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| 1 | Fusion tracking in color and infrared images using joint sparse representation显示文摘Currently sparse signal reconstruction gains considerable interest and is applied in many fields. In this paper, a similarity induced by joint sparse representation is designed to construct the likelihood function of particle filter tracker so that the color visual spectrum and thermal spectrum images can be fused for object tracking. The proposed fusion scheme performs joint sparse representation calculation on both modalities and the resultant tracking results are fused using min operation on the sparse representation coefficients. In addition, a co-learning approach is proposed to update the reference templates of both modality and enhance the tracking robustness. The proposed fusion scheme outperforms state-of-the-art approaches, and its effectiveness is verified using OTCBVS database. | LIU HuaPing SUN FuChun | 2012 | Science China(Information Sciences)2012，55，3： | 24 |
| 2 | A novel dynamic terminal sliding mode control of uncertain nonlinear systems显示文摘滑动模式控制(DTSMC ) 技术的一个新动态终端是建议的论坛班单个输入、单个产量(SISO ) 不明确的非线性的系统。动态终端 liding 模式控制器基于 Lyapunov 理论被提出以便靠近环的控制系统的 thes liding 阶段的存在能被保证,啁啾切换的控制行动引起的现象能被消除,并且高精确性能被认识到。而且由设计终端方程,追踪错误的输出在有限时间收敛到零, DSMC 的到达阶段被消除,全球坚韧性被获得。一只转换摆钟的模拟结果被给表明建议方法的性质。 | Jinkun LIU Fuchun SUN | 2007 | 控制理论与应用(英文版)2007，5，2： | 15 |
| 3 | Dietary supplementation with Clostridium butyricum improves growth performance of broilers by regulating intestinal microbiota and mucosal epithelial cells显示文摘Clostridium butyricum has been widely considered an antibiotic substitute in recent years.It can promote growth performance,improve the immune response and enhance the intestinal barrier function of the host.In the present study,1-d-old Arbor Acres(AA)broilers were fed C.butyricum(1×109 cfu/kg)for 28 d.The transcriptomic characteristics of epithelial cells of the cecal mucosa were determined by RNA-sequence,and the cecal microbiota composition was explored by 16 S ribosomal RNA gene sequencing.The changes in the intestinal mucosa of broilers were then analyzed by tissue staining.Gene Ontology(GO)annotations identified substance transport and processes and pathways that might participate in intestinal development and cell viability.Kyoto Encyclopedia of Genes and Genomes(KEGG)pathway analysis revealed that the differentially expressed genes are involved in numerous pathways related to amino acid and vitamin metabolism and antioxidant and defensive functions,among others.The relative expression of some genes associated with intestinal barrier function(claudins 2,15,19,and 23,tight junction proteins 1,2,and 3 and mucin 1)was significantly increased in the treatment group(P<0.05 or P<0.01).Moreover,the proportion of Firmicutes was higher in the C.butyricum-treated group,whereas the proportion of Proteobacteria was higher in the control group.At the genus level,the relative abundances of Butyricicoccus and Lactobacillus,among other bacteria,were increased after C.butyricum supplementation.The tissue staining analysis showed that the cecal mucosa of broilers was significantly ameliorated after the addition of C.butyricum(P<0.05 or P<0.01).These results showed that dietary supplementation with C.butyricum can enhance the antioxidant capacity,mucosal barrier function,and stabilize the cecal microbiota,resulting in improving the growth performance. | Laipeng Xu Xiangli Sun Xianhua Wan Keke Li Fuchun Jian Wenting Li Ruirui Jiang Ruili Han Hong Li Xiangtao Kang Yanbin Wang | 2021 | Animal Nutrition2021，，4： | 12 |
| 4 | Multi-objective robust control based on fuzzy singularly perturbed models for hypersonic vehicles显示文摘In this paper, we propose a multi-objective robust controller based on fuzzy singularly perturbed models (FSPM) for the longitudinal motion of an air-breathing hypersonic vehicle. The control objective is to provide velocity and altitude tracking in the presence of the uncertainties and unknown nonlinearities in the model caused by variations in flight conditions. By approximating the multi-time-scale model with FSPM, ill-posed matrix calculations are circumvented. Under this framework, a fuzzy multi-objective robust controller is developed, and the linear matrix inequalities (LMI) condition is derived. Numerical simulation using the longitudinal model of a hypersonic aircraft is provided to demonstrate the effectiveness of the proposed strategy. | HU YeNan YUAN Yuan MIN HaiBo SUN FuChun | 2011 | Science China(Information Sciences)2011，54，3： | 11 |
