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Intelligent interaction system based on multimodal conformal triboelectric nanogenerator patch for disabled sports and life

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science China(Technological sciences) 2025年第2期68卷 290-305页

作者： Yuzhang WEN Mengqi ZHANG Zhenning XIE Zida AN Bing LIU Fengxin SUN Tianming ZHAO Zuojun YU Fei WANG Yupeng MAO Physical Education Department Northeastern UniversityShenyang 110819China Faculty of Robot Science and Engineering Northeastern UniversityShenyang 110819China China Ice Sports College Beijing Sport UniversityBeijing 100084China State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Criminal Investigation Police University of China Shenyang 110035China

Intelligent interaction technology based on advanced sensing units has become a research *** this paper,an intelligent interaction system(IIS)based on a multimodal conformal triboelectric nanogenerator patch(MCTP)is reported for sports monitoring and life promotion of the *** IIS consists of a cloud-based smart sports recognition program and a smart life *** porous micro-reinforced structure of polyurethane(PU)Sponge&Ecoflex,and the surface modification of PTFE by coating it with MXene endows the MCTP with excellent electrical *** shows good angle and force sensitivities of 1.1 V/°and 1.61 V/N,respectively,and has an ultra-fast response time of 15 ms,meeting the needs of human motion *** MCTP can also capture the mechanical energy,producing a maximum output power of 139μ*** with the commercial inertial measuring unit(IMU),the MCTP shows better consistency in human joint angle sensing.A precise analysis of wheelchair curling sports monitoring points is achieved by combining the MCTP and the human anatomy *** cloud-based smart sports recognition program utilizes machine learning to achieve visual feedback on the three throwing technologies of draw,takeout and *** addition,the developed smart life application uses a highsensitivity MCTP-sensor array design to achieve a variety of smart home interactions through simple finger ***,the IIS integrates the three major functions of smart sports sensing,energy capture,and smart home control,providing important application prospects in the fields of smart sports and human-computer interaction for the disabled.

关键词： triboelectric nanogenerator machine learning smart sports smart home human-computer interaction

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A Novel Non-Isolated Dual-Input High Step-Up DC-DC Converter with Three Winding Coupled Inductor for Electric Vehicle Charging Station

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IEEE Transactions on Transportation Electrification 2025年第3期11卷 7463-7474页

作者： Li, Hongzhu Li, Chao Sun, Xuanjin Li, Wenjing Yang, Zhen Liaoning Technical University Faculty of Electrical and Control Engineering Huludao125105 China Northeastern University College of Information Science and Engineering Shenyang110819 China

Dual-input DC-DC converters are increasingly recognized as integrated systems for various applications, such as electric vehicle charging station and distributed energy systems, due to the compact size and cost-effectiveness. Therefore, a novel dual-input single-output high step-up DC-DC converter with three-winding coupled inductor (DISO-TWCI), which secondary and tertiary windings are integrated with switched capacitor, is proposed to achieve a high voltage conversion ratio without an extremely duty cycle. And the diode-capacitor clamp circuit is utilized to minimize the voltage spikes across switches, which is beneficial for selecting switches with low voltage ratings. Moreover, the switches can achieve the Zero Current Switching (ZCS) with the help of leakage inductor from TWCI. By integrating the passive clamp network, the number of components in DISO-TWCI can be reduced, significantly enhancing its performance. The operating principles, steady-state analysis, design and performance analysis of DISO-TWCI are described in detail. Finally, the theoretical correctness is verified by building an experimental prototype with switching frequency of 100 kHz. The rated power is 400 W with 24-24V input and 400V output. © 2015 IEEE.

关键词： Capacitor bank

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Emotional EEG Prediction Based on Spatial-Temporal Graph Convolutional Neural Network 17

Emotional EEG Prediction Based on Spatial-Temporal Graph Con...

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17th International Convention on Rehabilitation engineering and Assistive Technology, i-CREATe 2024

作者： Bi, Jinying Wang, Fei Hu, Fangzhou Li, Hao Qu, Gangguo Han, Shuai Faculty of Robot Science and Engineering Northeastern University Shenyang110819 China College of Information Science and Engineering Northeastern University Shenyang110169 China Shengjing Hospital China Medical University Department of Neurosurgery Shenyang110004 China

ISBN: (纸本)9798350355154

Background and Objective: Emotions are an integral part of our daily lives and have a significant impact on brain neural activities. However, most traditional studies on electroencephalogram (EEG) emotions have focused on identification and classification, without effectively predicting future EEG based on existing emotional EEG signals. This paper introduces a spatial-temporal graph convolutional neural network (STGCNN) to integrate temporal and spatial features of EEG, capturing more emotional information. Methods: After calculating the brain functional network operating Pearson correlation, it is utilized as the input information of the model together with the frequency domain differential entropy (DE). Information prediction in the spatiotemporal domain is mainly achieved through two cross structures of two temporal convolutions and one spatial convolution. Meanwhile, an ablation experiment is designed to illustrate the practicality of the model. Results and Conclusion: The performance of the model is evaluated on the SEED dataset for mixed and single emotions across three sessions and three frequency bands by metrics: Mean Absolute Error (MAE), Root Mean Square Error (RMSE), and Weighted Mean Absolute Percentage Error (WMAPE). All performance metrics confirm the predictability of EEG-based emotions, demonstrating the effectiveness of STGCNN for the prediction of EEG. Significance: Accurately emotional EEG prediction is crucial for brain neural rehabilitation training and forecasting. © 2024 IEEE.

