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2022 IEEE International Conference on Real-Time Computing and robotics, RCAR 2022

作者： Zhou, Xin Liu, Jiaqing Huai, Yaping Ye, Jiancong Wang, Can Wu, Xinyu Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced Technology China Department of Rehabilitation Medicine Shenzhen Longhua District Central Hospital Shenzhen518000 China University of Science and Technology of China China University of Chinese Academy of Sciences China South China University of Technology China Department of Mechanical and Automation Engineering Chinese University of Hong Kong Hong Kong

ISBN: (数字)9781665469838

ISBN: (纸本)9781665469838

In recent years, based on surface electromyography (sEMG), great progress has been made in gesture recognition tasks, which is significant to the study of computer interaction and prosthesis control. Prior to this, many researches have focused on feature selection and time series modeling of data. However, it is difficult and complicated to manually perform feature extraction and feature selection on data. Besides, most of the time series modeling is based on recurrent neural networks with memory cell, that is, Long Short-term Memory (LSTM). Even though LSTM has memory gate, but cannot completely records historical information. In this paper, to address the above problems, we propose a Temporal Convolutional Network based on Attention mechanism (ATCN), in which Attention is used to characterize temporal features, and dilated causal convolution to capture more historical information. ATCN achieves 95.26% accuracy with this method on the public dataset NinaPro DB2, which exceeds the state-of-the-art accuracy of 5%. The experiments show that this approach is feasible and effective for gesture recognition tasks. Our contributions are as follows: Firstly, Attention mechanism is introduced into the field of prosthetic control. Then, ATCN is proposed for gesture recognition. Finally, ATCN achieves better results than LSTM on multiple public datasets. © 2022 IEEE.

关键词： Long short-term memory

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Low-Friction Soft Robots for Targeted Bacterial Infection Treatment in Gastrointestinal Tract

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Cyborg and Bionic Systems 2024年第1期5卷 162-176页

作者： Ben Wang Yunrui Chen Zhicheng Ye Haidong Yu Kai Fung Chan Tiantian Xu Zhiguang Guo Weimin Liu Li Zhang College of Chemistry and Environmental Engineering Shenzhen UniversityShenzhen 518060China Guangxi Key Laboratory of Processing for Non-Ferrous Metals and Featured Materials School of ResourceEnvironments and MaterialsGuangxi UniversityNanning 530004China Chow Yuk Ho Technology Centre for Innovative Medicine The Chinese University of Hong KongShatinNew TerritoriesHong Kong SARChina Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institute of Advanced TechnologyChinese Academy of SciencesShenzhen 518055China Key Laboratory of Biomedical Imaging Science and System Shenzhen Institute of Advanced TechnologyChinese Academy of SciencesShenzhen 518055China Hubei Collaborative Innovation Centre for Advanced Organic Chemical Materials and Ministry of Education Key Laboratory for the Green Preparation and Application of Functional Materials Hubei UniversityWuhan 430062China State Key Laboratory of Solid Lubrication Lanzhou Institute of Chemical PhysicsChinese Academy of ScienceLanzhou 730000China Department of Mechanical and Automation Engineering The Chinese University of Hong KongShatinNew TerritoriesHong Kong SARChina Multi-Scale Medical Robotics Center Hong Kong Science ParkShatinNew TerritoriesHong Kong SARChina

Untethered and self-transformable miniature robots are capable of performing reconfigurable deformation and on-demand locomotion,which aid the traversal toward various lumens,and bring revolutionary changes for targeted delivery in gastrointestinal(GI)***,the viscous non-Newtonian liquid environment and plicae gastricae obstacles severely hamper high-precision actuation and payload ***,we developed a low-friction soft robot by assembly of densely arranged cone structures and grafting of hydrophobic *** magnetic orientation encoded robot can move in multiple modes,with a substantially reduced drag,terrain adaptability,and improved motion velocity across the non-Newtonian ***,the robot stiffness can be reversibly controlled with magnetically induced hardening,enabling on-site scratching and destruction of antibiotic-ineradicable polymeric matrix in biofilms with a low-frequency magnetic ***,the magnetocaloric effect can be utilized to eradicate the bacteria by magnetocaloric effect under high-frequency alternating *** verify the potential applications inside the body,the clinical imaging-guided actuation platforms were developed for vision-based control and delivery of the *** developed low-friction robots and clinical imaging-guided actuation platforms show their high potential to perform bacterial infection therapy in various lumens inside the body.

