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Efficient nonnegative tensor decomposition using alternating direction proximal method of multipliers

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Chinese Journal of Electronics 2024年

作者： Deqing WANG Guoqiang HU State Key Laboratory of robotics Shenyang Institute of Automation Chinese Academy of Sciences Institutes for robotics and Intelligent Manufacturing Chinese Academy of Sciences Key Laboratory of Marine robotics college of Artificial Intelligence Dalian Maritime University

Nonnegative CANDECOMP/PARAFAC（NCP） tensor decomposition is a powerful tool for multiway signal processing. The optimization algorithm alternating direction method of multipliers（ADMM） has become increasingly popular for solving tensor decomposition problems in the block coordinate descent framework. However,the ADMM-based NCP suffers from rank deficiency and slow convergence for some large-scale and highly sparse tensor data. The proximal algorithm is preferred to enhance optimization algorithms and improve convergence properties. In this study, we propose a novel NCP algorithm using the alternating direction proximal method of multipliers（ADPMM） that consists of the proximal algorithm. The proposed NCP algorithm can guarantee convergence and overcome the rank deficiency. Moreover, we implement the proposed NCP using an inexact scheme that alternatively optimizes the subproblems. Each subproblem is optimized by a finite number of inner iterations yielding fast computation speed. Our NCP algorithm is a hybrid of alternating optimization and ADPMM and is named A2DPMM.The experimental results on synthetic and real-world tensors demonstrate the effectiveness and efficiency of our proposed algorithm.

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Fuzzy-Inverse-Model-Based Networked Tracking Control Frameworks of Time-Varying Signals

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IEEE/CAA Journal of Automatica Sinica 2024年第7期11卷 1708-1710页

作者： Shiwen Tong Dianwei Qian Keya Yuan Dexin Liu Yuan Li Jiancheng Zhang the college of robotics Beijing Union UniversityBeijing 100101China the School of Control and Computer Engineering North China Electric Power UniversityBeijing 102206China

Dear Editor,Tracking control in networked environment is a very challenging problem due to the contradiction of rapid response to the time-varying signal and the inevitable delay introduced by networks. This letter has proposed several fuzzy-inverse-model-based network tracking control frameworks which are helpful in handling the system with nonlinear dynamics and uncertainties.

关键词： contradiction letter inverse

Mechanically driven assembly of biomimetic 2D-material microtextures with bioinspired multifunctionality

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Nano Research 2024年第2期17卷 663-678页

作者： Yang Li Lin Jing Joshua M.Little Haochen Yang Tsai-Chun Chung Po-Yen Chen Department of Chemical and Biomolecular Engineering University of MarylandCollege ParkMD 20740USA Maryland robotics Center University of MarylandCollege ParkMD 20742USA School of Materials Science and Engineering Nanyang Technological University50 Nanyang AvenueSingapore 639798Singapore

Nature provides a wealth of bio-inspiration for advanced material research.Assembling various nanomaterials into biomimetic microtextures with bioinspired functionalities has spurred increasing research interests and facilitated technological advances in various applications.In recent years,two-dimensional materials(2DMs)have emerged as important building block units in the biomimicry field due to their distinct chemical,physical,electrical,electrochemical,and catalytic properties.In this review article,various mechanically driven assembly approaches are summarized to fabricate various genealogies of biomimetic 2DM microtextures with bio-inspired multifunctionality.First,sequential deformation strategies are discussed to programmably construct higher dimensional 2DM microtextures,ranging from wrinkles/crumples(one-time deformation)to multiscale hierarchies(multiple deformations).Next,the current progress using higher dimensional 2DM microtextures to imitate different biological structures and/or induce bio-inspired multifunctionality is systematically summarized.Four showcases of bio-inspiration and biomimicry using different 2DM nanosheets are highlighted:(1)wrinkle patterns of an earthworm that spur the design of strain sensors with programmable working ranges and sensitivities,(2)wrinkle appearance of a Shar-Pei dog that motivates the fabrication of stretchable energy storage devices,(3)hierarchical scale textures of a desert lizard that inspire cation-induced gelation platforms for 2DM aerogels,and(4)wrinkle skin of an elephant that influences the development of 2DM protective skin for soft robots.Finally,challenges and future opportunities of adopting 2DM nanosheets to assemble biomimetic microstructures with synergistic functionalities are discussed.

