Arrow Research search

Author name cluster

Lin Wu

Possible papers associated with this exact author name in Arrow. This page groups case-insensitive exact name matches and is not a full identity disambiguation profile.

18 papers
2 author rows

Possible papers

18

EAAI Journal 2026 Journal Article

DawnNet: Domain-augmented multi-weighting network for endometrial histopathological image classification

  • Fengjun Zhao
  • Lin Wu
  • Yi Li
  • Xuelei He
  • Hongyan Du
  • Yanrong Chen
  • Xiaowei He
  • Yuqing Hou

Histopathological examination is the gold standard for diagnosing endometrial tissues, including normal endometrium, endometrial polyps, endometrial hyperplasia, and endometrial adenocarcinoma. However, subtle variations in gland-to-stroma ratios and nuclear morphology make the diagnosis subjective and dependent on pathologist expertise. Computer-aided diagnosis systems using deep learning-based approaches can improve diagnostic efficiency by automatically extracting representative features. However, their performance often degrades when encountering data variations from different institutes—a domain shift issue that violates the independent and identically distributed assumption between training and testing data. This out-of-distribution challenge is not fully addressed by existing domain generalization methods, which often overlook key morphological features essential for histopathological interpretation. To address this issue, we propose DawnNet, a domain-augmented multi-weighting network for robust endometrial histopathological image classification. DawnNet incorporates a domain augmentation module to improve generalization, a spatial–channel weighting attention module to enhance discriminative features while suppressing domain-specific ones, a sample weighting module to reduce spurious correlations, and a hybrid objective function to learn domain-invariant and diagnosis-relevant features. Experiments on publicly available datasets demonstrate that DawnNet outperforms state-of-the-art methods, showing promising generalization for both in-distribution and out-of-distribution cases. Codes are available at https: //github. com/aliy-ali/DawnNet.

AAMAS Conference 2026 Conference Paper

Scalable and Safe Multi-Agent Coordination with Reconstructed Level-k Monte Carlo Tree Search

  • Zhihao Lin
  • Lin Wu
  • Zhen Tian
  • Alessio Lomuscio
  • Jianglin Lan

Multi-agent coordination without central control requires balancing safety and computational efficiency. We present a novel frameworkthattransformsLevel-𝑘 cognitivereasoningfromadescriptive modelofboundedrationalityintoaconstructiveplanningalgorithm for agent coordination. Our key insight is to replace Level-𝑘 reasoning’s assumption of random Level-0 behavior with safety-oriented baselineswhereallagentscomputeconservativetrajectories. Safety emergesnaturallyfromtherecursivestructure: eachreasoninglevel inherits and strengthens the safety margins of lower levels, creating cascading conservatism that prevents collisions without explicit constraints. Beyond ensuring safety, this hierarchical conservatism also provides a natural foundation for efficient planning. By integrating this reconstructed hierarchy with Monte Carlo Tree Search (MCTS), we achieve significant computational advantages through two complementary mechanisms: a Dynamic Interaction Graph that constrains candidate interactions and reduces complexity from exponential to linear in agent count, and Safety-aware Pruning within MCTS that eliminates infeasible actions before evaluation. Weevaluateourframeworkonsymmetricmulti-agentintersections, demonstrating collision-free coordination and real-time efficiency across scenarios of varying complexity, highlighting its scalability and robustness for safety-critical planning.

NeurIPS Conference 2025 Conference Paper

HOI-Dyn: Learning Interaction Dynamics for Human-Object Motion Diffusion

  • Lin Wu
  • Zhixiang Chen
  • Jianglin Lan

Generating realistic 3D human-object interactions (HOIs) remains a challenging task due to the difficulty of modeling detailed interaction dynamics. Existing methods treat human and object motions independently, resulting in physically implausible and causally inconsistent behaviors. In this work, we present HOI-Dyn, a novel framework that formulates HOI generation as a driver-responder system, where human actions drive object responses. At the core of our method is a lightweight transformer-based interaction dynamics model that explicitly predicts how objects should react to human motion. To further enforce consistency, we introduce a residual-based dynamics loss that mitigates the impact of dynamics prediction errors and prevents misleading optimization signals. The dynamics model is used only during training, preserving inference efficiency. Through extensive qualitative and quantitative experiments, we demonstrate that our approach not only enhances the quality of HOI generation but also establishes a feasible metric for evaluating the quality of generated interactions. Project website: https: //wulin97. github. io/hoi-dyn

