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Comfort degree of patients' rehabilitation training based on DSmT theory

IOP Conference Series: Materials Science and Engineering 2019年第6期490卷

作者： Hongbo Wang Hao Yan Baoshan Niu Xincheng Wang Yafeng Li Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao China Academy for Engineering & Technology Fudan University Shanghai China Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Yanshan University Qinhuangdao China

This paper aims to solve the problem that most rehabilitation robots lack to integrate their physiological functions and psychological states into closed controlling loop in rehabilitation training of stroke patients. The application of fusion technology of multi-electromechanical sensor signal and DSmT signal is used to achieve patients' comfort judgement. Mean value and variance are used to extract physiological information such as heart rate, temperature and skin resistance. Sensor information of fusion technology of rehabilitation robot based on classical DSmT theory can realize on-line diagnosis of multi-comfort degree of patients' coupling.

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Unsupervised trajectory segmentation and promoting of multi-modal surgical demonstrations

arXiv

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arXiv 2018年

作者： Shao, Zhenzhou Zhao, Hongfa Xie, Jiexin Qu, Ying Guan, Yong Tan, Jindong College of Information Engineering Beijing Advanced Innovation Center for Imaging Technology Beijing Key Laboratory of Light Industrial Robot and Safety Verification Capital Normal University Beijing100048 China Engineering College University of Tennessee KnoxvilleTN37996 United States

To improve the efficiency of surgical trajectory segmentation for robot learning in robot-assisted minimally invasive surgery, this paper presents a fast unsupervised method using video and kinematic data, followed by a promoting procedure to address the over-segmentation issue. Unsupervised deep learning network, stacking convolutional auto-encoder, is employed to extract more discriminative features from videos in an effective way. To further improve the accuracy of segmentation, on one hand, wavelet transform is used to filter out the noises existed in the features from video and kinematic data. On the other hand, the segmentation result is promoted by identifying the adjacent segments with no state transition based on the predefined similarity measurements. Extensive experiments on a public dataset JIGSAWS show that our method achieves much higher accuracy of segmentation than state-of-the-art methods in the shorter time. Copyright © 2018, The Authors. All rights reserved.

关键词： Kinematics

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Auto-establishing simulation parallel manipulators with linear legs and auto-solving their workspaces by utilizing CAD variation geometry

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International Journal of Computers and Applications 2017年第4期39卷 220-233页

作者： Lu, Yi Bi, Cuicui Ye, Nijia Bo, Hu College of Mechanical Engineering Yanshan University Qinhuangdao China Parallel Robot and Mechatronic System Laboratory of Hebei Province Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of National Education Yanshan University QinhuangdaoHebei China Hebei Hanguang Industry CO. LTD Hebei China

A new approach of CAD variation geometry is proposed for automatically establishing the simulation mechanisms of parallel manipulators (PMs) with linear legs, and automatically solving their forward displacements, workspaces, and Euler angles. First, the basic concepts and techniques of the CAD variation geometry are described. Second, a program is developed by utilizing new approach. In the developed software, an interface is constructed for inputting given parameters and outputting solved results of data and graphs, several sub-programs are compiled for automatically establishing various simulation mechanisms, solving the forward displacements, and solving/ displaying reachable workspaces and Euler angles of various PMs. Third, the three novel and five existing different PMs are illustrated. When the given parameters of the PMs into the interface are inputted, their simulation mechanisms are established automatically. The displacements, the reachable workspaces, and the Euler angles are solved automatically. Finally, the solved results of the developed software are verified by that of the analytic solutions of several existing PMs and the simulation solutions of several novel PMs. © 2017 Informa UK Limited, trading as Taylor & Francis Group.

关键词： Geometry

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Erratum: Quantification of anticipation of excitement with a three-axial model of emotion with EEG (2020 J. Neural Eng.)

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Journal of neural engineering 2020年第5期17卷 059501-059501页

作者： Maro G Machizawa Giuseppe Lisi Noriaki Kanayama Ryohei Mizuochi Kai Makita Takafumi Sasaoka Shigeto Yamawaki Center for Brain Mind and KANSEI Sciences Research Hiroshima University Hiroshima Japan. Author to whom any correspondence should be addressed. Nagoya Institute of Technology Nagoya Japan. Department of Brain Robot Interface ATR Brain Information Communication Research Laboratory Group Kyoto Japan. National Institute of Advanced Industrial Science and Technology (AIST) Ibaraki Japan. Graduate School of Education Hiroshima University Hiroshima Japan. Research Center for Child Mental Development University of Fukui Fukui Japan.

