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arXiv 2021年

作者： He, Botao Li, Haojia Wu, Siyuan Wang, Dong Zhang, Zhiwei Dong, Qianli Xu, Chao Gao, Fei State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou310027 China Huzhou Institute of Zhejiang University Huzhou313000 China Ningbo315000 China School of Automation Nanjing Institute of Technology Nanjing211112 China Faculty of Robot Science and Engineering Northeastern University Shenyang110207 China Faculty of Electronic and Information Engineering Xi’an Jiaotong University Xi’an710049 China

The development of aerial autonomy has enabled aerial robots to fly agilely in complex environments. However, dodging fast-moving objects in flight remains a challenge, limiting the further application of unmanned aerial vehicles (UAVs). The bottleneck of solving this problem is the accurate perception of rapid dynamic objects. Recently, event cameras have shown great potential in solving this problem. This paper presents a complete perception system including ego-motion compensation, object detection, and trajectory prediction for fast-moving dynamic objects with low latency and high precision. Firstly, we propose an accurate ego-motion compensation algorithm by considering both rotational and translational motion for more robust object detection. Then, for dynamic object detection, an event camera-based efficient regression algorithm is designed. Finally, we propose an optimization-based approach that asynchronously fuses event and depth cameras for trajectory prediction. Extensive real-world experiments and benchmarks are performed to validate our framework. Moreover, our code will be released to benefit related researches. © 2021, CC BY-NC-ND.

关键词： Object recognition

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Collaboration Energy Efficiency with Mobile Edge Computing for Target Tracking in IoT 7th

Collaboration Energy Efficiency with Mobile Edge Computing f...

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7th International Conference on Artificial Intelligence and Security, ICAIS 2021

作者： Zou, Guobin Yu, Gang Zhang, Jian Tang, Jian Zhou, Junwu College of Information Science and Engineering Northeastern University Shenyang110819 China State Key Laboratory of Process Automation in Mining and Metallurgy Beijing102600 China School of Computer and Software Nanjing University of Information Science and Technology Nanjing210044 China Faculty of Information Technology Beijing University of Technology Beijing100024 China Beijing Key Laboratory of Process Automation in Mining and Metallurgy Beijing102600 China BGRIMM Technology Group Co. Ltd. Beijing102600 China

ISBN: (纸本)9783030786205

In this paper, the target tracking problem is investigated with mobile edge computing (MEC) mechanism in internet of things (IoT), where the challenge of energy efficiency is a significant issue when the target tracking event is driven. In order to prolong the lifetime of IoT, we adopt dynamic clustering methods to improve energy efficiency while guaranteeing target tracking effects. We deign the sensor selection scheme for carrying out the tracking tasks according to energy distribution of the sensor node. Concretely, by considering the reality of random deployment and introducing the definition of node density for IoT, we develop a Pareto optimality for sensor nodes selection in terms of energy efficiency without reducing the accuracy of target tracking. Furthermore, we recruit voluntary mobile devices as mobile edge computing servers to offload the data from selected sensor nodes in the cluster and process them to the estimate the target state. Simulations demonstrate the efficiency for tracking performance on energy balance in terms of efficiently prolonging the IoT lifetime. © 2021, Springer Nature Switzerland AG.

关键词： Target tracking

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Correction: Biomimetic proteoglycan nanoparticles for growth factor immobilization and delivery (Biomaterials science (2020) 8 (1127-1136) DOI: 10.1039/C9BM00668K)

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Biomaterials science 2025年第7期13卷 1858-1860页

