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Predictive Control for an Ankle Rehabilitation robot Using Differential Evolution Optimization Algorithm-Based Fuzzy NARX Model

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IEEE Transactions on Neural Systems and Rehabilitation Engineering 2025年 33卷 1888-1897页

作者： Xie, Shenglong Zhong, Haiming Li, Yuntang Xu, Su'an Liu, Wenyuan Bian, Shiyuan Zhang, Shiwu China Jiliang University School of Mechanical and Electrical Engineering Zhejiang Hangzhou 310018 China University of Science and Technology of China School of Engineering Science Department of Precision Machinery and Precision Instrumentation Institute of Humanoid Robots Hefei 230026 China Anhui Key Laboratory of Bionic Sensing and Advanced Robot Technology Hefei 230031 China

For patients with stroke, hemiplegia and ankle injuries, ankle rehabilitation robots can provide personalized rehabilitation treatment programs through quantitative evaluation and precise control. In this paper, based on differential evolution (DE) optimization algorithm and fuzzy nonlinear auto regressive with exogenous inputs (NARX) model, an iterative learning model predictive controller is constructed to achieve accurate and robust trajectory tracking control of an ankle rehabilitation robot driven by pneumatic muscle. Firstly, the T-S fuzzy NARX model is applied to characterize the forward and inverse hysteresis process of pneumatic muscle actuator (PMA) in this ankle rehabilitation robots and differential evolution optimization (DE) algorithm realize high precision parameters identification. Then, the optimization of objective function is compared with genetic algorithm and particle swarm optimization. Secondly, the iterative learning model predictive control (ILMPC) controller is designed and the trajectory tracking control scheme of an ankle rehabilitation robot is presented based on the ILMPC controller. Finally, the experiments with different trajectories and subjects are carried out to verify the control performance of the proposed control method. The experimental results indicate that the proposed ILMPC controller can converge normally and has good control performance with different operating trajectories and subjects. © 2001-2011 IEEE.

关键词： differential evolution (DE) iterative learning model predictive control (ILMPC) Pneumatic muscle actuator (PMA) T-S fuzzy NARX model

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Noise Reduction of UAV Using biomimetic Propellers with Varied Morphologies Leading-edge Serration

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Journal of Bionic Engineering 2020年第4期17卷 767-779页

作者： Yuliang Wei Feng Xu Shiyuan Bian Deyi Kong State Key Laboratory of Transducer Technology Key Laboratory of Biomimetic Sensing and Advanced Robot Technology of Anhui ProvinceInstitute of Intelligent MachinesChinese Academy of SciencesHefei 230031China Science Island Branch of Graduate School University of Science and Technology of ChinaHefei 230009China

The Leading-Edge(LE)serrations on owls'wings are known to be responsible for silent ***,this design has rarely been applied to reduce the noise of rotational rotor propellers and the morphologies of the existing serration designs are ***,we present a comparative study ofLE serrations with different morphologies in terms of the effectiveness in suppressing noise and promoting thrust *** performances of biomimetic propellers are investigated by Computational Fluid Dynamics(CFD)simulations and rotation *** simulation results reveal that LE serrations could reduce velocity fluctuations and change the lamina-turbulent transition and turbulence distribution on the suction surface of propeller,but the morphology of the serrations influences its *** testing results indicate that the sawtooth propeller has the best performance on noise reduction(on average 2.43 dB and in maximum 4.18 dB)and simultaneously enhancing the thrust forces(3.53%).The largest practical noise reductions(4.73 dB and 3.79 rdB)using the sawtooth propeller are observed when the quad-rotor Unmanned-Aerial Vehicle(UAV)is hovering at heights of 5 m and 8 m,*** results indicate the robustness and usefulness of owl-inspired biomimetic serration devices for aero-acoustic control and aerodynamic performance promotion on propeller *** finding is expected to con^bute to suppressing the sound of propeller and the rotor-based aircraft.

关键词： unmanned-aerial vehicle biomimetic noise reduction LE serration rotor propeller

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Synthesis and application of DNA-templated silver nanowires for ammonia gas sensing

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Materials Science and Engineering C 2009年第4期29卷 1191-1195页

作者： Zhao, Kai Chang, Qifei Chen, Xing Zhang, Buchang Liu, Jinhuai The Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Anhui Province Institute of Intelligent Machines Hefei 230031 China School of life science Anhui University Hefei 230039 China

The DNA-templated silver nanowires have been synthesized by a simple chemical reduction method in solution and used for gas detection of ammonia. Lactic acid as a stabilizer in reduction bath can effectively decrease the nonspecific deposition of metallic silver by slowing down the reaction. In the present experiments, the highly conductive DNA-templated silver nanowires consisting of grains improve the surface area/volume ratio, which can increase the adsorption of ammonia gas molecules. The results of gas sensing measurements indicate that these nanowires show a high selectivity to ammonia, a quick gas response (~ 10s) and a fast recovery (~ 7s). Moreover, the possible gas sensing mechanism has been discussed in this paper. Therefore, we found that the DNA-templated silver nanowires reported here might be a potential candidate of gas sensing materials for ammonia gas detection. Crown Copyright © 2008.

