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arXiv 2022年

作者： Huynh, Ba-Phuc Bae, Joonbum Bio-Robotics and Control Laboratory Department of Mechanical Engineering Ulsan National Institute of Science and Technology Korea Republic of

Estimating the impact intensity is one of the significant tasks of the legged robot. Accurate feedback of the impact may support the robot to plan a suitable and efficient trajectory to adapt to unknown complex terrains. Ordinarily, this task is performed by a force sensor in the robot's foot. In this letter, an impact intensity estimation without using a force sensor is proposed. An artificial neural network model is designed to predict the motor torques of the legs in an instantaneous position in the trajectory without utilizing the complex kinematic and dynamic models of motion. An unscented Kalman filter is used during the trajectory to smooth and stabilize the measurement. Based on the difference between the predicted information and the filtered value, the state and intensity of the robot foot's impact with the obstacles are estimated. The simulation and experiment on a quadruped robot are carried to verify the effectiveness of the proposed method1. © 2022, CC BY.

关键词： Neural networks

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Neural control and Learning with a Turning Strategy of a Gecko-Inspired Robot with a Bendable Body

Neural Control and Learning with a Turning Strategy of a Gec...

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IEEE International Conference on control and robotics Engineering (ICCRE)

作者： Worasuchad Haomachai Zhendong Dai Yang Li Poramate Manoonpong State Key Laboratory of Mechanics and Control for Aerospace Structures College of Mechanical and Electrical Engineering Nanjing University of Aeronautics and Astronautics Nanjing China Bio-inspired Robotics & Neural Engineering Lab School of Information Science & Technology Vidyasirimedhi Institute of Science & Technology Rayong Thailand

ISBN: (数字)9798350372694

ISBN: (纸本)9798350372700

Sprawling animals leverage flexible trajectories during turning to navigate challenging and narrow environments effectively. Motivated by this natural behavior, a gecko-inspired robot with a bendable body is employed to investigate and implement an efficient turning strategy. A neural central pattern generator (CPG) with a radial basis function (RBF)-based premotor neuron network (CPG-RBF network) with black-box optimization (BBO) was used to control and train the robot for walking and consequently exploring the turning strategies based on the established walking policy to facilitate turning without the need for additional learning time. Through simulated robot experiments in circular and track environments, the robot with an undulated C-shaped body strategy achieved a lower radius of the turning curve and consequently gained faster locomotion speed by approximately 23% compared to a fixed C-shaped body strategy. This enhanced performance is attributed to the undulated body's effectiveness in facilitating turning maneuvers.

关键词： Legged locomotion Navigation Animals Neurons Closed box Turning Generators

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Impact of p-cresol on hydrogen sulfide and ammonia treatment by biotrickling filter and the production of nitrous oxide

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Chemosphere 2024年 361卷 142568页

作者： Kong, Xianwang Ying, Shihao Cai, Zhen Du, Jianghui Chen, Dongzhi Liu, Dezhao Institute of Agricultural Bio-Environmental Engineering College of Biosystems Engineering and Food Science Zhejiang University Hangzhou310058 China Zhejiang Key Laboratory of Petrochemical Environmental Pollution Control School of Petrochemical Engineering & Environment Zhejiang Ocean University Zhoushan316004 China Key Laboratory of Equipment and Informatization in Environment Controlled Agriculture from Ministry of Agriculture and Rural Affairs of China Key Laboratory of Intelligent Equipment and Robotics for Agriculture of Zhejiang Province Hangzhou310058 China

biotrickling filter (BTF) is often used for purification of waste gas from swine houses, with vital information still needed regarding interaction effects among multiple gas pollutants removal and also the formation of byproducts especially nitrous oxide (N2O, a strong greenhouse gas) due to the relative high NH3 concentration level compared to other gases. In this study, gas removal and N2O production were compared between two BTFs, where the inlet gas of BTF-1 contained NH3 and H2S while p-cresol was additionally supplied to BTF-2. At inlet load (IL) between 3.67 and 18.91 g m−3 h−1, removal efficiencies of NH3 exceeded 95% for both BTFs. As alternative strategy, adding thiosulfate improved H2S removal. Interestingly, presence of p-cresol to some extent promoted H2S removal at IL of 0.56 g m−3 h−1possibly due to effect on pH value of circulating solution. Similar to NH3, removal efficiencies of p-cresol were higher than 95% at an average IL of 2.98 g m−3 h−1. Gas residence time, pH of circulating solution and inlet loading were identified as key factors affecting BTF performance, but the response of individual gas compound to these factors was not consistent. Overall, p-cresol enhanced N2O generation although the effects were not always significant. High-throughput sequencing results showed that Proteobacteria accounted for the largest proportion of relative abundance and BTF-2 had much richer microbial diversity compared to BTF-1. Thermomonas, Comamonas, Rhodanobacter and other bacterial genus capable of denitrification were detected in both BTFs, and their corresponding abundances in BTF-2 (10.9%, 8.7% and 5.2%) were all greater than those in BTF-1 (0.4%, 0.3% and 2.0%), indicating that more denitrification may occur within BTF-2 and higher N2O could have been generated. This study provided evidence that organic gas components, served as carbon source, may increase the N2O production from BTF when treating waste gases containing NH3. © 2024

