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15th CIRP Conference on Intelligent Computation in Manufacturing engineering, ICME 2021

作者： Fay, Barry Ramasubramanian, Aswin K Murphy, Rónán Dillon Adderley, Tadhg Papakostas, Nikolaos Laboratory for Advanced Manufacturing Simulation and Robotics School of Mechanical and Materials Engineering University College Dublin Ireland Ireland

The use of digital manufacturing platforms is becoming increasingly important since they facilitate process visualisation, optimisation, and validation, allowing engineers to make informed decisions at early product and process development phases. In this paper, the potential of using process simulation platforms is explored in order to visualise and validate baggage handling processes involving robotic handling systems and human operators. Multiple baggage handling layout configurations are digitally constructed and reviewed with the aim to investigate cost, time, and flexibility performance indicators. Furthermore, the advantages of using digital manufacturing and process simulation platforms are discussed. © 2022 The Author(s).

关键词： Simulation platform

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Landing Area Prediction in Complex Terrains for Walking-assisted Lower-limb Exoskeleton Robot

Landing Area Prediction in Complex Terrains for Walking-assi...

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2023 International Conference on Biomimetic Intelligence and robotics

作者： Liu, Yuexun Liu, Du-Xin Ma, Yue Guo, Sheng Wu, Xinyu Robotics Research Center School of Mechanical Electronic and Control Engineering Beijing Jiaotong University Beijing100044 China Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China

With the expansion of application scenarios, the walking-assisted lower-limb exoskeleton robot urgently needs to improve its walking ability in complex terrains. However, due to the lack of environmental understanding ability and decision-making ability, the exoskeleton can not meet the need of people with lower-limb disability in complex terrains. To improve the walking abillity, this paper proposes a method of predicting the landing area in complex terrains for walking-assisted lower-limb exoskeleton robot. Multiple sensors were used to obtain the terrain information, step length, and stride length of human walking, and a multi-type input convolutional network was built to establish the mapping relationship to learn the decision-making mechanism of human standing in a complex environment. The result shows that the established network effectively predicts the landing area. Under the condition of full training, the predicted position deviation of the landing area is controlled within 6%, and the prediction rationality of the landing area can reach 90%. © 2023 The Authors. Published by Elsevier B.V.

关键词： Decision making

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A Data-driven Comparison of Resistive-Viscoelastic Models for a 3D-Printed Conductive Solid

A Data-driven Comparison of Resistive-Viscoelastic Models fo...

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IEEE/SICE International Symposium on System Integration

作者： Sourajit Mukherjee Takeshi Takaki Smart Robotics Lab Graduate School of Advanced Science and Engineering Hiroshima University Hiroshima Japan

ISBN: (数字)9798331531614

ISBN: (纸本)9798331531621

Conductive polymer composites with piezoresistive properties have found extensive use in force sensing applications, such as strain gauges. Polylactic acid filled with carbon black nano-fillers is one such easily available and inexpensive material. The piezoresistive properties of conductive polymers have been shown to share an equivalence with the linear viscoelastic relationship between stress and strain. In this study, we examine six progressively complex resistive-viscoelastic models based on this relationship. After empirically determining the model parameters, we compared their stress prediction outputs using resistance data as input, which had been recorded while subjecting a 3D-printed conductive solid to a compressive force. We observed the model performances for two cases: when model parameters are determined from the complete test cycle and when they are determined phase-wise. Phase-wise coefficients showed a much better prediction accuracy and it was also observed that simpler models gave a better performance than more complex models.

关键词： Solid modeling Force System integration Predictive models Solids Strain measurement Polymers Stress Piezoresistance Strain

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A Novel Fish-inspired Self-adaptive Approach to Collective Escape of Swarm Robots Based on Neurodynamic Models

A Novel Fish-inspired Self-adaptive Approach to Collective E...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Junfei Li Simon X. Yang Advanced Robotics and Intelligent Systems Laboratory School of Engineering University of Guelph Guelph Canada

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Fish schools present high-efficiency group behaviors to collective migration and dynamic escape from the predator through simple individual interactions. The purpose of this research is to infuse swarm robots with "fish-like" intelligence that will enable safe navigation and efficient cooperation, and successful completion of escape tasks in changing environments. In this paper, a novel fish-inspired self-adaptive approach is proposed for the collective escape of swarm robots. A bio-inspired neural network (BINN) is introduced to generate collision-free escape trajectories through the dynamics of neural activity and the combination of attractive and repulsive forces. In addition, a neurodynamics-based self-adaptive mechanism is proposed to improve the self-adaptive performance of the swarm robots in dynamic environments. Similar to fish escape maneuvers, simulations and real-robot experiments show that the swarm robots can collectively leave away from the threat and respond to sudden environmental changes. Several comparison studies demonstrated that the proposed approach can significantly improve the effectiveness, efficiency, and flexibility of swarm robots in complex environments.

