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Unconstrained Detection of the Respiratory Motions of Chest and Abdomen in Different Lying Positions Using a Flexible Tactile Sensor Array

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IEEE SENSORS JOURNAL 2019年第21期19卷 10067-10076页

作者： Guo, Shijie Zhao, Xingli Matsuo, Kazuya Liu, Jinyue Mukai, Toshiharu Hebei Univ Technol Key Lab Reliabil & Intelligence Elect Equipment Tianjin 300130 Peoples R China Hebei Univ Technol Hebei Key Lab Robot Sensing & Human Robot Interac Tianjin 300130 Peoples R China Kyushu Inst Technol Fac Engn Kitakyushu Fukuoka 8048550 Japan Meijo Univ Fac Sci & Technol Nagoya Aichi 4688502 Japan

Respiratory Inductance Plethysmography (RIP) is commonly used to detect the respiratory motions of chest and abdomen during sleep. However, this method is not suitable for daily use due to its strong constraints. Many unconstrained methods have been developed, but they have a common problem with distinguishing the chest and abdominal motions, which are required for understanding the type of sleep apnea. In this paper, we proposed an unconstrained method to distinguish chest and abdominal motions by measuring the pressure fluctuations from the chest and abdomen acting on a mattress. We then investigated the feasibility of detecting respiratory motions by using a flexible tactile sensor array, which was laid on a bed like a bed sheet. Ten healthy subjects (five males and five females) were tested and the results were compared with those measured by the RIP band sensors. It was confirmed that the sensor array could measure the motions of the chest and abdomen and obtain the respiratory rate at a high accuracy. However, the phase of the pressure fluctuations measured by the sensor array might disagree with the outputs of the RIP band sensors, depending on the gender and lying position of the subject. The reason was discussed with a dynamic model, which showed that the disagreement might have been related to the coupling of the chest and abdomen. In addition, the influence of the stiffness of the mattress on the pressure fluctuations was investigated. The results showed that mattress stiffness had little effect on the measurement.

关键词： Abdomen Sensor arrays Sleep apnea Fluctuations Pressure measurement Monitoring Breath disorder flexible tactile sensor array pressure fluctuation respiratory motion respiratory Inductance plethysmography sleep apnea

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Kinematic Analysis of a Serial-Parallel Hybrid Mechanism and its Application to a Wheel-Legged robot

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IEEE ACCESS 2020年 8卷 111931-111944页

作者： Niu, Jianye Wang, Hongbo Jiang, Zhiwen Chen, Li Zhang, Jianjun Feng, Yongfei Guo, Shijie Hebei Univ Technol State Key Lab Reliabil & Intelligence Elect Equip Tianjin 300130 Peoples R China Hebei Univ Technol Hebei Key Lab Robot Percept & Human Robot Interac Tianjin 300130 Peoples R China Yanshan Univ Parallel Robot & Mechatron Syst Lab Hebei Prov Qinhuangdao 066004 Hebei Peoples R China Ningbo Univ Fac Mech Engn & Mech Ningbo 315211 Peoples R China

A three-DOF (degree-of-freedom) serial-parallel hybrid mechanism is proposed that consists of a 2-UPS+;U component (UPS: universal-/prismatic-/spherical-joint chain and U: universal joint) and an R+RPS component (R: revolute joint and RPS: revolute-/prismatic-/spherical-joint chain). This mechanism can provide high precision and a large workspace, which indicates its applicability to wheel-legged robots. To verify our proposal, a mobility analysis showed that the mechanism simultaneously achieved three rotational movements. Then, the inverse/forward position analysis, velocity analysis, acceleration analysis, and stiffness analysis were carried out. Finally, a prototype of the mechanism was fabricated and its position error was found to be <1.8% despite the large workspace. These results demonstrate the effectiveness of our proposal and provide a new approach for designing new mechanisms for wheel-legged robots.