关键词： Denitrification

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Impact of P-Cresol on Hydrogen Sulfide and Ammonia Treatment by biotrickling Filter and the Production of Nitrous Oxide

SSRN

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SSRN 2024年

biotrickling filter (BTF) is often used for purification of waste gas from swine houses, with vital information still needed regarding interaction effects among multiple gas pollutants removal and also the formation of byproducts especially nitrous oxide (N2O, a strong greenhouse gas) due to the relative high NH3 concentration level compared to other gases. In this study, gas removal and N2O production were compared between two BTFs, where the inlet gas of BTF-1 contained NH3 and H2S while p-cresol was additionally supplied to BTF-2. At concentrations between 6.9 and 35.6 ppmv, removal efficiencies of NH3 exceeded 95% for both BTFs. As alternative strategy, adding thiosulfate improved H2S removal, more so in BTF-1. Interestingly, presence of p-cresol to some extent promoted H2S removal possibly due to effect on pH value of circulating solution. Similar to NH3, removal efficiencies of p-cresol were higher than 95% at an average inlet concentration of 881.4 ppbv. Gas residence time, pH of circulating solution and inlet loading were identified as key factors affecting BTF performance, but the response of individual gas compound to these factors was not consistent. Overall, p-cresol enhanced N2O generation although the effects were not always significant. High-throughput sequencing results showed that Proteobacteria accounted for the largest proportion of relative abundance and BTF-2 had much richer microbial diversity compared to BTF-1. Thermomonas, Comamonas, Rhodanobacter and other bacterial genus capable of denitrification were detected in both BTFs, and their corresponding abundances in BTF-2 (10.9%, 8.7% and 5.2%) were all greater than those in BTF-1 (0.4%, 0.3% and 2.0%), indicating that more denitrification may occur within BTF-2 and higher N2O could have been generated. This study provided evidence that organic gas components, served as carbon source, may increase the N2O production from BTF when treating waste gases containing NH3. © 2024, The Authors. All rig

关键词： Denitrification

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Development of a Hand Exoskeleton System for Quantitative Analysis of Hand Functions

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Journal of bionic Engineering 2018年第5期15卷 783-794页

作者： Jeongsoo Lee Minhyuk Lee Joonbum Bae Bio-Robotics and Control (BiRC) Laboratory Department of Mechanical Engineering UNIST Ulsan Republic of Korea

This paper proposes a hand exoskeleton system for evaluating hand functions. To evaluate hand functions, the hand exoskeleton system must be able to pull each finger joint, measure the finger joint angle and exerted force on the finger simultaneously. The proposed device uses serially connected 4-bar linkage structures, which have two embedded actuators with encoders and two loadcells per finger, to move each phalanx independently and measure the finger joint angles. A modular design was used for the exoskeleton, to facilitate the removal of unnecessary modules in different experiments and improve convenience. Silicon was used on the surface of the worn part to reduce the skin irritation that results from prolonged usage. This part was also designed to be compatible with various finger thicknesses. Using the proposed hand exoskeleton system, finger independence, multi-finger synergy, and finger joint stiffness were determined in five healthy subjects. The finger movement and force data collected in the experiments were used for analyzing three hand functions based on the physical and physiological phenomena.

关键词： evaluation of hand function hand rehabilitation wearable system exoskeleton

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Decoding split-frequency representation for cross-scale tracking

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Neural networks : the official journal of the International Neural Network Society 2025年 189卷 107587页

作者： Yuanming Zhang Hao Sun State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin 150001 China Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin 150001 China. Bio-Computing Research Center Harbin Institute of Technology Shenzhen Shenzhen 518055 China. Electronic address: hao-sun@***.

