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检索条件"机构=CAS Key Laboratory of Human-Machine Intelligence-Systems"

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Neural learning of stable dynamical systems based on extreme learning machine

Neural learning of stable dynamical systems based on extreme...

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International Conference on Information and Automation (ICIA)

作者： Jianbing Hu Zining Yang Zhiyang Wang Xinyu Wu Yongsheng Ou Guangdong Provincial Key Laboratory of Robotics and Intelligent System Chinese Academy of Sciences Chinese University of Hong Kong China Key Lab of Human-Machine Intelligence-Synergy Systems Chinese Academy of Sciences

This paper presents a method based on extreme learning machine to learn motions from human demonstrations. We model a motion as an autonomous dynamical system and define sufficient conditions to ensure the global stability at the target. A detailed theoretic analysis is proposed on the constraints regarding to input and output weights which yields a globally stable reproduction of demonstrations. We solve the corresponding optimization problem using nonlinear programming and evaluate it on an available data set and a real robot. Combined with the generalization capacities of extreme learning machine, the results show that the human movement strategies within demonstrations can be generalized well.

关键词： Asymptotic stability Stability analysis Trajectory Robot kinematics Mathematical model Optimization

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Spatially distributed sequential array stimulation of tibial anterior muscle for foot drop correction

Spatially distributed sequential array stimulation of tibial...

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Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

作者： Hui Zhou Yingying Wang Wanzhen Chen Nanxin Zhang Ludovic Krundel Guanglin Li Key Laboratory of Human-Machine Intelligence-Synergy Systems Chinese Academy of Sciences Shenzhen Guangdong China Shenzhen Key Laboratory of Electromagnetic Control Shenzhen University Shenzhen Guangdong China School of Electronic Loughborough University UK

ISBN: (纸本)9781424492695

Electrode arrays for the ease of electrode placement in the correction of foot drop with surface electrical stimulation have been developed in recent years. However, the configuration and identification of optimal stimulation sites with regard to time efficiency, stimulation comfort, and fatigue resistance is yet to be solved. In this study, the candidate stimulation sites were ranked and selected according to the motor thresholds induced by 1 Hz stimulation trains. Then based on the selected sites, a new stimulation configuration method termed spatially distributed sequential stimulation was tested and compared with traditional single electrode stimulation for foot drop correction in two normal subjects. The preliminary results demonstrated that the motor threshold of spatially distributed sequential stimulation was equal or less than motor thresholds of each stimulus sites. Besides, with the same stimulation parameters, the spatially distributed sequential stimulation induced larger dorsiflexion motion compared with traditional single electrode stimulation. These findings suggest that spatially distributed sequential stimulation on the selected sites might be an effective electrode array configuration method for correcting foot drop with electrical stimulation.

关键词： Electrodes Arrays Muscles Foot Goniometers Fatigue Electrical stimulation

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A human motion prediction algorithm for Non-binding Lower Extremity Exoskeleton

A human motion prediction algorithm for Non-binding Lower Ex...

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International Conference on Information and Automation (ICIA)

作者： Min Wang Xinyu Wu Duxin Liu Can Wang Ting Zhang Pingan Wang Shenzhen College of Advanced Technology University of Chinese Academy of Sciences Department of Mechanical and Automation The Chinese University of Hong Kong Key Laboratory of Human-Machine Intelligence-Synergy Systems Chinese Academy of Sciences

This paper introduces a novel approach to predict human motion for the Non-binding Lower Extremity Exoskeleton (NBLEX). Most of the exoskeletons must be attached to the pilot, which exists potential security problems. In order to solve these problems, the NBLEX is studied and designed to free pilots from the exoskeletons. Rather than applying Electromyography (EMG) and Ground Reaction Force (GFR) signals to predict human motion in the binding exoskeleton, the non-binding exoskeleton robot collect the Inertial Measurement Unit (IMU) signals of the pilot. Seven basic motions are studied, each motion is divided into four phases except the standing-still motion which only has one motion phase. The human motion prediction algorithm adopts Support Vector machine (SVM) to classify human motion phases and Hidden Markov Model (HMM) to predict human motion. The experimental data demonstrate the effectiveness of the proposed algorithm.

关键词： Hidden Markov models Prediction algorithms Exoskeletons Support vector machines Accuracy Classification algorithms Training

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Robust localization system for an autonomous mower

Robust localization system for an autonomous mower

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IEEE International Conference on Robotics and Biomimetics

作者： Huiwen Guo Xinyu Wu Ruiqing Fu Wei Feng Shenzhen College of Advanced Technology University of Chinese Academy of Sciences Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Key Laboratory of Human-Machine Intelligence-Synergy Systems Chinese Academy of Sciences

ISBN: (纸本)9781467396769

This paper presents a robust vision-based localization system for an autonomous mower, which is significant for both the meadow map building and the successful area covering. Instead of setting the monocular camera toward the scene, which suffers from the disturbance of moving objects, less mark points or variation of illumination, we equip the camera toward the ground with constant illumination compensation. To achieve the localization of the mower, point features are extracted and matched between pairs of frames. Motion is incremental obtained by calculate the rotation and translation transformation of matched feature point pairs. As the angle accumulated error has greater contribution to the location error, angular acceleration sensor is adopted to compensate the angle error especially in the steep turning case. Experiments on meadow with our mowers demonstrate the robustness of our localization system.

