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3rd International Conference on Computing, Networks and Internet of Things, CNIOT 2022

作者： Wang, Fuhao Wang, Hongbo Luo, Jingjing Kang, Xiaoyang Zhang, Xueze Chen, Li Pan, Qiqi Academy for Engineering & Technology Shanghai200433 China Yanshan University Parallel Robot and Mechatronic System Laboratory of Hebei Province Qinhuangdao China Intelligent Robot Engineering Research Center Ministry of Education Shanghai200433 China Shanghai Intelligent Robot Engineering Technology Research Center Shanghai200433 China Shanghai Clinical Research Center for Aging and Medicine Shanghai200040 China

ISBN: (纸本)9781665469104

There are many hemiplegic patients with hand dysfunction caused by stroke. Restoring hand function can effectively improve the quality of life of patients. Traditional rehabilitation training can improve hand strength and flexibility, but there are few medical staff and high workload, which may easily lead to unstable training effect. Therefore, this letter designed a soft hand rehabilitation robot with multiple training modes. By analyzing the natural movements of human fingers, the flexible exoskeleton finger and driving unit are designed. The kinematics of the finger are derived to achieve uniform changes in the angle of the finger joints. The hand rehabilitation robot can support multiple training modes such as individual finger training, five-finger collaborative training, and left-right hand symmetry training. Experiments show that the hand rehabilitation robot can carry out continuous and stable finger joint training, and has a good rehabilitation training effect. © 2022 IEEE.

关键词： Personnel training

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A multichannel optical computing architecture for advanced machine vision

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Light(Science & Applications) 2022年第9期11卷 2235-2247页

作者： ZHIHAO XU XIAOYUN YUAN TIANKUANG ZHOU LU FANG Sigma Laboratory Department of Electronic EngineeringTsinghua UniversityBeijingChina Beijing National Research Center for Information Science and Technology(BNRist) BeijingChina Tsinghua Shenzhen International Graduate School ShenzhenChina Institute for Brain and Cognitive Science Tsinqhua University(THUIBCS)BeijingChina

Endowed with the superior computing speed and energy efficiency,optical neural networks(ONNs)have attracted ever-growing attention in recent *** optical computing architectures are mainly single-channel due to the lack of advanced optical connection and interaction operators,solving simple tasks such as hand-written digit classification,saliency detection,*** limited computing capacity and scalability of single-channel ONNs restrict the optical implementation of advanced machine ***,we develop Monet:a multichannel optical neural network architecture for a universal multiple-input multiple-channel optical computing based on a novel projection-interference-prediction framework where the inter-and intra-channel connections are mapped to optical interference and *** our Monet,optical interference patterns are generated by projecting and interfering the multichannel inputs in a shared *** patterns encoding the correspondences together with feature embeddings are iteratively produced through the projection-interference process to predict the final output *** the first time,Monet validates that multichannel processing properties can be optically implemented with high-efficiency,enabling real-world intelligent multichannel-processing tasks solved via optical computing,including 3D/motion *** experiments on different scenarios demonstrate the effectiveness of Monet in handling advanced machine vision tasks with comparative accuracy as the electronic counterparts yet achieving a ten-fold improvement in computing *** intelligent computing,the trends of dealing with real-world advanced tasks are *** the capacity and scalability limitations of single-channel ONN and further exploring the multichannel processing potential of wave optics,we anticipate that the proposed technique will accelerate the development of more powerful optical Al as critical support for modern advanced mach

关键词： computing multichannel projection

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Additive manufacturing of heat-resistant aluminum alloys: a review

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International Journal of Extreme Manufacturing 2024年第6期6卷 449-504页

作者： Chaoqun Wu Jianyu Wen Jinliang Zhang Bo Song Yusheng Shi Hubei Province Engineering Research Center of Robot&Intelligent Manufacturing School of Mechanical and Electronic EngineeringWuhan University of TechnologyWuhan 430070People's Republic of China State Key Laboratory of Materials Processing and Die&Mould Technology School of Materials Science and EngineeringHuazhong University of Science and TechnologyWuhan 430074People's Republic of China

