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IEEE International Conference on Mechatronics and Automation

作者： Sheng Cao Shuxiang Guo Jian Guo Jian Wang Chunying Li Huiyin Xu Bin Wang Mingchao Ding Aerospace Center Hospital & the Key Laboratory of Convergence Medical Engineering System and Healthcare Technology School of Life Science & Ministry of Industry and Information Technology Beijing Institute of Technology Beijing China Shenzhen Institute of Advanced Biomedical Robot Company Limited Shenzhen China Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen China National Engineering Laboratory of Computer Technology for Big Data Systems Shenzhen University Shenzhen China

ISBN: (数字)9798350388077

ISBN: (纸本)9798350388084

In practical clinical applications, vascular intervention surgical robots have developed sophisticated human-machine interaction systems, enabling assistance to physicians in performing remote surgeries and providing intelligent visual feedback. However, regarding surgical safety, current research predominantly focuses on force feedback and robot control logic, with clamping mechanisms targeting the locking of catheters and guide wires. Excessive clamping force may lead to surface damage to intervention instruments, while insufficient force delivery may result from slippery surfaces. Therefore, addressing these issues, this study proposed a passive, compliant safety strategy for an adaptive clamping device based on a vascular intervention surgical robot platform. This device can accommodate different diameter catheters and maintain a constant delivery force during the intervention process. Finally, through experimentation, the effectiveness, safety, and stability of the device were demonstrated.

关键词： Visualization Medical robotics Force Wires robot control Surgery Safety

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Vacuum wetting of Ag/TA2 to develop a novel micron porous Ti with significant biocompatibility and antibacterial activity

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Journal of Materials Science & technology 2022年第21期116卷 180-191页

作者： Guanpeng Liu Yulong Li Ming Yan Jicai Feng Jian Cao Min Lei Quanwen Liu Xiaowu Hu Wenqin Wang Xuewen Li Key Lab for Robot and Welding Automation of Jiangxi Province Mechanical and Electrical Engineering SchoolNanchang UniversityNanchang 330031China Jiangxi Provincial Key Laboratory of Interdisciplinary Science Nanchang UniversityNanchang 330031China Department of Materials Science and Engineering and Shenzhen Key Laboratory for Additive Manufacturing of High-Performance Materials Southern University of Science and TechnologyShenzhen 518055China State Key Lab of Advanced Welding and Joining Harbin Institute of TechnologyHarbin 150001China The National Engineering Research Center for Bioengineering Drugs and the Technologies Institute of Translational MedicineNanchang UniversityNanchang 330031China The Engineering Training Center of Nanchang University Mechanical and Electrical Engineering SchoolNanchang UniversityNanchang 330031China

Porous Ti with low modulus,excellent bio-corrosion resistance,biocompatibility,and antibacterial activity is highly pursued as advanced implant *** this work,a new approach to prepare micron porous structures on the surface layer of a grade 2 commercially-pure Ti(TA2)was proposed,which utilized a simple vacuum wetting process of pure Ag on the surface of *** microstructure,corrosion resistance,biocompatibility,mechanical properties,antibacterial ability,and formation mechanism of the asfabricated porous Ti were *** results show that the pores(with average pore sizes of 0.5-5μm)are distributed on the surface layer of the TA2 with a depth of~10μ*** particular,a large number of silver nanoparticles(Ag NPs)form which are dispersed on the porous *** formation mechanisms of the porous structures and Ag NPs were elucidated,suggesting that the volatilization/sublimation of Ag in TA2 is *** porous Ti possesses excellent bio-corrosion resistance,surface wettability,biocompatibility,antibacterial activity,and a relatively low elastic modulus of 40-55 GPa,which may have a promising future in the field of orthopedic *** work also provides a novel idea for the development of advanced porous Ti materials for orthopedic-related basic research and biomedical applications.

关键词： Porous titanium Biomaterials Vacuum wetting Porous surface Antibacterial activity

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Diff9D: Diffusion-Based Domain-Generalized Category-Level 9-DoF Object Pose Estimation

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IEEE Transactions on Pattern Analysis and Machine Intelligence 2025年第7期47卷 5520-5537页

作者： Jian Liu Wei Sun Hui Yang Pengchao Deng Chongpei Liu Nicu Sebe Hossein Rahmani Ajmal Mian National Engineering Research Center for Robot Visual Perception and Control Technology College of Electrical and Information Engineering School of Robotics and the State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body Hunan University Changsha China Institute of Artificial Intelligence and Robotics Xi’an Jiaotong University Xi’an China Department of Information Engineering and Computer Science University of Trento Trento Italy School of Computing and Communications Lancaster University Lancaster U.K. Department of Computer Science The University of Western Australia Crawley WA Australia

