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12th International Conference on CYBER technology in Automation, Control, and Intelligent Systems, CYBER 2022

作者： Wang, Hongbo Du, Jiazheng Zhang, Yongshun Tian, Yu Zhang, Dagan Ning, Yuansheng Niu, Jianye Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Qinhuangdao066004 China Academy for Engineering and Technolgy Fudan University Shanghai200433 China Shanghai Clinical Research Center for Aging and Medicine Shanghai200040 China Yanshan University Key Laboratory of Advanced Forging and Stamping Technology Science of Ministry of Education Qinhuangdao066004 China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

In this paper, a finger rehabilitation robot with flexion/extension function is developed. This device consists of a four-finger mechanism and a thumb mechanism. The four-finger mechanism is modular designed, and consists of the metacarpophalangeal joint mechanism and the proximal interphalangeal joint mechanism. The thumb mechanism has an active degree of freedom (DoF). The hardware system and software system of the finger rehabilitation robot were built, and preliminary experiments were carried out, including the passive and active movement of the single joint and the multi-finger movement. The results show the range of motion of this robot can meet the requirements of the rehabilitation, and it is able to carry out active rehabilitation training by means of the human-machine contact force, and it has the ability to realize occupational therapy training for grasping objects in different shapes. © 2022 IEEE.

关键词： Degrees of freedom (mechanics)

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Capturing Contact Surfaces by a Frustrated Total Internal Reflection System Using a Curved Plate for Comparison of the Beginning of Touching Motions by Humanitude Experts and Novices

Capturing Contact Surfaces by a Frustrated Total Internal Re...

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2024 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2024

作者： Yuguchi, Akishige Toyoda, Mayuki Cho, Sung-Gwi Nakazawa, Atsushi Takamatsu, Jun Yoshino, Koichiro Ogasawara, Tsukasa Tokyo University of Science Faculty of Advanced Engineering Katsushika-ku Tokyo125-8585 Japan Guardian Robot Project Riken Seika-cho Sorakugun Kyoto619-0288 Japan Nara Institute of Science and Technology Nara Ikoma630-0192 Japan School of Science and Engineering Tokyo Denki University Hatoyama-machi Saitama Hiki-gun350-0394 Japan Graduate School of Interdisciplinary Science and Engineering in Health Systems Okayama University Okayama Kita-ku700-8530 Japan Applied Robotics Research Microsoft Corporation RedmondWA98052 United States

ISBN: (纸本)9781665410205

Analyzing time-series changes of the contact surface by touching is important to elucidate the touching skills of Humanitude as one of the pervasive multimodal comprehensive care methodologies. For the analysis, there is a frustrated total internal reflection (FTIR) method to capture contact surfaces on a transparent flat plate by a camera. However, this conventional flat plate is far from the actual surfaces of care receivers because the surfaces of humans consist of curved shapes. In this paper, we propose an FTIR sensing system using a transparent curved plate to capture more ideal contact states with a surface shape more similar to the human body. We collect the contact surface data of the beginning of touching motions by Humanitude experts and novices using the FTIR sensing system with the curved and flat plates. Then, we compare the data by the experts and novices in terms of time-series contact areas and the quantitative indices and subjective evaluation and discuss the analysis results. Through these experiments, we confirm that the proposed system has the potential for the novices to perform more correctly the beginning of Humanitude's touching motions. © 2024 IEEE.

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Implementation and Performance Analysis of Vascular Interventional robotic Surgical Maneuvers 6

Implementation and Performance Analysis of Vascular Interven...