The capability for synergistic advancements in both making and shaping afforded by additive manufacturing(AM) enables the flexible production of high-performance components. Boosted by the growing demand for heat-resistant aluminum alloys in the moderate-temperature weight-critical applications, AM of heat-resistant aluminum alloys constitutes a burgeoning field. Although numerous advances have emerged in recent years, there remains a gap in the review literature elucidating the newly-developed alloy systems and critically evaluating the efficacy. This state-of-the-art review presents a detailed overview of recent achievements on the heat-resistant aluminum alloy development. It begins with the introduction of various AM technologies and the pros and cons of each technique are evaluated. The enhancement mechanisms associated with printability and high-temperature properties of AM aluminum alloys are then delineated. Thereafter, the various additively manufactured aluminum alloy systems are discussed with regard to the microstructure, heat resistance and high-temperature performance. An emphasis is put on the powder bed fusion-laser beam(PBF-LB) as it has garnered significant attention for heat-resistant aluminum alloys and the vast majority of the current studies are based on this technique. Finally, perspectives are outlined to provide guidance for future research.

关键词： additive manufacturing heat-resistant aluminum alloy alloy development microstructure high-temperature mechanical properties

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Delivery of Biomimetic Liposomes via Meningeal Lymphatic Vessels Route for Targeted Therapy of Parkinson’s Disease

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Research 2023年第3期6卷 507-519页

作者： Jing Liu Duyang Gao Dehong Hu Siyi Lan Yu Liu Hairong Zheng Zhen Yuan Zonghai Sheng Faculty of Health Sciences Centre for Cognitive and Brian SciencesUniversity of MacaoMacao SAR 999078P.R.China Paul C.Lauterbur Research Center for Biomedical Imaging Key Laboratory for Magnetic Resonance and Multimodality Imaging of Guangdong ProvinceShenzhen Key Laboratory of Ultrasound Imaging and TherapyCAS Key Laboratory of Health InformaticsInstitute of Biomedical and Health EngineeringShenzhen Institute of Advanced TechnologyChinese Academy of SciencesShenzhen 518055P.R.China

Targeted therapy of Parkinson’s disease is an important challenge because of the blood–brain barrier ***,we propose a natural killer cell membrane biomimetic nanocomplex(named BLIPO-CUR)delivered via the meningeal lymphatic vessel(MLV)route to further the therapeutic efficacy of Parkinson’s *** membrane incorporation enables BLIPO-CUR to target the damaged neurons,thus improving their therapeutic efficacy through clearing reactive oxygen species,suppressing the aggregation ofα-synuclein,and inhibiting the spread of excessα-synuclein *** with the conventional intravenous injection,this MLV administration can enhance the delivered efficiency of curcumin into the brain by~20 *** MLV route administration of BLIPO-CUR enhances the treatment efficacy of Parkinson’s disease in mouse models by improving their movement disorders and reversing neuron *** findings highlight the great potential of MLV route administration used as targeted delivery of drugs to the brain,holding a great promise for neurodegenerative disease therapy.

关键词： Targeted drugs aggregation

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Temporal Group Attention Network with Affective Complementary Learning for Gait Emotion Recognition

Temporal Group Attention Network with Affective Complementar...

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2024 IEEE International Conference on Bioinformatics and Biomedicine, BIBM 2024

作者： Zhu, Ziyi Chen, C. L. Philip Liu, Haiqi Zhang, Tong School of Computer Science and Engineering South China University of Technology Guangzhou China Pazhou Lab Guangzhou China Guangdong Provincial Key Laboratory of Computational Ai Models and Cognitive Intelligence China Engineering Research Center of the Ministry of Education on Health Intelligent Perception and Paralleled Digital-Human China

ISBN: (纸本)9798350386226

Skeleton-based methods in Gait Emotion Recognition (GER) that abstract gait as a spatial-temporal graph in a non-Euclidean space have achieved remarkable success. However, existing studies neglect capturing crucial spatial-temporal implicit dependencies and make insufficient use of manually crafted affective complementary information. In this paper, we propose a novel Temporal Group Attention Network with Affective Complementary Learning (T2A). Specifically, we propose a Temporal Group Attention (TGA) module, which captures spatial-temporal implicit dependencies and crucial features across space-time. Moreover, we design an affective complementary learning strategy, which first introduces an Affective Denoising (AD) module to reduce the impact of noise in weak emotion-related information and learn augmented affective features. Then, we adopt a decision-level fusion of the denoised affective features with the deep skeleton features to compensate for the discrepancies between different feature spaces. Experimental results on Emotion-Gait and EMOGAIT demonstrate that our proposed method significantly outperforms state-of-the-art methods. © 2024 IEEE.