关键词： Legged locomotion Kinematics Fasteners Wheels Roads Serial-parallel hybrid mechanism 2-UPS+U mechanism R plus RPS mechanism kinematics wheel-legged robot

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Experimental and numerical research on the characteristics of heavy gas leakage and diffusion

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PROCESS SAFETY PROGRESS 2022年第3期41卷 567-580页

作者： Shi, Bao-Jun Wang, Hui Nie, Shi-Ming Cheng, Cheng Li, Tie-Jun Hebei Univ Technol Sch Mech Engn Tianjin 300401 Peoples R China State Key Lab Reliabil & Intelligence Elect Equip Tianjin Peoples R China Hebei Key Lab Robot Sensing & Human Robot Integra Tianjin Peoples R China

Once a hazardous gas leaks, it will pose a serious threat to the safety of people's lives and property. This paper aims to investigate the flow characteristics of heavy gas leakage and diffusion to deal with sudden accidents caused by hazardous gas leakage. First, an experimental platform for the leakage and diffusion of heavy gas is built, and the tracer technique is adopted to visualize the experimental phenomena during the process of gas leakage and diffusion. Second, a computational fluid dynamics (CFD) model is built based on the experimental platform to simulate and analyze the gas leakage and diffusion process. The CFD model is verified by comparing the numerical results with those of experiments using an authoritative evaluation standard procedure. The comparison shows that the related statistical performance measures are all reasonable. Third, a three-dimensional numerical model of a real tank farm is created in full scale and the heavy gas (liquefied petroleum gas) leakage process is simulated and analyzed considering also the effect of wind. Experimental and numerical results show that the heavy gas leakage and diffusion process can be divided into three stages: gas concentration rising stage, gravity sedimentation stage, and gas passive diffusion stage, in which different flow phenomena are observed with different flow characteristics for each of the stages. The phenomena observed in experiment are further analyzed and clarified using fluid dynamics by numerical simulation. The full-scale modeling and simulation of the real tank farm is helpful for taking possible measures once a gas leakage occurs.

关键词： computational fluid dynamics design and simulation evacuation route heavy gas leakage and diffusion

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Low-dose CT image super resolution using a model-based framework with CNN prior 16

Low-dose CT image super resolution using a model-based frame...

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16th IEEE International Conference on Mechatronics and Automation (IEEE ICMA)

作者： Sun, Lei Guo, Shijie Tianjin Univ Technol Tianjin Key Lab Control Theory & Applicat Complic Tianjin 300384 Peoples R China Hebei Univ Technol Hebei Key Lab Robot Sensing & Human Robot Interac Tianjin 300130 Peoples R China

ISBN: (纸本)9781728116976

Improve low-dose CT(LDCT) imaging quality is a hot research issue in the medical imaging field. However, current image post-processing method mainly focus on denoising, ignoring the limitations of image resolution. To this end, a new model-based LDCT image super resolution based on CNN prior is proposed in this paper. Meanwhile, the Half Quadratic Splitting (HQS) algorithm is selected to accelerate high resolution LDCT calculation process. The convolutional neural network(CNN) prior is pre-trained and integrated into the HQS algorithm to regularize the model-based LDCT SISR problem. Experimental results demonstrate that our method can improve the resolution of low-dose CT images effectively.

关键词： Low-dose CT CNN super resolution deep learning

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Piezoelectric Motor Utilizing an Alumina/PZT Transducer

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 2020年第8期67卷 6762-6772页

作者： Wu, Jiang Mizuno, Yosuke Nakamura, Kentaro Hebei Univ Technol State Key Lab Reliabil & Intelligence Elect Equip Tianjin 300130 Peoples R China Hebei Univ Technol Hebei Key Lab Robot Percept & Human Robot Interac Tianjin 300130 Peoples R China Tokyo Inst Technol Lab Future Interdisciplinary Res Sci & Technol Yokohama Kanagawa 2268503 Japan

To enhance the torque and output power of the rod-shaped piezoelectric rotary motors, in this article, we employ alumina to substitute the metal parts of the transducers considering that the high Young's modulus of alumina may avoid preload-induced vibration reduction and enable the transducers to generate the high driving force. Besides, alumina exhibits a relatively low density compared to most of the materials commonly used as the vibrating bodies (except aluminum alloy);this probably enhances the power densities of the piezoelectric motors. To assess the validity of our proposal, we constructed a Langevin-type alumina/lead-zirconate-titanate (PZT) motor and investigated its load characteristics. The transducer of 35 mm in outer diameter operated in orthogonal bending (B-2) modes and drove the rotor with its end surface. The alumina/PZT motor yields the maximal torque and maximal output power of 1.56 N center dot m and 26.0 W, respectively, both of which exceed those of the metal/PZT motors having identical structure and working in B-2 modes. Additionally, its power density reaches 56.3 W/kg, relatively high among the rod-shaped rotary motors although some of which work in more powerful modes. This article validates the effectiveness of our proposal and provides a new approach to improve the performance of the rod-shaped piezoelectric rotary motors.

