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2023 IEEE International Conference on Real-Time Computing and robotics, RCAR 2023

作者： Li, Wentao Li, Jinke He, Yong Tian, Dingkui Li, Feng Sun, Jianquan Wu, Xinyu Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Shenzhen518055 China Siat Cuhk Joint Laboratory of Robotics and Intelligent Systems China University of Chinese Academy of Sciences Shenzhen College of Advanced Technology Shenzhen518055 China China Construction Third Bureau First Engineering Mep Co. Ltd. Shenzhen518109 China

ISBN: (纸本)9798350327182

Physical therapy plays an important role in the rehabilitation for spinal cord injured individuals, and exoskeleton can assist with this process. In this paper, a self-balancing exoskeleton robot is introduced, which can provide assist not only in gait training, but also in balance training. In addition, it allows individuals walk with it without other assistive devices. This exoskeleton is designed to have a high degree of compatibility with humans. The structure and control system of the exoskeleton is introduced and the forward and inverse kinematic are solved, which enables the robot to perform various rehabilitation training actions as required. Experiments with a male subject have shown that this exoskeleton achieves the predicted results in gait training and balance training. © 2023 IEEE.

关键词： Inverse kinematics

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Dynamic Control Framework for Automated Particle Transport Based on Optically Induced Dielectrophoresis

Dynamic Control Framework for Automated Particle Transport B...

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

作者： Liu, Jiaxin Wang, Huaping Shi, Qing Dong, Xinyi Lin, Kaijun Sun, Tao Huang, Qiang Fukuda, Toshio Intelligent Robotics Institute Beijing Institute of Technology School of Mechatronical Engineering Beijing100081 China Beijing Institute of Technology Advanced Innovation Center for Intelligent Robots and Systems Beijing100081 China

ISBN: (数字)9781665469838

ISBN: (纸本)9781665469838

As a high-Throughput and highly flexible technique, optically induced dielectrophoresis (ODEP) is one of the most promising micromanipulation techniques applied for biomedical studies. However, most ODEP-based manipulation methods have not been explored deeply in terms of accurate control under unstructured environments with multiple interference. This paper reports a dynamic control framework for automatically transporting single particle to goal position in a complex environment with an optically induced dielectrophoresis platform. The POMDP-based path planner periodically provides the optimal motion strategy based on the real-Time environmental information and current position of the particle to avoid collisions with randomly moving obstacles. The optimal motion strategies are smoothly expanded to short-distance trajectories, which are dynamically followed by the target particle with proxy-based sliding mode control (PSMC) closed-loop controller. Experimental results indicated that compared with traditional controllers such as PID, our control method possesses higher accuracy and stability in path following. In addition, the performance of the path planner was demonstrated by transporting a NIH/3T3 cell to the desired position within a relatively crowded environment. © 2022 IEEE.

关键词： Controllers

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Dynamic Obstacle Avoidance for Magnetic Helical Microrobots Based on Deep Reinforcement Learning

Dynamic Obstacle Avoidance for Magnetic Helical Microrobots ...

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2024 IEEE International Conference on Real-Time Computing and robotics, RCAR 2024

作者： Qiu, Yukang Hou, Yaozhen Yang, Haotian Gao, Yigao Huang, Hen-Wei Shi, Qing Huang, Qiang Wang, Huaping Beijing Institute of Technology Intelligent Robotics Institute School of Mechatronical Engineering Beijing100081 China Harvard Medical School Laboratory for Translational Engineering CambridgeMA02139 United States Beijing Institute of Technology Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing100081 China Ministry of Education Key Laboratory of Biomimetic Robots and Systems Beijing Institute of Technology Beijing100081 China

ISBN: (纸本)9798350372601

Magnetic helical microrobots hold immense promise in biomedical domains owing to their compact size and efficient propulsion capabilities. However, navigating these microrobots through dynamic and unstructured environments, particularly when encountering numerous dynamic obstacles, remains a formidable challenge. In the study, a control framework based on deep reinforcement learning (DRL) with the objective of guiding a microrobot through dynamic obstacles towards specified target goals is introduced. Initially, we design and fabricate a microdrill capable of propulsion via external magnetic rotating fields produced by our magnetic actuation system. Subsequently, we construct a custom training environment, adhering to the OpenAI gym interface, to serve as the simulator for training purposes. Utilizing the proximal policy optimization algorithm, we conduct training of the navigation policy within this simulator. Simulations and experimental validations conducted in dynamic environments affirms the efficacy of the proposed method. © 2024 IEEE.

