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2018 IEEE International Conference on Information and Automation, ICIA 2018

作者： Liu, Jinfu Xu, Linsen Xu, Jiajun Wu, Xuan Wang, Meiling Lu, Linlin Hefei Institutes of Physical Science Chinese Academy of Sciences Institute of Advanced Manufacturing Technology Hefei China University of Science and Technology of China Hefei China Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Anhui Province China

ISBN: (纸本)9781538680698

The paper presents a bio-inspired wall-climbing robot capable of locomotion on a great variety of surfaces at speeds up to 10cm/s using claws or tracks. Inspired by the mechanism and movement characteristics of the feet on flies, a novel and innovative structure is designed and implemented. Furthermore, three mechanical models, which are statics and dynamics on rough wall surfaces as well as adhesion on smooth surface, are proposed to analyze the force or torque acting on the robot. Finally, experiments on foam, brick and glass surfaces are carried out, and the results indicate that the robot with claw wheels and adhesive tracks is able to climb steadily on various complex walls. © 2018 IEEE.

关键词： Adhesives

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Analytic modeling of spoke torque sensor based on deformation compatibility

Analytic modeling of spoke torque sensor based on deformatio...

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2018 IEEE International Conference on Information and Automation, ICIA 2018

作者： Sun, Yu-Xiang Xu, Yu-Yun Cao, Hui-Bin Shuang, Feng Gao, Li-Fu Ge, Yun-Jian Anhui Province Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Institute of Intelligent Machines Chinese Academy of Sciences Hefei Anhui Province230031 China Department of Automation University of Science and Technology of China Hefei230026 China

ISBN: (纸本)9781538680698

Accurate description of the relationship between sensor loading deformation and elastomeric structure is very important to improving design efficiency. In this paper, we focus on the spoke torque sensor, according to the deformation characteristics of the sensor under loading, and analyzes the relationship among stress, strain and disturbance of the torque sensor in combination with the deformation compatibility conditions, and establishes the analytical model of the torsion stiffness of the sensor. Finally, by comparing the finite element simulation results, it is verified that by considering the deformation coordination conditions, the precision of the analytical modeling of the torque sensor can be improved. © 2018 IEEE.

关键词： Analytical models

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Particle filtering for WSN aided SLAM

Particle filtering for WSN aided SLAM

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2008 IEEE/ASME International Conference on advanced Intelligent Mechatronics, AIM 2008

作者： Li, Yangming Meng, Max Q.-H. Liang, Huawei Li, Shuai Chen, Wanming Institute of Intelligent Machine Chinese Academy of Science Hefei City Anhui Province China Department of Automation University of Science and Technology of China Hefei City Anhui Province China Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Hefei City Anhui Province China

ISBN: (纸本)9781424424955

the paper proposed a particle filter based and Wireless Sensor Networks (WSN) aided Simultaneous Localization and Mapping (SLAM) strategy. The proposed method aims at solving two troublesome problems in the traditional particle filter based SLAM algorithms. The first problem is high dimension of question space;and the second one is multi-date association. Firstly, the paper analysed the model of the WSN aided SLAM problem. Then noises in the model were analysed. According to analyses, a particle filtering algorithm was developed as the kernel algorithm for data fusion. Detailed procedures of the particle filter were introduced. Besides, all key steps, including initialization, prediction, sequential importance sampling and also resampling, were especially specified. Software simulations were done to analyse and prove the validity and the efficiency of the proposed method. The simulation results supported that the proposed method can diminish dimensions of the SLAM problem and resolve the multi-data association problems. Moreover, through adopting PF algorithm and involving WSN, following advantages were also acquired: firstly, the method could locate blind nodes in WSN with high resolution while no anchor node was available;secondly, it could improve precision of localization and mapping for mobile robots and, especially, it could inhibit error accumulation of dead reckoning without requirement of close-loop. © 2008 IEEE.

关键词： Mobile robots

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Distance Transform Guided Medical Image Segmentation With Channel Information Exchange 6

Distance Transform Guided Medical Image Segmentation With Ch...