作者： Nooshin Zandi Ebrahim Mostafavi Mohammad Ali Shokrgozar Elnaz Tamjid Thomas J. Webster Nasim Annabi Abdolreza Simchi Institute for Nanoscience and Nanotechnology Sharif University of Technology P.O. Box 11365-11155 Tehran Iran Department of Chemical Engineering Northeastern University Boston USA National Cell Bank Department Pasteur Institute of Iran Tehran 13164 Iran Department of Nanobiotechnology Faculty of Biological Sciences Tarbiat Modares University P.O. Box 14115-175 Tehran Iran Department of Chemical and Biomolecular Engineering University of California – Los Angeles Los Angeles California 90095 USA Center for Minimally Invasive Therapeutics (C-MIT) California NanoSystems Institute (CNSI) University of California – Los Angeles 570 Westwood Plaza Los Angeles CA 90095 USA Harvard-MIT Division of Health Sciences and Technology Massachusetts Institute of Technology Cambridge MA 02139 USA Department of Materials Science and Engineering Sharif University of Technology P.O. Box 11365-11155 Tehran Iran

The authors regret the representative images for the Control group in Fig. 4a, and GT-PLL Day 14 and Free VEGF Day 7 in Fig. 5a were incorrectly displayed in the original manuscript. The correct versions of Fig. 4 and 5 are as shown below. The authors confirm that these corrections do not affect the quantification data, data interpretation, or conclusions of the study. (Figure presented) The Royal Society of Chemistry apologises for these errors and any consequent inconvenience to authors and readers. © 2025 The Royal Society of Chemistry.

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Collaboration Energy Efficiency with Mobile Edge Computing for Data Collection in IoT 7th

Collaboration Energy Efficiency with Mobile Edge Computing f...

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7th International Conference on Artificial Intelligence and Security, ICAIS 2021

作者： Zou, Guobin Zhang, Jian Tang, Jian Zhou, Junwu College of Information Science and Engineering Northeastern University Shenyang110819 China State Key Laboratory of Process Automation in Mining & Metallurgy Beijing102600 China School of Computer and Software Nanjing University of Information Science & Technology Nanjing210044 China Faculty of Information Technology Beijing University of Technology Beijing100024 China Beijing Key Laboratory of Process Automation in Mining & Metallurgy Beijing102600 China BGRIMM Technology Group Co. Ltd. Beijing102600 China

ISBN: (纸本)9783030786144

In this paper, we investigated collaboration energy efficiency with mobile edge computing (MEC) mechanism in internet of things (IoT), which is a challenge issue. In order to prolong the lifetime of IoT, we adopt dynamic clustering methods to improve energy efficiency while guaranteeing energy balance. We deign the sensor selection scheme for collecting data according to Pareto optimality. Concretely, by considering the reality of random deployment and introducing the definition of node density for IoT, we develop a Pareto optimality for sensor nodes selection in terms of energy efficiency. Furthermore, we recruit voluntary mobile devices as mobile edge computing servers to offload the data from selected sensor nodes in the cluster and process them to the estimate the data state. Simulations demonstrate the efficiency for the performance on energy balance in terms of efficiently prolonging the IoT lifetime. © 2021, Springer Nature Switzerland AG.

关键词： Internet of things

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Mobile robots Healing Strategy for Event Coverage Holes in Wireless Sensor and robot Networks

Mobile Robots Healing Strategy for Event Coverage Holes in W...

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第31届中国控制与决策会议

作者： ZHUANG Yaoming WU Chengdong ZHANG Yunzhou SI Pengju GAO Yuan WU Yang College of Information Science&Engineering Northeastern University Faculty of Robot Science and Engineering Northeastern University

It is necessary for wireless sensor and robot networks(WSRNs) to meet the changing monitoring requirements and complex network environment. There will be many event coverage holes in the networks with the changing of monitoring tasks. The traditional network healing methods cannot adapt to the changing monitoring tasks and complex multi-constrained network environment. Mobile robots have good adaptability and mobility in dangerous and complex environment. Therefore, in this paper, an event coverage hole repairing model is proposed under a variety of ***, a joint event coverage hole repairing algorithm(JECHR) based on global optimization and local optimization is proposed to use mobile robots to repair event coverage holes in wireless sensor and robot networks. Unlike traditional coverage hole repairing methods, JECHR algorithm can effectively repair event coverage holes caused by the changes of monitoring scenarios and monitoring requirements. Simultaneously, it provides an optimal repairing strategy, which is suitable for a variety of complex scenarios and multi-constrained network environment. Finally, the performance of the JECHR algorithm is verified by network repairing experiments in the multi-constrained environment.

