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IEEE International Conference on robotics and Biomimetics

作者： Takashi Takuma Koki Haruno Kosuke Yamada Hidenobu Sumioka Takashi Minato Masahiro Shiomi Faculty of Engineeging Osaka Institute of Technology Osaka Japan Advanced Telecommunications Research Institute International (ATR) Kyoto Japan Institute of RIKEN Guardian Robot Project Kyoto Japan

ISBN: (纸本)9781665405362

A challenging issue for soft robots is developing soft sensors that measure such non-contact information as the distance between a robot and obstacles as well as contact information such as stretch length by external force. Another issue is to adopt the sensor to the mobile robot to measure topography of pathway. We adopt capacitive cloth, which contains conductive and insulation layers, and measure not only such contact information as the robot’s deformation but also such non-contact information as the distance between the cloth and objects. Because the cloth cannot stretch though it deforms, it is processed by the Kirigami structure and embedded into a silicone plate. This paper shows the cloth’s basic specifications by measuring the relationship between the capacitance and the stretch length that corresponds to the contact information and the one and distance that corresponds to the non-contact information. The cloth is also embedded in a soft mobile robot that passes through a narrow gap while making contact with it. The pathway’s shape is estimated by observing the profile of the cloth’s capacitance by using contact information. From the results of the first experiment, which measured the stretch length, we observed a strong correlation between the stretch length and the capacitance. In the second experiment on non-contact information and distance, the capacitance greatly changed when the conductive material was close to cloth, although less-conductive material did not greatly affect the capacitance. In the last experiment in which we embedded the cloth into the soft robot, the gap’s height and length of the pathway were detected by observing the profile of the cloth’s capacitance. These results suggest that capacitive cloth has multi-modal sensing ability, including both conventional contact and novel non-contact information.

关键词： Shape Multimodal sensors Soft robotics Length measurement robot sensing systems Capacitance Capacitance measurement

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Smart Elevator Cotrol System Based on Human Hand Gesture Recognition 6

Smart Elevator Cotrol System Based on Human Hand Gesture Rec...

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6th IEEE International Conference on Computer and Communications, ICCC 2020

作者： Le, Shangzhi Lei, Qujiang Wei, Xiangying Zhong, Jiahao Wang, Yuhe Zhou, Jimin Wang, Weijun Intelligent Robot Equipment Center Guangzhou Institute of Advanced Technology Chinese Academy of Sciences Guangzhou511458 China

ISBN: (纸本)9781728186351

The rapid development of computer vision technology makes human-computer interaction possible, which has a wide range of application prospects. In this paper, we propose a gesture recognition system that can be applied to the operation of smart elevators. It can recognize different gestures of people without touching the buttons and reach the designated floor. The training data set used to train the hand gesture recognition consists of pictures and real-time frames taken by the camera. We utilize gesture segmentation, gesture tracking and other methods to preprocess the image. Then we use CNN to train the preprocessed pictures. At last, We design the user interface for computer and human interaction. The experiment shows 98.1% accuracy of static images. © 2020 IEEE.

关键词： Computer vision

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Study on the Microstructure and Properties of Eh40/2205 Interface with Fe, Co, Ni Composite Interlayer

SSRN

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SSRN 2024年

作者： Zhang, Biao Feng, Kangkang Shen, Xiaolong Yi, Yali Jin, Herong School of Mechanical Engineering Yanshan University Qinhuangdao066004 China Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao066004 China Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of National Education Yanshan University Qinhuangdao066004 China

The impact of dual and triple-layer composite interlayer (CI), constructed from Fe, Co, and Ni foils, on the microstructure and mechanical properties of the interface of EH40/2205 clad plates was investigated. The findings indicated that all groups of CI had achieved metallurgical bonding between EH40 and 2205. Specifically, the Ni layer, which had been positioned close to the composite layer 2205, had hindered the diffusion of Ni and Cr, enhancing the plasticity of the clad plate. The Fe layer, situated between Ni and Co, had increased the hardness of the CI by 180~190HV through solid solution strengthening. The Co layer, located near the base layer EH40, had been approximately 70HV harder than the Ni layer, increasing the ultimate tensile strength (UTS) and ultimate shear strength (USS) of the clad plate by about 20%. Among the schemes, EH40/Co/Fe/Ni/2205 had been the preferred option, with a UTS of 549MPa and a USS of 704MPa. © 2024, The Authors. All rights reserved.