关键词： Ammonia

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Design and Analysis for the Axe Foot of Bio-inspired Anchoring robot 17

Design and Analysis for the Axe Foot of Bio-inspired Anchori...

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17th IEEE International Conference on Mechatronics and Automation, ICMA 2020

作者： Liu, Lei Xu, Linsen Liu, Jinfu Xu, Jiajun Chen, Shouqi Cheng, Gaoxin Xu, Hong Shi, Jia University of Science and Technology of China Hefei China Anhui Province Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Hefei China

ISBN: (纸本)9781728164151

Mooring location has become increasingly important with the rapid development and utilization of marine resources. The mooring system of the underwater mobile robot is required to be efficient and intelligent. This paper proposes a novel anchoring robot by imitating the excellent inhabitation functions and physiological structure of the razor clam. This bio-inspired robot can autonomously dig holes, anchor, and detach to improve the efficiency of mooring location in marine operations. Specifically, the axe foot of the robot plays an important role in these movements. It contains a screw-cone drill and two soft parts. The screw-cone drill is the main forced part while the robot is in the digging state and the rationality of drill design is proved by mechanics analysis. Moreover, the soft part, which is connected with the upper end of the drill, is analyzed to show the capability of obstacle avoidance. The rationality of the structural design and a good submarine anchoring function of the axe foot are verified by the above analysis. © 2020 IEEE.

关键词： Drills

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Development of a novel H2S gas sensor based on CuO-doped SnO2 hollow nanospheres

Development of a novel H2S gas sensor based on CuO-doped SnO...

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IEEE Sensors 2009 Conference - SENSORS 2009

作者： Liu, Jinhuai He, Lifang Chen, Xing Meng, Fanli Li, Minqiang Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Hefei Institute of IntelligMachines CAS Hefei China

ISBN: (纸本)9781424445486

An effort has been made to develop a kind of CuO-doped SnO2 gas sensors for detecting trace amount of H2S gas at relative low temperature. The CuO-doped SnO2 hollow nanospheres are prepared from SnO2 hollow spheres (employing carbon nanospheres as temples) and Cu precursor by dipping method. The sensitivity and selectivity of the sensors based on the as-prepared CuO-doped SnO2 hollow nanospheres have been studied in details. It had been found that trace amount of H2S gas can be detected by the sensors at a relative low temperature of 35°C. The good sensing performances might be attributed to two factors. Firstly, using SnO2 hollow nanospheres might increase the chances of formation of p-n junctions between CuO nanoparticles and SnO2 nanoparticles. Secondly, the existence of porous structure would improve the active sensing surface area and enhance the efficient gas diffusion. In one word, CuO-doped SnO2 hollow nanospheres might be one of the most promising materials for detecting trace amount of H2S gas. ©2009 IEEE.

关键词： Copper oxides

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Robust and precise eye detection based on locally selective projection

Robust and precise eye detection based on locally selective ...

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作者： Zheng, Ying Wang, Zengfu Department of Automation University of Science and Technology China Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Anhui Province China

ISBN: (纸本)9781424421756

This paper proposes a robust and precise eye detection method based on a new projection algorithm called locally selective projection (LSP). Along each projection axis, LSP selects a pixel and uses a function calculated in the neighborhood of the pixel as response. The local selectivity of LSP makes it robust against rotation, illumination and occlusion. Moreover, the positions of selected pixels can be recorded, providing a 2D cue for image analysis. We apply LSP to eye detection. The vertical and horizontal LSPs are first used to give reliable eye candidates, then a SVM classifier is employed to verify the real eye pairs. The experiment result compared with an AdaBoost detector shows the robustness and accuracy of proposed method. © 2008 IEEE.

关键词： Pixels

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Semantic feature extraction for accurate eye corner detection

Semantic feature extraction for accurate eye corner detectio...

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作者： Xu, Cui Zheng, Ying Wang, Zengfu Department of Automation University of Science and Technology China Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Anhui Province China

ISBN: (纸本)9781424421756

In this paper a novel eye corner (canthus) detection method is proposed. The method is based on sematic features which are extracted from the structure and appearance characteristics of canthus. The eyelids are first fitted to construct an angle model. Based on this model, one feature is proposed to characterize the appearance difference between inner and outer canthus regions, and another feature is proposed to emphasize the role of the canthus angle bisector region. The two features are fused in a logistic regression classifier to detect accurate canthus. The effectiveness and accuracy of the proposed method are demonstrated in experiments. © 2008 IEEE.