关键词： Microrobots

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A bionic approach for the mechanical and electrical decoupling of an MEMS capacitive sensor in ultralow force measurement

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Frontiers of Mechanical Engineering 2023年第2期18卷 297-317页

作者： Wendi GAO Bian TIAN Cunlang LIU Yingbiao MI Chen JIA Libo ZHAO Tao LIU Nan ZHU Ping YANG Qijing LIN Zhuangde JIANG Dong SUN State Key Laboratory for Manufacturing Systems Engineering International Joint Laboratory for Micro/Nano Manufacturing and Measurement TechnologiesOverseas Expertise Introduction Center for Micro/Nano Manufacturing and Nano Measurement Technologies Discipline InnovationXi’an Jiaotong University(Yantai)Research Institute for Intelligent Sensing Technology and SystemSchool of Mechanical EngineeringXi’an Jiaotong UniversityXi’an 710049China Shandong Laboratory of Yantai Advanced Materials and Green Manufacturing Yantai 265599China State Key Laboratory of Robotics and Systems(HIT) Harbin 150006China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of TechnologyBeijing 100081China Department of Biomedical Engineering City University of Hong KongHong KongChina

Capacitive sensors are efficient tools for biophysical force measurement,which is essential for the exploration of cellular ***,attention has been rarely given on the influences of external mechanical and internal electrical interferences on capacitive *** this work,a bionic swallow structure design norm was developed for mechanical decoupling,and the influences of structural parameters on mechanical behavior were fully analyzed and optimized.A bionic feather comb distribution strategy and a portable readout circuit were proposed for eliminating electrostatic *** instability was evaluated,and electrostatic decoupling performance was verified on the basis of a novel measurement method utilizing four complementary comb arrays and applicationspecific integrated circuit *** electrostatic pulling experiment showed that the bionic swallow structure hardly moved by 0.770 nm,and the measurement error was less than 0.009% for the area-variant sensor and 1.118% for the gap-variant sensor,which can be easily compensated in *** proposed sensor also exhibited high resistance against electrostatic rotation,and the resulting measurement error dropped below 0.751%.The rotation interferences were less than 0.330 nm and(1.829×10^(-7))°,which were 35 times smaller than those of the traditional differential *** on the proposed bionic decoupling method,the fabricated sensor exhibited overwhelming capacitive sensitivity values of 7.078 and 1.473 pF/μm for gap-variant and area-variant devices,respectively,which were the highest among the current *** immunity to mechanical disturbances was maintained simultaneously,i.e.,less than 0.369% and 0.058% of the sensor outputs for the gap-variant and area-variant devices,respectively,indicating its great performance improvements over existing devices and feasibility in ultralow biomedical force measurement.

关键词： micro-electro-mechanical system capacitive sensor bionics operation instability mechanical and electrical decoupling biomedical force measurement

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A Weighting Factors Autotuning Strategy for Model Predictive Torque Control of Permanent Magnet Synchronous Motor Based on Adaptive Multi-Objective Black Hole Algorithm 42

A Weighting Factors Autotuning Strategy for Model Predictive...

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42nd Chinese Control Conference, CCC 2023

作者： Zhou, Zixiang Wu, Tao School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China System Integration and Industrial Robotics Laboratory Wuhan430074 China

ISBN: (纸本)9789887581543

The rational design of weighting factors in the cost function for finite control set model predictive torque control (FCS-MPTC) has been a matter of great interest in power electronics and electrical drives. In order to solve this problem, a weighting factors autotuning strategy for FCS-MPTC of permanent magnet synchronous motor (PMSM) based on the adaptive multi-objective black hole algorithm (AMOBH) is proposed. In this paper, the design process of the FCS-MPTC algorithm is first analyzed in detail. Then, an AMOBH algorithm that can take into account both population convergence and population diversity is introduced, and based on this algorithm, the design problem of the weighting factors is successfully transformed into a multi-objective optimization problem by means of reconstructing the cost function and designing the motor operation information collected in real time as the objective functions of the multi-objective optimization algorithm. Simulation results show that the proposed method can find a set of weighting factor combinations suitable for different working condition requirements, and these weighting factors can effectively improve the operation performance of the PMSM system. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Cost functions

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Design of a Miniaturized Magnetic Actuation System for Motion Control of Micro/Nano Swimming Robots

Design of a Miniaturized Magnetic Actuation System for Motio...