| 5 | Asynchronous Brain-Computer Interface Shared Control of Robotic Grasping显示文摘The control of a high Degree of Freedom(DoF) robot to grasp a target in three-dimensional space using Brain-Computer Interface(BCI) remains a very difficult problem to solve. Design of synchronous BCI requires the user perform the brain activity task all the time according to the predefined paradigm; such a process is boring and fatiguing. Furthermore, the strategy of switching between robotic auto-control and BCI control is not very reliable because the accuracy of Motor Imagery(MI) pattern recognition rarely reaches 100%. In this paper, an asynchronous BCI shared control method is proposed for the high DoF robotic grasping task. The proposed method combines BCI control and automatic robotic control to simultaneously consider the robotic vision feedback and revise the unreasonable control commands. The user can easily mentally control the system and is only required to intervene and send brain commands to the automatic control system at the appropriate time according to the experience of the user. Two experiments are designed to validate our method: one aims to illustrate the accuracy of MI pattern recognition of our asynchronous BCI system; the other is the online practical experiment that controls the robot to grasp a target while avoiding an obstacle using the asynchronous BCI shared control method that can improve the safety and robustness of our system. | Wenchang Zhang Fuchun Sun Hang Wu Chuanqi Tan Yuzhen Ma | 2019 | Tsinghua Science and Technology2019，24，3： | 8 |
| 6 | A review of EEG-based brain-computer interface systems design显示文摘A brain-computer interface(BCI) system can recognize the mental activities pattern by computer algorithms to control the external devices. Electroencephalogram(EEG) is one of the most common used approach for BCI due to the convenience and non-invasive implement. Therefore, more and more BCIs have been designed for the disabled people that suffer from stroke or spinal cord injury to help them for rehabilitation and life. We introduce the common BCI paradigms, the signal processing, and feature extraction methods. Then, we survey the different combined modes of hybrids BCIs and review the design of the synchronous/asynchronous BCIs.Finally, the shared control methods are discussed. | Wenchang Zhang Chuanqi Tan Fuchun Sun Hang Wu Bo Zhang | 2018 | Translational Neuroscience and Clinics2018，4，2： | 5 |
| 7 | Routing for predictable Multi-Layered Satellite Networks显示文摘Multi-Layered Satellite Network(MLSN),especially LEO/MEO satellite network,consisting of low and medium earth orbit satellites,is capable of providing higher coverage and better service than single-layered one.Its performance in deployment,however,is mainly encumbered by obsolete routing protocols and algorithms.This paper takes the predictability of satellite movements into consideration,based on which a novel routing protocol Predictable Satellite Network Routing Protocol(PSNRP)—is proposed.In this protocol,every topology change due to satellite movement is either described as a predictable or an unpredictable change.On the basis of PSNRP,we import a heuristic routing algorithm for satisfying Quality-of-Service(QoS)requirements from network users,which is convinced as a Non-deterministic Polynomial Complete problem.The QoS requirements in this paper mainly refer to end-to-end delay,bandwidth and package loss rate.In addition to obtaining better routing performance,PSNRP successfully allocates calculation tasks evenly among all nodes,separates user data from protocol control data and achieves stronger robustness against satellite failures and link congestions.The superiority of our routing scheme is proved by simulation results. | LIU HeYu SUN FuChun | 2013 | Science China(Information Sciences)2013，56，11： | 5 |
