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IEEE International Conference on Cyborg and Bionic systems (CBS)

作者： Han Tao Huaping Wang Yaozhen Hou Siyu Guo Kaijun Lin Maolin Wang Qiang Huang Toshio Fukuda Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology China Ministry of Education Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology) Beijing China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology Beijing China

In the field of biomedicine, contact micromanipulations are mostly based on multi-robot coordinated operations to achieve mechanical contact interactions with a single type of target in a specific task scenario, which has advantages such as high repeatability, high precision and high stability. With the rapid development of biomedical technology, the increasingly complex biological micromanipulation process has been transformed from a single task to a task sequence of several subtasks, which puts forward higher requirements for the coordination, flexibility, operation accuracy and so on. However, due to the immutable configuration of the end-effector, most microrobotic manipulation systems have a fixed operation dimension, which makes it difficult to include the whole processing of complex tasks and meet the differentiated needs of different operational tasks and objectives. Therefore, this paper proposes a formation control based multi-robot dynamical reconfiguration collaborative micromanipulation to meet the dynamic requirements of multi-process complex tasks. By combining macro multi-robot formation control with collaborative micromanipulation, the dynamical reconfiguration of the end-effector under different manipulation tasks is realized. It can execute efficient and precise manipulation on fragile micro-objects ranging from 50 $\mu \mathrm{m}$ and 1000 $\mu \mathrm{m}$, and provide a new idea for accomplishing the whole processing of complex tasks, such as biological microassembly.

关键词： Viscosity Vibrations Rails Microscopy Collaboration End effectors Formation control

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Parameter-Sharing-Based Average-Consensus Time Synchronization in IoT Networks

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IEEE Internet of Things Journal 2023年第9期10卷 8215-8227页

作者： Shi, Fanrong Yang, Simon X. Mukherjee, Mithun Jiang, Hong Da Costa, Daniel Benevides Wong, Wing-Kwong Southwest University of Science and Technology Robot Technology Used for Special Environment Key Laboratory of Sichuan Province School of Information Engineering Mianyang621010 China School of Engineering University of Guelph Advanced Robotics and Intelligent Systems Laboratory GuelphONN1G 2W1 Canada Nanjing University of Information Science and Technology School of Artificial Intelligence School of Future Technology Nanjing210044 China Technology Innovation Institute Abu Dhabi United Arab Emirates National Yunlin University of Science and Technology Future Technology Research Center Douliu64002 Taiwan

Average-consensus protocol is one of the ways to develop distributed time-synchronization algorithms in Internet of Things (IoT) networks. However, the large number of iteration leads to a common time notion issue in nodes. This poses a critical challenge in the convergence of the time-synchronization algorithm and resulting asymptotic convergence in the average consensus protocol. In this article, a parameter-sharing-based average-consensus time-synchronization (PACTS) algorithm is proposed. For fast convergence, the proposed PACTS quickly forwards the time information to multihop nodes and employs multihop average-consensus instead of single-hop average consensus. Specifically, a node asynchronously and periodically broadcasts the relative clock offset estimation of neighbors with its local time information. Meanwhile, the relative clock offset estimation of the multihop node is calculated and used to estimate the average value. Consequently, an average consensus among local multihop nodes is obtained. As a result, the iteration number and convergence time are significantly reduced over the network. Finally, the experimental results indicate that the proposed PACTS algorithm has low complexity, high accuracy, and quick convergence. © 2023 IEEE.

关键词： Topology

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Automated Electromagnetic Manipulation of Micron-Scale Rotors on Unstructured Surfaces in Low Reynolds Numbers

Automated Electromagnetic Manipulation of Micron-Scale Rotor...

