Chengdong Wu
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View article: Data-Driven Feedforward Optimization Algorithm for Industrial Robots
Data-Driven Feedforward Optimization Algorithm for Industrial Robots Open
To solve the problem of insufficient joint tracking performance in the feedforward control of industrial robots caused by model and control quantity errors, a data-driven feedforward optimization algorithm is proposed. This algorithm not o…
View article: ULGF: A Diffusion Model-Based Image Generation Framework for Underwater Object Detection
ULGF: A Diffusion Model-Based Image Generation Framework for Underwater Object Detection Open
Underwater object detection plays a crucial role in applications such as marine ecological monitoring and underwater rescue operations. However, challenges such as limited underwater data availability and low scene diversity hinder detecti…
View article: Ceritinib inhibits growth and ACTH production of PitNETs: Insights from patient-derived organoids
Ceritinib inhibits growth and ACTH production of PitNETs: Insights from patient-derived organoids Open
ACTH-secreting pituitary neuroendocrine tumors (PitNETs), also known as Cushing's disease (CD), are a rare condition lacking effective pharmacological treatments. Drug development for CD has been limited by the absence of suitable preclini…
View article: Semantic Segmentation Method of Residential Areas in Remote Sensing Images Based on Cross-Attention Mechanism
Semantic Segmentation Method of Residential Areas in Remote Sensing Images Based on Cross-Attention Mechanism Open
Aiming at common problems such as high classification error rate, environmental noise interference, regional discontinuity, and structural absence in the semantic segmentation of residential areas, this paper proposes a CrossAtt-UNet archi…
View article: Collaborative Control Algorithm of Dual PMSMs Based on Improved Sliding Mode Control
Collaborative Control Algorithm of Dual PMSMs Based on Improved Sliding Mode Control Open
This paper presents a cross-coupled control algorithm based on sliding mode control for dual-motor position control. Firstly, a coupled sliding surface is designed to take advantage of the fast response and strong robustness of sliding mod…
View article: YOLO-Driven Real-Time Centralized HVAC Temperature Monitoring via Autonomous Inspection Robots in Smart Factories
YOLO-Driven Real-Time Centralized HVAC Temperature Monitoring via Autonomous Inspection Robots in Smart Factories Open
With the development of intelligent manufacturing, factory environment monitoring is gradually moving toward automation and intelligence. As a critical system for maintaining comfort and energy efficiency in production environments, the op…
View article: Autonomous Vehicle Lateral Control Using Deep Reinforcement Learning with MPC-PID Demonstration
Autonomous Vehicle Lateral Control Using Deep Reinforcement Learning with MPC-PID Demonstration Open
The controller is one of the most important modules in the autonomous driving pipeline, ensuring the vehicle reaches its desired position. In this work, a reinforcement learning based lateral control approach, despite the imperfections in …
View article: Research on Inspection Method of Intelligent Factory Inspection Robot for Personnel Safety Protection
Research on Inspection Method of Intelligent Factory Inspection Robot for Personnel Safety Protection Open
To address the issues of low efficiency and high omission rates in monitoring workers’ compliance with safety dress codes in intelligent factories, this paper proposes the SFA-YOLO network, an enhanced real-time detection model based on a …
View article: Bridging the Inter-Domain Gap through Low-Level Features for Cross-Modal Medical Image Segmentation
Bridging the Inter-Domain Gap through Low-Level Features for Cross-Modal Medical Image Segmentation Open
This paper addresses the task of cross-modal medical image segmentation by exploring unsupervised domain adaptation (UDA) approaches. We propose a model-agnostic UDA framework, LowBridge, which builds on a simple observation that cross-mod…
View article: Robot multi-target high performance grasping detection based on random sub-path fusion
Robot multi-target high performance grasping detection based on random sub-path fusion Open
To address the challenge of grasping multi-target objects with uncertain shape, attitude, scale, and stacking, this study proposes a high-performance planar pixel-level grasping network called random sub-path grasp fusion network (RSPFG-Ne…
View article: AUTOFRAME -- A Software-driven Integration Framework for Automotive Systems
AUTOFRAME -- A Software-driven Integration Framework for Automotive Systems Open
The evolution of automotive technologies towards more integrated and sophisticated systems requires a shift from traditional distributed architectures to centralized vehicle architectures. This work presents a novel framework that addresse…
View article: Prescribed Performance Global Non-Singular Fast Terminal Sliding Mode Control of PMSM Based on Linear Extended State Observer
Prescribed Performance Global Non-Singular Fast Terminal Sliding Mode Control of PMSM Based on Linear Extended State Observer Open
In manufacturing, the position tracking accuracy and stability of Permanent Magnet Synchronous Motors are often challenged by uncertainties, especially in complex environments. Existing control methods struggle to balance fast response wit…
View article: The Regulatory Effect of Human Umbilical Cord Mesenchymal Stem Cells on the Gut Microbiota in Diabetic Nephropathy Rats.
The Regulatory Effect of Human Umbilical Cord Mesenchymal Stem Cells on the Gut Microbiota in Diabetic Nephropathy Rats. Open
HU-MSCs may improve intestinal barrier function in diabetic kidney disease (DKD) rats by restoring gut microbiota structure and increasing intestinal tight junction proteins, offering a potential pathway for enhancing renal function.
