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

作者： Ma, Siyuan He, Cheng Wang, You Luo, Zhiyuan Li, Guang State Key Laboratory of Industrial Control Technology Institute of Cyber Systems and Control Zhejiang University Hangzhou China School of Information and Electronic Engineering Zhejiang University of Science and Technology Hangzhou China Computer Learning Research Centre Royal Holloway University of London Egham Hill Egham SurreyTW200EX United Kingdom

ISBN: (纸本)9781839530838

An all-solid-state ion-selective electrode (ISE) was developed for potentiometric detection of dopamine. A gold disk covered by poly(3, 4-ethylenedioxythiophene) doped with poly(styrenesulfonate) (PEDOT/PSS) was used as the work electrode, a polymeric membrane containing β-cyclodextrin as an ionophore and potassium tetrakis(4-chlorophenyl) borate as ionic additive was immobilized on the conduct polymer layer as the dopamine selective membrane. The ISE was sensitive to dopamine linearly from 3×10-5 to 10-1M with a slope of 56.60±1.28mV/decade. And the detection limit was 2.2×10-5M. It performed stably in a pH range of 6-8 and a temperature range of 35-41°C. The dynamic response, reproducibility and stability as well as the sensitivity were investigated. © 2018 Institution of Engineering and Technology. All rights reserved.

关键词： Ion selective electrodes

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Development of a Tetris Playing Robot controlled by KNR

Development of a Tetris Playing Robot Controlled by KNR

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IEEE International Conference on Mechatronics and Automation

作者： Ming Wang Yanlu Zhang Huifang Dong Xu Li Junzhi Yu Department of Information and Electrical Engineering University of Shandong Jianzhu University Jinan China Department of Intelligent Robotics State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

Robot plays an increasingly important role in daily life. This paper presents a vision-based wheeled robot for playing Tetris. How to control the robot is elaborated at length in this paper. The robot adopted a KNR controller as its core controller. With a CCD sensor, it identified colored blocks, lines and the destination. All algorithms are programed with LabVIEW. The experiments and the contest validated the effectiveness of the proposed vision-based wheeled robot system.

关键词： Mobile robots Cameras Robot sensing systems Image color analysis Servomotors Robot kinematics

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Incremental Adaptive EEG Classification of Motor Imagery-based BCI

Incremental Adaptive EEG Classification of Motor Imagery-bas...

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International Joint Conference on Neural Networks (IJCNN)

作者： Hai-Jun Rong Changjun Li Rong-Jing Bao Badong Chen State Key Laboratory for Strength and Vibration of Mechanical Structures Shaanxi Key Laboratory of Environment and Control for Flight Vehicle School of Aerospace Engineering Xi’an Jiaotong University China Institute of Artificial Intelligence and Robotics School of the Electronic and Information Engineering Xi’an Jiaotong University China

Generally, electroencephalogram (EEG) signals recorded from the brain computer interface (BCI) systems are very noisy and non-stationary, which may affect the online performance of classifiers established from the prior session heavily. In order to address such problems, the classifiers should also be capable of adapting the change of EEG automatically during the processing of evaluation. In this paper, we propose an incremental adaptive EEG classification scheme. In this scheme, an extended sequential adaptive fuzzy inference system (ESAFIS) is used to evolve its structure dynamically and adapts the classifier automatically online to address the non-stationarity of the EEG signals. ESAFIS is an evolving system, wherein the fuzzy rules are evolved based on the modified influence of the rule. This paper presents the classification of 2-class motor imagery EEG based on ESAFIS with adaptive strategy. Simulations are conducted based on two datasets: one is the BCI Competition IV dataset 2b and the other one is recorded from our own BCI experiments. Compared to other methods such as ELM and LDA, the simulation results demonstrate that the proposed scheme produces better classification results.

关键词： Electroencephalography Feature extraction Training Image segmentation Windows Adaptive systems Brain modeling

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Artificial Intelligence Course Design: ISTREAM-based Visual Cognitive Smart Vehicles

Artificial Intelligence Course Design: ISTREAM-based Visual ...

