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Found 9 papers, 0 papers with code
Decentralized Zeno-Free Event-Triggered Control For Multiple Networks Subject to Stochastic Network Delays and Poisson Pulsing Attacks
By designing the decentralized time-regularized (Zeno-free) event-triggered strategies for the state-feedback control law, this paper considers the stochastic stabilization of a class of networked control systems, where two sources of randomness exist in multiple decentralized networks that operate asynchronously and independently: the communication channels are constrained by the stochastic network delays and also by Poisson pulsing denial-of-service (Pp-DoS) attacks.
Hierarchical Semi-Supervised Learning Framework for Surgical Gesture Segmentation and Recognition Based on Multi-Modality Data
Segmenting and recognizing surgical operation trajectories into distinct, meaningful gestures is a critical preliminary step in surgical workflow analysis for robot-assisted surgery.
Attention for Robot Touch: Tactile Saliency Prediction for Robust Sim-to-Real Tactile Control
To improve the robustness of tactile robot control in unstructured environments, we propose and study a new concept: \textit{tactile saliency} for robot touch, inspired by the human touch attention mechanism from neuroscience and the visual saliency prediction problem from computer vision.
A perspective on Attitude Control Issues and Techniques
This paper reviews the attitude control problems for rigid-body systems, starting from the attitude representation for rigid body kinematics.
Stability Analysis for Stochastic Hybrid Inclusions
Basic sufficient conditions for stability/recurrence in probability are usually expressed based on different types of Lyapunov functions, including Lagrange/Lyapunov/Lyapunov-Forster functions respectively for Lagrange/Lyapunov/asymptotical stability in probability and Foster/Lagrange-Forster functions for recurrence, (weaker) relaxed Lyapunov-based sufficient conditions including Matrosov-Foster functions and the stochastic invariance principle, as well as Lyapunov-based necessary and sufficient conditions for asymptotical stability in probability or recurrence (i. e., converse theorems), etc.
Deep Reinforcement Learning Based Semi-Autonomous Control for Robotic Surgery
In recent decades, the tremendous benefits surgical robots have brought to surgeons and patients have been witnessed.
Explainable Hierarchical Imitation Learning for Robotic Drink Pouring
To accurately pour drinks into various containers is an essential skill for service robots.
Surgical Gesture Recognition Based on Bidirectional Multi-Layer Independently RNN with Explainable Spatial Feature Extraction
It can provide explainable results by showing the regions of the surgical images that have a strong relationship with the surgical gesture classification results.
Real-time Surgical Environment Enhancement for Robot-Assisted Minimally Invasive Surgery Based on Super-Resolution
In Robot-Assisted Minimally Invasive Surgery (RAMIS), a camera assistant is normally required to control the position and zooming ratio of the laparoscope, following the surgeon's instructions.