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Flexible micro-perforated panels prepared by CNC machining

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IOP Conference Series: Earth and Environmental Science 2019年第4期358卷

作者： Dongyue Xie Xiaoning Tang Ming Hu Deyi Kong Yujie Qian Hefei University of Technology Hefei 230601 China State Key Laboratory Cultivation Base for New Textile Materials and Advanced Processing Technology School of Textile Science and Engineering Wuhan Textile University Wuhan 430200 China State Key Laboratory of Transducer Technology Key Laboratory of Biomimetic Sensing and Advanced Robot Technology of Anhui Province Institute of Intelligent Machines Hefei Institutes of Physical Science Chinese Academy of Sciences Hefei 230031 China IOT Engineering College Hohai University Changzhou 213022 China

With the advantages of light weight, thin thickness and environment friendly, the micro-perforated panel (MPP) has been widely studied for noise reduction. Maa's model pointed out that the MPP could obtain higher sound absorption over broader frequency band when the perforations were reduced to less than 100 μm. However, it is challenging to manufacture MPPs with the aperture of approximate 100 μm, thus its potential application has been restricted. In this study, we used a computer numerical control (CNC) milling machine to process MPP. Four different kinds of raw materials including paperboard, polyethylene terephthalate (PET), polyvinyl chloride (PVC), and polycarbonate (PC) were taken to prepare micro-perforated panels (MPPs). It has been indicated that MPPs with good sound absorption properties were successfully prepared by this facile method.

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Estimating hand and foot reaction forces based on a generalized zero moment point for rehabilitation assist system

Estimating hand and foot reaction forces based on a generali...

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IEEE-RAS International Conference on Humanoid robots

作者： Kunihiro Ogata Hideyuki Tanaka Yoshio Matsumoto Robot Innovation Research Center National Institute of Advanced Industrial Science and Technology (AIST) Tsukuba-shi Japan

ISBN: (纸本)9781538646793

Elderly individuals are likely to develop locomotive disorders such as osteoarthritis or osteoporosis. This increases the risk of falls and makes independent movement difficult. Elderly individuals should better understand walking function to extend their healthy life. We therefore propose a new method for estimating hand and foot reaction forces using only visual markers and a monocular camera. When humans contact the environment with their hands, their hand and feet positions define a convex hull. A proposed “ generalized zero moment point ” is projected on this convex hull, which is approximated as a line or plane, and the distance between this point and each contact point is calculated. Reaction forces are calculated based on the ratios of these distances. Evaluation experiments show high agreement between estimated and measured forces of both hands and feet, confirming the validity of the proposed algorithm.

关键词： Foot Legged locomotion Senior citizens Force Mathematical model Visualization Force measurement

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Sensing device simulating human buttock for the validation of robotic devices for nursing care

Sensing device simulating human buttock for the validation o...

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IEEE-RAS International Conference on Humanoid robots

作者： Kunihiro Ogata Isamu Kajitani Keiko Homma Yoshio Matsumoto Robot Innovation Research Center National Institute of Advanced Industrial Science and Technology (AIST) Tsukuba-shi Japan

ISBN: (纸本)9781538646793

robotic devices for nursing care are expected to help caregivers work with the elderly. Some robotic devices assist in the physical transfer of the elderly, and these robots come in contact with large surfaces of the human body. The regions of the buttock and the back may be uncomfortable due to these robotic devices. Therefore, sensing devices simulating a human buttock were developed to quantify and evaluate the load of a human body objectively. This buttock dummy consists of simulated bone and soft tissues, which include muscle, fat and skin. These regions have multi-axis force sensors to enable the quantification of the load due to the robotic devices used for nursing care. On measuring the soft exterior, it was found that the stiffness of the buttock dummy was similar to the human buttock. The comfort of a robotic bed was measured using the buttock dummy, and it was found that the shear force increased due to the deformation of the robotic bed. Thus, it was proven that the buttock dummy was capable of measuring the load of the human body when being used with robotic devices for nursing care.

关键词： Bones Buttocks Muscles Force robot sensing systems Force sensors

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Research on multi-base depth neural network speech recognition 2

Research on multi-base depth neural network speech recogniti...