关键词： gastrointestinal tract reconfigurable deformation targeted bacterial infection treatment low friction soft robots plicae gastricae obstacles assembly densely arranged cone structures targeted delivery grafting hy

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Teleoperation of Multi-functional Neurosurgical Tool*

Teleoperation of Multi-functional Neurosurgical Tool*

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WRC Symposium on advanced robotics and automation (WRC SARA)

作者： Xudong Ma Lechen Yao Anqi Chen Junchen Wang Changsheng Li Wenyong Liu Yida David Hu Bai-Quan Su Medical Robotics Laboratory School of Automation Beijing University of Posts and Tele-communications Beijing China Affiliated High School of Peking University Beijing China School of Mechanical Engineering and Automation Beihang University Beijing China Key Laboratory for Biomechanics and Mechanobiology of Chinese Education Ministry Beijing Advanced Innovation Centre for Biomedical Engineering School of Biological Science and Medical Engineering Beihang University Beijing China Brigham and Women’s Hospital Harvard Medical School Boston MA USA

Fluid removal and electrotome coagulation are routine procedures in neurosurgery operations, and the doctor’s remote control can reduce physical fatigue. In this paper, an integrated multi-functional surgical tool which can realize electrocoagulation and liquid aspiration is designed. At the same time, the multi-functional integrated surgical device is combined with the remote operation method to realize the remote operation of the instrument. This multifunctional instrument includes CCD-imaging, suction and electrical coagulation. The system can complete the remote operation function of the special design tool, and can isolate the doctor from the operation. The teleoperation of this instrument is integrated with the teleoperation of other functional instruments to realize the teleoperation of the complete surgical process.

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Preliminary Design of Robotic System for Closing Incision by Rotating Bandage Method*

Preliminary Design of Robotic System for Closing Incision by...

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WRC Symposium on advanced robotics and automation (WRC SARA)

作者： Anqi Chen Xudong Ma Yixin Sun Wenyong Liu Junchen Wang Changsheng Li Yida David Hu Bai-Quan Su Medical Robotics Laboratory School of Automation Beijing University of Posts and Telecommunications Beijing China Key Laboratory for Biomechanics and Mechanobiology of Chinese Education Ministry Beijing Advanced Innovation Centre for Biomedical Engineering School of Biological Science and Medical Engineering Beihang University Beijing China School of Mechanical Engineering and Automation Beihang University Beijing China School of Mechatronical Engineering Beijing Institute of Technology Beijing China Harvard Medical School Brigham and Women’s Hospital Boston MA USA

Wound treatment is routine work in hospital and bandaging of wound happens numerous even in a hospital scale. However, manual bandaging is accompanied with potential infection and it is tedious and manpower-wasting besides. This paper proposed a customized bandaging mechatronic system for avoiding bacteria from hand contact. The design of the propose bandaging system is developed and the working procedure of the by the system is given step by step. To the best knowledge of the authors, the customized mechatronic system is the first bandaging robotic system for bandaging purpose. After loading a customize bandage package, the proposed system lays a solid foundation for automatous bandaging method without human intervention during bandaging.

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Study on Mechanical Properties of Dual-Channel Cryogenic 3d Printing Scaffold for Mandibular Defect Repair

SSRN

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SSRN 2023年

作者： Gao, Lilan Sun, Mengchao Liu, Jie Meng, Lulu Liu, Han Zheng, Xiongfei Liu, Hao Li, Ruixin Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300382 China Tianjin300382 China Beijing Friendship Hospital Capital Medical University 100050 China State Key Laboratory of Robotics Institutes for Robotics and Intelligent Manufacturing Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110017 China Tianjin Key Laboratory of Oral and Maxillofacial Function Reconstruction Tianjin Stomatological Hospital The Affiliated Stomatological Hospital of Nankai University Tianjin300041 China