Learning tailored target representations for tracking is a promising direction in visual object tracking. Most state-of-the-art methods utilize autoencoders to generate representations by reconstructing the target's appearance. However, these reconstructions are often augmented to mimic scale jitter and alteration, neglecting physical scale observations such as those in aerial videos. This article addresses the challenge of representation learning for cross-scale tracking in generalized scenarios. Specifically, we incorporate target scale directly into the positional encoding, indicating scale through relative pixel density rather than the conventional metric of image resolution. This scale-aware encoding is then integrated into the proposed asymptotic hierarchy of decoders, designed to reconstruct representations by emphasizing the restoration of high- and low-frequency features at large and tiny scales. The reconstruction process is guided by supervised learning using split losses, enabling the generation of robust cross-scale representations for generic objects. Extensive experiments on six benchmarks - GOT-10k, LaSOT, TrackingNet, DTB70, UAV123, and TNL2K - validate the superior performance of our method. Additionally, our tracker achieves a remarkable speed of 123 frames per second on a Graphics Processing Unit, surpassing the previous best autoencoder-based tracker. The code and raw results will be made publicly available at: https://***/pellab/DSC.

关键词： Autoencoder Cross-correlation Representation learning Siamese network Visual object tracking

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Flexural Joints for Improved Linear Motion of a Marangoni Propulsion Robot: Design and Experiment

Flexural Joints for Improved Linear Motion of a Marangoni Pr...

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IEEE International Conference on biomedical robotics and biomechatronics

作者： Bokeon Kwak Dongyoung Lee Joonbum Bae Bio-Robotics and Control (BiRC) Laboratory Department of Mechanical Engineering UNIST

ISBN: (纸本)9781538681848

Some aquatic insects can rapidly dash over the water surface by secreting chemical material that lowers the surface tension behind. This locomotion is commonly known as Marangoni propulsion, and we built a non-tethered miniature robot inspired by their mobility. The robot had six circular footpads with equilateral triangular cross section, and weighed 14.8 gram including on-board electronics, a battery, and a servo motor. Although the robot successfully skimmed over the water surface by dripping alcohol (e.g., 3-Methyl-1-butanol), the robot could not maintain a linear motion by itself. Therefore, we designed and attached flexural joints at the hind legs of the robot to compensate its linear motion;the asymmetric force applied to the hind legs subsequently induced another counter moment due to the bending of flexural joints. During the experiments, these joints were effective at reducing undesired lateral deviation more than 3-fold compared to one without flexural joints. Also, the characteristics of the robot's locomotion was similar with the locomotion of aquatic arthropods according to the dimensionless number analysis.

关键词： Robot Joints Joints pure bending aquatic arthropods Locomotion Surface Tension Propulsion robot design straight line motion Batteries Servo Device Component Cross section

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An Early Stage Researcher's Primer on Systems Medicine Terminology

Network and Systems Medicine

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Network and Systems Medicine 2021年第1期4卷 2-50页

作者： Zanin, Massimiliano Aitya, Nadim A.A. Basilio, José Baumbach, Jan Benis, Arriel Behera, Chandan K. Bucholc, Magda Castiglione, Filippo Chouvarda, Ioanna Comte, Blandine Dao, Tien-Tuan Ding, Xuemei Pujos-Guillot, Estelle Filipovic, Nenad Finn, David P. Glass, David H. Harel, Nissim Iesmantas, Tomas Ivanoska, Ilinka Joshi, Alok Boudjeltia, Karim Zouaoui Kaoui, Badr Kaur, Daman Maguire, Liam P. McClean, Paula L. McCombe, Niamh De Miranda, João Luís Moisescu, Mihnea Alexandru Pappalardo, Francesco Polster, Annikka Prasad, Girijesh Rozman, Damjana Sacala, Ioan Sanchez-Bornot, Jose M. Schmid, Johannes A. Sharp, Trevor Solé-Casals, Jordi Spiwok, Vojtěch Spyrou, George M. Stalidzans, Egils Stres, Blaa Sustersic, Tijana Symeonidis, Ioannis Tieri, Paolo Todd, Stephen Van Steen, Kristel Veneva, Milena Wang, Da-Hui Wang, Haiying Wang, Hui Watterson, Steven Wong-Lin, Kongfatt Yang, Su Zou, Xin Schmidt, Harald H.H.W. Centro de Tecnología Biomédica Universidad Politécnica de Madrid Madrid Spain Intelligent Systems Research Centre School of Computing Engineering and Intelligent Systems Ulster University Ulster United Kingdom Center for Physiology and Pharmacology Institute of Vascular Biology and Thrombosis Research Medical University of Vienna Vienna Austria TUM School of Life Sciences Weihenstephan Technical University of Munich Freising Germany Holon Israel CNR National Research Council IAC Institute for Applied Computing Rome Italy Lab of Computing Medical Informatics and Biomedical Imaging Technologies School of Medicine Aristotle University of Thessaloniki Thessaloniki Greece Université Clermont Auvergne INRAE UNH Plateforme d'Exploration du Métabolisme MetaboHUB Clermont Clermont-Ferrand France Université de Technologie de Compiègne Compiègne France Labex MS2T Control of Technological Systems-of-Systems CNRS and Université de Technologie de Compiègne Compiègne France Faculty of Engineering University of Kragujevac Kragujevac Serbia Kragujevac Serbia Steinbeis Advanced Risk Technologies Institute Doo Kragujevac Kragujevac Serbia Pharmacology and Therapeutics School of Medicine Galway Neuroscience Centre National University of Ireland Galway Ireland School of Computing Ulster University Ulster United Kingdom Holon Israel Department of Mathematics and Natural Sciences Kaunas University of Technology Kaunas Lithuania Faculty of Computer Science and Engineering Ss. Cyril and Methodius University Skopje Macedonia Medicine Faculty Université Libre de Bruxelles CHU de Charleroi Charleroi Belgium Northern Ireland Centre for Stratified Medicine Biomedical Sciences Research Institute Ulster University Ulster United Kingdom Escola Superior de Tecnologia e Gestão Instituto Politécnico de Portalegre Portalegre Portugal Instituto Superior Técnico Universidade de Lisboa Lisboa Portugal Faculty of Automatic Control and Computers University Politehnica of B