关键词： Convolutional neural networks

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Finite-step-integration:An original method for the forward kinematics analysis of parallel manipulators

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Frontiers of Mechanical engineering 2025年第1期20卷 129-146页

作者： Yuan JIANG Bo HAN Xiaohan LIU Meng HAN Jiantao YAO Yongsheng ZHAO School of Mechanical Engineering Yanshan UniversityQinhuangdao 066004China Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan UniversityQinhuangdao 066004China College of Information Science and Engineering Northeastern UniversityShenyang 110819China

In today’s society,parallel manipulators(PMs)are widely used in industrial production,aerospace,and other fields,where their forward kinematic analyses often serve as the foundation for various tasks,such as design,calibration,and *** the past few decades,this issue has seemingly been repeatedly addressed using various numerical methods,intelligent algorithms,and algebraic *** it is undeniable that solving the equations is easier with current technology,the problem of“how to formulate solvable equations”is often *** analysis issue typically involves establishing non-linear,multi-parameter,high-dimensional,and strong-coupled mathematical equations,which,from a geometric perspective,is also considered a process of solving a spatial *** considering the temporal dimension of motion between two isomorphic polytopes,based on calculus theory,it has been found that this non-linear problem can be transformed into the superposition of multiple iteratively linear ***,we propose an original method for the forward kinematic analysis of PMs,namely the finite-step-integration(FSI)*** this study,the mathematical principles and modeling methods of the FSI method are elucidated,and the modeling and programming processes of the FSI method are demonstrated using general 6-UPS and 3-UPS/S manipulators as *** the analysis of its unique algebraic structure,the methods for singularity determination and motion tracking characteristic analysis are *** method addresses the long-standing challenges in the forward kinematic modeling of PMs,which is applicable for design,calibration,and control,while also offering novel insights for modeling and solving certain non-linear engineering problems.

关键词： finite-step-integration forward kinematic analysis parallel manipulator singularity determination motion tracking

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Salient Object Detection via A Novel Saliency Ranking Tree Integrating Low-level and High-level Features 15

Salient Object Detection via A Novel Saliency Ranking Tree I...

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15th International Conference on Graphics and Image Processing, ICGIP 2023

作者： Pang, Yu Huang, Yang Yu, Xiaosheng Wu, Chengdong School of Artificial Intelligence Shenyang University of Technology Shenyang110870 China Faculty of Robot Science and Engineering Northeastern University Shenyang110819 China

ISBN: (纸本)9781510675018

In this paper, we propose a novel salient object detection framework by constructing a novel saliency tree model integrating low-level and high-level features. In our model, numerous features containing low-level features (e.g., color, texture, gradient, contrast, etc.) and high-level features (e.g., deep features extracted from pre-trained VGG19 net) are firstly selected as candidate features. We develop a novel feature integrating mechanism to acquire an integrated feature descriptor which is more discriminative to capture the contrast between foreground and background for the input image. Then, we construct a novel saliency tree model relied on the integrated features to generate saliency map. We compare the proposed method and other state-of-the-art methods on three datasets, experimental results indicate that the proposed saliency detection algorithm has achieved the top performance. © 2024 SPIE. All rights reserved.

关键词： Object recognition

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Parameters Evaluation and Optimization of Battery-Powered Wireless Smoke Alarms with Cluster-Based Sensor Networks for Real-World Application Requirements 14

Parameters Evaluation and Optimization of Battery-Powered Wi...

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14th IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems, CYBER 2024

作者： Wang, Li Zhang, Xi Mei, Zhibin Yu, Xiaosheng Shenyang Fire Science and Technology Research Institute of MEM Liaoning Shenyang China Northeastern University Faculty of Robot Science and Engineering Liaoning Shenyang China

ISBN: (纸本)9798331506056

Fire is a leading cause of unnatural deaths in daily life. Battery-powered wireless smoke alarm systems are crucial in preventing fire deaths in communities. However, large-scale applications face issues such as rapid battery consumption, uneven energy consumption, concentrated risk of malfunctions, and vulnerability of communication to environmental impacts. To address this issue, we introduce a cluster-based network structure that operates on NB-IoT and AdHoc dual-mode converged communication. We propose a method for evaluating the system's performance and optimizing its parameters before physical fabrication. Laboratory experiments and 2-year-long real-world field tests validate the effectiveness of our method in solving the real-world wireless smoke alarm system application problem. © 2024 IEEE.