关键词： Microstructure

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Determining the Configuration of a Manipulator using Minimal Amount of Passive Fiducial Markers

Determining the Configuration of a Manipulator using Minimal...

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IEEE/SICE International Symposium on System Integration

作者： Floris Erich Noriaki Ando Robot Innovation Research Center National Institute of Advanced Industrial Science and Technology (AIST) Japan

ISBN: (数字)9781728176581

ISBN: (纸本)9781728176598

In this paper we present a method for determining the configuration of a robot using at least one fiducial marker per joint on average, tracked by an optical motion capture system. Typically a rigid body requires at least three markers per tracked body for a passive motion capture system to determine its configuration. By using the kinematic model of the robot we can determine the configuration of a robot by applying on average a single marker per joint. The relation between markers and the links of a robot is specified in a markerfile which can be constructed using custom developed tools. In this paper we present such tools and an algorithm for online determination of the configuration of the robot.

关键词： Tracking System integration Tools Manipulators Fiducial markers robots Software development management

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A method for obtaining user requirements based on NLTK and knowledge graph

A method for obtaining user requirements based on NLTK and k...

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World Conference on Mechanical Engineering and Intelligent Manufacturing (WCMEIM)

作者： Zhanfei Wang Libin Tan Xiaoliu Yu AnHui Province Key Laboratory of Special Heavy Load Robot Anhui University of Technology Ma'Anshan China Beijing Advanced Innovation Center for Intelligent Robots and Sy stems Beijing Institute of Technology China

ISBN: (纸本)9781665473705

The traditional product design scheme can no longer fully meet the current user needs. To solve some problems that live in the period of small and medium batch products' design in traditional solutions, such as long cycles and a lot of differences between design direction and user needs as well as the high technical difficulty of current deep learning-assisted products. This paper proposes a rapid update design method for small batch products based on a knowledge graph, combining data mining and Python module methods. This method aims to reasonably reduce technical requirements, obtain user comments with intelligent crawler plug-ins, complete the extraction of demand information with two key modules of NLTK and Stanford CoreNlp, and realize visualization with a knowledge graph.

关键词： Technical requirements Knowledge engineering Deep learning Crawlers Data visualization Memory Product design

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Mechanically and Conductively Robust Eutectogel Fiber Produced by Continuous Wet Spinning Enables Epidermal and Implantable Electrophysiological Monitoring

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advanced Fiber Materials 2024年第6期6卷 1980-1991页

作者： Shufeng Hu Jingya Song Qiong Tian Chen Zeng Yuchen Jiang Qihua Li Jun Xu Wei Yan Jun Li Zhiyuan Liu Weiqing Kong Meifang Zhu State Key Laboratory of Pulp and Paper Engineering Plant Fiber Materials Science Research CenterSouth China University of TechnologyGuangzhou 510006China State Key Laboratory for Modification of Chemical Fibers&Polymer Materials College of Materials Science and EngineeringDonghua UniversityShanghai 201620China Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligent-Systems Shenzhen Institute of Advanced TechnologyChinese Academy of SciencesShenzhen 518055China Standard Robots Co. LtdRoom 405Building DHuafeng International Robot Fusen Industrial ParkHangcheng AvenueGuxing CommunityXixiang StreetBaoan DistrictShenzhen 518000China Research Center for Neural Engineering Shenzhen Institute of Advanced TechnologyChinese Academy of SciencesShenzhen 518055China