关键词： Uncertainty Navigation Biological system modeling Dynamics Neural activity Swarm robotics Trajectory

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RGBlimp-Q: Robotic Gliding Blimp With Moving Mass Control Based on a Bird-Inspired Continuum Arm

arXiv

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arXiv 2024年

作者： Cheng, Hao Zhang, Feitian The Department of Advanced Manufacturing and Robotics College of Engineering Peking University Beijing100871 China

Robotic blimps, as lighter-than-air aerial systems, offer prolonged duration and enhanced safety in human-robot interactions due to their buoyant lift. However, robust flight against environmental airflow disturbances remains a significant challenge, limiting the broader application of these robots. Drawing inspiration from the flight mechanics of birds and their ability to perch against natural wind, this article introduces RGBlimp-Q, a robotic gliding blimp equipped with a bird-inspired continuum arm. This arm allows for flexible attitude adjustments through moving mass control to enhance disturbance resilience, while also enabling object capture by using claws to counteract environmental disturbances, similar to a bird. This article presents the design, modeling, and prototyping of RGBlimp-Q, thus extending the advantages of robotic blimps to more complex environments. To the best of the authors' knowledge, this is the first interdisciplinary design integrating continuum mechanisms onto robotic blimps. Experimental results from both indoor and outdoor settings validate the improved flight robustness against environmental disturbances offered by this novel design. Copyright © 2024, The Authors. All rights reserved.

关键词： Birds

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Off-axis digital holographic phase compensation recovery method based on Gaussian filtering 4

Off-axis digital holographic phase compensation recovery met...

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4th International Conference on Optics and Image Processing, ICOIP 2024

作者： Dong, Wenbo Yu, Lei Nie, Jiafa College of information and Communication Engineering Harbin Engineering University Heilongjiang Harbin150001 China Heilongjiang Collaborative Innovation Center of Advanced Intelligent Perception Technology Heilongjiang Harbin150001 China The Academy of Robotics Engineering Harbin Far East Institute of Technology Heilongjiang Harbin150001 China

ISBN: (纸本)9781510682481

A novel approach utilizing a Gaussian filtering is presented to eliminate aberrations in the phase recovery for off-axis digital holography. After applying the Fourier-transform-based method to the off-axis hologram, a complex amplitude map containing object phase and phase aberrations can be obtained. A Gaussian filter is then employed to extract the phase aberrations map from the complex amplitude map. In this case, the object phase can be reconstructed through a division between the complex amplitude map and the phase aberration map. The proposed method does not require the sample-free hologram containing aberration information and avoids complex procedures such as surface fitting or spectral filtering. Experimental result shows that the proposed method can realize accurate and fast off-axis digital holographic phase compensation recovery. © 2024 SPIE.

关键词： Holograms

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Fundus Image Classification via an Integrated Deep Learning Model and Random Forest for Glaucoma Diagnostics 2nd

Fundus Image Classification via an Integrated Deep Learnin...

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2nd International Conference on Intelligent Manufacturing and robotics, ICIMR 2024

作者： Zeng, Haotian Cong, Jiheng Hong, Hantong Yu, Zihan Zhang, Fan Li, Guojie School of Advanced Technology Xi’an Jiaotong-Liverpool University Suzhou China School of Robotics Xi’an Jiaotong-Liverpool University Suzhou China Hebei University of Environmental Engineering Qinhuangdao China School of Electrical Engineering Electronics and Computer Science University of Liverpool Liverpool United Kingdom

ISBN: (纸本)9789819639489

Glaucoma is a leading cause of irreversible blindness, often worsened by delayed diagnosis. Traditional diagnostic methods have limitations in early detection and require significant expertise. Recent advancements in machine learning and deep learning have shown promise in enhancing the diagnostic accuracy and efficiency of glaucoma detection using fundus imagery. This study presents a four-stage method for glaucoma classification. Fundus images are processed using VGG16 and ViT for feature extraction, capturing both local and global features. These features are then fused and reduced in dimensionality using Principal Component Analysis. Finally, the reduced features are classified using a Random Forest classifier. The integrated feature fusion model demonstrates significant improvements in diagnostic performance, achieving higher accuracy, specificity, and sensitivity in distinguishing between non-referable and referable glaucoma classes compared to traditional methods. Specifically, our model achieved an accuracy of 94.2%, an F1 score of 94.2%, a sensitivity of 94.44%, and a specificity of 94.0%. The use of both CNNs and ViTs for feature extraction leverages their strengths, resulting in a more effective diagnostic tool. The combination of CNNs, ViTs, and Random Forest classifiers, along with advanced data augmentation techniques, shows substantial potential for early glaucoma detection and ongoing monitoring. This approach addresses the limitations of current machine learning models and enhances diagnostic accuracy and efficiency, making it a promising tool for clinical settings. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Ophthalmology