Nine-degrees-of-freedom (9-DoF) object pose and size estimation is crucial for enabling augmented reality and robotic manipulation. Category-level methods have received extensive research attention due to their potential for generalization to intra-class unknown objects. However, these methods require manual collection and labeling of large-scale real-world training data. To address this problem, we introduce a diffusion-based paradigm for domain-generalized category-level 9-DoF object pose estimation. Our motivation is to leverage the latent generalization ability of the diffusion model to address the domain generalization challenge in object pose estimation. This entails training the model exclusively on rendered synthetic data to achieve generalization to real-world scenes. We propose an effective diffusion model to redefine 9-DoF object pose estimation from a generative perspective. Our model does not require any 3D shape priors during training or inference. By employing the Denoising Diffusion Implicit Model, we demonstrate that the reverse diffusion process can be executed in as few as 3 steps, achieving near real-time performance. Finally, we design a robotic grasping system comprising both hardware and software components. Through comprehensive experiments on two benchmark datasets and the real-world robotic system, we show that our method achieves state-of-the-art domain generalization performance.

关键词： Shape Solid modeling Three-dimensional displays Pose estimation Training robots Grasping Diffusion models Real-time systems Point cloud compression

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High strength, low modulus, and ductile metastable beta Ti-Nb-Zr-Fe alloys by laser powder bed fusion in-situ alloying

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Journal of Materials Science & technology 2026年 241卷 270-283页

作者： Yue Li Liuyong Wang Haoyue Wu Feng Ding Min Lei Jin Yang J.P. Oliveira Ming Yan Wei Guo Yulong Li Jiangxi Key Laboratory of Intelligent Robot School of Advanced Manufacturing Nanchang University Nanchang 330031 China Department of Physics School of Physics and Materials Science Nanchang University Nanchang 330031 China School of Materials Science and Engineering Shanghai University of Engineering Science Shanghai 201620 China CENIMAT | I3N Department of Materials Science School of Science and Technology NOVA University Lisbon Caparica 1099-085 Portugal Department of Materials Science and Engineering Southern University of Science and Technology Shenzhen 518055 China School of Mechanical Engineering and Automation Beihang University Beijing 100191 China

A novel, high strength, low modulus, and ductile metastable β Ti-14Nb-6Zr-3Fe (TNZF) alloy was manufactured via laser powder bed fusion (LPBF) in-situ alloying. Process parameter optimization resulted in near-fully dense samples (< 0.1% porosity) under optimal conditions. The microstructure and mechanical properties of TNZF alloy were then tailored using two chessboard scanning strategies and a simple scanning strategy. Samples fabricated using the chessboard scanning strategy (CS-TNZF) benefited from a lower thermal gradient, the high growth restriction factor associated with the addition of Fe, and constitutional supercooling around residual Nb particles, resulting in a near-equiaxed grain structure (average aspect ratio: 2.0) compared to the AS-TNZF (fabricated using the simple scanning strategy). The microstructure consisted of a β-Ti matrix with 2–5 nm sized ω precipitates. Due to the addition of Zr, the transition from β to ω was suppressed during thermal cycling associated with LPBF, resulting in the presence of a partially collapsed ω phase. Without post-processing heat treatments, the AS-TNZF condition exhibited a yield strength (YS) of 1091 MPa, an elastic modulus (E) of 68 GPa, and an elongation (EL) of 16.8%, while the CS-TNZF counterpart achieved a higher YS of 1147 MPa and E of 71 GPa, but a lower EL of 10.8% due to a higher volume fraction of ω phase. Both AS-TNZF and CS-TNZF demonstrated high elastic admissible strain values (YS/E ratio) of 1.60 and 1.62, respectively, achieving high strength, low modulus, and good ductility, which indicates their suitability for biomedical implant materials.

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One-Shot Grading: Design and Development of an Automatic Answer Sheet Checker

One-Shot Grading: Design and Development of an Automatic Ans...