Mandibular defect repair has always been a clinical challenge, facing technical bottleneck. The new materials directly affect technological breakthroughs in mandibular defect repair field. Our aim is to fabricate a scaffold for mandibular defect repairing with advanced biomaterials. Therefore, a novel dual-channel printed scaffold consisting of silk fibroin/collagen type I /hydroxyapatite (SCH) and polycaprolactone/hydroxyapatite (PCL/HA) was fabricated by 3D printing technology with double nozzles. The mechanical properties and behaviors of dual-channel printed scaffold were investigated by performing uniaxial compression, creep, stress relaxation and ratcheting experiments respectively. The experiments indicated the Young modulus of dual-channel printed scaffold was 60.1 kPa and dual-channel printed scaffold was typical nolinear viscoelastic consistent with bone tissue. Finite Element Analysis (FEA) was employed performing a numerical simulation to evaluate the implantation effect in mandible. The stress distribution of the contact area between scaffold and defect was uniform, the maximum Mises stress of cortical bone and cancellous bone in defect area were 54.52MPa and 3.196MPa, and the maximum displacement of cortical bone and cancellous bone in defect area were 0.1575mm and 0.1555mm, which were distributed in the incisor region. The peak value of the maximum Mises stress for the scaffold implanted was 3.128× MPa and the maximum displacement was 6.453×mm distributed near incisor area. The displacement distribution of the scaffold was consistent with that of cortical and cancellous bone. The scaffold recovered well when the force applied on it disappeared. Above all, dual-channel printed scaffold had excellent bio-mechanical properties in implanting mandible, which provides a new idea for the reconstruction of irregular bone defects in the mandible and has good clinical development prospects. © 2023, The Authors. All rights reserved.

关键词： 3D printing

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Design and 3D Printing of Lower Limb Prosthetic Socket *

Design and 3D Printing of Lower Limb Prosthetic Socket *

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IEEE International Conference on Cyborg and Bionic Systems (CBS)

作者： Sheng Li Bin Xie Ye Chen Xinyu Wu Guoxin Fang Yan Zhang Fei Gao Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen China Shien-Ming Wu School of Intelligent Engineering South China University of Technology Guangzhou China Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong China State Key Laboratory of Powder Metallurgy Central South University Changsha Hunan China

ISBN: (数字)9798350388039

ISBN: (纸本)9798350388046

The prosthetic socket is a crucial interface connecting the residual limb to the prosthetic device, significantly affecting force transmission and wearer comfort. This work presents a comprehensive framework for design, simulation, and fabrication of the prosthetic socket. A 3D model of the residual limb, including the skeleton model and skin contour, is reconstructed from CT scan data. Using this model, the prosthetic socket and liner are designed based on biomechanical principles. The interaction force between the residual limb and the prosthetic socket and liner is simulated via finite element analysis (FEA) when the body weight of a below-knee amputee exerts on the prosthetic socket. Finally, the prosthetic socket and residual limb are fabricated using additive manufacturing (AM) technology, and a soft prosthetic liner is made of ethylene-vinyl-acetate (EVA) polymer. Clinical trials on a below-knee amputee were conducted to preliminarily test the prosthetic socket’s performance.

关键词： Limbs Solid modeling Sockets Biological system modeling Force Three-dimensional printing Skin Data models Finite element analysis Prosthetics

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A novel underwater image synthesis method based on a pixel-level self-supervised training strategy

A novel underwater image synthesis method based on a pixel-l...

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2021 IEEE International Conference on Real-Time Computing and robotics, RCAR 2021

作者： Wu, Zhiheng Wu, Zhengxing Lu, Yue Wang, Jian Yu, Junzhi Institute of Automation Chinese Academy of Sciences State Key Laboratory of Management and Control for Complex Systems Beijing100190 China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100049 China State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and Robotics BIC-ESAT College of Engineering Peking University Beijing100871 China

ISBN: (纸本)9781665436786

With the rapid development of deep neural networks, underwater vision plays an increasingly important role in the underwater robotic operation. However, the scarce underwater datasets greatly limit the performance of deep learning on underwater visual tasks, further hindering the applications of underwater operation. To solve this problem, we propose an underwater image synthesis method, which can directly convert the natural light image into the synthetic underwater image end-to-end. Particularly, a pixel-level self-supervised training strategy is designed to maximize the structural similarity between the synthesized and real images, through training the real underwater images. Finally, extensive experiments are carried out, and the obtained results demonstrate the effectiveness and superiority of our methods by quantitative and qualitative comparisons. The proposed underwater image synthesis method offers a valuable sight for underwater vision and manipulating control. © 2021 IEEE.

关键词： Deep neural networks

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Autonomous Water Sampling System and Experiment Based on the Unmanned Surface Vehicle

Autonomous Water Sampling System and Experiment Based on the...