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6th International Conference on Algorithms, Computing and Artificial Intelligence, ACAI 2023

作者： Yang, Han Xu, Minxia Cai, Bin Liang, Pengpeng Sun, Zhiyong Song, Bo Cheng, Erkang Laboratory of Bionic Sensing and Advanced Robot Technology Institute of Intelligent Machines Hefei Institutes of Physical Science Chinese Academy of Sciences Anhui Hefei China University of Science and Technology of China Anhui Hefei China Hangzhou Institute for Advanced Study University of Chinese Academy of Sciences Zhejiang Hangzhou China School of Computer and Artificial Intelligence Zhengzhou University Henan Zhengzhou China

ISBN: (纸本)9798400709203

Medical image segmentation plays an important role in the computer-aided screening of many diseases. Different from popular deep learning-based segmentation methods that mainly focus on the whole target, recent studies pay more attention to target contour by making use of the distance transform of the object boundary. In this paper, to learn both the object content and the boundary information, we incorporate a regression task that estimates a distance map of target contour into a CNN-based segmentation network. The segmentation task and the regression task share most parts of the backbone network. Moreover, we introduce a channel information exchange module that dynamically exchanges feature maps between the segmentation and the regression tasks. The proposed information exchange module is parameter-free and controlled by the batch normalization scaling factor. In addition, the output feature maps of the two tasks are further integrated to provide fused segmentation *** evaluate our method on three popular datasets, including the 2D ultrasound thyroid nodule segmentation dataset, the 3D MRI left atrial segmentation dataset and 2017 MM-WHS whole heart segmentation Challenge datasets. Experimental results show that our method achieves promising performance compared to the state-of-the-art approaches. © 2023 Copyright held by the owner/author(s). Publication rights licensed to ACM.

关键词： Deep learning

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The research of pulse wave signal denosing based on EMD and ICA

The research of pulse wave signal denosing based on EMD and ...

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3rd International Joint Conference on Computational Sciences and Optimization, CSO 2010: Theoretical Development and Engineering Practice

作者： Zheng, Yingying Zhang, Yongliang Liu, Yanli Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Institute of Intelligent Machines Chinese Academy of Science 230031 China Department of Automation University of Science and Technology of China 230027 China Anhui Institute of Architecture and Industry Hefei 230601 China

ISBN: (纸本)9780769540306

Pulse wave is easily contaminated by noise when being sampled and processed. In order to extract and analyze the useful information involved, the paper presents a novel denoising algorithm based on empirical mode decomposition (EMD) and independent component analysis (ICA).First, the signal is decomposed by EMD ,then a series of intrinsic mode functions (IMFs) and the remainder can be obtained. Second, ICA will be performed to separate independent components from IMFs. At last, these independent components will be used to reconstruct the pulse wave signal. By using the method, we are able to separate noise and estimate desired source signals from pulse wave signal. Experimental results substantiate the strong potential of the proposed method for pulse wave signal noise separation. © 2010 IEEE.

关键词： Empirical mode decomposition

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The study and improvement of memory management based on SOS

The study and improvement of memory management based on SOS

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2008 IEEE International Conference on robotics and Biomimetics, ROBIO 2008

作者： Wu, Fuqing Meng, Max Q.-H. Wu, Lingfei Zhang, Zhuancheng Chen, Xijun Institute of Intelligent Machines Chinese Academy of Sciences Hefei Anhui Province China Department of Automation University of Science and Technology of China Hefei Anhui Province China Department of Electronic Engineering Chinese University of Hong Kong Sha tian Hong Kong Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Anhui Province China

ISBN: (纸本)9781424426799

the memory management of the embedded operating system has its unique traits. And so SOS operating system should have its own suitable methods for the memory management because of its small memory and resource constraint. This paper analyses the memory management of SOS operating system, and proposes a new data structure with the combination of memory management methods about μ C / OSII, then deeply probes into the memory allocation and recovery mechanisms, which provides an effective solution for memory management of SOS operating system. © 2008 IEEE.

关键词： Data structures

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Design of WSN node based on CC2431 applicable to lunar surface environment

Design of WSN node based on CC2431 applicable to lunar surfa...

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2008 IEEE International Conference on robotics and Biomimetics, ROBIO 2008

作者： Zhang, Zhuancheng Meng, Max Q.-H. Wu, Fuqing Chen, Xijun Institute of Intelligent Machines Chinese Academy of Sciences Hefei Anhui Province China Department of Automation University of Science and Technology of China Hefei Anhui Province China Department of Electronic Engineering Chinese University of Hong Kong Shatian Hong Kong Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Anhui Province China

ISBN: (纸本)9781424426799

Firstly, the paper introduces the Wireless Sensor Networks (WSN) simply. It analyses the influence of lunar surface environment on the nodes of WSN and gives corresponding solutions. According to the characteristics of WSN and design requirements of the sensor node, we design a kind of sensor nodes which based on CC2431. Then the processor module, wireless communications module, location engine, power management module and temperature control module are described in detail. Finally, we conduct the localization experiment of blind nodes and robot navigation experiment. © 2008 IEEE.