关键词： two-dimensional(2D)materials mechanically driven assembly biomimetic microtextures functional nanocomposite bio-inspired multifunctionality

Adaptive Optimal Discrete-Time Output-Feedback Using an Internal Model Principle and Adaptive Dynamic Programming

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IEEE/CAA Journal of Automatica Sinica 2024年第1期11卷 131-140页

作者： Zhongyang Wang Youqing Wang Zdzisław Kowalczuk the college of Information Science and Technology Beijing University of Chemical TechnologyBeijing 100029China IEEE the Department of robotics and Decision Systems Faculty of ElectronicsTelecommunications and InformaticsGdańsk University of TechnologyGdansk 80-233Poland

In order to address the output feedback issue for linear discrete-time systems, this work suggests a brand-new adaptive dynamic programming(ADP) technique based on the internal model principle(IMP). The proposed method, termed as IMP-ADP, does not require complete state feedback-merely the measurement of input and output data. More specifically, based on the IMP, the output control problem can first be converted into a stabilization problem. We then design an observer to reproduce the full state of the system by measuring the inputs and outputs. Moreover, this technique includes both a policy iteration algorithm and a value iteration algorithm to determine the optimal feedback gain without using a dynamic system model. It is important that with this concept one does not need to solve the regulator equation. Finally, this control method was tested on an inverter system of grid-connected LCLs to demonstrate that the proposed method provides the desired performance in terms of both tracking and disturbance rejection.

关键词： Adaptive dynamic programming(ADP) internal model principle(IMP) output feedback problem policy iteration(PI) value iteration(VI)

Oncologic outcomes with and without amniotic membranes in robotic-assisted radical prostatectomy:A propensity score matched analysis

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Asian Journal of Urology 2024年第1期11卷 19-25页

作者： Jonathan Noël Daniel Stirt Marcio Covas Moschovas Sunil Reddy Abdel Rahman Jaber Marco Sandri Seetharam Bhat Travis Rogers Subuhee Ahmed Anya Mascarenhas Ela Patel Vipul Patel Advent Health Global robotics Institute CelebrationFLUSA University of Central Florida college of Medicine OrlandoFLUSA Big and Open Data Innovation Laboratory University of BresciaItaly SUNY Upstate Medical University SyracuseNYUSA Kansas City University college of Medicine Kansas CityMOUSA Harvard University CambridgeMAUSA

Objective:Placement of human placenta derived grafts during robotic-assisted radical prostatectomy(RARP)hastens the return of continence and potency.The long-term impact on the oncologic outcomes remains to be investigated.Our objective was to determine the oncologic outcomes of patients with dehydrated human amnion chorion membrane(dHACM)at RARP compared to a matched cohort.Methods:In a referral centre,from August 2013 to October 2019,599 patients used dHACM in bilateral nerve-sparing RARP.We excluded patients with less than 12 months follow-up,simple prostatectomy,and unilateral nerve-sparing.Patients with dHACM(amnio group)were 529,and were propensity score matched 1:1 to 2465 patients without dHACM(non-amnio group)and a minimum follow-up of 36 months.At the time of RARP,dHACM was placed around the neurovascular bundle in the amnio group.Continuous and categorical variables in matched groups was tested by two-sample Kolmogorov-Smirnov test and Fisher's exact test respectively.Outcomes measured were biochemical recurrence(BCR),adjuvant and salvage therapy rates.Results:Propensity score matching resulted in two groups of 444 patients.Cumulative incidence functions for BCR did not show a difference between the groups(p=0.3).Patients in the non-amnio group required salvage therapy more frequently than the amnio group,particularly after partial nerve-sparing RARP(6.3%vs.2.3%,p=0.001).Limitations are the absence of prospective randomization.Conclusion:The data suggest that using dHACM does not have a negative impact on BCR in patients.Outcomes of cancer specific and overall survival will require follow-up study to increase our understanding of these grafts’impact on prostate cancer biology.

