Nonlinear Modeling and Control of Driving Interfaces and Continuum Robots for System Performance Gains

With the rise of (semi)autonomous vehicles and continuum robotics technology and applications, there has been an increasing interest in controller and haptic interface designs. The presence of nonlinearities in the vehicle dynamics is the main challenge in the selection of control algorithms for real-time regulation and tracking of (semi)autonomous vehicles. Moreover, control of continuum structures with infinite dimensions proves to be difficult due to their complex dynamics plus the soft and flexible nature of the manipulator body. The trajectory tracking and control of automobile and robotic systems requires control algorithms that can effectively deal with the nonlinearities of the system without the need for approximation, modeling uncertainties, and input disturbances. Control strategies based on a linearized model are often inadequate in meeting precise performance requirements. To cope with these challenges, one must consider nonlinear techniques. Nonlinear control systems provide tools and methodologies for enabling the design and realization of (semi)autonomous vehicle and continuum robots with extended specifications based on the operational mission profiles. This dissertation provides an insight into various nonlinear controllers developed for (semi)autonomous vehicles and continuum robots as a guideline for future applications in the automobile and soft robotics field. A comprehensive assessment of the approaches and control strategies, as well as insight into the future areas of research in this field, are presented.First, two vehicle haptic interfaces, including a robotic grip and a joystick, both of which are accompanied by nonlinear sliding mode control, have been developed and studied on a steer-by-wire platform integrated with a virtual reality driving environment. An operator-in-the-loop evaluation that included 30 human test subjects was used to investigate these haptic steering interfaces over a prescribed series of driving maneuvers through real time data logging and post-test questionnaires. A conventional steering wheel with a robust sliding mode controller was used for all the driving events for comparison. Test subjects operated these interfaces for a given track comprised of a double lane-change maneuver and a country road driving event. Subjective and objective results demonstrate that the driver’s experience can be enhanced up to 75.3% with a robotic steering input when compared to the traditional steering wheel during extreme maneuvers such as high-speed driving and sharp turn (e.g., hairpin turn) passing. Second, a cellphone-inspired portable human-machine-interface (HMI) that incorporated the directional control of the vehicle as well as the brake and throttle functionality into a single holistic device will be presented. A nonlinear adaptive control technique and an optimal control approach based on driver intent were also proposed to accompany the mechatronic system for combined longitudinal and lateral vehicle guidance. Assisting the disabled drivers by excluding extensive arm and leg movements ergonomically, the device has been tested in a driving simulator platform. Human test subjects evaluated the mechatronic system with various control configurations through obstacle avoidance and city road driving test, and a conventional set of steering wheel and pedals were also utilized for comparison. Subjective and objective results from the tests demonstrate that the mobile driving interface with the proposed control scheme can enhance the driver’s performance by up to 55.8% when compared to the traditional driving system during aggressive maneuvers. The system’s superior performance during certain vehicle maneuvers and approval received from the participants demonstrated its potential as an alternative driving adaptation for disabled drivers. Third, a novel strategy is designed for trajectory control of a multi-section continuum robot in three-dimensional space to achieve accurate orientation, curvature, and section length tracking. The formulation connects the continuum manipulator dynamic behavior to a virtual discrete-jointed robot whose degrees of freedom are directly mapped to those of a continuum robot section under the hypothesis of constant curvature. Based on this connection, a computed torque control architecture is developed for the virtual robot, for which inverse kinematics and dynamic equations are constructed and exploited, with appropriate transformations developed for implementation on the continuum robot. The control algorithm is validated in a realistic simulation and implemented on a six degree-of-freedom two-section OctArm continuum manipulator. Both simulation and experimental results show that the proposed method could manage simultaneous extension/contraction, bending, and torsion actions on multi-section continuum robots with decent tracking performance (e.g. steady state arc length and curvature tracking error of 3.3mm and 130mm-1, respectively). Last, semi-autonomous vehicles equipped with assistive control systems may experience degraded lateral behaviors when aggressive driver steering commands compete with high levels of autonomy. This challenge can be mitigated with effective operator intent recognition, which can configure automated systems in context-specific situations where the driver intends to perform a steering maneuver. In this article, an ensemble learning-based driver intent recognition strategy has been developed. A nonlinear model predictive control algorithm has been designed and implemented to generate haptic feedback for lateral vehicle guidance, assisting the drivers in accomplishing their intended action. To validate the framework, operator-in-the-loop testing with 30 human subjects was conducted on a steer-by-wire platform with a virtual reality driving environment. The roadway scenarios included lane change, obstacle avoidance, intersection turns, and highway exit. The automated system with learning-based driver intent recognition was compared to both the automated system with a finite state machine-based driver intent estimator and the automated system without any driver intent prediction for all driving events. Test results demonstrate that semi-autonomous vehicle performance can be enhanced by up to 74.1% with a learning-based intent predictor. The proposed holistic framework that integrates human intelligence, machine learning algorithms, and vehicle control can help solve the driver-system conflict problem leading to safer vehicle operations