| 8 | Ciphertext verification security of symmetric encryption schemes显示文摘This paper formally discusses the security problem caused by the ciphertext verification,presenting a new security notion named IND-CVA(indistinguishability under ciphertext verification attacks) to characterize the privacy of encryption schemes in this situation. Allowing the adversary to access to both encryption oracle and ciphertext verification oracle,the new notion IND-CVA is slightly stronger than IND-CPA(indistinguishability under chosen-plaintext attacks) but much weaker than IND-CCA(indistinguishability under chosen-ciphertext attacks) ,and can be satisfied by most of the popular symmetric encryption schemes such as OTP(one-time-pad) ,CBC(cipher block chaining) and CTR(counter) . An MAC(message authentication scheme) is usually combined with an encryption to guarantee secure communication(e.g. SSH,SSL and IPSec) . However,with the notion of IND-CVA,this paper shows that a secure MAC can spoil the privacy in some cases. | HU ZhenYu SUN FuChun JIANG JianChun | 2009 | Science in China(Series F)2009，52，9： | 4 |
| 9 | Machine Learning-Based Multi-Modal Information Perception for Soft Robotic Hands显示文摘This paper focuses on multi-modal Information Perception(IP)for Soft Robotic Hands(SRHs)using Machine Learning(ML)algorithms.A flexible Optical Fiber-based Curvature Sensor(OFCS)is fabricated,consisting of a Light-Emitting Diode(LED),photosensitive detector,and optical fiber.Bending the roughened optical fiber generates lower light intensity,which reflecting the curvature of the soft finger.Together with the curvature and pressure information,multi-modal IP is performed to improve the recognition accuracy.Recognitions of gesture,object shape,size,and weight are implemented with multiple ML approaches,including the Supervised Learning Algorithms(SLAs)of K-Nearest Neighbor(KNN),Support Vector Machine(SVM),Logistic Regression(LR),and the unSupervised Learning Algorithm(un-SLA)of K-Means Clustering(KMC).Moreover,Optical Sensor Information(OSI),Pressure Sensor Information(PSI),and Double-Sensor Information(DSI)are adopted to compare the recognition accuracies.The experiment results demonstrate that the proposed sensors and recognition approaches are feasible and effective.The recognition accuracies obtained using the above ML algorithms and three modes of sensor information are higer than 85 percent for almost all combinations.Moreover,DSI is more accurate when compared to single modal sensor information and the KNN algorithm with a DSI outperforms the other combinations in recognition accuracy. | Haiming Huang Junhao Lin Linyuan Wu Bin Fang Zhenkun Wen Fuchun Sun | 2020 | Tsinghua Science and Technology2020，25，2： | 4 |
| 10 | A study on water absorption in freestanding polyurethane films filled with nano-TiO_2 pigments by capacitance measurements显示文摘The electrochemical impedance spectroscopy (EIS) was used to evaluate the water transport and dielectric properties of polyurethane films filled with nano-TiO2 at different pigment/base (P/B) values in 0.5 mol/L NaCl solutions. EIS results were compared with gravimetric measurements on the freestanding films. The amount of water absorption showed great discrepancy between the two methods. The diffusion coeffcient in the polyurethane film with P/B=30% was the smallest among those filled with nano-TiO2 pigments. The dielectric constant ε of the polyurethane varnish film obtained from the initial capacitance was in the range of typical values of polymers. SEM was used to measure the distribution of nano-TiO2 particles in the polyurethane films. | Mingcheng SUN Fuchun LIU Hongwei SHI Enhou HAN | 2009 | Acta Metallurgica Sinica(English Letters)2009，22，1： | 3 |
| 11 | Skill Learning for Human-Robot Interaction Using Wearable Device显示文摘With the accelerated aging of the global population and escalating labor costs, more service robots are needed to help people perform complex tasks. As such, human-robot interaction is a particularly important research topic. To effectively transfer human behavior skills to a robot, in this study, we conveyed skill-learning functions via our proposed wearable device. The robotic teleoperation system utilizes interactive demonstration via the wearable device by directly controlling the speed of the motors. We present a rotation-invariant dynamicalmovement-primitive method for learning interaction skills. We also conducted robotic teleoperation demonstrations and designed imitation learning experiments. The experimental human-robot interaction results confirm the effectiveness of the proposed method. | Bin Fang Xiang Wei Fuchun Sun Haiming Huang Yuanlong Yu Huaping Liu | 2019 | Tsinghua Science and Technology2019，24，6： | 3 |