关键词： Sensor nodes

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Design of lower extremity rehabilitation robots with magnetorheological dampers and wire-driven system

Design of lower extremity rehabilitation robots with magneto...

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2018 IEEE International Conference on Information and Automation, ICIA 2018

作者： Xu, Jiajun Xu, Linsen Li, Youfu Liu, Jinfu Li, Xiaohu Lu, Linlin University of Science and Technology of China No. 96 Jinzhai Road Hefei Anhui Province China City University of Hong Tat Chee Avenue Kowloon Hong Kong Hefei Institutes of Physical Science CAS Changzhou China Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Anhui Province China

ISBN: (纸本)9781538680698

Lower extremity rehabilitation robots play significantly important role in rehabilitation medicine, which aims to bring back the capabilities of patients' lower limbs because of illness, injury and disease. However, controllability, energy consumption and control precision of the robot motion remain difficult to solve out. In many cases, electric motors are required to have high output torque to move the entire machine legs along with human legs, while extravagant motor torque may lead to excessive bending, fracture or other secondary damages. And the motors would generate the braking torque to prevent this at the cost of consuming large armature current. Controllable braking torque also counts while patients' active anti-resistance training. Smart materials have provided inspiration and magneto-rheological (MR) fluids vary in rheological behavior with responding to applied magnetic field. Based on the characteristics, magnetorheological dampers (MR dampers) were developed and have realized variable damping resistance according to different magnetic field. Besides, wire-driven system is another guarantee of safety and controllability due to its flexible structure and compliant control. So, with combination of MR dampers and wire-driven system, the lower extremity rehabilitation robot would perform better, more efficiently and more safely. Actually, such robot can hardly be seen in previous related research or publication. In this paper, three kinds of rehabilitation robots with MR dampers and wire-driven system are introduced. They are standing/walking rehabilitation robot with cylindrical dampers, standing/walking rehabilitation robot with discal dampers and sitting/lying rehabilitation robot with discal dampers. Their advantages and drawbacks are also explained. © 2018 IEEE.

关键词： Energy utilization

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Performance of optimized TVOCs sensor

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Procedia Engineering 2010年 7卷 392-398页

作者： Fumin Peng Tao Luoa Yupeng Yuan Lingguang Qiu Laboratory of Advanced Porous Materials and College of Chemistry and Chemical Engineering Anhui University Anhui Hefei 230039 China Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Hefei Institute of Intelligent Machines Chinese Academy of Sciences Anhui Hefei 230031 China

In this paper, an improved TVOCs (total volatile organic compounds) sensor construction was studied. Base on this new construction, the optimized flow rate, the responding character and the linear range of detector were studied. The effect of different electrode positions on the signal intensity was tested at different voltages. Compared with traditional PID — axial PID3, the construction of this perpendicular PID could make the sensitivity loss decreased by a factor of 40%. Especially, a newly adopted automatic cleaning technique was tested, which could decrease the drift greatly and make the signal of the detector almost unchanged after two weeks of continuous detection. Due to this new construction, the response time was decreased and the accuracy consequently was improved. When coupled with automatic cleaning technique, labor intensive daily calibration and frequent lamp cleaning were eliminated. The improvements in this new design made the detector more compatible with field uses.

关键词： Photoionization detector Direct-reading and automated cleaning Total volatile organic compounds

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System Design and Experimental Analysis of an All-environment Mobile robot

System Design and Experimental Analysis of an All-environmen...

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作者： Guo, Ziyi Zhu, Yiduo Wang, Meiling Li, Tao Zhao, Hanbin Xu, Linsen Ceccarelli, Marco University of Science and Technology of China Hefei230022 China Institute of Advanced Manufacturing Technology Hefei Institutes of Physical Science Chinese Academy of Sciences Hefei230031 China Anhui Province Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Hefei230031 China LARM2: Laboratory of Robot Mechatronics Dept of Industrial Engineering University of Rome Tor Vergata Via del Politecnico 1 Roma00133 Italy

Due to complexity of the structure, uncertainty of the dynamic model and poor adaptability of the environment of the traditional mobile robot, this paper proposes an all-environment mobile robot based on coaxial eight-rotor which can adapt to the three environments of water, land and air. This paper first describes the mechanical structure and hardware design of AEM (All-environment Mobile) robot, and then aerodynamics model and hydrodynamic model of the robot are formulated by Newton Euler equations. In the end, the physical prototype is assembled, and experiments are conducted to verify that the AEM robot could achieve the expected three motion modes. © 2019, Springer Nature Switzerland AG.

关键词： Mobile robots

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