关键词： Cameras Robot sensing systems Mobile robots Lighting Acceleration Robustness

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On study of a wheel-track transformation robot

On study of a wheel-track transformation robot

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IEEE International Conference on Robotics and Biomimetics

作者： Jianbing Hu Ansi Peng Yongsheng Ou Guolai Jiang Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen China Guangdong Provincial Key Laboratory of Robotics and Intelligent System Chinese Academy of Sciences Shenzhen China Key Laboratory of Human-Machine Intelligence-Synergy Systems Chinese University of Hong Kong Hong Kong

ISBN: (纸本)9781467396769

Wheeled robots usually move fast in relatively even surfaces while losing their major mobility on rough terrains. However, the tracked robots are superior to the wheel-types when they are to move on irregular terrains in spite of lower speed. In this paper, a Wheel-Track Transformation robot which combines the advantages of both mobile types by turning into wheel mode or track mode is designed. The robot consists of a robot platform equipped with an extra support mechanism, two wheels with transformation units and an universal wheel. Each transformation unit is composed of a rotating board and a double two-bar linkage mechanism. Three key mechanical components and several locomotion strategies on rough terrains are presented. Meanwhile, a detailed quasi-dynamic analysis is conducted to obtain proper torque capabilities of motors. Three prototypes of the proposed mechanism were manufactured and their fundamental mobility was evaluated by experiments.

关键词： Mobile robots Wheels Couplings Force Torque Tracking

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Detecting Anomaly Using the Scene Modeling Based on Time Delayed Statistical Data

Detecting Anomaly Using the Scene Modeling Based on Time Del...

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IEEE International Conference on Information and Automation

作者： Lixin Chen Huiwen Guo Min Wang Yen-Lun Chen Xinyu Wu Wei Feng Key Laboratory of Human-Machine Intelligence-Synergic Systems Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences

ISBN: (纸本)9781467391054

We propose a novel approach for the crowd anomaly detection in multiple cameras with non-overlapping view. In this paper, we refer to the activities of crowd in far-field scenes. Firstly, we present a model for learning all of the motion patterns under single camera view, which are regarded as the normal situation. In the surveillance region, we mark the entrances and exits under the single camera view and acquire the crowd flow model by the K-means clustering algorithm. Secondly, we analyze the crowd flow model based on the time delayed statistical data between two camera views. And then we acquire the relative location among the entrances and exits in the different regions. Thirdly, we analyze the crowd transferring probabilistic model on the global scene based on the log-likelihood function and Dirichlet distribution to detect the crowd anomaly. We set up the empirical threshold value of probability P_c. If the probability of detected model is less than P_c, the detected model is marked as the crowd anomaly. Our approach is evaluated on the simulated data set and the real data set in far-field scenes. Experimental results show the anomaly detection is precise.

关键词： Crowd anomaly detection Non-overlapping view K-means clustering algorithm Log-likelihood function Dirichlet distribution

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Path Planning Efficiency Maximization for Ball-Picking Robot Using machine Learning Algorithm

Path Planning Efficiency Maximization for Ball-Picking Robot...

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International Conference on Intelligent Transportation, Big Data and Smart City

作者： Yunchuan Liu Shuang Li Zeyang Xia Institute of Optoelectronics Shenzhen University Key Laboratory of Human-Machine Intelligence-Synergy Systems Chinese Academy of Sciences

ISBN: (纸本)9781509004652

This paper aims to find a ball-picking optimal path and drives the robots to collect all the tennis in the shortest time, according to the optimal path. Thus, the work to be completed for us includes: establish agent model for robot working environment in tennis yard;analyze the advantage and shortcoming of ACO and provide an improved ACO. Our scheme improves the pheromone updating strategy. The global and local updates are integrated to strength the pheromone strength of optimal ant. Then we add the crossover and mutation operation of GA to speed the convergence of algorithm. By the simulation results analysis we find that the improved ACO has stronger optimizing ability and stability, which further improves the performance of ball-picking path.

关键词： ACO GA Robot Pheromone Optimization

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Effects of Contralateral Acoustic Stimulation on Otoacoustic Emissions Induced by Swept Tones

Effects of Contralateral Acoustic Stimulation on Otoacoustic...