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

作者： Sun, Liwen Wang, Huaping Shi, Qing Guo, Siyu Gao, Zhiqiao Sun, Tao Huang, Qiang Fukuda, Toshio Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology Beijing100081 China Beijing Institute of Technology Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing100081 China

ISBN: (数字)9781665469838

ISBN: (纸本)9781665469838

Magnetically controlled microrobots for drug delivery and noninvasive treatment have great potential applications in the biomedical field in the future. The construction of the magnetic actuation system is an important step to realize the automated control of micro/nano swimmers. However, the construction of a magnetic actuation system still faces challenges;for example, the magnetic field cannot be turned off immediately, the distribution of the magnetic field in the workspace is not uniform, the working space is limited and the feedback is inconvenient. In view of the above problems, a design method based on an eight-axis electromagnetic coil magnetic control system is introduced in this paper, which can compositely actuate the microrobot and ensure movement with five degrees of freedom. In addition, the overall size of the system can be reduced as much as possible under the condition that the magnetic field in the workspace is sufficiently uniform and the magnetic field intensity is sufficiently large. Finally, in the experimental part, the magnetic field uniformity is verified by magnetic field simulation and measurement, and then the path following of the square trajectory is realized with the 75 \mu \mathrm{m} helical microswimmer as the operating object. © 2022 IEEE.

关键词： Degrees of freedom (mechanics)

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Temperature Rising Model of Tubular Permanent Magnet Linear Synchronous Motor Based on Transfer Learning-Deep Neural Network 42

Temperature Rising Model of Tubular Permanent Magnet Linear ...

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42nd Chinese Control Conference, CCC 2023

作者： Wang, YiFei Wu, Tao School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China System Integration and Industrial Robotics Laboratory Wuhan430074 China

ISBN: (纸本)9789887581543

High temperature rise of permanent magnet linear synchronous motor can lead to irreversible demagnetization of the motor permanent magnet, which can negatively affect the motor performance. To address this problem, a thermal modeling analysis method based on Transfer learning-Deep neural network (TL-DNN) was proposed in this paper. Its specific implementation steps include (1) corresponding to different heat source inputs, the equivalent thermal circuit method and the finite element analysis was adopted based on the structure and main parameters of PMLSM including overall average temperature rise, coil temperature rise and permanent magnet temperature rise from the data sets of the motor;(2) TL-DNN was used to fit the functional relationship between the input source features and the output targets based on the characteristics of the sample data sets. In order to verify the accuracy of the prediction model with small sample data sets, this paper divided the proportion of the data set and compared the results with other classic nonparametric models (random forest, support vector machine, and deep neural network). The results show that the TL-DNN model outperforms other machine learning models and has better robustness and generalization ability when the training datasets are insufficient, and achieves an organic combination of physical field path model and data-driven model, which provides a feasible solution for PMLSM modeling in the case of small samples. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Finite element method

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Evolution Design Methodology of the Metamorphic Mechanisms Inspired by Gene Deduction

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Journal of Mechanical Design 2025年第8期147卷 083302页

作者： Zhang, Yang Xu, Peng Li, Bing Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robots Key University Laboratory of Mechanism & Machine Theory and Intelligent Unmanned Systems of Guangdong School of Robotics and Advanced Manufacture Harbin Institute of Technology Shenzhen 518052 China

This article proposes an evolutionary design method for metamorphic mechanisms inspired by gene deduction. First, the correlations between biological evolution and mechanical evolution, biological systems and mechanical systems, and genes and mechanisms are revealed. There are many similarities between biology and mechanism. Biological principles can be applied to the study and design of the mechanisms to adapt well to tasks and environments. The correlation between genetic operation and mechanical design is developed. The selection operator, recombination operator, and mutation operator of the mechanisms are deduced by inspiring genes. To verify the rationality of these operators, they are used to construct 5R (revolute joints) overconstrained closed-loop linkage, 6R metamorphic closed-loop linkage, 7R deployable closed-loop linkage, and 2RP (prismatic joint) RR metamorphic parallel mechanism (MPM). The mobilities of these mechanisms are analyzed via the atlas method. Finally, the evolutionary design method of MPMs is introduced and used to design the mechanisms with 2R1T (two rotation one translation) and 1R2T modes, which verify the effectiveness of the method. The proposed evolutionary design method provides a new theoretical tool for the design of metamorphic single-loop and parallel mechanisms.