关键词： Contrastive Learning

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Machine Learning-Based Channel Power Analysis inside Aircraft Cabin

Machine Learning-Based Channel Power Analysis inside Aircraf...

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2023 International Conference on Intelligent Computing and Control, IC and C 2023

作者： Ye, Xijuan Mao, Kai Ma, Jian Song, Lixin Liu, Yuxin Zhu, Qiuming Ministry of Industry and Information Technology Nanjing University of Aeronautics and Astronautics Key Laboratory of Dynamic Cognitive System of Electromagnetic Spectrum Space Nanjing China Aeronautical Key Laboratory of Aeronautical Science and Technology Nanjing Mechanical and Electrical Hydraulic Engineering Research Center of Aviation Industry Nanjing China

ISBN: (纸本)9781665457095

Communication inside aircraft cabin has gained more and more attentions to provide in-flight connectivity for high-quality user experience and enable the wireless communication of electromechanical equipment. In this paper, a power prediction method considering the coordinates of transceiver, propagation distance and carrier frequency based on the parameterized channel model and machine learning (ML) framework is proposed for wireless communication inside the aircraft cabin. In the proposed channel model, a random forest (RF) network is trained for channel characteristics based on ray tracing (RT) simulation data and applied to estimate the power parameters. The proposed method is verified inside a typical aircraft cabin at 1GHz and compared with traditional model and background propagation neural network (BPNN). The simulation results show that RF can accurately predict the power parameter and reproduce the channel environment. The prediction results of power distribution can provide valuable reference for the layout and optimization of communication nodes inside the aircraft cabin. © 2023 IEEE.

关键词： Forecasting

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GTGR-Net: Graph Attentional-Temporal Network for Surface-Electromyography-Based Gesture Recognition 3

GTGR-Net: Graph Attentional-Temporal Network for Surface-Ele...

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3rd International Conference on Computing, Networks and Internet of Things, CNIOT 2022

作者： Jia, Xiaoxu Wang, Hongbo Luo, Jingjing Lai, Zhiping Zhang, Xueze Zhang, Weiqi Tang, Xiuhong Fudan University Academy for Engineering & Technology Shanghai200433 China Yanshan University Parallel Robot and Mechatronic System Laboratory of Hebei Province Qinhuangdao China Intelligent Robot Engineering Research Center Ministry of Education Shanghai200433 China Shanghai Intelligent Robot Engineering Technology Research Center Shanghai200433 China Shanghai Clinical Research Center for Aging and Medicine Shanghai200040 China

ISBN: (纸本)9781665469104

In this process of active rehabilitation assisted by hand rehabilitation robot, the patient's hand motion intention, that is, the patient's gesture recognition, plays an important role. Gesture recognition based on sEMG signal is a hot research topic. Due to the spatial correlation and time non-stationary of sEMG signal, this research topic has many difficulties. In order to solve this problem, we come up with a gesture recognition network GTGR-Net based on sEMG signal, which uses the combination of graph attention network and time convolution network to extract the spatiotemporal information of sEMG signal. We verify the effect of our algorithm on three public data sets and achieve good results, which is better than the other ways. © 2022 IEEE.

关键词： Convolution

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HetSwarm: Cooperative Navigation of Heterogeneous Swarm in Dynamic and Dense Environments through Impedance-based Guidance

arXiv

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arXiv 2025年

作者： Zafar, Malaika Khan, Roohan Ahmed Fedoseev, Aleksey Jaiswal, Kumar Katyayan Tsetserukou, Dzmitry Intelligent Space Robotics Laboratory Center for Digital Engineering Skolkovo Institute of Science and Technology Moscow Russia Multi-Robot Autonomy Laboratory Center for Digital Engineering IISER Bhopal Bhopal India