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Annual International Conference of the IEEE Engineering in Medicine and Biology Society

作者： Shixiong Chen Yanbing Jin Lisheng Xu Guanglin Li Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen Guangdong 518055 China Sino-Dutch Biomedical and Information Engineering School Hunnan Campus of Northeastern University Shenyang Liaoning 110167 China

ISBN: (纸本)9781424492695

The medial olivocochlear complex (MOC) is an auditory nucleus that projects efferent nerve fibers to control the behaviors of both sides of the cochlea. Otoacoutsic emissions (OAEs) are by-products the activities of the outer hair cells (OHCs) in the cochlea and could be used as a noninvasive way to study the efferent control of the MOC. However, existing results regarding the efferent control are quite controversial and often restricted to a rather limited frequency range. In this study, a new method of measuring stimulus frequency otoacoustic emissions (SFOAEs) with the presence of a contralateral acoustic stimulation (cas) was proposed to study the efferent control over the cochlea. SFOAEs were measured with swept tones with time varying frequencies so that SFOAE spectra with and without the presence of the cas could be compared with high frequency-resolution. The results showed that there was consistent decrease in the amplitude of the swept-tone SFOAEs across a wide frequency range from 0.5 to 8 kHz when the cas was presented, suggesting an outstanding attenuation of OHC activities by the efferent control from the MOC. The SFOAE decrease with the presence of the cas might provide a new approach to measure the strength of the efferent control and to evaluate the functional status of the central auditory pathway.

关键词： MOC OAEs OHCs MARGIN OF CONTROL (CRmCALITY) CONDITION ASSESSMENT SURVEYS spontaneous otoacoustic emission efferent nerve OHC frequency ranges Cochlea auditory stimulation nerve fiber Auditory Pathways Stimulus Frequency wide frequency range

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Reinforcement learning approach to learning human experience in tuning cavity filters

Reinforcement learning approach to learning human experience...

引用

IEEE International Conference on Robotics and Biomimetics

作者： Zhiyang Wang Jingfeng Yang Jianbing Hu Wei Feng Yongsheng Ou Guangdong Provincial Key Laboratory of Robotics and Intelligent System Chinese Academy of Sciences Shenzhen P.R.China Shenzhen College of Advanced Technology University of Chinese Academy of Sciences Shenzhen P.R.China Key Laboratory of Human-Machine Intelligence-Synergy Systems Chinese Academy of Sciences Shenzhen P.R.China The Chinese University of Hong Kong Hong Kong

ISBN: (纸本)9781467396769

Owing to the rapid development of the communication industry, various kinds of radio frequency components are in great demand and put into mass production. Among them, passive devices such as microwave cavity filters, duplexers and combiners have experienced fast and unexpected upgrades. However, the tuning process of these products, which is always manually operated, still seems hard to be automatically replaced or improved because of the difficulties in extracting human experience. In this study, we make deep investigations into some previous automatic cavity filter tuning solutions, especially the ones using intelligent algorithms. In addition, we propose the method of intelligent tuning based on the reinforcement learning algorithm which dynamically extracts the human strategies during the tuning process. The experimental results prove the powerful performance of reinforcement learning in mastering human skills.

关键词： Tuning Scattering parameters Fasteners Cavity resonators Games Robots Industries

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EFFECTS OF MOLECULE ORIENTATION ON MECHANICAL PROPERTIES OF PC/LCP BLENDS

EFFECTS OF MOLECULE ORIENTATION ON MECHANICAL PROPERTIES OF ...

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作者： Tetsuo Kumazawa Masayoshi Kitagawa Makoto Kudo Satoru Kamata Mikio Morita Department of Machine Intelligence and Systems Engineering Faculty of Science and Technology Akita Prefectural University 84-4 Tsuchiya-Ebinokuchi Honjyo Akita 015-0055 Japan State Key Laboratory of Human & Mechanical Systems Engineering Faculty of Engineering Kanazawa University 2-40-20 Kodatsuno Kanazawa 920-8667 Japan Akita Prefecture Industrial Technology Center 4-11 Sanuki Arayamachi Akita 010-1623 Japan Akita Prefecture Industrial Technology Center 4-11 Sanuki Arayamachi Akita 010-1623 Japan Department of Mechanical Systems Engineering Faculty of Engineering Toyama Prefectural University 5180 Kurokawa Kosugi Toyama 939-0398 Japan

The correlations of mechanical properties of injection - molded PC/LCP blends to the fibrillation and the molecule orientation of LCP domain were investigated, and the following main results were obtained. (1) It is still practical to use absorption band 2 960 cm-1 and 1 602 cm-1 to evaluate the molecular orientation of PC and LCP in the PC/LCP blends. The strength of the PC/LCP blends was hardly influenced by the molecular orientation of the matrix PC. Instead, it was determined by the characteristics of LCP phase. (2) Although PC/LCP blends are immiscible LCP domain is easily to get into fibrillation and higher molecular orientation for the high melt viscosity of PC, and it is advantageous to improve the tensile strength of PC/LCP blends. (3) By decreasing the specimen thickness the ratio of LCP fibril with high molecular orientation increases and then the tensile strength of the blends has been improved greatly. (4) By increasing LCP addition, the quantity of LCP fibril increases and the molecular orientation of LCP fibril in the intermediate layer improves also, which resulted in a rapid improvement in the tensile strength of PC/LCP blends. (5) A synergism that the tensile strength of blend specimens of 2 mm in thickness shows a far higher value than the theoretical one given by the rule of mixture was demonstrated.

关键词： Polymer Blends Molecule Orientation Injection-modeled Condition Fibrillation Tensile Properties synergism

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