented to substantiate the effectiveness and accuracy of the jerk-level CMPC scheme. Comprehensive and detailed comparisons between the presented jerk-level CMPC scheme and other existing schemes [i.e., the Jacobian pseudo-inverse based（JPIB） scheme, the minimum jerk norm（MJN） scheme and the acceleration-level cyclic motion planning（ALCMP） scheme] illustrate that the presented CMPC scheme resolved at jerk level is superior and more applicable.

关键词： Constrained redundant robot manipulators （CRRM） jerk level cyclic motion planning and control （CMPC） scheme computer simulations comparisons

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About Step-Length of ZeaD（Zhang et al Discretization） Formula 4IgSY for Future Minimization via Fan Equations

About Step-Length of ZeaD（Zhang et al Discretization） Form...

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第30届中国控制与决策会议

作者： Yunong Zhang Zhiyuan Qi Huihui Gong Jian Li Binbin Qiu School of Information Science and Technology Sun Yat-sen University(SYSU) Key Laboratory of Autonomous Systems and Networked Control Ministry of Education SYSU-CMU Shunde International Joint Research Institute Key Laboratory of Machine Intelligence and Advanced Computing Ministry of Education

Future minimization,i.e.,discrete time-varying minimization,is a difficult and meaningful *** has been successfully solved by Zhang et al using zeroing dynamics(ZD) and discretization *** this paper,a type of discrete-time ZD(DT-ZD) model,which is obtained via utilizing Zea D(Zhang et al Discretization) formula 4 I2)S Y,is analyzed and investigated to ensure its ***,via theoretical guarantees,we propose the step-length domain,or say,the effective domain of the step-length,which makes the discrete-time model ***,we make further efforts to obtain the step-length optimum which provides the optimal stability of the DT-ZD ***,numerical experiments are performed to validate the step-length domain and the step-length optimum of the DT-ZD model for future minimization.

关键词： Future minimization Zeroing dynamics(ZD) Zhang et al discretization(ZeaD) formula Step-length domain Optimum

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Micro Channel for Analyzing Mechanical Adaption of Cancer Cell

Micro Channel for Analyzing Mechanical Adaption of Cancer Ce...

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IEEE International Conference on Cyborg and Bionic systems (CBS)

作者： Pengyun Li Xiaoming Liu Xiaoqing Tang Masaru Kojima Jian Huang Qiang Huang Tatsuo Arai Beijing Advanced Innovation Center for Intelligent Robots and Systems and the Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology Beijing China Osaka University 1-3 Machikaneyama Toyonaka Osaka Japan Key Laboratory of Ministry of Education for Image Processing and Intelligent Control the School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan China

ISBN: (数字)9781728150734

ISBN: (纸本)9781728150741

It was reported that cancer cells could biologically respond and adapt to the confined environment during migration in extracellular matrix (ECM). But it is not clearly studied that how cancer cells respond and adapt to confined environment in mechanical way. Thus, in this study, we designed and fabricated a kind of one-layer micro channel to mimic confined environment for analyzing mechanical adaption of cell. This micro channel could apply sequential mechanical stresses on a number of cells with high throughput, and the time of cells passing through five rows of micro channels were used to evaluate their adaptability to the sequential and confined space. In experiments, each cell suffered 20 times of mechanical stresses after passing through 20 squeezing channels arranged in 5 rows. We observed the sequential squeezing processes under microscope and investigated the passing time using a high-speed camera. The preliminary results indicated that cancer cells could pass through and adapt to the confined environment faster than normal cells.

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Amplitude calibration of quartz tuning fork (QTF) force sensor with an atomic force microscope 17

Amplitude calibration of quartz tuning fork (QTF) force sens...

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17th IEEE International Conference on Nanotechnology, NANO 2017

作者： Hussain, Danish Zhang, Hao Song, Jianmin Yongbing, Wen Meng, Xianghe Xinjian, Fan Xie, Hui State Key Laboratory of Robotics and Systems Harbin Institute of Technology 2 Yikuang Harbin150080 China

ISBN: (纸本)9781509030286

Amplitude calibration of the quartz tuning fork (QTF) sensor includes the measurement of the sensitivity factor (αTF). We propose, AFM based methods (cantilever tracking and z-servo tracking of the QTF's amplitude of vibration) to determine the sensitivity factor of the QTF. The QTF is mounted on a xyz-scanner of the AFM and a soft AFM probe is approached on the apex of a tine of the QTF by driving the z-servo and using the normal deflection voltage (Vtb) of position sensitive detector (PSD) as feedback signal. Once the tip contacts the tine, servo is switched off. QTF is electrically excited with a sinusoidal signal from OC4 (Nanonis) and amplitude of the QTF's output at transimpedance amplifier (Vtf) and amplitude of VTB (Vp) is measured by individual lock-in amplifiers which are internally synchronized to the phase of the excitation signal of the QTF. Before, the measurements optical lever is calibrated. By relating the both voltages (Vp & Vtf), sensitivity factor of the QTF (αTF) is determined. In the second approach, after the tip contacts the tine, the z-servo is switched off firstly, then the feedback signal is switched to Vp and frequency sweep for the QTF, Vtb as well as z-servo are started, instantaneously. To keep the Vp at set-point the feedback control moves the z-servo to track the vibration amplitude of the QTF and thus the distance traveled by the z-servo (Δζ) during sweep is equal to the fork's amplitude of vibration (ΔxTF). αtf is determined by relating Δz and VTF. Both approaches can be non-destructively applied for QTF sensor calibration. AFM imaging of the AFM calibration grating TGZ1 (from NT-MDT Russia) has been performed with a calibrated QTF sensor. © 2017 IEEE.

关键词： Calibration

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