| 12 | Linear dynamic system method for tactile object classification显示文摘Lots of tactile sequences can be obtained by using a dexterous hand for grasping different objects.The ability of robotic environmental perception and dexterous manipulation will be significantly improved after these tactile sequences are correctly classified.Therefore,tactile sequences are separated into series of subgroups,and a method based on linear dynamical system(LDS)is used to extract features.Since these LDSs lie in nonEuclidean space,the Martin distance,which is a measurement different from Euclidean distance,is applied to calculate the distance between two LDSs,and the K-Medoid algorithm is used for clustering.The codebook is obtained after clustering and is used to represent time sequences to get a Bag-of-System(Bo S).Then the Bo S and labels are sent to Extreme Learning Machine(ELM)to train a classifier.Finally,three databases,KTH-7,KTH-10 and TSH-8 are used to evaluate our algorithm. | MA Rui LIU HuaPing SUN FuChun YANG QingFen GAO Meng | 2014 | Science China(Information Sciences)2014，57，12： | 3 |
| 13 | Simultaneous estimation of ego-motion and vehicle distance by using a monocular camera显示文摘Auto navigation and vehicle distance estimation are of the critical importance in intelligent vehicles.This paper proposes a novel approach to solve these two problems simultaneously by using a monocular camera.First,we introduce an incremental depth parameterized model to overcome the scale ambiguity problem in monocular vision,which differs from other parameterized models with reduced state-dimension and consistent observability.In addition,the view-field of camera is divided into static and dynamic parts so that the egomotion and vehicle-space can be calculated simultaneously.Outdoor experiments are implemented to validate the effectiveness of the proposed approach. | YANG DongFang SUN FuChun WANG ShiCheng ZHANG JinSheng | 2014 | Science China(Information Sciences)2014，57，5： | 3 |
| 14 | Small sample learning with high order contractive auto-encoders and application in SAR images显示文摘Dear editor,Recently auto-encoders(AEs)are used as intermediate layers or unsupervised learning stages in deep learning networks[1].However,unlike other deep learning algorithms,which can extract higher- | Qianwen YANG Fuchun SUN | 2018 | Science China(Information Sciences)2018，61，9： | 3 |
| 15 | Optimal four-impulse rendezvous between coplanar elliptical orbits显示文摘Rendezvous in circular or near circular orbits has been investigated in great detail,while rendezvous in arbitrary eccentricity elliptical orbits is not sufficiently explored.Among the various optimization methods proposed for fuel optimal orbital rendezvous,Lawden's primer vector theory is favored by many researchers with its clear physical concept and simplicity in solution.Prussing has applied the primer vector optimization theory to minimum-fuel,multiple-impulse,time-fixed orbital rendezvous in a near circular orbit and achieved great success.Extending Prussing's work,this paper will employ the primer vector theory to study trajectory optimization problems of arbitrary eccentricity elliptical orbit rendezvous.Based on linearized equations of relative motion on elliptical reference orbit (referred to as T-H equations),the primer vector theory is used to deal with time-fixed multiple-impulse optimal rendezvous between two coplanar,coaxial elliptical orbits with arbitrary large eccentricity.A parameter adjustment method is developed for the prime vector to satisfy the Lawden's necessary condition for the optimal solution.Finally,the optimal multiple-impulse rendezvous solution including the time,direction and magnitudes of the impulse is obtained by solving the two-point boundary value problem.The rendezvous error of the linearized equation is also analyzed.The simulation results confirmed the analyzed results that the rendezvous error is small for the small eccentricity case and is large for the higher eccentricity.For better rendezvous accuracy of high eccentricity orbits,a combined method of multiplier penalty function with the simplex search method is used for local optimization.The simplex search method is sensitive to the initial values of optimization variables,but the simulation results show that initial values with the primer vector theory,and the local optimization algorithm can improve the rendezvous accuracy effectively with fast convergence,because the optimal results obtained by the primer vector theory are already very close to the actual optimal solution.If the initial values are taken randomly,it is difficult to converge to the optimal solution. | WANG JianXia BAOYIN HeXi LI JunFeng SUN FuChun | 2011 | Science China(Physics,Mechanics & Astronomy)2011，54，4： | 3 |