DMF-Net: A decoupling-style multi-band fusion model for full-band speech enhancement

For the difficulty and large computational complexity of modeling more frequency bands, full-band speech enhancement based on deep neural networks is still challenging. Previous studies usually adopt compressed full-band speech features in Bark and ERB scale with relatively low frequency resolution, leading to degraded performance, especially in the high-frequency region. In this paper, we propose a decoupling-style multi-band fusion model to perform full-band speech denoising and dereverberation. Instead of optimizing the full-band speech by a single network structure, we decompose the full-band target into multi sub-band speech features and then employ a multi-stage chain optimization strategy to estimate clean spectrum stage by stage. Specifically, the low- (0-8 kHz), middle- (8-16 kHz), and high-frequency (16-24 kHz) regions are mapped by three separate sub-networks and are then fused to obtain the full-band clean target STFT spectrum. Comprehensive experiments on two public datasets demonstrate that the proposed method outperforms previous advanced systems and yields promising performance in terms of speech quality and intelligibility in real complex scenarios

Late cretaceous granitoids along the northern Kuching zone: implications for the Paleo-pacific subduction in Borneo

The EW-trending Kuching zone in Borneo is a target region for exploring the southern continuation of Paleo-Pacific subduction from South China, Vietnam to SE Asia. Previous studies mainly focused on mafic igneous rocks, and poor attention has been paid to the contemporaneous granitoids in this zone. This study presented detailed zircon U-Pb geochronology and Lu-Hf isotope and whole-rock geochemistry analyses for late Cretaceous granitoids (granodiorites and granites) in the northern Kuching zone. These granitoids are dated at ~77.5-83.6 Ma with younger ages than the igneous rocks in the southern Kuching zone (~130-144 Ma). The granitoids have variable SiO2 (64.86-77.37 wt.%) and A/CNK (0.7-1.5) and are strongly enriched in LILE and depleted in HFSE with significant Ba, Nb, Sr, and Ti negative anomalies. They have variable (87Sr/86Sr)i (from 0.70656 to 0.71208), ε Nd(t) (from -4.4 to +0.9), and zircon ε Hf(t) (from -1.2 to +12.4) with high (206Pb/204Pb)i ratio of 18.78-19.74, suggesting derivation from a hybrid source involving meta-sedimentary and meta-igneous rocks. Combined with previously-published data, two episodes of Cretaceous (~77-98 Ma and ~130-144 Ma) magmatic activities are identified in the Kuching zone, showing a younging age trend from south to north. These episodes of Cretaceous igneous rocks and their spatial distribution in the Kuching zone can be totally comparable to those in South China and Vietnam. Thus, the Kuching zone was likely a part of the Paleo-Pacific subduction system during the Cretaceous, northerly linking to Vietnam and South China

Late Cretaceous Nature of SW Borneo and Paleo-Pacific Subduction: New Insights from the Granitoids in the Schwaner Mountains