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2018 IEEE Intelligent Vehicles Symposium, IV 2018

作者： Gong, Xiaoyan Wu, Yilin Ye, Zifan Liu, Xiwei State Key Laboratory of Management and Control for Complex Systems Beijing100190 China Intelligent Education Institute Qingdao Academy of Intelligent Industries Qingdao266071 China Beijing NO. 13 School Beijing100088 China NO.2 High School Beijing Normal University Beijing100088 China

ISBN: (纸本)9781538644522

New intelligent era calls for new learners and thus urgently needs a series of artificial intelligence. As a good educational platform for teaching artificial intelligence, smart cars have aroused concern and practices of all parties. However, at present, most courses and training pay more attention to basic knowledge and technology of smart cars, seldom to training based on artificial intelligence curriculum system and comprehensive competency integrating science, technology, art and management. Therefore, based on concept of iSTREAM (intelligence for Science, Technology, robotics, Engineering, Art, and Management) and Raspberry intelligent vehicle teaching platform, this paper introduced a smart car-themed artificial intelligence courses including basic courses, specialized courses, specialized technical courses and elective courses. This course can guide learners to develop smart cars based on visual cognition, in-depth learning, VR and 3D printing integrated artistic creativity. It combines disciplines such as science, technology, art, games and management to upgrade a single knowledge and technology course into a comprehensive competency course that integrates knowledge, skills, emotion and management. Practice in Beijing NO.13 and NO.101 High School shows that this course allows students to experience scientific research process, learn artificial intelligence related knowledge and skills, understand scientific way of thinking and scientific research methods, stimulate learners' responsibility and scientific passion, and cultivate leadership skills through self-learning and partly project management. © 2018 IEEE.

关键词： Project management

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New ZFD（Zhang Finite Difference） Formula 4IgSFDL for Time-Varying Reciprocal and Inverse Computation 29

New ZFD（Zhang Finite Difference） Formula 4IgSFDL for Time-...

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第29届中国控制与决策会议

作者： Yunong Zhang Chumin Li Penghao He Min Yang Xuyun Yang School of Information Science and Technology Sun Yat-sen University Key Laboratory of Autonomous Systems and Networked Control Ministry of Education SYSU-CMU Shunde International Joint Research Institute

ISBN: (纸本)9781509046584

Time-varying reciprocal and inverse computation are considered as fundamental problems in scientific and engineering fields,which are more complicated than static ***-time Zhang dynamics（CTZD）model is a powerful method for such complicated *** obtain a discrete-time Zhang dynamics（DTZD） model,a new formula of 4-instant g-square finite difference（4IgSFD） is proposed in this *** that the formula has a truncation error of O（g）,where g denotes the sampling *** the aid of the formula 4IgSFD,the 4IgSFD-type DTZD model is *** 4IgSFD-type DTZD model has a high calculative precision with truncation error of O（g）.Through numerical experiments,the convergence and stability of 4IgSFD-type DTZD model are illustrated via time-varying reciprocal and inverse computation.

关键词： Finite Difference Time-Varying Reciprocal and Inverse Computation 4IgSFDL-Type DTZD Model Numerical Experiments Residual Error

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Three-state Space Reformulation and control of MD-Included One-Link Robot System Using Direct-Derivative and Zhang-Dynamics Methods 29

Three-State Space Reformulation and Control of MD-Included O...

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第29届中国控制与决策会议

作者： Yunong Zhang Wan Li Binbin Qiu Yaqiong Ding Deyang Zhang School of Information Science and Technology Sun Yat-sen University Key Laboratory of Autonomous Systems and Networked Control Ministry of Education SYSU-CMU Shunde International Joint Research Institute

ISBN: (纸本)9781509046584

Tracking control of nonlinear systems is a hot topic in various fields, especially in robotics. In this paper,a nonlinear one-link(1L) robot system with motor dynamics(MD) included is investigated, and a novel method, i.e.,Zhang-dynamics(ZD) method, is applied to solve the tracking control problem of this nonlinear system. A ZD controller of the nonlinear MD-included 1L robot system is designed. The simpleness and effectiveness of ZD method are proved through theoretical analysis. Moreover, computer-simulation results substantiate the high performance of the ZD controller. It is worth pointing out that our research provides the feasibility of applying ZD method in more and more practical fields.