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6th International Conference on robotics and Automation Engineering, ICRAE 2021

作者： Lai, Zhengrong Li, Yifa Wang, Weimin Duan, Wenke Du, Wenjing Omisore, Olatunji Mumini Akinyemi, Toluwanimi GuangDong Communications Networks Institute Guangzhou China Beijing University of Posts and Telecommunications School of Electronic Engineering Beijing China Research Center of Medical Robot and Minimally Invasive Surgical Devices Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen China

ISBN: (纸本)9781665406970

Minimally invasive vascular interventional surgery has become one of the main clinical modalities for the treatment of cardiovascular diseases due to its advantages of small intraoperative incisions, precise localization of lesions, and rapid postoperative healing. Based on the drawbacks of low operational precision and excessive radiation exposure of physicians in current vascular interventional procedures, this paper proposes a master-slave teleoperated vascular interventional surgery robotic system to assist physicians in human-machine collaborative interventional procedures. Particularly, the implementation of the system's surgical actions of push-pull and twist guidewire is presented, including hardware construction and driver development. Further, experiments are conducted to test and analyze the performance of the robotic control system. The experimental results verify that the robotic system has good master-slave following and high system positioning accuracy. Finally, the feasibility and reliability of the robotic system for delivering guidewires to perform interventional procedures were verified by robot-vascular model experiments. © 2021 IEEE.

关键词： Diseases

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Origami Actuator with Tunable Limiting Layer for Reconfigurable Soft robotic Grasping

Origami Actuator with Tunable Limiting Layer for Reconfigura...

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IEEE/RSJ International Conference on Intelligent robots and Systems (IROS)

作者： Yang Yang Kejin Zhu Yuan Xie Shaoyang Yan Juan Yi Pei Jiang Yunquan Li Yazhan Zhang Yingtian Li School of Automation Nanjing University of Information Science and Technology Nanjing China Jiangsu Province Engineering Research Center of Intelligent Meteorological Exploration Robot Department of Mechanical and Energy Engineering Southern University of Science and Technology Shenzhen China State Key Laboratory of Mechanical Transmission University of Chongqing Chongqing China Shien-Ming Wu School of Intelligent Engineering South China University of Technology Guangzhou China Peng Cheng Laboratory Shenzhen China Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen China

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

This paper presents a soft actuator inspired by origami and a tunable strain limiting layer, which is proposed for reconfigurable soft robotic grasping. Main structure of the actuator is based on Miura origami which generates extension under pressurized air while a limiting layer with tunable length enables the actuator with different motion patterns. By driving the limiting layer through a servo motor, the range of motion and trajectory of the actuator can be pre-programed and the gripper’s grasping range will be affected accordingly. This paper discusses the design, fabrication, analysis and experimental verification of the actuator. Then grasping performance of the gripper under objects of different shapes, sizes, and weights is experimentally evaluated. The reconfigurable soft gripper can be applied as an end-effector to accomplish adaptive grasping tasks with various targets.

关键词： Actuators Limiting Grasping Soft robotics robot sensing systems Trajectory Grippers Motion control Tuning Strain

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Respiratory Rate Measurement Method Based on Singular Value Decomposition

Respiratory Rate Measurement Method Based on Singular Value ...

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Chinese Automation Congress (CAC)

作者： Dongting Chu Bingyou Liu Guoyang Wan Jingjing Qi Luanfei Wan College of Electrical Engineering Anhui Polytechnic University Wuhu China The Key Lab. of Advanced Perception and Intelligent Control of High-end Equipment Ministry of Education Anhui Polytechnic University Wuhu China Wuhu HIT Robot Industrial Technology Research Institute Co. Ltd Wuhu China College of Electrical Engineering Wuhu Institute of Technology Wuhu China

In order to enhance the measurement accuracy of respiratory rate, a respiratory rate measurement method based on high-speed vision is presented in this paper. Initially, a high-speed camera is utilized to capture the experimenter's chest breathing movement video sequence, and singular value decomposition (SVD) is applied to extract the displacement resulting from respiratory movement. However, the extracted motion waveform contains some noise signals due to the poor denoising capabilities of SVD. To address this issue, an improved wavelet denoising approach is proposed in this paper to enhance the accuracy of respiratory measurement frequency. Finally, the respiratory frequency measurement method based on high-speed vision is simulated and experimented, and the respiratory rate is calculated through spectral analysis. The experiments indicate that the proposed method can accurately extract the respiratory displacement signal and effectively denoise it, making it convenient for practical use.

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research on Denoising Method Based on Iterative SVD Decomposition

Research on Denoising Method Based on Iterative SVD Decompos...