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IEEE International Conference on Industrial Engineering and Engineering Management

作者： A. Blattler T. Sittiwanchai P. Tareram W. Chenvigyakit C. Sila-ars Department of Production and Robotics Engineering King Mongkut's University of Technology North Bangkok Bangkok Thailand Center for Innovation in Human Factors Engineering and Ergonomics (CIHFE^2) King Mongkut's University of Technology North Bangkok Bangkok Thailand Center of Innovative Robot and Advanced Precision Systems (iRAPs) King Mongkut's University of Technology North Bangkok Bangkok Thailand

Technological advancements have transformed the landscape of examination grading, necessitating efficient and reliable solutions. This paper introduces “One-Shot Grading, “ an Automatic Answer Checker that utilizes machine vision and image processing to evaluate multiple-choice and true-false questions. The system offers adaptability to diverse exam formats, allowing for modifications to the answer sheet's choices, parts, and size. Extensive validation tests demonstrate consistent performance with 100.0% accuracy in recognizing student IDs and grading sheets marked with a 2B pencil. The system effectively identifies and rejects erroneous sheets, maintaining a robust grading process. Comparison with the ZIP GRADE app confirms the reliability and accuracy of the Automatic Answer Checker. The system displays flexibility and accuracy in grading papers of varying weights, showcasing its adaptability to real-world conditions. Future research should explore extending the system to different question formats and investigating environmental factors' impact on performance.

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Origami Actuator with Tunable Limiting Layer for Reconfigurable Soft robotic Grasping

Origami Actuator with Tunable Limiting Layer for Reconfigura...

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

作者： Yang Yang Kejin Zhu Yuan Xie Shaoyang Yan Juan Yi Pei Jiang Yunquan Li Yazhan Zhang Yingtian Li School of Automation Nanjing University of Information Science and Technology Nanjing China Jiangsu Province Engineering Research Center of Intelligent Meteorological Exploration Robot Department of Mechanical and Energy Engineering Southern University of Science and Technology Shenzhen China State Key Laboratory of Mechanical Transmission University of Chongqing Chongqing China Shien-Ming Wu School of Intelligent Engineering South China University of Technology Guangzhou China Peng Cheng Laboratory Shenzhen China Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen China

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

This paper presents a soft actuator inspired by origami and a tunable strain limiting layer, which is proposed for reconfigurable soft robotic grasping. Main structure of the actuator is based on Miura origami which generates extension under pressurized air while a limiting layer with tunable length enables the actuator with different motion patterns. By driving the limiting layer through a servo motor, the range of motion and trajectory of the actuator can be pre-programed and the gripper’s grasping range will be affected accordingly. This paper discusses the design, fabrication, analysis and experimental verification of the actuator. Then grasping performance of the gripper under objects of different shapes, sizes, and weights is experimentally evaluated. The reconfigurable soft gripper can be applied as an end-effector to accomplish adaptive grasping tasks with various targets.

关键词： Actuators Limiting Grasping Soft robotics robot sensing systems Trajectory Grippers Motion control Tuning Strain

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Gait Cycle-Inspired Learning Strategy for Continuous Prediction of Knee Joint Trajectory from sEMG

arXiv

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arXiv 2023年

作者： Fu, Xueming Zheng, Hao Liu, Luyan Zhong, Wenjuan Liu, Haowen Xiong, Wenxuan Zhang, Yuyang Chen, Yifeng Wei, Dong Dong, Mingjie Zheng, Yefeng Zhang, Mingming Shenzhen Key Laboratory of Brain-robot Rehabilitation Technology Lab Department of Biomedical Engineering College of Engineering Southern University of Science and Technology Shenzhen518055 China Tencent Jarvis Lab Shenzhen China Medical Image Computing Lab School of Biomedical Engineering ShanghaiTech University Shanghai201210 China Beijing Key Laboratory of Advanced Manufacturing Technology Faculty of Materials and Manufacturing Beijing University of Technology Beijing100124 China

Predicting lower limb motion intent is vital for controlling exoskeleton robots and prosthetic limbs. Surface electromyography (sEMG) attracts increasing attention in recent years as it enables ahead-of-time prediction of motion intentions before actual movement. However, the estimation performance of human joint trajectory remains a challenging problem due to the inter- and intra-subject variations. The former is related to physiological differences (such as height and weight) and preferred walking patterns of individuals, while the latter is mainly caused by irregular and gait-irrelevant muscle activity. This paper proposes a model integrating two gait cycle-inspired learning strategies to mitigate the challenge for predicting human knee joint trajectory. The first strategy is to decouple knee joint angles into motion patterns and amplitudes—former exhibit low variability while latter show high variability among individuals. By learning through separate network entities, the model manages to capture both the common and personalized gait features. In the second, muscle principal activation masks are extracted from gait cycles in a prolonged walk. These masks are used to filter out components unrelated to walking from raw sEMG and provide auxiliary guidance to capture more gait-related features. Experimental results indicate that our model could predict knee angles with the average root mean square error (RMSE) of 3.03±0.49 degrees and 50ms ahead of time. To our knowledge this is the best performance in relevant literatures that has been reported, with reduced RMSE by at least 9.5%. Copyright © 2023, The Authors. All rights reserved.