关键词： Semantics

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Eye state detection in facial image based on linear prediction error of wavelet coefficients

Eye state detection in facial image based on linear predicti...

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2008 IEEE International Conference on robotics and biomimetics, ROBIO 2008

作者： Cheng, Erkang Kong, Bin Hu, Rongxiang Zheng, Fei Center for Biomimetic Sensing and Control Research Institute of Intelligent Machine Chinese Academy of Science Hefei Anhui Province China Department of Automation University of Science and Technology of China Hefei Anhui Province China Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Anhui Province China

ISBN: (纸本)9781424426799

Eye state detection in facial image is a significant issue in face recognition, human-computer interface and driver fatigue monitoring system. In this paper, we first located the eye region in the upper area of the face region with AbaBoost algorithm. The linear predictor error distribution of wavelet coefficients was proposed as the statistics model to distinguish the eye states. We collected statistics (mean, variance, skewness, and kurtosis) of the prediction error distribution as eye state features. Build on these eye state features and support machine vector (SVM) with radial basis function (RBF) kernel a non-linear classifier is obtained by training samples of eye images. Experiment results with the classifier demonstrated that our method is an effective eye state detection approach which can satisfy various situations. © 2008 IEEE.

关键词： Face recognition

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Underwater image clarifying based on human visual colour constancy using double-opponency

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CAAI Transactions on Intelligence technology 2024年第3期9卷 632-648页

作者： Bin Kong Jing Qian Pinhao Song Jing Yang Amir Hussain Institute of Intelligent Machines Chinese Academy of SciencesHefeiChina Peng Cheng Laboratory ShenzhenChina Anhui Key Laboratory of Biomimetic Sensing and Advanced Robot Technology HefeiChina University of Science and Technology of China HefeiChina Peking University Shenzhen Graduate School ShenzhenChina Edinburgh Napier University EdinburghScotland

Underwater images are often with biased colours and reduced contrast because of the absorption and scattering effects when light propagates in *** images with degradation cannot meet the needs of underwater *** main problem in classic underwater image restoration or enhancement methods is that they consume long calcu-lation time,and often,the colour or contrast of the result images is still *** of using the complicated physical model of underwater imaging degradation,we propose a new method to deal with underwater images by imitating the colour constancy mechanism of human vision using ***,the original image is converted to the LMS *** the signals are linearly combined,and Gaussian convolutions are per-formed to imitate the function of receptive fields(RFs).Next,two RFs with different sizes work together to constitute the double-opponency ***,the underwater light is estimated to correct the colours in the *** contrast stretching on the luminance is *** show that the proposed method can obtain clarified underwater images with higher quality than before,and it spends significantly less time cost compared to other previously published typical methods.

关键词： computers computer vision image processing image reconstruction

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Design,Modeling and Experimentation of a biomimetic Wall-climbing robot for Multiple Surfaces

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Journal of Bionic Engineering 2020年第3期17卷 523-538页

作者： Jinfu Liu Linsen Xu Jiajun Xu Tao Li Shouqi Chen Hong Xu Gaoxin Cheng Marco Ceccarelli Institute of Advanced Manufacturing Technology Hefei Institutes of Physical ScienceCASChangzhou 213164China Department of Precision Machinery and Precision Instrumentation University of Science and Technology of ChinaHefei 230026China Anhui Province Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Hefei 230026China Department of Industrial Engineerings University of Rome Tor Vergata Via del Politecnico 100133RomaItaly

Wall-climbing robots can work on steep terrain and obtain environment information in three dimensions for human in real time,which can improve operation ***,traditional single-mode robots cannot ensure the stable attachment on complex wall *** by the structure characteristics of flies and clingfishes,three bionic structures including the flexible spine wheel,the adhesive material and the adsorption system are *** at task requirements on multiple walls and based on the above three bionic structures,a wall-climbing robot with the composed mode of“grabbing+adhesion+adsorption”is presented v/a the law of mechanism configuration *** static analysis,the safe attachment conditions for the robot on smooth and rough walls are that the adsorption force is 30 N or *** on Newton's Euler and Lagrange formulas,the dynamic equations of the robot on vertical walls are established to deduce that the maximum theoretical torque of the driving motor is 1.43 N·m at a uniform ***,the prototype of the wall-climbing robot is manufactured and tested on the vertical lime wall,coarse sandpaper wall and acrylic ceiling ***,experiment results imply that the average maximum moving speed and the corresponding load are 7.19 cm·s-1 and 0.8 kg on the vertical lime wall,7.78 cm·s-1 and 0.6 kg on the coarse sandpaper wall,and 5.93 cm·s-1 and 0.2 kg on the acrylic ceiling wall *** findings could provide practical reference for the robot’s application on walls.

关键词： wall-climbing robot spine wheel adhesive material adsorption system

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