关键词： Transducers Vibrations Ceramics Resonant frequency Rotors Fasteners Torque Alumina high Young's modulus Langevin-type bending transducer piezoelectric motor

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All-Printed 3D Solid-State Rechargeable Zinc-Air Microbatteries

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ACS APPLIED MATERIALS & INTERFACES 2023年第10期15卷 13073-13085页

作者： Liu, Gengsheng Ma, Zhaolei Li, Guoxian Yu, Wei Wang, Peng Meng, Chuizhou Guo, Shijie Hebei Univ Technol Sch Mech Engn State Key Lab Reliabil & Intelligence Elect Equipm Hebei Key Lab Smart Sensing & Human Robot Interact Tianjin 300401 Peoples R China

Lightweight, compact, integrated, and miniaturized energy devices are under high pursuit for portable and wearable electronics. However, improving the energy density per area still remains a long-standing challenge. Herein, we report the design and fabrication of a solid-state zinc-air microbattery (ZAmB) by a facile 3D direct printing technique. The interdigital electrodes, gel electrolyte, and encapsulation frame are all printed with a customized design by optimzing the composition of the printing inks to obtain the best battery performance. Multiple layers of interdigital electrodes are sequentially printed with a fine overlap to achieve an ultrahigh thickness of 2.5 mm for a remarkably increased specific areal energy of up to 77.2 mWh cm-2. To meet the practical powering requirements for different output voltages and currents, battery modules consisting of individual ZAmBs connected in series or parallel or a combination of the two are printed with a facile integration to external loads. Powering of LEDs, digital watch, and a miniature rotary motor and even charging of a smartphone by the printed ZAmB modules are successfully demonstrated. The versatile 3D direct printing technique enables the fabricated ZAmBs with an adjustable form factor and integration capability with other electronics, paving the way for exploring new energy systems with diverse structures and extended functionalities.

关键词： zinc-air battery microbattery 3D printing solid-state interdigital electrode gel polymer electrolyte

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A highly stretchable and ultra-sensitive strain sensing fiber based on a porous core-network sheath configuration for wearable human motion detection

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NANOSCALE 2022年第34期14卷 12418-12430页

作者： Liu, Jun Wang, Peng Li, Guoxian Yang, Li Yu, Wei Meng, Chuizhou Guo, Shijie Hebei Univ Technol Sch Mech Engn State Key Lab Reliabil & Intelligence Elect Equip Hebei Key Lab Smart Sensing & Human Robot Interac Tianjin 300401 Peoples R China Hebei Univ Technol Sch Hlth Sci & Biomed Engn State Key Lab Reliabil & Intelligence Elect Equip Tianjin 300130 Peoples R China

Functional fibers have attracted much research attention due to their potential application in developing advanced electronic textiles for wearable devices. However, challenges still exist in preparing high-performance fiber-shaped sensors with superior flexibility and stretchability while achieving a high sensitivity and a wide detection range. Herein, we propose the design and fabrication of an ultra-flexible and super-elastic fiber-shaped strain sensor via a facile combining approach of wet-spinning and dip-coating. The sensor adopts a core-sheath configuration of liquid metal droplets dispersed in porous thermoplastic polyurethane as a substrate core and a carbon nanotube intertwined network embedding silver nanowires as a strain sensitive sheath. By taking advantage of both the composition of multiple functional materials and the design of a microstructured device configuration, the developed fiber-shaped sensor exhibits an ultrahigh sensitivity (maximum gauge factor of 7336.1), an extremely large workable strain range (500%), a low strain detection limit (0.5%), a fast response time (200 ms) and good stability (10 000 cycles). In addition, the sensor is temperature insensitive, inert under harsh solution conditions, degradable and recyclable. Intriguingly, the fiber-shaped sensor can be used to detect various human motions and gestures by directly attaching to skins or elaborately weaving into textiles, demonstrating its great potential in human healthcare monitoring and human-machine interactions.