View article: Color polarization imaging demosaicing based on Stokes vector information complementation and fusion
Color polarization imaging demosaicing based on Stokes vector information complementation and fusion Open
The division of focal plane polarimeter (DoFP) imaging sacrifices imaging resolution in order to achieve real-time polarization imaging. Especially for color DoFP imaging, the sampling rate is twice as low as monochrome polarized DoFP imag…
View article: A Terminal Residual Vibration Suppression Method of a Robot Based on Joint Trajectory Optimization
A Terminal Residual Vibration Suppression Method of a Robot Based on Joint Trajectory Optimization Open
Vibration problems have become one of the most important factors affecting robot performance. To this end, a terminal residual vibration suppression method based on joint trajectory optimization is proposed to improve the accuracy and stab…
View article: A Comparison of CNN-based 2D Static Facial Emotion Recognition Techniques
A Comparison of CNN-based 2D Static Facial Emotion Recognition Techniques Open
In the field of computer vision, recognizing expressions in 2D static facial images is a crucial aspect of facial emotion recognition (FER), with broad applications in real-world scenarios such as mental health diagnosis and security monit…
View article: A Terminal Residual Vibration Suppression Method of A Robot Based on Joint Trajectory Optimization
A Terminal Residual Vibration Suppression Method of A Robot Based on Joint Trajectory Optimization Open
Vibration problems have become one of the most important factors affecting robot performance. To this end, a terminal residual vibration suppression method based on joint trajectory optimization is proposed to improve the accuracy and stab…
View article: Research on Mobile Robot Navigation Method Based on Semantic Information
Research on Mobile Robot Navigation Method Based on Semantic Information Open
This paper proposes a solution to the problem of mobile robot navigation and trajectory interpolation in dynamic environments with large scenes. The solution combines a semantic laser SLAM system that utilizes deep learning and a trajector…
View article: LACTNet: A Lightweight Real-Time Semantic Segmentation Network Based on an Aggregated Convolutional Neural Network and Transformer
LACTNet: A Lightweight Real-Time Semantic Segmentation Network Based on an Aggregated Convolutional Neural Network and Transformer Open
Transformers have demonstrated a significant advantage over CNNs in modeling long-range dependencies, leading to increasing attention being paid towards their application in semantic segmentation tasks. In the present work, a novel semanti…
View article: MGS-SLAM: Monocular Sparse Tracking and Gaussian Mapping with Depth Smooth Regularization
MGS-SLAM: Monocular Sparse Tracking and Gaussian Mapping with Depth Smooth Regularization Open
This letter introduces a novel framework for dense Visual Simultaneous Localization and Mapping (VSLAM) based on Gaussian Splatting. Recently, SLAM based on Gaussian Splatting has shown promising results. However, in monocular scenarios, t…
View article: LACTNet: A Lightweight Real-time Semantic Segmentation Network Based on Aggregation CNN and Transformer
LACTNet: A Lightweight Real-time Semantic Segmentation Network Based on Aggregation CNN and Transformer Open
Transformers have shown a significant advantage over CNNs in modeling long-range dependencies, which has led to their increased attention in semantic segmentation tasks. In the current work, a novel semantic segmentation model-LACTNet is i…
View article: Research on Vibration Suppression Methods for Industrial Robot Time-Lag Filtering
Research on Vibration Suppression Methods for Industrial Robot Time-Lag Filtering Open
This paper analyzes traditional vibration suppression methods in order to solve the vibration problem caused by the stiffness of flexible industrial robots. The principle of closed-loop control dynamic feedforward vibration suppression is …
View article: Tree Extracted Features for Event-Based Image Data
Tree Extracted Features for Event-Based Image Data Open
View article: SGT-Net: A Transformer-Based Stratified Graph Convolutional Network for 3D Point Cloud Semantic Segmentation
SGT-Net: A Transformer-Based Stratified Graph Convolutional Network for 3D Point Cloud Semantic Segmentation Open
In recent years, semantic segmentation on 3D point cloud data has attracted much attention.Unlike 2D images where pixels distribute regularly in the image domain, 3D point clouds in non-Euclidean space are irregular and inherently sparse.T…
View article: Object Recognition and Grasping for Collaborative Robots Based on Vision
Object Recognition and Grasping for Collaborative Robots Based on Vision Open
This study introduces a parallel YOLO–GG deep learning network for collaborative robot target recognition and grasping to enhance the efficiency and precision of visual classification and grasping for collaborative robots. First, the paper…
View article: Lightweight semantic segmentation network with configurable context and small object attention
Lightweight semantic segmentation network with configurable context and small object attention Open
The current semantic segmentation algorithms suffer from encoding feature distortion and small object feature loss. Context information exchange can effectively address the feature distortion problem, but it has the issue of fixed spatial …
View article: Review of: "Deep Learning in Medical Image Registration: Introduction and Survey"
Review of: "Deep Learning in Medical Image Registration: Introduction and Survey" Open
Potential competing interests: No potential competing interests to
View article: Research on Small Sample Multi-Target Grasping Technology Based on Transfer Learning
Research on Small Sample Multi-Target Grasping Technology Based on Transfer Learning Open
This article proposes a CBAM-ASPP-SqueezeNet model based on the attention mechanism and atrous spatial pyramid pooling (CBAM-ASPP) to solve the problem of robot multi-target grasping detection. Firstly, the paper establishes and expends a …
View article: Research on hybrid navigation algorithm and multi-objective cooperative planning method for electric inspection robot
Research on hybrid navigation algorithm and multi-objective cooperative planning method for electric inspection robot Open
For mobile robots working in the power inspection environment, navigation algorithms and collaborative path planning are the keys to understanding and reproducing human power inspection’s thinking mode. Firstly, the paper proposed a hybrid…
View article: A Multi-Feature Fusion Model Based on Denoising Convolutional Neural Network and Attention Mechanism for Image Classification
A Multi-Feature Fusion Model Based on Denoising Convolutional Neural Network and Attention Mechanism for Image Classification Open
Spatial location features extracted by denoising convolutional neural network. At this time, an attention mechanism is introduced into denoising convolutional neural network. The dual attention model of local area is presented from two dim…