关键词： Prostatectomy Prostatecancer Robotic Oncology Outcome Allograft Biomaterial Dehydrated human amnionchorion membrane

Synergy Between Soft Feet and an Active Tail to Enhance the Climbing Ability of a Bio-inspired Climbing Robot

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Journal of Bionic Engineering 2024年第2期21卷 729-739页

作者： Pongsiri Borijindakul Tachadol Suthisomboon Alihong Ji Zhendong Dai Poramate Manoonpong Institute of Bio-inspired Structure and Surface Engineering College of Mechanical and Electrical EngineeringNanjing University of Aeronautics and AstronauticsNanjing210016China Bio-inspired robotics and Neural Engineering Laboratory School of Information Science and TechnologyVidyasirimedhi Institute of Science and TechnologyRayong21210Thailand

Lizards use the synergy between their feet and tail to climb on slopes and vertical terrains.They use their soft adhesive feet with millions of small hairs to increase their contact area with the terrain surface and press their tails against the terrain to actively maintain stability during climbing.Inspired by this,we propose a bio-inspired climbing robot based on a new approach wherein the synergy between soft feet and an active tail with a soft adhesive tip allows the robot to climb stably on even and uneven terrains at different slope angles.We evaluate and compare the climbing performance of the robot on three different terrains(hard,soft,and fluffy)at different slope angles.Various robot configurations are employed,including those with standard hard feet and soft feet in combination with an active tail-with and without a soft tip.The experimental results show that the robot having soft feet and a tail with the soft tip achieves the best climbing performance on all terrains,with maximum climbing slopes of 40°,45°,and 50°on fluffy,soft,and hard terrains,respectively.Its payload capacity depends on the type of terrain and the inclination angle.Moreover,our robot performs multi-terrain transitions(climbing from horizontal to sloped terrains)on three different terrains of a slope.This approach can allow a climbing robot to walk and climb on different terrains,extending the operational range of the robot to areas with complex terrains and slopes,e.g.,in inspection,exploration,and construction.

关键词： Bio-inspired climbing robots Climbing robots Soft foot Active tail Soft terrain Terrain transitions

A Differential Privacy Federated Learning Scheme Based on Adaptive Gaussian Noise

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Computer Modeling in Engineering & Sciences 2024年第2期138卷 1679-1694页

作者： Sanxiu Jiao Lecai Cai Xinjie Wang Kui Cheng Xiang Gao college of Automation and Information Engineering Sichuan University of Science and EngineeringYibin644000China Sanjiang Research Institute of Artificial Intelligence and robotics Yibin UniversityYibin644000China college of Mechanical Engineering Sichuan University of Science and EngineeringYibin644000China

As a distributed machine learning method,federated learning(FL)has the advantage of naturally protecting data privacy.It keeps data locally and trains local models through local data to protect the privacy of local data.The federated learning method effectively solves the problem of artificial Smart data islands and privacy protection issues.However,existing research shows that attackersmay still steal user information by analyzing the parameters in the federated learning training process and the aggregation parameters on the server side.To solve this problem,differential privacy(DP)techniques are widely used for privacy protection in federated learning.However,adding Gaussian noise perturbations to the data degrades the model learning performance.To address these issues,this paper proposes a differential privacy federated learning scheme based on adaptive Gaussian noise(DPFL-AGN).To protect the data privacy and security of the federated learning training process,adaptive Gaussian noise is specifically added in the training process to hide the real parameters uploaded by the client.In addition,this paper proposes an adaptive noise reduction method.With the convergence of the model,the Gaussian noise in the later stage of the federated learning training process is reduced adaptively.This paper conducts a series of simulation experiments on realMNIST and CIFAR-10 datasets,and the results show that the DPFL-AGN algorithmperforms better compared to the other algorithms.