关键词： bio-inspired design Chain Design methodology evolution design Design Parallel mechanisms Kinematics metamorphic mechanisms single-loop/parallel mechanisms Kinematic chains gene deduction atlas method Biology Bifurcation

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YOLO-Based Detector for Enhancing Workplace Safety: Real-Time PPE Detection and Monitoring

YOLO-Based Detector for Enhancing Workplace Safety: Real-Tim...

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ACS/IEEE International Conference on Computer systems and Applications

作者： Souha Amri Laila Ouannes Anis Sahbani Najoua Essoukri Ben Amara Ecole Nationale d'Ingénieurs de Sousse LATIS- Laboratory of Advanced Technology and Intelligent Systems Université de Sousse Sousse Tunisie Enova Robotics S.A. CNRS Institule for intelligent Systems and Robotics (ISIR) Sorbonne Université Paris France

ISBN: (数字)9798331518240

ISBN: (纸本)9798331518257

Ensuring the safety of workers in hazardous environments is crucial, given the potential severity of accidents. Indeed, Personal Protective Equipment (PPE), including safety helmets, vests, and boots, is vital in mitigating risks. However, adherence to PPE usage often falls short due to inadequate safety awareness among workers. To address this challenge, we aim to develop a robust safety monitoring system by leveraging advancements in deep learning and object detection technology. Our proposed method uses YOLOv7 and YOLOv8 algorithms for real-time detection and classification of safety equipment, including helmets, vests, and boots. For this aim, we carefully collect and annotate datasets from diverse sources like Roboflow and Kaggle. Then, we accurately evaluate performance metrics such as precision, recall, and speed through rigorous training and testing of various YOLOv7 and YOLOv8 configurations on annotated data batches. By conducting thorough comparative analyses, we aim to identify the most effective model for each PPE category, considering both detection accuracy and computational efficiency. Finally, the object detection system is deployed through a web interface to determine whether a person is protected or not.

关键词： Personal protective equipment Training Accuracy Computational modeling Employment Streaming media Helmets Real-time systems Safety Monitoring

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Dual-modal Motion of Magnetically Controlled Soft Microrobots with Environmentally Responsive Reversible Deformation 24

Dual-modal Motion of Magnetically Controlled Soft Microrobot...

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2nd International Conference on Frontiers of intelligent Manufacturing and Automation, CFIMA 2024

作者： Xin, Zhengyuan Wu, Anping Bai, Kailun Yang, Haotian Lin, Kaijun Shi, Qing Wang, Huaping Hou, Yaozhen Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology Beijing China School of Medical Technology Beijing Institute of Technology Beijing China Science and Technology on Space Physics Laboratory Beijing China School of Mechatronical Engineering Beijing Institute of Technology Beijing China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology Beijing China

ISBN: (纸本)9798400710681

Soft microrobots have garnered attention in the biomedical field due to their ability to access hard-to-reach regions within living organisms for precise manipulation. However, the inability to alter the stable morphology after design and fabrication remains a pressing issue for existing soft microrobots. This limitation results in a fixed range of locomotion modes, thereby restricting the diversity of operational environments. Addressing this challenge, this study proposes and designs a biocompatible X-shaped soft microrobot that achieves alterable stable morphologies through an innovative mechanism. We developed a deformable soft hydrogel robot based on alginate gel’s ability to reversibly swell in response to ion concentration changes. Based on the deformation characteristics of this microrobot, we have designed undulating and rolling locomotion modes that are suitable for different morphologies, along with their corresponding magnetic field manipulation systems, enabling multi-morphology locomotion of the robot. Experimental validations demonstrate that the designed flexible microrobot can achieve a deformation deflection angle of up to 150° under manipulation. This robot not only performs forward undulating locomotion in its expanded state but also executes rolling motion in its spherical configuration, exhibiting high locomotion flexibility and adaptability. © 2024 Copyright held by the owner/author(s).

关键词： Microrobots

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