In recent years,the collection and monitoring of human physiological signals have garnered increasing attention due to their wide-ranging applications in healthcare,human-machine interaction,sports,and other ***,the continuous fabrication of flexible gel fiber electrodes with high mechanical performance,high conductivity,and durability for extreme environments using a simple,efficient,and universal strategy remains challenging for physiological signal ***,we have employed a strategy of solvent replacement and multi-level hydrogen bond enhancement to construct eutectogel fibers with continuous solid-liquid structure,achieving continuous production of fibers with high strength,high conductivity,and low-temperature *** the fiber,PVA serves as the solid-state elastic phase,DES as the liquid ionic conductive phase,and CNF as the reinforcement *** resulting eutectogel fibers exhibit excellent tensile strength(37.3 MPa),good elongation(>700%),high electrical conductivity(0.543 S/m),and resistance to extreme dry and-60°C low-tem-perature ***,these eutectogel fibers demonstrate high sensitivity for monitoring joint movements and effectively detecting in vitro and in vivo signals,show casing their potential for wearable strain sensors and monitoring physiological signals.

关键词： Eutectogel fibers Wet spinning Hydrogen-bond networks Sensing

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Vacuum wetting of Ag/TA2 to develop a novel micron porous Ti with significant biocompatibility and antibacterial activity

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Journal of Materials Science & technology 2022年第21期116卷 180-191页

作者： Guanpeng Liu Yulong Li Ming Yan Jicai Feng Jian Cao Min Lei Quanwen Liu Xiaowu Hu Wenqin Wang Xuewen Li Key Lab for Robot and Welding Automation of Jiangxi Province Mechanical and Electrical Engineering SchoolNanchang UniversityNanchang 330031China Jiangxi Provincial Key Laboratory of Interdisciplinary Science Nanchang UniversityNanchang 330031China Department of Materials Science and Engineering and Shenzhen Key Laboratory for Additive Manufacturing of High-Performance Materials Southern University of Science and TechnologyShenzhen 518055China State Key Lab of Advanced Welding and Joining Harbin Institute of TechnologyHarbin 150001China The National Engineering Research Center for Bioengineering Drugs and the Technologies Institute of Translational MedicineNanchang UniversityNanchang 330031China The Engineering Training Center of Nanchang University Mechanical and Electrical Engineering SchoolNanchang UniversityNanchang 330031China

Porous Ti with low modulus,excellent bio-corrosion resistance,biocompatibility,and antibacterial activity is highly pursued as advanced implant *** this work,a new approach to prepare micron porous structures on the surface layer of a grade 2 commercially-pure Ti(TA2)was proposed,which utilized a simple vacuum wetting process of pure Ag on the surface of *** microstructure,corrosion resistance,biocompatibility,mechanical properties,antibacterial ability,and formation mechanism of the asfabricated porous Ti were *** results show that the pores(with average pore sizes of 0.5-5μm)are distributed on the surface layer of the TA2 with a depth of~10μ*** particular,a large number of silver nanoparticles(Ag NPs)form which are dispersed on the porous *** formation mechanisms of the porous structures and Ag NPs were elucidated,suggesting that the volatilization/sublimation of Ag in TA2 is *** porous Ti possesses excellent bio-corrosion resistance,surface wettability,biocompatibility,antibacterial activity,and a relatively low elastic modulus of 40-55 GPa,which may have a promising future in the field of orthopedic *** work also provides a novel idea for the development of advanced porous Ti materials for orthopedic-related basic research and biomedical applications.

关键词： Porous titanium Biomaterials Vacuum wetting Porous surface Antibacterial activity

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A DDPG-Based Method of Autonomous Catheter Navigation in Virtual Environment

A DDPG-Based Method of Autonomous Catheter Navigation in Vir...