关键词： Tracking control Nonlinear System One-Link Robot System Motor Dynamics Zhang-Dynamics Method

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Design and 3D Motion Modeling of a 300-m Gliding Robotic Dolphin

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IFAC-PapersOnLine 2017年第1期50卷 12685-12690页

作者： Yuan, Jun Wu, Zhengxing Yu, Junzhi Zhou, Chao Tan, Min University of Chinese Academy of Sciences Beijing100049 China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China

This paper presents the mechatronic design and three-dimensional (3D) motion modeling of a gliding robotic dolphin capable of diving as deep as 300 m. Propulsion modes of bio-inspired robotic dolphin and traditional underwater gliders are integrated into the robot in order to endow it with both high maneuverability and long endurance simultaneously. It is realized by introducing a buoyancy adjusting mechanism on the basis of a bio-inspired robotic dolphin. Particular design on mechanical seal and compressive strength is implemented to achieve large diving depth. Further, a full-state dynamic model for 3D gliding motion is established for motion analysis. In comparison with traditional underwater gliders, the robot's flippers and fluke are controllable and thereby enrich the state-regulating modes of gliding motion, which is considered specially in the dynamic model. Simulations are conducted to analyze the robot's 3D gliding motion. Experiments are also carried out to validate the robot's gliding performance and the effectiveness of the formulated dynamic model. © 2017

关键词： 3D modeling Biomimetics Compressive strength Dolphins (structures) Dynamic models Dynamics Machine design Motion control robotics Robots Adjusting mechanism Bio inspired robotics Mechatronic design Robotic dolphin state regulating Three dimensional (3D) motion Underwater gliders Underwater robotics

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Calibration of atomic force microscope probes using a pneumatic micromanipulation system 1

Calibration of atomic force microscope probes using a pneuma...

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1st International Conference on Manipulation, Automation and robotics at Small Scales, MARSS 2017

作者： Zhang, Hao Hussain, Danish Meng, Xianghe Song, Jianmin Xie, Hui State Key Laboratory of Robotics and Systems Harbin Institute of Technology 2 Yikuang Street Nangang District Harbin150080 China

ISBN: (纸本)9781538603468

This paper presents an easy-to-use and efficient implementation of the added mass method for calibrating various atomic force microscope (AFM) probes without damage to the probe, which is based on the added mass method. The method is achieved by using a pneumatic control system and a home-made glass micro-pipette. Compared with the conventional added mass method, this method achieves the operation of the loading mass by negative pressure rather than the capillary force/electrostatic force, which is more stable and reliable. Therefore, it is efficient and reliable for placing/removing the loading mass to/from the AFM probe. It is a major significance for the calibration of unconventional shape cantilever. To confirm its ability, the polystyrene (PS) sphere is used as the loading mass to calibrate various AFM probes. The above experimental results show that this method can accurately and conveniently calibrate various AFM probes with less time consuming. © 2017 IEEE.

关键词： Calibration

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From Euclid Division of Constant Integers to Zhang Division of Time-Varying Variables 2

From Euclid Division of Constant Integers to Zhang Division ...

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2017 IEEE 第2届先进信息技术,电子与自动化控制国际会议(IAEAC 2017)

作者： Yunong Zhang Min Yang Maotai Zou Sheng Wu 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

Static Euclid division has been studied for many decades. In this paper, we focus on time-varying division(or termed, Zhang division). As Zhang dynamics(ZD) and gradient dynamics(GD) have shown powerf

ISBN: (纸本)9781467389808

关键词： Mathematical model Trajectory Solid modeling Computational modeling Solids Numerical models Hardware

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Feature-Based and Convolutional Neural Network Fusion Method for Visual Relocalization

Feature-Based and Convolutional Neural Network Fusion Method...

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International Conference on control, Automation, robotics and Vision

作者： Li Wang Ruifeng Li Jingwen Sun Hock Soon Seah Chee Kwang Quah Lijun Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Nanyang Technological University Singapore ST Electronics (Training & Simulation Systems) Pte Ltd Singapore

Relocalization is one of the necessary modules for mobile robots in long-term autonomous movement in an environment. Currently, visual relocalization algorithms mainly include feature-based methods and CNN-based (Convolutional Neural Network) methods. Feature-based methods can achieve high localization accuracy in feature-rich scenes, but the error is quite large or it even fails in cases with motion blur, texture-less scene and changing view angle. CNN-based methods usually have better robustness but poor localization accuracy. For this reason, a visual relocalization algorithm that combines the advantages of the two methods is proposed in this paper. The BoVW (Bag of Visual Words) model is used to search for the most similar image in the training dataset. PnP (Perspective n Points) and RANSAC (Random Sample Consensus) are employed to estimate an initial pose. Then the number of inliers is utilized as a criterion whether the feature-based method or the CNN-based method is to be leveraged. Compared with a previous CNN-based method, PoseNet, the average position error is reduced by 45.6% and the average orientation error is reduced by 67.4% on Microsoft's 7-Scenes datasets, which verifies the effectiveness of the proposed algorithm.

关键词： Visualization Feature extraction Training Cameras Vocabulary Image retrieval Robots

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