EAAI Journal 2025 Journal Article

Improving the magnetic resonance images super-resolution with a dual-channel enhancement model incorporating complementary information

  • Chunqiao He
  • Hang Liu
  • Yue Shen
  • Deyin Zhou
  • Lin Wu
  • Hailin Ma
  • Tao Zhang

Although significant progress has been made in image super-resolution using artificial intelligence, achieving high-quality super-resolution for magnetic resonance (MR) images remains challenging due to their unique imaging principles and processes. Inspired by MR parallel imaging, we propose a novel concept to improve the MR image super-resolution quality by leveraging the complementary spatial information inherently contained in multi-channel receive coils. A new MR image degradation model was developed to generate the training dataset that complies with the parallel imaging and Sensitivity Encoding (SENSE) reconstruction. A dual-channel enhancement model, named sensitivity encoding based super-resolution (SenseSR), is then devised with the main channel processing the single low-resolution image and the enhancement channel processing the multiple images from each coil channel. SenseSR is mainly featured with cascaded double enhancement blocks that can extract deeper features of the multiple coil-channel images and fuse them together into the main channel. Experiments were performed to test the performance and compare it with other benchmark models. The results demonstrate a significant improvement in MR image super-resolution quality, with an enhancement of peak signal-to-noise ratio ranging from 0. 5 to 6. 5 decibels (dB). Further experiments with different testing datasets and MR images collected in-situ demonstrated that SenseSR also has good generalization capability and robustness, indicating its potential for clinical applications. The code is available at https: //github. com/MISR-Lab/SenseSR.

EAAI Journal 2025 Journal Article

Medical artificial intelligence for early detection of lung cancer: A survey

  • Guohui Cai
  • Ying Cai
  • Zeyu Zhang
  • Yuanzhouhan Cao
  • Lin Wu
  • Daji Ergu
  • Zhibin Liao
  • Yang Zhao

Lung cancer remains one of the leading causes of morbidity and mortality worldwide, making early diagnosis critical for improving therapeutic outcomes and patient prognosis. Computer-aided diagnosis systems, which analyze computed tomography images, have proven effective in detecting and classifying pulmonary nodules, significantly enhancing the detection rate of early-stage lung cancer. Although traditional machine learning algorithms have been valuable, they exhibit limitations in handling complex sample data. The recent emergence of deep learning has revolutionized medical image analysis, driving substantial advancements in this field. This review focuses on recent progress in deep learning for pulmonary nodule detection, segmentation, and classification. Traditional machine learning methods, such as support vector machines and k-nearest neighbors, have shown limitations, paving the way for advanced approaches like Convolutional Neural Networks, Recurrent Neural Networks, and Generative Adversarial Networks. The integration of ensemble models and novel techniques is also discussed, emphasizing the latest developments in lung cancer diagnosis. Deep learning algorithms, combined with various analytical techniques, have markedly improved the accuracy and efficiency of pulmonary nodule analysis, surpassing traditional methods, particularly in nodule classification. Although challenges remain, continuous technological advancements are expected to further strengthen the role of deep learning in medical diagnostics, especially for early lung cancer detection and diagnosis. A comprehensive list of lung cancer detection models reviewed in this work is available at https: //github. com/CaiGuoHui123/Awesome-Lung-Cancer-Detection.

NeurIPS Conference 2025 Conference Paper

On the Integration of Spatial-Temporal Knowledge: A Lightweight Approach to Atmospheric Time Series Forecasting

  • Yisong Fu
  • Fei Wang
  • Zezhi Shao
  • Boyu Diao
  • Lin Wu
  • Zhulin An
  • Chengqing Yu
  • Yujie Li

Transformers have gained attention in atmospheric time series forecasting (ATSF) for their ability to capture global spatial-temporal correlations. However, their complex architectures lead to excessive parameter counts and extended training times, limiting their scalability to large-scale forecasting. In this paper, we revisit ATSF from a theoretical perspective of atmospheric dynamics and uncover a key insight: spatial-temporal position embedding (STPE) can inherently model spatial-temporal correlations even without attention mechanisms. Its effectiveness arises from integrating geographical coordinates and temporal features, which are intrinsically linked to atmospheric dynamics. Based on this, we propose STELLA, a S patial- T emporal knowledge E mbedded L ightweight mode L for ASTF, utilizing only STPE and an MLP architecture in place of Transformer layers. With 10k parameters and one hour of training, STELLA achieves superior performance on five datasets compared to other advanced methods. The paper emphasizes the effectiveness of spatial-temporal knowledge integration over complex architectures, providing novel insights for ATSF.