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Chinese Automation Congress (CAC)

In response to the poor denoising ability of Singular Value Decomposition (SVD), and the extracted motion waveform containing some residual noise signals, this paper proposes an iterative SVD decomposition denoising method. Firstly, the original signal is constructed into a binary recursive matrix form, and then SVD decomposition is used to obtain singular values with different contributions to the original matrix. Then, singular values with small contributions are discarded, while those with large contributions are retained. By modifying the signal reconstruction method, the denoised signal can be obtained once, and the required signal can be obtained by repeating the above process continuously. In simulation experiments and tuning fork vibration experiments, this article uses the iterative SVD decomposition denoising method and two existing denoising methods to denoise signals containing noise and uses signal-to-noise ratio (SNR) and root mean square error method (RMSE) as denoising performance indicators for data comparison, confirming the effectiveness and superiority of iterative SVD decomposition denoising method and its excellent denoising ability. In the tuning fork vibration experiment, the error between the measured results and the actual results is 0.3125%, proving that this denoising method has practical application value.

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Defect Quantification Evaluation of a Rolling Element Bearing Based on Physical Modelling and Instantaneous Vibration Energy Investigation

SSRN

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SSRN 2024年

作者： Luo, Maolin Guo, Yu Su, Zuqiang André, Hugo Tang, Zhi Zhou, Chen Li, Chao School of Advanced Manufacturing Engineering Chongqing University of Posts and Telecommunications Chongqing400065 China Postdoctoral Research Workstation of Chongqing Information Accessibility and Service Robot Engineering Technology Research Center Chongqing University of Posts and Telecommunications Chongqing400065 China Faculty of Mechanical and Electrical Engineering Kunming University of Science and Technology Kunming650500 China Université de Lyon Université Jean Monnet de Saint-Etienne LASPI EA3059 20 Avenue de Paris Roanne42334 Cedex France

The estimation of defect size of rolling element bearing (REB) is expected to remain a significant and challenging task in vibration-based condition monitoring of rotating machinery. The conventional approaches focus on extracting the time spacing of the double impulse signal to estimate the defect size of the REB which is subsequently found to be inaccurate and arbitrary. In this paper, a novel model is developed to estimate the defect size of the REB based on the theories of physics and kinematics, in which the multi-event excitations, i.e. the entry, destressing and collision generated by the rolling element-defect interaction, are considered and investigated. The kinematic and geometric contact mechanism, which is mapped onto the rolling element-defect interaction as the rolling element passes over the defect zone, are analysed and modelled as a function of the time information. In view of the fact that the variation of the vibration energy contained in the multi-impact vibration response is deeply mapped to the time information, a novel idea is proposed to extract the time information by analyzing the instantaneous energy variation of the defect-induced impulse using the scheme of the autoregressive model and the smooth pseudo Wigner-Ville distribution. The proposed model and idea are validated by experiments under different defect size and rotational speed scenarios. The results calculated by the proposed model show good agreement with the real defect size. Experimental and modelling comparisons show that the proposed model has reliable effectiveness and good performance and confidence in quantifying the size of the defect area localised on the outer raceway of the REB, and can provide some theoretical guidance for damage detection and remaining useful life prediction of the REB. © 2024, The Authors. All rights reserved.

关键词： Wigner-Ville distribution

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Electric Field Manipulation of Rydberg States for Very Low Frequency Fields Detection

arXiv

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arXiv 2025年

作者： Chen, Minze Feng, Haonan Gao, Ge Zhu, Zhiao Li, Zhongxiang Wu, Zhonghuai Xiao, Wei Dai, Weidong Peng, Peng Zheng, Dezhi State Key Laboratory of Environment Characteristics and Effects for Near-Space Beijing Institute of Technology Beijing100081 China National Key Laboratory of Science and Technology on Space-Born Intelligent Information Processing Beijing100081 China State Key Laboratory of Explosion Science and Safety Protection Beijing Institute of Technology Beijing100081 China Jiaxing314019 China Zhuhai519088 China Advanced Research Institute of Multidisciplinary Science Beijing Institute of Technology Beijing100081 China Taizhou Meteorological Bureau Taizhou318000 China Chongqing Caeri Robot Technology Co. Ltd. Chongqing400722 China