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IEEE International Conference on Mechatronics and Automation

作者： Wei Tian Jian Guo Shuxiang Guo Qiang Fu Tianjin Key Laboratory for Control Theory & Applications In Complicated systems and Intelligent Robot Laboratory Tianjin University of Technology Binshui Xidao Extension 391 Tianjin China Shenzhen Institute of Advanced Biomedical Robot Co. Ltd. No.12 Ganli Sixth Road Jihua Street Longgang District Shenzhen China Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology No.5Zhongguancun South Street Beijing China

Vascular interventional surgery is the main method for treating cardiovascular diseases. But navigating endovascular catheters through the vascular tree is a highly challenging task even for highly trained specialists. Automation of this task can reduce the burden on surgeons and is expected to improve the surgical outcomes. Although there have been relevant studies utilizing reinforcement learning algorithms to realize autonomous navigation of catheter in the virtual environment Cathsim. However, the kinematics model of the catheter in Cathsim does not conform to the operating mode of the catheter in real vascular interventional surgery. Besides, there are problems such as low success rates of catheter autonomous navigation tasks. To address these issues, this paper modifies the kinematics model of the catheter in Cathsim and designs a catheter autonomous navigation model based on reinforcement learning DDPG (Deep Deterministic Policy Gradient) algorithm. The experimental results show that the agents trained through DDPG in this paper performs better than the agents trained through PPO (Proximal Policy optimization) in other studies in terms of navigation task success rate, completion time, and contact force between the catheter and vascular wall during the navigation process.

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Development of Small Intelligent Production Line for Cylinder Liner

Development of Small Intelligent Production Line for Cylinde...

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World Conference on Mechanical Engineering and Intelligent Manufacturing (WCMEIM)

作者： YanHua Shi ZhenZhen Li JiWen Xu Bin Chen DeGen Chen SiYong Wang WanPeng Li XiaoJun Jiang Guangdong University of Science and Technology DongGuan China Harbin ZhiDi Robot Technology Co. Ltd. Harbin China Dongguan Strong Laser Advanced Equipment Co. Ltd. DongGuan China

ISBN: (纸本)9781665473705

Taking the cylinder liner as the carrier, a small intelligent production line integrating production and teaching has been developed. Intelligent and unmanned processing was realized through modules such as turning-milling compound machining center, stereoscopic warehouse, material conveying system, automatic loading and unloading system, and automatic detection and monitoring system. This paper introduced the mechanical structure of the stereoscopic warehouse and the automatic loading and unloading system of the production line and the software and hardware structure of the PLC control system in detail. Through on-site debugging and small batch production, the production line has reached the design expectations and better serves teaching and production.

关键词： Stereo image processing Loading Education Production Machining Software Hardware

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Outstanding Ductility of Dissimilar Laser Al/Steel Spot Joint Using a High Entropy Alloy Interlayer

SSRN

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SSRN 2023年

作者： Jiang, Qing Yang, Jin Xiao, Rui Zheng, Min Jiang, Jiawei Xue, Jing Xu, Wenhu Xu, Jiayi Zhang, Hua School of Materials Engineering Shanghai University of Engineering Science Shanghai201620 China School of Advanced Manufacturing Nanchang University Nanchang330031 China Shanghai Collaborative Innovation Center of Intelligent Manufacturing Robot Technology for Large Components Shanghai201620 China

Laser spot welding (LSW) technology was used for the joining of low carbon steel to AA5052 Al alloy using a FeCoNiCrMn equimolar high entropy alloys (HEAs) interlayer for the first time. The addition of the HEA interlayer promoted the formation of a Fe-rich Fe-Al IMC with less brittleness and hardness. It resulted in an increase of the joint fracture load from 963 N to 1473 N and a dramatic improvement of the displacement increased from 0.66 mm to 3.32 mm. Another reason for the outstanding ductility of the dissimilar laser joint was the formation of a conical fusion zone in the joint, which realized the dual coupling of metallurgical bonding and mechanical interlocking at the interface. © 2023, The Authors. All rights reserved.

关键词： High-entropy alloys

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