JBHI Journal 2024 Journal Article

CORONet: A Cross-Sequence Joint Representation and Hypergraph Convolutional Network for Classifying Molecular Subtypes of Breast Cancer Using Incomplete DCE-MRI

  • Xiaoyang Xie
  • Lin Wu
  • Zhiming Su
  • Zhipeng Sun
  • Xin Cao
  • Yuqing Hou
  • Xiaowei He
  • Fengjun Zhao

Breast cancer, the predominant malignancy among women, is characterized by significant heterogeneity, leading to the emergence of distinct molecular subtypes. Accurate differentiation of these molecular subtypes holds paramount clinical significance, owing to substantial variations in prognosis, therapeutic strategies, and survival outcomes. In this study, we propose a cross-sequence joint representation and hypergraph convolution network (CORONet) for classifying molecular subtypes of breast cancer using incomplete DCE-MRI. Specifically, we first build a cross-sequence joint representation (COR) module to integrate image imputation and feature representation into a unified framework, encouraging effective feature extraction for subsequent classification. Then, we fuse multiple COR features and applied feature selection to reduce the redundant information between sequences. Finally, we deploy hypergraph structures to model high-order correlation among different subjects and extracted high-level semantic features by hypergraph convolutions for molecular subtyping. Extensive experiments on incomplete DCE-MRIs of 395 patients from the TCIA repository showed a significant improvement of our CORONet over state of the arts, with the area under the curve (AUC) of 0. 891 and 0. 903 for luminal and triple-negative (TN) subtype prediction, respectively. Similar advantages of CORONet were also confirmed in partial complete DCE-MRIs of 144 patients, achieving an AUC of 0. 858 and 0. 832 for predicting luminal and TN subtypes of breast cancer, respectively. Nevertheless, both of these values were lower compared to the scenario where DCE-MRIs from all 395 patients were utilized. Our study contributes to the precise molecular subtyping using incomplete multi-sequence DCE-MRI, thereby offering promising prospects for future risk stratification of breast cancer patients.

YNIMG Journal 2024 Journal Article

Effects of computerized working memory training on neuroplasticity in healthy individuals: A combined neuroimaging and neurotransmitter study

  • Peng Fang
  • Yuntao Gao
  • Yijun Li
  • Chenxi Li
  • Tian Zhang
  • Lin Wu
  • Yuanqiang Zhu
  • Yuanjun Xie

Working memory (WM) is an essential cognitive function that underpins various higher-order cognitive processes. Improving WM capacity through targeted training interventions has emergered as a potential approach for enhancing cognitive abilities. The present study employed an 8-week regimen of computerized WM training (WMT) to investigate its effect on neuroplasticity in healthy individuals, utilizing neuroimaging data gathered both before and after the training. The key metrics assessed included the amplitude of low-frequency fluctuations (ALFF), voxel-based morphometry (VBM), and the spatial distribution correlations of neurotransmitter. The results indicated that post-training, compared to baseline, there was a reduction in ALFF in the medial superior frontal gyrus and an elevation in ALFF in the left middle occipital gyrus within the training group. In comparison to the control group, the training group also exhibited decreased ALFF in the anterior cingulate cortex, angular gyrus, and superior parietal lobule, along with increased ALFF in the postcentral gyrus post-training. VBM analysis revealed a significant increase in gray matter volume (GMV) in the right dorsal superior frontal gyrus after the training period, compared to the initial baseline measurement. Furthermore, the training group showed GMV increases in the dorsal superior frontal gyrus, Rolandic operculum, precentral gyrus, and postcentral gyrus when compared to the control group. In addition, significant associations were identifed between neuroimaging measurements (AFLL and VBM) and the spatial patterns of neurotransmitters such as serotonin (5-HT), dopamine (DA), and N-methyl-D-aspartate (NMDA), providing insights into the underlying neurochemical processes. These findings clarify the neuroplastic changes caused by WMT, offering a deeper understanding of brain plasticity and highlighting the potential advantages of cognitive training interventions.