The very low frequency(VLF) band is widely used in submarine communication and geophysical exploration for its strong penetration and long-distance propagation. This paper theoretically and experimentally investigates Rydberg EIT in 133Cs vapor under VLF and DC fields. A model is established to describe the EIT spectral response under dual-field conditions, with theoretical predictions showing agreement with experimental results. We propose a novel calibration-free method to measure VLF electric fields, bypassing traditional Stark shift measurements. This method detects additional splitting intervals of Stark sublevels, separated from the degenerate energy level under a DC field. This phenomenon arises from the averaging effect of sublevel sinusoidal oscillations in the spectrum induced by the VLF field. The splitting interval is proportionally dependent on the VLF field amplitude. The VLF electric field sensor is enhanced by increasing the strength of the DC field, extending the traceable measurement limit for weak VLF electric fields by more than an order of magnitude. This work highlights the potential for precise VLF electric field measurements, significantly advancing the calibration-free detection capabilities of Rydberg atom sensors for low-frequency applications. Copyright © 2025, The Authors. All rights reserved.

关键词： Rydberg states

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A camera calibration method suitable for complex illumination conditions

A camera calibration method suitable for complex illuminatio...

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Chinese Automation Congress (CAC)

作者： Haifeng Chen Xuan Fan Pan Yang Bingyou Liu The Key Lab. of Advanced Perception and Intelligent Control of High-end Equipment Ministry of Education Anhui Polytechnic University Wuhu China The Wuhu Robot Industry Technology Research Institute of Harbin Institute of Technology Wuhu China The Dahl Intelligent Control Co. Ltd. Wuhu China

Images in weak or strong light usually have problems of uneven illumination and low contrast. Obtaining high-quality images is an important guarantee for good camera calibration results. In order to solve the problem of low camera calibration accuracy under complex lighting conditions, an image enhancement method based on Retinex under complex lighting conditions is proposed, and camera calibration is studied. Firstly, the color enhancement and color constancy of the image are realized based on the MSR algorithm. Then, the calibration plate image is processed by Gaussian homomorphic filtering to improve the image contrast and other indicators, and the final calibration plate image is obtained through image segmentation and bilateral filtering combined with Otsu algorithm. Finally, based on Zhang Zhengyou’s calibration method, comparative experiments are carried out under weak illumination, uneven illumination and strong illumination conditions. The experimental results show that the algorithm enhances the details of the calibration plate image under complex lighting conditions and improves the accuracy of camera calibration under complex lighting conditions.

关键词： Image segmentation Automation Filtering Image color analysis Lighting Filtering algorithms Cameras

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research on Change Path Optimization for Complex Mechanical Products Considering upgrade Risk

Research on Change Path Optimization for Complex Mechanical ...

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2021 International Conference on Digital Society and Intelligent Systems, DSInS 2021

作者： Zhang, Qin Pan, Jinlong Chen, Hu Feng, Yixiong Hong, Zhaoxi Huzhou Vocatinal Technical College Key Laboratory of Robot System Integration and Intelligent Equipment of Huzhou Huzhou313000 China Shanghai Space Propulsion Technology Research Institute Shanghai201109 China Shanghai Institute of Special Equipment Inspection and Technical Research Shanghai200062 China Zhejiang University State Key Laboratory of Fluid Power and Mechatronic Systems Hangzhou310027 China Zhejiang University Key Laboratory of Advanced Manufacturing Technology of Zhejiang Province Hangzhou310027 China

ISBN: (纸本)9781665406307

Affected by uncertain factors such as customer demand, product design process will face with varying degrees of upgrade risk. In order to response to change requirements and reduce the impact of component changes, change path optimization for complex products considering upgrade risk is proposed. The goal of this work is to optimize change paths with multi-objective programming. The optimization model is constructed with the goal of minimizing the change complexity, the minimizing change propagation intensity and minimizing the change time. The improved whale algorithm is proposed to solve the model. A set of non-dominated solutions is obtained which can guide decision makers to choose the appropriate scheme. Finally, a product change path optimization for an elevator is given to verify the effectiveness of the proposed method. © 2021 IEEE.

关键词： Multiobjective optimization

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