AbstractCretaceous igneous rocks in SW Borneo are significant for investigating the Paleo-Pacific subduction and regional correlation. This paper presents new zircon ages and Sr–Nd–Pb–Hf–O isotopic and whole-rock geochemical data for the Cretaceous granitoids in the Schwaner Mountains. These granitoid samples yield formation ages of 92–80 Ma and can be geochemically subdivided into Group 1 biotite granite and granodiorite and Group 2 monzogranite. Group 1 has higher εHf t values of +1.2–+14.5 and lower δ18O values of 5.2–6.6‰ than Group 2 with εHf t and δ18O values of −1.5–+5.9 and 6.1–6.6‰, respectively. Group 1 samples show variable εNd t values of −1.9–+1.7, (206Pb/204Pb)i ratios of 18.63–19.29, (207Pb/204Pb)i ratios of 15.62–15.69, and (208Pb/204Pb)i ratios of 38.67–39.49 and are the products of partial melting of newly underplated mafic rocks with a component of crustal rocks. Group 2 with slightly negative εNd t values of −1.1–−1.5 was originated from partial melting of metasedimentary rocks with a juvenile mafic component. These granitoids were formed in a continental arc setting related to the Paleo-Pacific subduction during the Late Cretaceous and can compare with those contemporaneous I-type granites along the Kuching zone in NW Borneo. Those Late Cretaceous granitoids with A-type affinities from the easternmost Peninsular Malaysia and Singapore to the east of Sundaland might be formed in a back-arc extensional setting after the Paleo-Pacific subduction

Neuroendocrine pathways and breast cancer progression : a pooled analysis of somatic mutations and gene expression from two large breast cancer cohorts

Funding Information: Open access funding provided by Karolinska Institute. This work was supported by grants awarded to KH by the China Scholarship Council (No. 201806240005); to FF by the Swedish Cancer Society (20 0846 PjF); to DL by the National Natural Science Foundation of China (No. 8187111500) and the Swedish Research Council (2018–00648). The funding bodies did not play any role in the design of the study and collection, analysis, or interpretation of data or in writing the manuscript. Funding Information: We thank the West China Biobank, Department of Clinical Research Management, West China Hospital, Sichuan University for the bio-sample storage. We thank Dr. Jianming Zeng (University of Macau) and his team biotrainee for generously sharing their experiences and codes. The results shown here are in part based upon data generated by the TCGA Research Network: https://www.cancer.gov/tcga. This work was presented as an e-Poster (215P) in ESMO Congress 2021, 16-21 September 2021. Publisher Copyright: © 2022, The Author(s).Background: Experimental studies indicate that neuroendocrine pathways might play a role in progression of breast cancer. We aim to test the hypothesis that somatic mutations in the genes of neuroendocrine pathways influence breast cancer prognosis, through dysregulated gene expression in tumor tissue. Methods: We conducted an extreme case–control study including 208 breast cancer patients with poor invasive disease-free survival (iDFS) and 208 patients with favorable iDFS who were individually matched on molecular subtype from the Breast Cancer Cohort at West China Hospital (WCH; N = 192) and The Cancer Genome Atlas (TCGA; N = 224). Whole exome sequencing and RNA sequencing of tumor and paired normal breast tissues were performed. Adrenergic, glucocorticoid, dopaminergic, serotonergic, and cholinergic pathways were assessed for differences in mutation burden and gene expression in relation to breast cancer iDFS using the logistic regression and global test, respectively. Results: In the pooled analysis, presence of any somatic mutation (odds ratio = 1.66, 95% CI: 1.07–2.58) of the glucocorticoid pathway was associated with poor iDFS and a two-fold increase of tumor mutation burden was associated with 17% elevated odds (95% CI: 2–35%), after adjustment for cohort membership, age, menopausal status, molecular subtype, and tumor stage. Differential expression of genes in the glucocorticoid pathway in tumor tissue (P = 0.028), but not normal tissue (P = 0.701), was associated with poor iDFS. Somatic mutation of the adrenergic and cholinergic pathways was significantly associated with iDFS in WCH, but not in TCGA. Conclusion: Glucocorticoid pathway may play a role in breast cancer prognosis through differential mutations and expression. Further characterization of its functional role may open new avenues for the development of novel therapeutic targets for breast cancer.Peer reviewe