关键词： mobile robots event coverage holes network repairing route optimization wireless sensor and robot networks

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The Coverage Holes Detecting and Healing Based on the Improved Harmony Search Algorithm in Wireless Sensor Network

The Coverage Holes Detecting and Healing Based on the Improv...

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第32届中国控制与决策会议

作者： Nan Hu Yunning Feng Yuanwei Qi Xiaosheng Yu Information & Control Engineering Faculty Shenyang Jianzhu University College of Information Science & Engineering Northeastern University

The network lifetime plays an important role in wireless sensor networks（WSNs）.In WSN area,the coverage hole is pervasive and has a significant influence on the network *** solve this problem,we propose a coverage holes detecting algorithm based on the continuous maximum flow method,and a healing algorithm based on the improved harmony search ***,we employ the sensing model based on the realistic Elfes sensing models to calculate the location of each *** we propose a coverage holes detecting algorithm based on the continuous maximum flow method to obtain the coverage ***,an improved harmony search algorithm is used to heal the coverage *** results demonstrate that the proposed algorithm can effectively heal the coverage holes and improve the coverage of the network.

关键词： Wireless Sensor Network Coverage Hole Continuous Maximum Flow Improved Harmony Search Coverage Healing

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Motion control and singular perturbation algorithms for lower limb rehabilitation robots

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Frontiers in Neurorobotics 2025年 19卷 1562519页

作者： Xie, Yanchun Wang, Anna Zhao, Xue Jiang, Yang Wu, Yao Yu, Hailong Department of Orthopaedics General Hospital of Northern Theater Command Shenyang China Department of Burns and Plastic Surgery General Hospital of Northern Theater Command Shenyang China Daniel L. Goodwin College of Business Benedictine University ChicagoIL United States Faculty of Robot Science and Engineering Northeastern University Shenyang China

To better assist patients with lower limb injuries in their rehabilitation training, this paper focuses on motion control and singular perturbation algorithms and their practical applications. First, the paper conducts an in-depth analysis of the mechanical structure of such robots and establishes detailed kinematics and dynamics models. An optimal S-type planning algorithm is proposed, transforming the S-type planning into an iterative solution problem for efficient and accelerated trajectory planning using dynamic equations. This algorithm comprehensively considers joint range of motion, speed constraints, and dynamic conditions, ensuring the smoothness and continuity of motion trajectories. Second, a zero-force control method is introduced, incorporating friction terms into the traditional dynamic equations and utilizing the LuGre friction model for friction analysis to achieve zero-force control. Furthermore, to address the multi-scale dynamic system characteristics present in rehabilitation training, a control method based on singular perturbation theory is proposed. This method enhances the system's robustness and adaptability by simplifying the system model and optimizing controller design, enabling it to better accommodate complex motion requirements during rehabilitation. Finally, experiments verify the correctness of the kinematics and optimal S-type trajectory planning. In lower limb rehabilitation robots, zero-force control can better assist patients in rehabilitation training for lower limb injuries, while the singular perturbation method improves the accuracy, response speed, and robustness of the control system, allowing it to adapt to individual rehabilitation needs and complex motion patterns. The novelty of this paper lies in the integration of the singular perturbation method with the LuGre friction model, significantly enhancing the precision of joint dynamic control, and improving controller design through the introduction of a torque deviation

关键词： Robustness (control systems)