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International Conference on advanced robotics and Mechatronics (ICARM)

作者： Shihao Zhong Kailun Bai Yaozhen Hou Hen-Wei Huang Qing Shi Qiang Huang Huaping Wang Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology Beijing China Science and Technology on Space Physics Laboratory Beijing China Laboratory for Translational Engineering Harvard Medical School Cambridge MA USA Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology Beijing China Key Laboratory of Biomimetic Robots and Systems Beijing Institute of Technology Ministry of Education Beijing China

ISBN: (数字)9798350385724

ISBN: (纸本)9798350385731

The utilization of magnetic microrotors in low Reynolds number liquid environments holds great promise for a wide range of biomedical applications, owing to their ability to maneuver with flexibility. However, during the movement of the microrotors on solid unstructured surfaces, the interaction with neighboring walls has the potential to generate unpredictable disruptions in its motion. This study proposes an automated electromagnetic manipulation method for guiding micron-scale surface rotors along planar paths at low Reynolds numbers. To this end, we designed a magnetic field drive system using multistage electromagnets, and a double-helix rotor with micrometer-scale dimensions. Additionally, we developed a kinematic model for the microrotor that closely resembles that of wheeled mobile robots and employed a sliding mode motion controller to ensure high-precision path following. Results obtained from simulation and experimentation confirm the efficacy of our proposed method, demonstrating precise following of planar paths.

关键词： Visualization Mechatronics Rotors Kinematics Solids Electromagnets Magnetic fields Mobile robots Micromagnetics Electromagnetics

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Thermodynamic Analysis of Multi-Stage Thermal Compression Bonding for Fabricating Vertically Stacked Micro-Led Array

Thermodynamic Analysis of Multi-Stage Thermal Compression Bo...

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China International Forum o Solid State Lighting: International Forum on Wide Bandgap Semiconductors China (SSLChina: IFWS)

作者： Lianyu Wang Kailin Ren Luqiao Yin Jianhua Zhang School of Microelectronics Shanghai University Shanghai China Shanghai Collaborative Innovation Center of Intelligent Sensing Chip Technology Shanghai University Shanghai China Shanghai Key Laboratory of Chips and Systems for Intelligent Connected Vehicle Shanghai University Shanghai China Key Laboratory of Advanced Display and System Applications (Ministry of Education) Shanghai University Shanghai China

ISBN: (数字)9798331541149

ISBN: (纸本)9798331541156

Vertical full-color Micro-LEDs based on flip-chip bonding technology are of great significance in high-resolution display applications, as they have many advantages such as high pixel density, high brightness, and wide color gamut. However, the construction of vertical full-color Micro-LEDs requires multiple thermal compression bonding (TCB). Therefore, thermal stress analysis during multiple TCB is necessary. In this work, the surface thermal stress of a 5×5 vertical Micro-LED array during multi-stage TCB is studied by finite element method (FEM) simulations. The stresses at LED-LED bonding interface and stacked LED-backplane bonding interface as well as the interactions between the two bondings are investigated. The results of different bonding temperatures, material combinations, and interconnected metal diameters and depths on the mean stresses at the bonding interface are analyzed, and then the adequacy of bonding and risk of debonding are assessed. The results show that among the hybrid bonding material combinations set in the simulation, the Cu/ Al 2 O 3 has the largest interfacial stress. In addition, decreasing the interconnected metal diameter and lowering the bonding temperature can relieve the interfacial stress, while the interconnected metal depth has no significant effect on the bonding stress. The key advantage of this work is that it can help establish design and process guidelines to shorten the development cycle of vertical full-color Micro-LEDs based on flip-chip bonding technology.

关键词： Thermodynamics Photonic band gap Metals Thermal analysis Finite element analysis Flip-chip devices Bonding Stress Thermal stresses Guidelines

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Monolithically Integrated Temperature Sensor Based on p-GaN/AlGaN/GaN Heterostructure

Monolithically Integrated Temperature Sensor Based on p-GaN/...