| 16 | Consensus of Second-Order Multi-Agent Systems with Time-Varying Delays and Antagonistic Interactions显示文摘This study investigates the consensus problem of second-order multi-agent systems subject to timevarying interval-like delays. The notion of consensus is extended to networks containing antagonistic interactions modeled by negative weights on the communication graph. A unified framework is established to address both the stationary and dynamic consensus issues in sampled-data settings. Using the reciprocally convex approach,a sufficient condition for consensus is derived in terms of matrix inequalities. Numerical examples are provided to illustrate the effectiveness of the proposed result. | Bo Hou Fuchun Sun Hongbo Li Guangbin Liu | 2015 | Tsinghua Science and Technology2015，20，2： | 3 |
| 17 | Experiment on impedance adaptation of under-actuated gripper using tactile array under unknown environment显示文摘The experiment on impedance adaptation to achieve stable grasp for an under-actuated gripper grasping different unknown objects with tactile array is conducted. Under-actuated gripper has a wildly application in the field of space robot and industrial robot because of its better shape-adaptation. However it is difficult to achieve stable grasp owning to the uncertain properties of environment. A control strategy of adaptive matching the impedance parameters is proposed to achieve stable grasp. Firstly, the unknown objects are described as linear systems with unknown dynamics, and the parameters of the object are identified with the recursive least-squares(RLS) method through tactile sensor array. Then a desired impedance model is obtained by defining a cost function that includes the contact force, velocity and displacement errors, and the critical impedance parameters are found to minimize it. Finally, an experiment is presented and shows that the proposed impedance model can guarantee the stable grasp for various unknown objects. | Jing CUI Mi LAI Zhongyi CHU Fuchun SUN | 2018 | Science China(Information Sciences)2018，61，12： | 2 |
| 18 | A glove-based system for object recognition via visual-tactile fusion显示文摘Dear editor,In our daily life,information such as tactile and visual information is widely used to recognize objects when we manipulate them.Research has shown that the human brain makes use of multisensory models of objects(1)However,the issue of how to combine visual and tactile information for classification. | Bin FANG Fuchun SUN Huaping LIU Chuanqi TAN Di GUO | 2019 | Science China(Information Sciences)2019，62，5： | 2 |
| 19 | Advancing the incremental fusion of robotic sensory features using online multi-kernel extreme learning machine显示文摘 | Lele CAO Fuchun SUN Hongbo LI Wenbing HUANG | 2017 | Frontiers of Computer Science2017，11，2： | 2 |
| 20 | Attitude Control of Rigid Body with Inertia Uncertainty and Saturation Input显示文摘In this paper, the attitude control problem of rigid body is addressed with considering inertia uncertainty,bounded time-varying disturbances, angular velocity-free measurement, and unknown non-symmetric saturation input. Using a mathematical transformation, the effects of bounded time-varying disturbances, uncertain inertia,and saturation input are combined as total disturbances. A novel finite-time observer is designed to estimate the unknown angular velocity and the total disturbances. For attitude control, an observer-based sliding-mode control protocol is proposed to force the system state convergence to the desired sliding-mode surface; the finite-time stability is guaranteed via Lyapunov theory analysis. Finally, a numerical simulation is presented to illustrate the effective performance of the proposed sliding-mode control protocol. | Xi Ma Fuchun Sun Hongbo Li Bing He | 2017 | Tsinghua Science and Technology2017，22，1： | 2 |
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