关键词： Smoke detectors

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Non-Ideal sEMG Gesture Recognition Based on DANN Under Electrode Offset

Non-Ideal sEMG Gesture Recognition Based on DANN Under Elect...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Lin, Qinggui An, Zida Fujian Zhangpu Vocational and Technical School Zhangpu Fujian China Northeastern University Faculty of Robot Science and Engineering LiaoNing ShenYang China

ISBN: (纸本)9781665481090

The traditional program control method limits the flexibility of human-computer interaction, especially in robot interaction systems that come into direct contact with the human body. sEMG signal is a relatively flexible control signal, however, sEMG signal sensors may experience positional changes due to human motion, which can affect signal acquisition. To address this issue, this paper proposes a DANN method based on adversarial thinking to solve the problem of non-ideal sEMG gesture recognition on SeNic-Main dataset. Through adversarial thinking, 8 gesture actions under electrode offset were transferred and classified, achieving a maximum improvement of 9%. The results indicate that DANN can effectively solve the problem of non ideal sEMG gesture recognition. © 2024 IEEE.

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A Visual Servo Human-robot Interaction Method Based on Unidirectional Adaptive Temporal Interaction

A Visual Servo Human-Robot Interaction Method Based on Unidi...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Zhang, Haiyan Zhang, Libo Chen, Xu Wang, Fei Northeastern University Faculty of Robot Science and Engineering Shenyang110004 China School of Astronautics Harbin Institute of Technology Harbin150001 China

ISBN: (纸本)9781665481090

Gesture recognition holds a pivotal role within the realm of human-robot interaction. Existing methods for action recognition often exhibit suboptimal real-time performance and face challenges in deployment onto edge devices for instantaneous online recognition. Moreover, human-robot interaction typically relies on wearable devices, with limited purely vision-centric interaction methodologies available. This study introduces the Unidirectional Adaptive Temporal Interaction Module (Unidirectional-ATIM), which integrates unidirectional feature fusion across temporal dimensions to capture historical frame-based temporal information. Drawing from this module, we developed a lightweight online action recognition algorithm, ATIM-Online, and established a visual servo-based framework for gesture human-robot interaction. Experimental out comes from deployments on quadruped robots and robotic arms demonstrate that our approach achieves high accuracy in gesture recognition and a high success rate in interaction. © 2024 IEEE.

关键词： Microrobots

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Sub-pixel Underwater Object Size Measurement Algorithm Based on Improved Otsu Binarization and Edge Curvature Filtering

Sub-pixel Underwater Object Size Measurement Algorithm Based...

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2022 International Conference on Innovations and Development of Information Technologies and robotics, IDITR 2022

作者： Chen, Chen Cao, Hangbin Liu, Jun Hu, Shaoli Ru, Jingyu Xu, Hongli Northeastern University Faculty of Robot Science and Engineering Shenyang China

ISBN: (纸本)9781665409322

In the field of target recognition, shape size is an important attribute of object. There have been many research bases on vision-based size measurement in air, but few studies have been done on underwater target size measurement. This paper mainly proposes solutions to the problems of external lighting conditions, the reflective properties of object materials, and the disturbance of robot motion. Firstly, based on the improvement of Otsu, an Otsu method suitable for bimodal or multimodal object images is proposed. Secondly, a linear interpolation denoising method based on edge contour curvature fluctuation is proposed, which combines polynomial interpolation sub-pixel technology to achieve contour edge smoothing. Finally, using polynomial interpolation sub-pixel technology, taking the image threshold segmentation effect and the measurement accuracy of the object size as the measurement standard, the underwater ball and pipeline are tested, and the measurement accuracy is improved by more than 2%, which verifies the robustness of the method. © 2022 IEEE.

关键词： Image enhancement

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Review of Human-exoskeleton Control Strategy for Lower Limb Rehabilitation Exoskeleton 2

Review of Human-exoskeleton Control Strategy for Lower Limb ...

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2nd International Conference on robotics, Automation and Intelligent Control, ICRAIC 2022

作者： Long, Yi Guo, Hexiao Chi, Yutian Mo, Duncheng Faculty of Robot Science and Engineering Northeastern University Shenyang Liaoning China Foshan Graduate School of Innovation Northeastern University Shenyang Liaoning China

The research on exoskeleton robots has been widely carried out for many years around the world, especially the development of new-style lower limb exoskeletons for rehabilitation and assistance is one of the key research directions. The focus on the control system of lower limb exoskeletons for rehabilitation is discussed. Based on the public literature in recent years, it is summarized from three aspects, i.e., movement mode switching, human gait recognition and human-exoskeleton interaction control. Finally, the technical issues of the current lower limb rehabilitation exoskeleton control strategy are discussed. The future development prospects and research directions of the lower limb rehabilitation exoskeleton are prospected, and some suggestions on how to achieve a more efficient and accurate control are given. © Published under licence by IOP Publishing Ltd.

关键词： Exoskeleton (robotics)

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