Public health insurance and cancer‐specific mortality risk among patients with breast cancer: A prospective cohort study in China

We thank all staff members working on the Breast Cancer Information Management System (BCIMS) for their contributions to data collection and management. We also thank Dr Bo Fu, Mr Yan Li and Mr Pei Liu at the University of Electronic Science and Technology of China for data cleaning and zip code mapping. Our study was supported by the Key Research and Development Project of Sichuan Province of China (grant number: 2017SZ00005) and Swedish Research Council (grant number: 2018‐00648).Little is known about how health insurance policies, particularly in developing countries, influence breast cancer prognosis. Here, we examined the association between individual health insurance and breast cancer-specific mortality in China. We included 7436 women diagnosed with invasive breast cancer between 2009 and 2016, at West China Hospital, Sichuan University. The health insurance plan of patient was classified as either urban or rural schemes and was also categorized as reimbursement rate (ie, the covered/total charge) below or above the median. Breast cancer-specific mortality was the primary outcome. Using Cox proportional hazards models, we calculated hazard ratios (HRs) for cancer-specific mortality, contrasting rates among patients with a rural insurance scheme or low reimbursement rate to that of those with an urban insurance scheme or high reimbursement rate, respectively. During a median follow-up of 3.1 years, we identified 326 deaths due to breast cancer. Compared to patients covered by urban insurance schemes, patients covered by rural insurance schemes had a 29% increased cancer-specific mortality (95% CI 0%-65%) after adjusting for demographics, tumor characteristics and treatment modes. Reimbursement rate below the median was associated with a 42% increased rate of cancer-specific mortality (95% CI 11%-82%). Every 10% increase in the reimbursement rate is associated with a 7% (95% CI 2%-12%) reduction in cancer-specific mortality risk, particularly in patients covered by rural insurance schemes (26%, 95% CI 9%-39%). Our findings suggest that underinsured patients face a higher risk of breast cancer-specific mortality in developing countries.VetenskapsrådetPeer Reviewe

Research on High-Temperature Rheological Properties of Emulsified Asphalt Mastics and Their Influencing Factors

The high-temperature rheological properties of emulsified asphalt mastics have a significant impact on the service performance of cold recycled mixtures with asphalt emulsions. In this paper, a dynamic shear rheological (DSR) test and a multiple stress creep recovery (MSCR) test are carried out to analyze the influence of tunneling coal gangue powder (TCGP), portland cement (PC), limestone powder (LP), and four kinds of filler binder ratio (F/B) on the high-temperature rheological properties of emulsified asphalt mastics before and after rolling thin film oven test (RTFOT) ageing. Based on the principle of time–temperature equivalence and a viscoelasticity material model, the main curve of emulsified asphalt mastics under frequency scanning test is established, and the rheological properties of emulsified asphalt mastics in a wide frequency domain are analyzed. Finally, the grey entropy theory is used to quantitatively analyze the correlation between different high temperature performance evaluation indices of emulsified asphalt mastics. The results show that the RTFOT ageing process can significantly enhance the high temperature deformation resistance of emulsified asphalt residue and its mastics. The rutting factor (G*/sin δ) of emulsified asphalt mastics increases exponentially with the increase of F/B, while the phase angle is less affected. TCGP mastics and PC mastics have better high temperature performances than those of LP mastics. The most suitable range of F/B is 0.9~1.2 when TCGP is used as the filler, and 1.2~1.5 when PC or LP is used as the filler. Grey entropy correlation analysis shows that there is a good correlation between the two evaluation systems of the DSR test and the MSCR test, and both can evaluate the high-temperature performance of emulsified asphalt mastics