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Swelling and shrinking of two opposing polyelectrolyte brushes

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Physical Review E 2023年第2期107卷 024502-024502页

作者： Mingyu Duan Guang Chen Department of Advanced Manufacturing and Robotics College of Engineering Peking University Beijing 100871 People's Republic of China

Salt concentration and confinement effects affect the configuration of polyelectrolyte (PE) brushes due to electrostatic interactions. In this work, we develop a new theoretical model to analyze the electrostatics and swelling-shrinking behavior of two opposing PE brushes. By comparing three length scales, i.e., equilibrium brush height, separation distance, and Debye length, we obtain distinct scaling laws for brush height in different regimes. We provide explanations for the anomalous shrinkage of the PE brush with added salt reported in experiments and simulations, the applicability of the homogeneous brush assumption, and the confinement effect on the brush height. Our model can be used to shed light on the configuration and functionalities of PE-grafted interfaces, which play important roles in ion selective membranes and organism lubrication. We also anticipate that our method will be useful to understand the functionalities of other charged soft matter systems, such as hydrogel swelling and colloidal stability.

关键词： Electrostatic interactions Stimuli-responsive materials Polyelectrolytes Polymer brushes Polymer scaling theory Self-consistent field theory

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Asymmetries in Pelvis, Lumbar, and Thorax During Transfemoral Amputee Walking 16th

Asymmetries in Pelvis, Lumbar, and Thorax During Transfemo...

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16th International Federation of Theory of Machines and Mechanisms World Congress, IFToMM WC 2023

作者： Zhong, Heran Zhou, Zhihao Wang, Qining Department of Advanced Manufacturing and Robotics College of Engineering Peking University Beijing100871 China Institute for Artificial Intelligence Peking University Beijing100871 China Beijing Engineering Research Center of Intelligent Rehabilitation Engineering Beijing100871 China

ISBN: (纸本)9783031457043

After a transfemoral amputation (TFA), individuals’ movement patterns have numerous changes. TFA significantly induces asymmetry not only in the lower limbs but also in the upper body. The study aims to assess the extent and underlying causes of kinematic asymmetry in the pelvis, torso and spine during gait with a passive prosthesis after a TFA. In the experiments, a single participant with a passive transfemoral prosthesis walked on a treadmill at three different speeds (0.6, 0.8, and 1.2 m/s), while kinematic data were collected. The key outcomes analyzed the kinematics of the pelvis, shoulders, and spine in both the frontal and horizontal planes. Results indicate that all these segments exhibited asymmetry in both planes, with certain parameters being associated with walking speed. Specifically, the upper body asymmetry in TFA amputees was attributed to compensation by the torso and pelvis. This finding underscores the importance of incorporating pelvic and torso training in gait rehabilitation for TFA patients. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2023.

关键词： Kinematics

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Development of a Lower Limb Gait Asymmetry Index with Cyclogram Analysis Using Image Processing 12

Development of a Lower Limb Gait Asymmetry Index with Cyclog...

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12th RSI International Conference on robotics and Mechatronics, ICRoM 2024

作者： Etaati, Sepideh Javaherat, Fatemeh Delrobaei, Mehdi K. N. Toosi University of Technology Faculty of Electrical Engineering Department of Mechatronics Tehran Iran K. N. Toosi University of Technology Advanced Robotics and Automated Systems lab. Faculty of Mechanical Engineering Tehran Iran

ISBN: (纸本)9798331529734

Ahstract- This study focuses on developing a gait asymmetry index and applying image processing techniques to cyclogram analysis. We evaluated gait asymmetry under different walking conditions, specifically examining the effects of wearing a knee brace and holding a weight in hand. Using inertial measurement units (IMUs), we collected gait data to analyze knee, hip, and ankle angles in the sagittal plane. The joint kinematics data were assessed using our proposed asymmetry index, which combines image processing techniques and linear regression models. The proposed asymmetry index incorporates cyclogram area, trend symmetry, and the longest length of the cyclogram shape, effectively capturing variations in symmetry and providing a comprehensive measure. The results demonstrate that the proposed asymmetry index can effectively distinguish between different gait conditions. The findings potentially offer insights for researchers and clinicians in human biomechanics, aiding in the planning of interventions and the assessment of motion patterns, as well as for developers of bipedal walking robots in the field of robotic locomotion, enhancing their ability to design hardware and evaluate motion patterns. © 2024 IEEE.

关键词： Robot programming

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