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China International Forum o Solid State Lighting: International Forum on Wide Bandgap Semiconductors China (SSLChina: IFWS)

作者： Qingxin Liu Kailin Ren Luqiao Yin Jianhua Zhang School of Microelectronics Shanghai University Shanghai China Shanghai Key Laboratory of Chips and Systems for Intelligent Connected Vehicle Shanghai University Shanghai China Shanghai Collaborative Innovation Center of Intelligent Sensing Chip Technology Shanghai University Shanghai China Key Laboratory of Advanced Display and System Applications (Ministry of Education) Shanghai University Shanghai China

ISBN: (数字)9798331541149

ISBN: (纸本)9798331541156

A monolithically integrated temperature sensor circuit based on a p-GaN/AlGaN/GaN heterojunction is proposed. The sensor comprises two parts: the first part is a temperature-sensitive voltage source formed by a two-dimensional electron gas (2DEG) resistor and a schottky barrier diode (SBD) in series, and the second part is a resistor-transistor logic (RTL) inverter formed by a 2DEG resistor and a p-GaN high electron mobility transistor (HEMT) in series. The output voltage of the temperature-sensitive voltage source is connected to the gate of the p-GaN HEMT in the second part, providing the gate voltage. According to data obtained from TCAD simulation results, the output voltage of the temperature-sensitive voltage source exhibits positive temperature dependence. The output voltage of the RTL inverter exhibits a negative temperature dependence. When the temperature sensor is properly biased, the voltage division between the SBD and the 2DEG resistor in the temperature-sensitive voltage source reallocates as the temperature rises, causing the gate voltage of the connected RTL inverter to increase. This increasement enhances the temperature-induced variation in the RTL inverter's output voltage, increasing the sensitivity of the temperature sensing circuit from 4 mV/K with a fixed gate voltage to 14 mV/K. This simulation demonstrates a compact monolithic integration sensor for monitoring the on-chip temperature of GaN power integrated circuits for protection and control.

关键词： Temperature sensors Resistors Temperature dependence Sensitivity HEMTs Logic gates Thermal management Inverters System-on-chip MODFETs

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Shape Optimization of Magnetorheological Brake for Performance Enhancement

Shape Optimization of Magnetorheological Brake for Performan...

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IEEE International Conference on robotics and Biomimetics

作者： Qiuyu Shi Fajiang Liu Xinyu Wu Fei Gao Southern University of Science and Technology Shenzhen China Guangdong Provincial Key Laboratory of Robotics and Intelligent System Chinese Academy of Sciences Shenzhen Institute of Advanced Technology Shenzhen China Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

Magnetorheological (MR) rotary brakes leverage the magnetically controllable rheological properties of MR fluids to provide damping torque in lower limb assistance devices. This paper utilizes an optimization algorithm (Whale Optimization Algorithm (WOA)) to optimize the geometric dimension of the MR brake to enhance field-dependent brake torque. First, the mechanical design and optimization process of the MR brake were outlined. Then, the magnetic density of the MR fluid is evaluated using the ANSYS platform. With that, the WOA was exploited to optimize key design parameters across multiple iterations. According to the simulated results, the torque was improved from 17.39 Nm to 25.89 Nm, which increased by 48%. Finally, a prototype with the initial dimension was fabricated and preliminarily tested.

关键词： Stator cores Torque Fluids Shape Magnetomechanical effects Prototypes Magnetic liquids Whale optimization algorithms Brakes Optimization

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Multimodal surface material classification based on ensemble learning with optimized features 22

Multimodal surface material classification based on ensemble...

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22nd IEEE International Conference on E-Health Networking, Application and Services, HEALTHCOM 2020

作者： Liu, Xiang Wu, Hancheng Fang, Senlin Yi, Zhengkun Wu, Xinyu CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced Technology Shenzhen518055 China Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China Shenzhen Key Laboratory of Smart Sensing and Intelligent Systems Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China SIAT Branch Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen518055 China

ISBN: (纸本)9781728162676

In this paper, we propose a novel method for multimodal material classification based on ensemble learning and optimized features. The proposed method consists of three key steps. Firstly, we extract a set of features for each modality. Compared to existing methods, the extracted features are relatively simple but more effective when they are incorporated into the classifiers. Then, the feature selection algorithms, including Multi-Cluster Feature Selection (MCFS) and Laplacian Score (LS) are employed to reduce the feature dimension due to the curse of dimensionality. Finally, an ensemble learning method is proposed to integrate the merits of different feature selection methods. The effectiveness of the proposed method is demonstrated on the LMT-108 surface material dataset which includes multiple modalities such as sound, acceleration, and image. The experimental results have shown that our approach performs better than the competing methods. © 2021 IEEE.