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2021 IEEE International Conference on Unmanned Systems, ICUS 2021

作者： Zhang, Mengwei Li, Decai He, Yuqing Xiong, Junfeng Li, Zhi Xiong, Chunhong Shenyang Institute of Automation Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China Guangzhou Institute of Industrial Intelligence Shenyang Institute of Automation Guangzhou Chinese Academy of Sciences Academicians Experts Workstation Guangzhou China Co. Ltd Natl. Eng. Lab. of Advanced Technology and Equipment for Water Environmental Pollution Monitoring Changsha China Co. Ltd Natl. Eng. Lab. of Advanced Technology and Equipment for Water Environmental Pollution Monitoring Changsha China

ISBN: (纸本)9780738146577

Water pollution is always the worldwide key problem. For the problem of complex, frequent and dangerous water sampling and monitoring missions in the various water areas, this paper designs an autonomous water sampling system based on the unmanned surface vehicle (USV), and it introduces the experimental application of the water sampling system. According to the water sampling missions, the ground station sets up the desired water sampling position, and then, the USV goes fleetly to the target position carrying the autonomous water sampling equipment to complete the mission by water sampling and control modules. This autonomous water sampling system based on the USV can long-periodic execute water sampling and monitoring missions precisely, safely and effectively. © 2021 IEEE.

关键词： Unmanned surface vehicles

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Grapevine Winter Pruning automation: On Potential Pruning Points Detection through 2D Plant Modeling using Grapevine Segmentation 11

Grapevine Winter Pruning Automation: On Potential Pruning Po...

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11th IEEE Annual International Conference on CYBER Technology in automation, Control, and Intelligent Systems, CYBER 2021

作者： Fernandes, Miguel Scaldaferri, Antonello Fiameni, Giuseppe Teng, Tao Gatti, Matteo Poni, Stefano Semini, Claudio Caldwell, Darwin Chen, Fei Active Perception and Robot Interactive Learning Laboratory Istituto Italiano di Tecnologia Department of Advanced Robotics Genova16163 Italy Italy Università Cattolica Del Sacro Cuore Department of Sustainable Crop Production Piacenza29122 Italy Lab Istituto Italiano di Tecnologia Genova16163 Italy T-Stone Robotics Institute The Chinese University of Hong Kong Department of Mechanical and Automation Engineering Hong Kong

ISBN: (纸本)9781665425278

Grapevine winter pruning is a complex task, that requires skilled workers to execute it correctly. The complexity of this task is also the reason why it is time consuming. Considering that this operation takes about 80-120 hours/ha to be completed, and therefore is even more crucial in large-size vineyards, an automated system can help to speed up the process. To this end, this paper presents a novel multidisciplinary approach that tackles this challenging task by performing object segmentation on grapevine images, used to create a representative model of the grapevine plants. Second, a set of potential pruning points is generated from this plant representation. We will describe (a) a methodology for data acquisition and annotation, (b) a neural network fine-tuning for grapevine segmentation, (c) an image processing based method for creating the representative model of grapevines, starting from the inferred segmentation and (d) potential pruning points detection and localization, based on the plant model which is a simplification of the grapevine structure. With this approach, we are able to identify a significant set of potential pruning points on the canes, that can be used, with further selection, to derive the final set of the real pruning points. © 2021 IEEE.

关键词： Data acquisition

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An Assembly Sequence Planning Method Using Ant Colony Algorithm for Arbitrary Placed Workpieces

An Assembly Sequence Planning Method Using Ant Colony Algori...

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IEEE International Conference on Real-time Computing and robotics (RCAR)

作者： Ruiming Hou Sheng Xu Chenguang Yang Bing Zhu Jianghua Duan Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China University of Chinese Academy of Science Beijing China Shandong Institute of Advanced Technology CAS Shandong China College of Automation Science and Engineering South China University of Technology Guangzhou China Department of Mechanical and Aerospace Engineering Hong Kong University of Science and Technology Hong Kong

This paper proposes a particular and effective online sequence planning method to help manipulators complete complex assembly tasks. In many existing studies, the workpiece is constrained to be placed at a particular initial position. To overcome this drawback, we combine the ant colony algorithm with a target detection algorithm, which could get the positions of the workpieces in real time for online sequence planning. In addition, the constraint and obstacle avoidance of different workpieces in the assembly process is also considered. According to the experiment results, an observation is found that the new method is superior to the general way in terms of efficiency and cost function value. Furthermore, the proposed method effectively solves different practical and feasible assembly sequence planning problems.

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