AIIM Journal 2023 Journal Article

Differential diagnosis of secondary hypertension based on deep learning

  • Lin Wu
  • Liying Huang
  • Mei Li
  • Zhaojun Xiong
  • Dinghui Liu
  • Yong Liu
  • Suzhen Liang
  • Hua Liang

Secondary hypertension is associated with higher risks of target organ damage and cardiovascular and cerebrovascular disease events. Early aetiology identification can eliminate aetiologies and control blood pressure. However, inexperienced doctors often fail to diagnose secondary hypertension, and comprehensively screening for all causes of high blood pressure increases health care costs. To date, deep learning has rarely been involved in the differential diagnosis of secondary hypertension. Relevant machine learning methods cannot combine textual information such as chief complaints with numerical information such as the laboratory examination results in electronic health records (EHRs), and the use of all features increases health care costs. To reduce redundant examinations and accurately identify secondary hypertension, we propose a two-stage framework that follows clinical procedures. The framework carries out an initial diagnosis process in the first stage, on which basis patients are recommended for disease-related examinations, followed by differential diagnoses of different diseases based on the different characteristics observed in the second stage. We convert the numerical examination results into descriptive sentences, thus blending textual and numerical characteristics. Medical guidelines are introduced through label embedding and attention mechanisms to obtain interactive features. Our model was trained and evaluated using a cross-sectional dataset containing 11, 961 patients with hypertension from January 2013 to December 2019. The F1 scores of our model were 0. 912, 0. 921, 0. 869 and 0. 894 for primary aldosteronism, thyroid disease, nephritis and nephrotic syndrome and chronic kidney disease, respectively, which are four kinds of secondary hypertension with high incidence rates. The experimental results show that our model can powerfully use the textual and numerical data contained in EHRs to provide effective decision support for the differential diagnosis of secondary hypertension.

YNICL Journal 2023 Journal Article

Personalized estimates of morphometric similarity in multiple sclerosis and neuromyelitis optica spectrum disorders

  • Jie Sun
  • Wenjin Zhao
  • Yingying Xie
  • Fuqing Zhou
  • Lin Wu
  • Yuxin Li
  • Haiqing Li
  • Yongmei Li

Brain morphometric alterations involve multiple brain regions on progression of the disease in multiple sclerosis (MS) and neuromyelitis optica spectrum disorder (NMOSD) and exhibit age-related degenerative changes during the pathological aging. Recent advance in brain morphometry as measured using MRI have leveraged Person-Based Similarity Index (PBSI) approach to assess the extent of within-diagnosis similarity or heterogeneity of brain neuroanatomical profiles between individuals of healthy populations and validate in neuropsychiatric disorders. Brain morphometric changes throughout the lifespan would be invaluable for understanding regional variability of age-related structural degeneration and the substrate of inflammatory demyelinating disease. Here, we aimed to quantify the neuroanatomical profiles with PBSI measures of cortical thickness (CT) and subcortical volumes (SV) in 263 MS, 207 NMOSD, and 338 healthy controls (HC) from six separate central datasets (aged 11-80). We explored the between-group comparisons of PBSI measures, as well as the advancing age and sex effects on PBSI measures. Compared to NMOSD, MS showed a lower extent of within-diagnosis similarity. Significant differences in regional contributions to PBSI score were observed in 29 brain regions between MS and NMOSD (P < 0.05/164, Bonferroni corrected), of which bilateral cerebellum in MS and bilateral parahippocampal gyrus in NMOSD represented the highest divergence between the two patient groups, with a high similarity effect within each group. The PBSI scores were generally lower with advancing age, but their associations showed different patterns depending on the age range. For MS, CT profiles were significantly negatively correlated with age until the early 30 s (ρ = -0.265, P = 0.030), while for NMOSD, SV profiles were significantly negatively correlated with age with 51 year-old and older (ρ = -0.365, P = 0.008). The current study suggests that PBSI approach could be used to quantify the variation in brain morphometric changes in CNS inflammatory demyelinating disease, and exhibited a greater neuroanatomical heterogeneity pattern in MS compared with NMOSD. Our results reveal that, as an MR marker, PBSI may be sensitive to distribute the disease-associated grey matter diversity and complexity. Disease-driven production of regionally selective and age stage-dependency changes in the neuroanatomical profile of MS and NMOSD should be considered to facilitate the prediction of clinical outcomes and assessment of treatment responses.