关键词： Muscle

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Multi-model Fusion Solution for IEEE UV 2022 “Vision Meets Algae” Object Detection Challenge

Multi-model Fusion Solution for IEEE UV 2022 “Vision Meets ...

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International Conference on Universal Village (UV)

作者： Xiaoxiao Peng Yueyi Wang Dayu Chen Yuchen Tian Keyu Huang Jianfeng Zheng Department of Automatic Driving Software Engineering smart Motor (Shanghai) Robot Technology Co. Ltd Shanghai China Department of Informatics King’s College London London United Kingdom Department of Algorithm Strategy Didi Chuxing Hangzhou China Institute of Advanced Technology University of Science and Technology of China Anhui China Department of Algorithm Strategy Koto Communication Technology Co. Ltd Xiamen China

This report summarizes the fourth-place solution of the “Vision Meets Algae” object detection challenge held on IEEE UV’2022 focuses on object detection in marine biology images obtained through the microscope. First, we experimented with a large number of backbones and necks to improve mAP by enhancing the model structure. Then, we designed and tested a variety of data augmentation schemes based on algal characteristics from a data perspective. Finally, with multiple models ensembled adopted, our methods achieve 57.579% mAP on the test set.

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Bio-Inspired Pupal-Mode Actuator with Ultra-Crossing Capability for Soft robots

Bio-Inspired Pupal-Mode Actuator with Ultra-Crossing Capabil...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Zhenxing Wang Xiao He Yuhang Zhang Cheng Zhang Lei Sun Zhidong Wang Shun Xu Hao Liu State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China Key Laboratory of Minimally Invasive Surgical Robot Shenyang China Department of Thoracic Surgery The First Affiliated Hospital of China Medical University Shenyang China University of Chinese Academy of Sciences Beijing China Department of Advanced Robotics Chiba Institute of Technology Narashino Japan

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

robot-assisted Natural Orifice Translu-minal Endoscopic Surgery (NOTES) represents a paradigm shift in surgical practice, significantly mini-mizing patient morbidity. However, the variability of inner diameter and the inter-luminal crossing within the luminal tracts lead to challenge for effective robotic intervention. Inspired by the motion of the chrysalis during its transformation, we designed an innovative pupal-mode actuator for NOTES robots. Through the manipulation of its internal air chambers, this actuator is capable of replicating wriggle-like movements. Through experimental analysis, we have acquired the constitutive characteristics of this actuator. Subsequently, an innovative gastric endoscopy robot is developed base the actuator and tested in a phantom. The results of the task simulations substantiate that the pupal-mode actuator has the capability to reduce resistance and enhance the safety of the endoscopic intervention.

关键词： Actuators Surgery Pneumatic systems Soft robotics robot sensing systems Sensors Task analysis

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$\mathcal {H}_{\infty }$ State Estimation for PDT-Switched Coupled Neural Networks Under Round-Robin Protocol: A Cooperation-Competition-Based Mechanism

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IEEE Transactions on Network Science and Engineering 2022年第2期10卷 911-921页

作者： Hao Shen Yinsheng Song Jing Wang Ju H. Park AnHui Province Key Laboratory of Special Heavy Load Robot Anhui University of Technology Ma'anshan China Key Laboratory of Advanced Control and Optimization for Chemical Processes Ministry of Education East China University of Science and Technology Shanghai China School of Electrical and Information Engineering Anhui University of Technology Ma'anshan China School of Information Science and Engineering East China University of Science and Technology Shanghai China Department of Electrical Engineering Yeungnam University Kyongsan Republic of Korea

This paper is concentrated on the $\mathcal {H_{\infty }}$ state estimation problem for switched coupled neural networks based on a Takagi-Sugeno fuzzy model. Notably, the time-variant network topology with alternate fast switchings and slow ones is described suitably by a persistent dwell-time rule, and the interactive dynamics with both cooperative properties and antagonistic ones among nodes are featured comprehensively by the switching signed graph. In view of the communication pressures brought by network-induced problems and the requirements in digital control, the round-robin protocol and logarithmic quantization are flexibly integrated for more transmission efficiency and fewer data collisions. Thereafter, by utilizing a relaxed multiple Lyapunov function method and some novel matrix process techniques, sufficient criteria guaranteeing the exponential stability in a globally uniform sense with a prescribed $\mathcal {H_{\infty }}$ performance level of the estimation error system are established. Finally, the synthesized analysis of the proposed method is presented with an illustrative example.

关键词： Switches Topology Switching circuits Protocols Neurons State estimation Quantization (signal)

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