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Diagnostic Posture Control System for Seated-Style Echocardiography robot

arXiv

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arXiv 2022年

作者： Shida, Yuuki Sugawara, Masami Tsumura, Ryosuke Chiba, Haruaki Uejima, Tokuhisa Iwata, Hiroyasu Graduate School of Creative Science and Engineering Waseda University Tokyo169-8050 Japan Global Robot Academia Laboratory Waseda University Tokyo169-8050 Japan NSK Ltd Technology Development Department New Field Products Development Center Technology Development Division Headquarters Kanagawa251-8501 Japan The Cardiovascular Institute Tokyo106-0031 Japan Faculty of Science and Engineering Waseda University Tokyo169-8050 Japan

Purpose Conventional robotic ultrasound systems were utilized with patients in supine positions. Meanwhile, the limitation of the systems is that it is difficult to evacuate the patients in case of emergency (e.g., patient discomfort and system failure) because the patients are restricted between the robot system and bed. Then, it is ideal that the patient undergoes the examination in the sitting position in terms of safety. Therefore, we validated a feasibility study of seated-style echocardiography using a robot. Method Preliminary experiments were conducted to verify the following two points: (1) the possibility of obtaining cardiac disease features in the sitting posture as well as in the conventional examination, and (2) the relationship between posture angle and physical burden. For reducing the physical burden, two unique mechanisms were incorporated into the system: (1) a leg pendulum base mechanism to reduce the load on the legs when the lateral bending angle increases, and (2) a roll angle division by a lumbar lateral bending and thoracic rotation mechanisms. Results Preliminary results demonstrated that adjusting the diagnostic posture angle enabled us to obtain the views, including cardiac disease features, as in the conventional examination. The results showed that the body burden increased as the posture's lateral bending angle increased. The results also demonstrated that the body load reduction mechanism incorporated in the results could reduce the physical load in the seated echocardiography. Conclusion These results showed the potential of the seated-style echocardiography robot. © 2022, CC BY.

关键词： Human robot interaction

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A Bi-directional Interactive System of Sign Language and Visual Speech Based on Portable Devices

A Bi-directional Interactive System of Sign Language and Vis...

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IEEE International Conference on robotics and Biomimetics

作者： Fei Wang Shizhuo Sun Yanjun Liu Faculty of Robot Science and Engineering Northeastern University Shenyang China School of Computer Science and Engineering Faulty of Robot Science and Engineering Northeastern University Shenyang China

At present, the natural communication between deaf and normal people is a major challenge both in theoretical research and application. In addition, in the field of Human-Machine Interaction, there is little work on bi-directional communication based on sign language and visual speech. In this paper, a portable bi-directional interactive system of sign language and visual speech was proposed to help deaf people communicate naturally under certain circumstances. In the section of modeling, Network in Network model was employed to classify sign language words, while the method using a network combined DenseNet and LSTM together was used for lip reading. By wearing the portable device, people can achieve bi-directional translation and communication of visual speech and sign language. We built our own Chinese sign language database containing more than 100 categories of words and conducted experiments in the context of the airport for experimental verification. Eventually, the average time of each round of conversation is within 15 seconds, faster than normal communication without system assistance, which verified the effectiveness and advantage of the purposed system.

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A Depth Image Fusion Network for 3D Point Cloud Semantic Segmentation

A Depth Image Fusion Network for 3D Point Cloud Semantic Seg...

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IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems

作者： Zhou Wang Zixi Jia Ao Lyu Yating Wang Changsheng Sun Yongxin Liu Faculty of Robot Science and Engineering Northeastern University Shenyang China

ISBN: (数字)9781728107707

ISBN: (纸本)9781728107714

It is widely known that the 3D point cloud is the most intuitive way to depict real scenes. Till now, some deep learning networks for point cloud data that have been proposed. In this paper, we propose a simple and intuitive network framework for 3D point cloud semantic segmentation in small-scale scenes. PointSIFT is improved by designing the depth image features extraction module. Through the module structure, constructing a simple mapping relationship between the two feature space. By fusing two features, we achieve state-of-the-art performance, moreover higher training efficiency. We also test our network to real workbench scenarios. And there is no performance degradation due to real scene noise.

关键词： Three-dimensional displays Feature extraction Image segmentation Semantics Training Fats Machine learning

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