YNIMG Journal 2020 Journal Article

Orientation selective deep brain stimulation of the subthalamic nucleus in rats

  • Lauri J. Lehto
  • Antonietta Canna
  • Lin Wu
  • Alejandra Sierra
  • Ekaterina Zhurakovskaya
  • Jun Ma
  • Clairice Pearce
  • Maple Shaio

Deep brain stimulation (DBS) has become an important tool in the management of a wide spectrum of diseases in neurology and psychiatry. Target selection is a vital aspect of DBS so that only the desired areas are stimulated. Segmented leads and current steering have been shown to be promising additions to DBS technology enabling better control of the stimulating electric field. Recently introduced orientation selective DBS (OS-DBS) is a related development permitting sensitization of the stimulus to axonal pathways with different orientations by freely controlling the primary direction of the electric field using multiple contacts. Here, we used OS-DBS to stimulate the subthalamic nucleus (STN) in healthy rats while simultaneously monitoring the induced brain activity with fMRI. Maximal activation of the sensorimotor and basal ganglia-thalamocortical networks was observed when the electric field was aligned mediolaterally in the STN pointing in the lateral direction, while no cortical activation was observed with the electric field pointing medially to the opposite direction. Such findings are consistent with mediolateral main direction of the STN fibers, as seen with high resolution diffusion imaging and histology. The asymmetry of the OS-DBS dipolar field distribution using three contacts along with the potential stimulation of the internal capsule, are also discussed. We conclude that OS-DBS offers an additional degree of flexibility for optimization of DBS of the STN which may enable a better treatment response.

IJCAI Conference 2020 Conference Paper

Zero-Shot Object Detection via Learning an Embedding from Semantic Space to Visual Space

  • Licheng Zhang
  • Xianzhi Wang
  • Lina Yao
  • Lin Wu
  • Feng Zheng

Zero-shot object detection (ZSD) has received considerable attention from the community of computer vision in recent years. It aims to simultaneously locate and categorize previously unseen objects during inference. One crucial problem of ZSD is how to accurately predict the label of each object proposal, i. e. categorizing object proposals, when conducting ZSD for unseen categories. Previous ZSD models generally relied on learning an embedding from visual space to semantic space or learning a joint embedding between semantic description and visual representation. As the features in the learned semantic space or the joint projected space tend to suffer from the hubness problem, namely the feature vectors are likely embedded to an area of incorrect labels, and thus it will lead to lower detection precision. In this paper, instead, we propose to learn a deep embedding from the semantic space to the visual space, which enables to well alleviate the hubness problem, because, compared with semantic space or joint embedding space, the distribution in visual space has smaller variance. After learning a deep embedding model, we perform $k$ nearest neighbor search in the visual space of unseen categories to determine the category of each semantic description. Extensive experiments on two public datasets show that our approach significantly outperforms the existing methods.

YNICL Journal 2019 Journal Article

Local connectivity of the resting brain connectome in patients with low back-related leg pain: A multiscale frequency-related Kendall's coefficient of concordance and coherence-regional homogeneity study

  • Fuqing Zhou
  • Lin Wu
  • Linghong Guo
  • Yong Zhang
  • Xianjun Zeng

Increasing evidence has suggested that central plasticity plays a crucial role in the development and maintenance of (chronic) nonspecific low back pain. However, it is unclear how local or short-distance functional interactions contribute to persisting low back-related leg pain (LBLP) due to a specific condition (i.e., lumbar disc herniation). In particular, the multiscale nature of local connectivity properties in various brain regions is still unclear. Here, we used voxelwise Kendall's coefficient of concordance (KCC) and coherence (Cohe) regional homogeneity (ReHo) in the typical (0.01-0.1 Hz) and five specific frequency (slow-6 to slow-2) bands to analyze individual whole-brain resting-state functional magnetic resonance imaging scans in 25 persistent LBLP patients (duration: 36.7 ± 9.6 months) and 26 healthy control subjects. Between-group differences demonstrated significant alterations in the KCC- and Cohe- ReHo of the right cerebellum posterior lobe, brainstem, left medial prefrontal cortex and bilateral precuneus in LBLP patients in the typical and five specific frequency bands, respectively, along with interactions between disease status and the five specific frequency bands in several regions of the pain matrix and the default-mode network (P < .01, Gaussian random field theory correction). The altered ReHo in the five specific frequency bands was correlated with the duration of pain and two-point discrimination, which were assessed using partial correlational analysis. These results linked the course of disease to the local connectivity properties in specific frequency bands in persisting LBLP. In future studies exploring local connectome association in pain conditions, integrated frequency bands and analytical methods should be considered.