关键词： Learning systems

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Safe Multiagent Coordination via Entropic Exploration

arXiv

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arXiv 2024年

作者： Aydeniz, Ayhan Alp Marchesini, Enrico Loftin, Robert Amato, Christopher Tumer, Kagan Khoury College of Computer Sciences Northeastern University BostonMA United States Laboratory for Information & Decision Systems Massachusetts Institute of Technology CambridgeMA United States Department of Computer Science University of Sheffield Sheffield United Kingdom Collaborative Robotics and Intelligent Systems Institute Oregon State University CorvallisOR United States

Many real-world multiagent learning problems involve safety concerns. In these setups, typical safe reinforcement learning algorithms constrain agents’ behavior, limiting exploration—a crucial component for discovering effective cooperative multiagent behaviors. Moreover, the multiagent literature typically models individual constraints for each agent and has yet to investigate the benefits of using joint (team) constraints. In this work, we analyze these team constraints from a theoretical and practical perspective and propose entropic exploration for constrained multiagent reinforcement learning (E2C) to address the exploration issue. E2C leverages observation entropy maximization to incentivize exploration and facilitate learning safe and effective cooperative behaviors. Experiments across increasingly complex domains show that E2C agents match or surpass common unconstrained and constrained baselines in task performance while reducing unsafe behaviors by up to 50%. Copyright © 2024, The Authors. All rights reserved.

关键词： Adversarial machine learning

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Cam Profile Optimization for a Piezoelectric-Based Sole Energy Harvester

Cam Profile Optimization for a Piezoelectric-Based Sole Ener...

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IEEE International Conference on robotics and Biomimetics

作者： Haisu Liao Zhongliang Ren Yidi Wang Xinyu Wu Fei Gao Southern University of Science and Technology Shenzhen China Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

Harvesting energy from the human body to extend the operational time for low-power has gained significant attention. Recently, researchers have focused on biomechanical energy harvesting from human feet while walking. This paper presents an optimization of the cam profile for a piezoelectric-based sole energy harvester designed to be worn on the bottom of shoes to power electronic devices. Specifically, cams with linear polynomial and exponential functions were designed to actuate the piezoelectric transducers (PZTs). Force analysis revealed that the exponential function cam induces more significant deformation in the PZTs than the linear polynomial cam. Preliminary tests on a healthy subject validated this design, showing that the exponential function cam produced an average output power of 0.16mW at a walking speed of 5.5 km/h, indicating a 78% improvement over the linear polynomial cam. Moreover, the optimization rate increased with the growing walking speed.

关键词： Legged locomotion Deformation Force Voltage Polynomials Energy harvesting Power generation Optimization Lead zirconate titanate Testing

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Dynamic Fluorescent Imaging for Robotic Patch Clamp in vivo: Modeling and Control

Dynamic Fluorescent Imaging for Robotic Patch Clamp in vivo:...

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第42届中国控制会议

作者： Ruimin Li Jinyu Qiu Minghui Li Mingzhu Sun Xin Zhao Qili Zhao Institute of Robotics and Automatic Information System (IRAIS) Nankai University Tianjin Key Laboratory of Intelligent Robotic (tjKLIR) Nankai University Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology

Fluorescent imaging through fluorescent dye injection is the key technique for lighting the in vivo environment and localizing the target cell in it for patch clamp operation in vivo. At present, manual fluorescent imaging is usually a labor-intensive high-skill requisite work, significantly limiting the application of patch clamp operation in vivo. In this paper, a computational modeling of the diffusion process of the injected fluorescent dye is established using the commercial ANSYS Fluent software. Based on this model, the distribution of the mass fraction, proven to be linearly related to fluorescence intensity,was calculated to simulate the fluorescent field formed by fluorescent dye injection. Further, an ADRC controller was developed to generate feedback-controlled fluorescent fields. With the above model and controller, a mobile fluorescent field, and varying fluorescent field with constant mass fraction at the target position are generated to fulfill the requirement of in vivo environment observation, search and localization of the target cell in patch clamp operation, respectively. The above results prove the feasibility of ADRC-controlled dynamic fluorescent imaging in the patch clamp operation in vivo.

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