With the growing demand for efficient logistics and warehouse management, unmanned aerial vehicles (UAVs) are emerging as a valuable complement to automated guided vehicles (AGVs). UAVs enhance efficiency by navigating dense environments and operating at varying altitudes. However, their limited flight time, battery life, and payload capacity necessitate a supporting ground station. To address these challenges, we propose HetSwarm, a heterogeneous multi-robot system that combines a UAV and a mobile ground robot for collaborative navigation in cluttered and dynamic conditions. Our approach employs an artificial potential field (APF)-based path planner for the UAV, allowing it to dynamically adjust its trajectory in real time. The ground robot follows this path while maintaining connectivity through impedance links, ensuring stable coordination. Additionally, the ground robot establishes temporal impedance links with low-height ground obstacles to avoid local collisions, as these obstacles do not interfere with the UAV’s flight. Experimental validation of HetSwarm in diverse environmental conditions demonstrated a 90% success rate across 30 test cases. The ground robot exhibited an average deviation of 45 cm near obstacles, confirming effective collision avoidance. Compared to the Conflict-Based Search (CBS) algorithm, our approach enables agents to navigate within 25 cm of obstacles, whereas CBS maintains a minimum clearance of 73 cm, highlighting our method’s efficiency in utilizing space in real-time. Extensive simulations in the Gym PyBullet environment further validated the robustness of our system for real-world applications, demonstrating its potential for dynamic, real-time task execution in cluttered environments. © 2025, CC BY-NC-ND.

关键词： Efficiency

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Design and application analysis of a novel tendon-drive flexible endoscope 3

Design and application analysis of a novel tendon-drive flex...

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3rd International Conference on Computing, Networks and Internet of Things, CNIOT 2022

作者： Pan, Qiqi Wang, Hongbo Luo, Jingjing Wang, Fuhao Duan, Wenke Wang, Jiawei Fei, Kangkang Tang, Xiuhong Fudan University Academy for Engineering & Technology Shanghai200433 China Yanshan University Parallel Robot and Mechatronic System Laboratory of Hebei Province Qinhuangdao China Intelligent Robot Engineering Research Center Ministry of Education Shanghai200433 China Shanghai Intelligent Robot Engineering Technology Research Center Shanghai200433 China Shanghai Clinical Research Center for Aging and Medicine Shanghai200040 China

ISBN: (纸本)9781665469104

In this paper, a four-degree-of-freedom flexible endoscope based on tendon drive is proposed, which overcomes the disadvantage of insufficient flexibility at the end of the traditional endoscope, and provides a wider surgical visual field at the same time. This paper focuses on the study of its driving principle and control method. The designed flexible endoscope consists of a flexible arm and a drive box. The flexible segment is composed of 12 skeleton units in each series. The drive box, whose compact body makes the control process more flexible, controls the tightness of the wire through the bidirectional scrolls. Using the model with constant curvature, the motion principle of the flexible endoscope was studied, the mapping relationship among the drive space, the virtual joint space and the workspace was calculated. The drive control system design and drive algorithm programming of the flexible endoscope were completed, and the circular motion and linear motion of the end effector was realized. After experimental verification, the error of the master-slave control accuracy of the end of the four-degree-of-freedom flexible endoscope is less than 3 mm, the workspace is more than 100% larger than that of the traditional endoscope, and the maximum bending angle can reach 140°, realizing the advantage of a larger surgical visual field. © 2022 IEEE.

关键词： Endoscopy

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Kinematics Analysis of the Wearable Waist Rehabilitation robot 1

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16th International Conference on Intelligent robotics and Applications, ICIRA 2023

作者： Qi, Kaicheng Fu, Kefei Wei, Jun Lui, Chenglei Song, Jingke Zhang, Jianjun School of Mechanical Engineering Hebei University of Technology Tianjin300401 China Intelligent Rehabilitation Device and Detection Technology Engineering Research Center of the Ministry of Education Tianjin300130 China Key Laboratory of Robot Perception and Human–Machine Fusion Hebei Province Tianjin300130 China

ISBN: (数字)9789819964987

ISBN: (纸本)9789819964970

Patients with lumbar injuries are becoming more common and there is a shortage of intelligent rehabilitation equipment. A wearable lumbar rehabilitation robot for the treatment of low back pain disease is designed to help patients recover their lumbar motion. Firstly, the motion characteristics of the human lumbar spine and its range of motion is determined, and based on the size and range of motion of the human lumbar spine, the configuration design of the lumbar rehabilitation robot is proposed, and a 2-PUU/2-PUS parallel mechanism with three rotations and one translation is proposed;then the degree of freedom(DoF) analysis is carried out based on the screw theory;Finally, the kinematic inverse solution analysis is performed based on the Euler transformation and the geometrical characteristics of this parallel mechanism respectively, and validated based on the established virtual prototype model, and the results show that the mechanism motion characteristics meet the requirements of lumbar rehabilitation. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Kinematics

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