IJCAI Conference 2016 Conference Paper

Iterative Views Agreement: An Iterative Low-Rank Based Structured Optimization Method to Multi-View Spectral Clustering

  • Yang Wang
  • Wenjie Zhang
  • Lin Wu
  • Xuemin Lin
  • Meng Fang
  • Shirui Pan

Multi-view spectral clustering, which aims at yielding an agreement or consensus data objects grouping across multi-views with their graph laplacian matrices, is a fundamental clustering problem. Among the existing methods, Low-Rank Representation (LRR) based method is quite superior in terms of its effectiveness, intuitiveness and robustness to noise corruptions. However, it aggressively tries to learn a common low-dimensional subspace for multi-view data, while inattentively ignoring the local manifold structure in each view, which is critically important to the spectral clustering; worse still, the low-rank minimization is enforced to achieve the data correlation consensus among all views, failing to flexibly preserve the local manifold structure for each view. In this paper, 1) we propose a multi-graph laplacian regularized LRR with each graph laplacian corresponding to one view to characterize its local manifold structure. 2) Instead of directly enforcing the low-rank minimization among all views for correlation consensus, we separately impose low-rank constraint on each view, coupled with a mutual structural consensus constraint, where it is able to not only well preserve the local manifold structure but also serve as a constraint for that from other views, which iteratively makes the views more agreeable. Extensive experiments on real-world multi-view data sets demonstrate its superiority.

NeurIPS Conference 2006 Conference Paper

A Scalable Machine Learning Approach to Go

  • Lin Wu
  • Pierre Baldi

Go is an ancient board game that poses unique opportunities and challenges for AI and machine learning. Here we develop a machine learning approach to Go, and related board games, focusing primarily on the problem of learning a good eval- uation function in a scalable way. Scalability is essential at multiple levels, from the library of local tactical patterns, to the integration of patterns across the board, to the size of the board itself. The system we propose is capable of automatically learning the propensity of local patterns from a library of games. Propensity and other local tactical information are fed into a recursive neural network, derived from a Bayesian network architecture. The network integrates local information across the board and produces local outputs that represent local territory owner- ship probabilities. The aggregation of these probabilities provides an effective strategic evaluation function that is an estimate of the expected area at the end (or at other stages) of the game. Local area targets for training can be derived from datasets of human games. A system trained using only 9 × 9 amateur game data performs surprisingly well on a test set derived from 19 × 19 professional game data. Possible directions for further improvements are briefly discussed.

ICRA Conference 1999 Conference Paper

Laser Garment Cut Robot System: Design and Realization

  • Yuntao Wang
  • Qingshan Bao
  • Shuguo Wang
  • Lin Wu

We have developed a garment cutting robot system which is incorporated in the CAD/CAM system, using laser as its cutting tool. The paper systematically introduces the overall hierarchical structure and each of the CAD functional modules. Then the application of laser in cloth cutting is discussed, and a set of cutting system has also been built. We carried out an experiment using the robot platform (CAD/CAM system) with the laser cutting tool, and the results obtained are given.

ICRA Conference 1996 Conference Paper

On teleoperation of an arc welding robotic system

  • Ming Hou
  • Song Huat Yeo
  • Lin Wu
  • Hui Bin Zhang

A remote arc welding robotic system has been built consisting of a six degree-of-freedom master manipulator, a stereo monitoring system, a computer control system and a slave PUMA robot. The arc welding master-slave teleoperation characteristics and the hand-eye coordination are discussed. In this paper, it is shown that the eye-in-hand monitor mode can increase operation efficiency, and that the combination of automatic weld-speed control and master-slave teleoperation mode can enhance operation stability and tracking accuracy in comparison to conventional master-slave control mode.

IROS Conference 1996 Conference Paper

Teleoperation characteristics and human response factor in relation to a robotic welding system

  • Ming Hou
  • Song Huat Yeo
  • Lin Wu
  • Hui Bin Zhang

A remote robotic welding system has been built consisting of a six degree-of-freedom master manipulator, a stereo monitoring system, a computer control system and a slave PUMA robot. The hand-eye coordination, the human hand respondent simulation test and the influence of master unbalanced torque on arc welding master-slave teleoperation characteristics are discussed. In this paper, the power spectral density of the trajectory deviation shows a "two humps" distribution characteristic, it will also be shown that the eye-in-hand monitor mode can increase operation efficiency, and that the combination of automatic weld-speed control and master-slave teleoperation mode can enhance operation stability and tracking accuracy in comparison to conventional master-slave control mode.

v2026.09.13