Article
Automation & Control Systems
Lidong Yang, Moqiu Zhang, Zhengxin Yang, Li Zhang
Summary: Recent studies have developed various magnetic actuation systems for biomedical applications of magnetic microrobots; however, simultaneous actuation and tracking of these microrobots in a large workspace such as the human body size remains challenging. To address this, a parallel-mobile-coil system (PMCS) was proposed, using three electromagnetic coils that can move in a large 3D space. Three different control modes - torque control, force-assisted torque control, and force control - were designed to adapt the PMCS to different actuation scenarios or microrobot types. Comparative simulations and experiments validated the effectiveness of these control modes. Moreover, Hall-effect sensors were implemented to provide in-vivo feedback capability for 3D large-workspace actuation based on magnetic localization.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2023)
Article
Automation & Control Systems
Shengxiong Wen, Yaowu Ding, Xuan Wu, Kun Bai
Summary: This article introduces a spherical-motor-based visual tracking system that provides 3 degrees of freedom in one joint, reducing unwanted inertia and friction. The article establishes a kinematic model for the omnidirectional visual tracking configuration and derives an image-based visual servo algorithm. It proposes a cascaded visual tracking controller to precisely control the spherical motor, and compares its performance to a conventional gimbal system in tracking flying targets. The results show that the proposed system avoids singularities and provides fast and precise visual tracking.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2023)
Article
Acoustics
F. Hunter Akins, W. A. Kuperman
Summary: Passive localization of low SNR sources in shallow water waveguide is achieved by combining modal-MUSIC with range-coherent MFP. Modal-MUSIC extracts noisy estimates of modal wavenumbers from ship noise recorded on a vertical line array. Geoacoustic model is fitted to the wavenumber estimates and replicas are computed for range-coherent MFP. Successful localization is achieved at SNR levels as low as -20 dB using a 21-element VLA and ten tonals transmitted during the SWellEx96 experiment.
JOURNAL OF THE ACOUSTICAL SOCIETY OF AMERICA
(2023)
Article
Automation & Control Systems
Sheng Xu, Jia Liu, Chenguang Yang, Xinyu Wu, Tiantian Xu
Summary: This article focuses on intelligent servo control using learning from desired demonstrations, where a control policy using the broad learning system (BLS) is developed and combined with Lyapunov theory to derive controller parameters' constraints. The final control policy not only obtains the movement skills of desired demonstrations but also has strong generalization and error convergence abilities.
IEEE TRANSACTIONS ON CYBERNETICS
(2022)
Article
Automation & Control Systems
Qian Zou, Xingzhou Du, Yuezhen Liu, Hui Chen, Yibin Wang, Jiangfan Yu
Summary: This study develops an effective control scheme for mobile target tracking using microrobotic swarms, which consists of a dynamic path planner, a motion controller, and a targeted bursting unit. Experimental results validate the control effectiveness of the proposed tracking strategy in different environments, providing a foundation for further research on advanced motion control methods for microrobotic swarms.
IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING
(2022)
Article
Engineering, Biomedical
Junsun Hwang, Sungwoong Jeon, Beomjoo Kim, Jin-young Kim, Chaewon Jin, Ara Yeon, Byung-Ju Yi, Chang-Hwan Yoon, Hun-Jun Park, Salvador Pane, Bradley J. Nelson, Hongsoo Choi
Summary: Robotic magnetic manipulation systems have potential benefits in medical fields for precise and selective manipulation of magnetically responsive instruments. This study presents a clinically translatable electromagnetically controllable microrobotic interventional system (ECMIS). Through preclinical and clinical studies, ECMIS demonstrates potential clinical effectiveness in real-time cardiovascular interventions.
ADVANCED HEALTHCARE MATERIALS
(2022)
Article
Robotics
Cheng Qian, Xinghu Yu, Mingsi Tong, Songlin Zhuang, Weiyang Lin
Summary: This study presents an automated micro-injection method for zebrafish larva heart, including key technologies such as auto-focusing, injection pipette tracking, and heart detection. By optimizing strategies and algorithms, the efficiency and accuracy of injection are improved, with a success rate of 90%.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2022)
Article
Engineering, Electrical & Electronic
Bingyang Li, Haiying Quan
Summary: The application of motion capture system in basketball game can intercept the highlights of the game and improve the viewing effect. This study adopts a correlation filtering algorithm combining multiple color features to improve the tracking performance of target tracking algorithm and the efficiency of traditional basketball tracking system.