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2nd IEEE advanced Information technology, Electronic and Automation Control Conference, IAEAC 2017

作者： Jun, Cai Fei, Li Yi, Zhang Yu, Liu College of Automation Chongqing University of Posts and Telecommunications Chongqing400065 China Chongqing Information Accessibility and Service Robot Technology Research Center Chongqing400065 China School of Advanced Manufacturing Engineering Chongqing University of Posts and Telecommunications Chongqing400065 China

ISBN: (纸本)9781467389778

In speech recognition system, an improved multi-base neural network speech recognition model is proposed to solve the problem of long learning time and slow convergence rate of deep neural network. However, the improved model introduces a large number of parameters in the training process to make the model over-fitted in the test set, resulting in the deterioration of generalization ability and the decrease of speech recognition rate. In order to solve this problem, an improved BP algorithm is introduced in the last layer of the depth neural network model. The experimental results show that the multi-base neural network model not only reduces the training time and calculation amount, but also improves the recognition accuracy compared with other recognition models, and it is an excellent speech recognition model. © 2017 IEEE.

关键词： Speech recognition

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Visual Homing via Guided Locality Preserving Matching

Visual Homing via Guided Locality Preserving Matching

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IEEE International Conference on robotics and Automation (ICRA)

作者： Jiayi Ma Ji Zhao Junjun Jiang Huabing Zhou Yu Zhou Zheng Wang Xiaojie Guo Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology Beijing China ReadSense Ltd. China School of Computer Science China University of Geosciences Wuhan China Hubei Key Lab of Intelligent Robot Wuhan Institute of Technology Wuhan China Institute of Sensing Technology and Business Beijing University of Posts and Telecommunications Beijing China National Institute of Informatics Tokyo Japan School of Computer Software Tianjin University Tianjin China

This study proposes a simple yet surprisingly effective feature matching approach, termed as guided locality preserving matching (GLPM), for visual homing of panoramic images. The key idea of our approach is merely to preserve the neighborhood structures of potential true matches between two panoramic images. We formulate it into a mathematical model, and derive a simple closed-form solution with linearithmic time and linear space complexities. This enables our method to accomplish the mismatch removal from hundreds of putative correspondences in only a few milliseconds. To handle extremely large proportions of outliers, we further design a guided matching strategy based on the proposed method, using the matching result on a small putative set with a high inlier ratio to guide the matching on a large putative set. This strategy can also significantly boost true matches without sacrifice in accuracy. To apply our GLPM to the visual homing problem, we develop a method for dense motion flow estimation from sparse feature matches based on Tikhonov regularization. Moreover, the focus-of-contraction/focus-of-expansion is derived to determine homing directions. The effectiveness of our method is demonstrated on a panoramic database in both feature matching and visual homing.

关键词： Visualization Feature extraction Electronic mail Cost function Measurement Closed-form solutions Intelligent robots

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Study of nano-manipulation approach based on the least action principle using AFM based robotic system 36

Study of nano-manipulation approach based on the least actio...

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第36届中国控制会议

作者： Shuai Yuan Lianqing Liu Zhidong Wang Ning Xi Yuechao Wang State Key Lab.Robot. SIA.Chinese Academy of Sciences Shenyang Jianzhu University Graduate University of the Chinese Academy of Sciences Dept.of Advanced Robotics Chiba Institute of Technology Dept.of Industrial and Manufacturing Systems Engineering Emerging Technologies InstituteUniversity of Hong Kong

ISBN: (纸本)9781538629185

Atomic force microscopy(AFM) is originally used to observe the sample surface,and then extended to the area of *** can be quite valuable in the further study of maneuvering *** of the influence of the tip morphology on the tip pushing direction,it is difficult to establish an effective operating model for stably manipulating nanoparticles with controllable manipulation *** resolve this problem,the acting force of manipulating the nano-particle is analyzed firstly based on the least action *** the influence of the contact point between the nano-particle and the tip is taken into account on the pushing direction,and manipulation of the nano-particle is modeled to predict its position after ***,the model parameter is calibrated through several ***,the proposed model is verified by assembling the *** experimental results illustrate that the model can effectively predict the nano-particle position after maneuvering,and can improve the manipulation efficiency.

关键词： Least action principle AFM Nano-manipulation

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