Background: Systems Medicine is a novel approach to medicine, that is, an interdisciplinary field that considers the human body as a system, composed of multiple parts and of complex relationships at multiple levels, and further integrated into an environment. Exploring Systems Medicine implies understanding and combining concepts coming from diametral different fields, including medicine, biology, statistics, modeling and simulation, and data science. Such heterogeneity leads to semantic issues, which may slow down implementation and fruitful interaction between these highly diverse fields. Methods: In this review, we collect and explain more than100 terms related to Systems Medicine. These include both modeling and data science terms and basic systems medicine terms, along with some synthetic definitions, examples of applications, and lists of relevant references. Results: This glossary aims at being a first aid kit for the Systems Medicine researcher facing an unfamiliar term, where he/she can get a first understanding of them, and, more importantly, examples and references for digging into the topic. © Massimiliano Zanin et al., 2021;Published by Mary Ann Liebert, Inc. 2021.

关键词： Semantics

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Correction for “Evaluation of Finger Force control Ability in Terms of Multi-Finger Synergy”

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IEEE Transactions on Neural Systems and Rehabilitation Engineering 2019年第9期27卷 1939-1939页

作者： Minhyuk Lee Lee Jeongsoo Joon-Ho Shin Joonbum Bae Bio-Robotics and Control (BiRC) Laboratory Ulsan National Institute of Science and Technology (UNIST) Ulsan South Korea Department of Neurorehabilitation National Rehabilitation Center Seoul South Korea

An incorrect version of Fig.7 appeared in the published version of the article. The correct version of Fig.7 is as follows.

关键词： Aerospace electronics Trajectory Task analysis Force control

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An asymmetric cable-driven mechanism for force control of exoskeleton systems

An asymmetric cable-driven mechanism for force control of ex...

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2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Yeongtae Jung Joonbum Bae Department of Mechanical Engineering Bio-Robotics and Control (BiRC) Laboratory Ulsan Korea

ISBN: (纸本)9781509037636

In this paper, an asymmetric cable-driven mechanism is proposed for accurate force control of exoskeleton systems with a compact structure. Inspired by the fact that the required forces in human motions are not symmetric in many cases, a spring-actuator type cable-drive mechanism is adopted, which enables a compact cable routing structure. The joint is connected with the exoskeleton frame through a rotary series elastic mechanism to transmit the desired force to the human user. High performance in force control is achieved by advanced control algorithms, which combine a proportional and differential (PD) controller optimized with a linear quadratic (LQ) method with a disturbance observer (DOB) and a zero phase error tracking (ZPET) feedforward filter. The proposed system was tested for the elbow joint. Experimental results confirmed that the proposed system was able to generate and deliver accurate force to the human user even with external disturbances and modeling uncertainties introduced by human motions.

关键词： Springs Pulleys Actuators Force Mechanical cables Exoskeletons Force control

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