关键词： Differential privacy federated learning deep learning data privacy

Grasp Detection with Hierarchical Multi-Scale Feature Fusion and Inverted Shuffle Residual

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Tsinghua Science and Technology 2024年第1期29卷 244-256页

作者： Wenjie Geng Zhiqiang Cao Peiyu Guan Fengshui Jing Min Tan Junzhi Yu State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049China Department of Advanced Manufacturing and robotics College of EngineeringPeking UniversityBeijing 100871China

Grasp detection plays a critical role for robot manipulation.Mainstream pixel-wise grasp detection networks with encoder-decoder structure receive much attention due to good accuracy and efficiency.However,they usually transmit the high-level feature in the encoder to the decoder,and low-level features are neglected.It is noted that low-level features contain abundant detail information,and how to fully exploit low-level features remains unsolved.Meanwhile,the channel information in high-level feature is also not well mined.Inevitably,the performance of grasp detection is degraded.To solve these problems,we propose a grasp detection network with hierarchical multi-scale feature fusion and inverted shuffle residual.Both low-level and high-level features in the encoder are firstly fused by the designed skip connections with attention module,and the fused information is then propagated to corresponding layers of the decoder for in-depth feature fusion.Such a hierarchical fusion guarantees the quality of grasp prediction.Furthermore,an inverted shuffle residual module is created,where the high-level feature from encoder is split in channel and the resultant split features are processed in their respective branches.By such differentiation processing,more high-dimensional channel information is kept,which enhances the representation ability of the network.Besides,an information enhancement module is added before the encoder to reinforce input information.The proposed method attains 98.9%and 97.8%in image-wise and object-wise accuracy on the Cornell grasping dataset,respectively,and the experimental results verify the effectiveness of the method.

关键词： grasp detection hierarchical multi-scale feature fusion skip connections with attention inverted shuffle residual

Feedback linearization and equivalent-disturbance compensation control strategy for piezoelectric stage

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Nanotechnology and Precision Engineering 2024年第2期7卷 49-59页

作者： Tao Huang Yingbin Wang Zhihong Luo Huajun Cao Guibao Tao Mingxiang Ling State Key Laboratory of Mechanical Transmissions for Advanced Equipment Chongqing UniversityChongqing 400044China college of Mechanical and Vehicle Engineering Chongqing UniversityChongqing 400044China Hongdu Aviation Industry Group NanchangJiangxi 330000China robotics and Microsystems Center Soochow UniversitySuzhou 215123China

Piezoelectric stages use piezoelectric actuators and flexure hinges as driving and amplifying mechanisms,respectively.These systems have high positioning accuracy and high-frequency responses,and they are widely used in various precision/ultra-precision positioning fields.However,the main challenge with these devices is the inherent hysteresis nonlinearity of piezoelectric actuators,which seriously affects the tracking accuracy of a piezoelectric stage.Inspired by this challenge,in this work,we developed a Hammerstein model to describe the hysteresis nonlinearity of a piezoelectric stage.In particular,in our proposed scheme,a feedback-linearization algorithm is used to eliminate the static hysteresis nonlinearity.In addition,a composite controller based on equivalent-disturbance compensation was designed to counteract model uncertainties and external disturbances.An analysis of the stability of a closed-loop system based on this feedback-linearization algorithm and composite controller was performed,and this was followed by extensive comparative experiments using a piezoelectric stage developed in the laboratory.The experimental results confirmed that the feedback-linearization algorithm and the composite controller offer improved linearization and trajectory-tracking performance.

关键词： Piezoelectric stage Hysteresis nonlinearity Feedback linearization Equivalent-disturbance compensation