JOURNAL OF SENSORS
(2022)
Article
Construction & Building Technology
Yu Bian, Yanan Chen, Yanyi Sun, Yuan Ma, Daxing Yu, Tianxiang Leng
Summary: A novel window system with switchable blinds has been developed to balance daylight availability, visual comfort, and window view in classrooms. A validated simulation method using Radiance-based simulation and bidirectional scattering distribution function (BSDF) data was used to assess the performance of the window system. The results show that, regardless of the classroom orientation, the window system can meet the LEED requirements for daylight autonomy, reduce low-contrast areas on the blackboard, and maintain a satisfactory openness of the window.
BUILDING AND ENVIRONMENT
(2023)
Article
Chemistry, Analytical
Yimeng Chang, Jun Hu, Shiyou Xu
Summary: With the rapid development of autonomous driving and robotics applications, visual SLAM has become a hot research topic. In dynamic environments, existing SLAM systems often fail to estimate camera pose accurately. To address this issue, we propose OTE-SLAM, an object tracking enhanced visual SLAM system, which improves the accuracy of localization in dynamic environments.
Article
Computer Science, Cybernetics
Zhenyu Gu, Chenhao Jin, Danny Chang, Liqun Zhang
Summary: This study introduces a descriptive global index for eye-tracking data called heatmap entropy, or visual attention entropy (VAE), and explores its predictive value for webpage aesthetics. The results show a negative correlation between VAE and aesthetic ratings, with a more significant correlation found with the calibrated form, rVAE. Both VAE and rVAE show improving performances after the first second, suggesting potential for further improvements with longer tracking durations or more observers.
BEHAVIOUR & INFORMATION TECHNOLOGY
(2021)
Article
Automation & Control Systems
Yuzhen Liu, Ziyang Meng, Yao Zou, Ming Cao
Summary: The paper presents a visual object tracking and servoing control system using a tailor-made 38 g nano-scale quadrotor. A lightweight visual module and micro positioning deck are integrated to enable object tracking capabilities. A novel object tracking algorithm, RMCTer, and a position-based visual servoing control method are proposed for the quadrotor, demonstrating stable and accurate object tracking even under disturbances.
IEEE-CAA JOURNAL OF AUTOMATICA SINICA
(2021)
Article
Computer Science, Artificial Intelligence
Matteo Dunnhofer, Kristian Simonato, Christian Micheloni
Summary: This paper studies the integration of different tracking algorithms in the field of long-term visual object tracking. A target recognition strategy is used to select the best performing tracker and correct its performance when failing. The proposed solution is shown to outperform existing approaches on several long-term visual tracking benchmarks.
IMAGE AND VISION COMPUTING
(2022)
Article
Automation & Control Systems
Wanfeng Shang, Haojian Lu, Yuanyuan Yang, Yajing Shen
Summary: This article proposes a new robotic control method that reduces cell deformation and increases force stability during cell penetration by using rotation-thrust control and shear force compensation.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2022)
Article
Agricultural Engineering
Rui Ming, Zhiyan Zhou, Zichen Lyu, Xiwen Luo, Le Zi, Cancan Song, Yu Zang, Wei Liu, Rui Jiang
Summary: Currently, small payload and short endurance are the main problems of a single UAV in agricultural applications. This study proposed a laser tracking leader-follower automatic cooperative navigation system for multi-UAVs to improve operation efficiency. The system uses a laser beam fired by the leader to irradiate the follower, allowing the follower to perform visual tracking flight. The experimental results demonstrate the possibility and adaptability of the developed system to achieve multi-UAVs cooperative navigation.
INTERNATIONAL JOURNAL OF AGRICULTURAL AND BIOLOGICAL ENGINEERING
(2022)