关键词： Fibers

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Touch position identification based on a flexible array-less supercapacitive tactile sensor

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AIP ADVANCES 2019年第1期9卷

作者： Liu, Jixiao Liu, Na Hashimoto, Kazunobu Meng, Chuizhou Guo, Shijie Hebei Univ Technol Sch Mech Engn Tianjin 300401 Peoples R China Hebei Univ Technol Hebei Key Lab Smart Sensing & Human Robot Interac Tianjin 300132 Peoples R China Fudan Univ Acad Engn & Technol Shanghai 200433 Peoples R China

Flexible tactile sensors with simple structures, minimal peripheral electric connections and straightforward data processing will benefit the human-machine interactions in which the contact information is crucial. However, it is still hard to balance the easy fabrication, full flexibility, large measurement area and minimal electric connection in existed tactile sensing systems. This study introduces an innovative positioning method based on a flexible supercapacitive tactile sensor. A 100 mmx100 mm prototype sensor, which contains two layers of flexible electrodes and a layer of ionic gel membrane in the middle to construct electrostatic double-layer capacitors (EDLCs), is developed to study the underlying physical principles. Following the established method, minimized electric connections are needed to achieve the mm-scale touch position/movement trace identification. Under the touch pressure, the formation of supercapacitors around the touch area leads to re-distribution of electric potential within the sensor. The electrical voltage variation is gauged at four points, and the data are calculated to estimate the touch positions following a two-step protocol. The developed method demonstrates high accuracy of position identification (around 5% in the 100 mmx100 mm flexible sensor), superior anti-disturbance capability (more than similar to 10(4) variation of capacitance) and fast response (similar to ms level). At the same time, it has no dependency on complex fabrication, redundant electric circuit or sensing unit arrays. These promising characteristics can benefit various application fields, such as intelligent robotics, biomedical devices and wearable equipment. (C) 2019 Author(s).

关键词： Capacitance

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RF-Care: RFID-based human Pose Estimation for Nursing-care Applications

RF-Care: RFID-based Human Pose Estimation for Nursing-care A...

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IEEE International Conference on robotics and Biomimetics (IEEE ROBIO)

作者： Xia, Zihou Liu, Jixiao Guo, Shijie Hebei Univ Tech Sch Mech Engn Tianjin Peoples R China Hebei Univ Tech Hebei Key Lab Smart Sensing & Human Robot Interac Tianjin 300132 Peoples R China

ISBN: (纸本)9781665405355

Continuously and accurately measuring the human posture of the care receiver while the human body is partially obscured, is one of the major challenges in many future smart nursing-care scenarios. To address human posture estimation when visual information is not available, we introduce an RFID-based method to estimate human pose without introducing extra burden to the subject, named the "RF-Care" system. Multiple wearable RFD) tags on human clothing and a dual-antenna reader system are used to extract multiple phase features to estimate the 3D pose of the human body. We developed an NLOS (Non-Line of Sight) human posture estimation method to estimate limb angles by modeling the signals of multiple wearable tags moving in space and then combined with a human skeleton model to reconstruct the human posture. Experimental data validate the developed method and system, and show that the RFID system can effectively monitor human posture in real time, especially when the human body is covered by a blanket. When uncovered, the average angular error of the limbs is about 6 degrees, or the average positional error of the limbs is about 4 cm with Kinect 2.0 as the standard;when covered, the angular standard error of the limbs is about 6 degrees, or the positional standard error of the limbs is about 4 cm. The developed system would benefit various nursing-care applications such as nursing-care robots and untethered monitoring at home.

关键词： Errors

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Design and Compliant Control of a Piggyback Transfer robot

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JOURNAL OF MECHANISMS AND robotICS-TRANSACTIONS OF THE ASME 2022年第3期14卷 031009页

作者： Liu, Yuxin Guo, Shijie Yin, Yuting Jiang, Zhiwen Liu, Teng Hebei Univ Technol State Key Lab Reliabil & Intelligence Elect Equip 81 Dingzigu Rd Tianjin 300131 Peoples R China Hebei Univ Technol Hebei Key Lab Robot Sensing & Human Robot Interac 81 Dingzigu Rd Tianjin 300131 Peoples R China Hebei Univ Technol Sch Mech Engn 81 Dingzigu Rd Tianjin 300131 Peoples R China

Patient transfer, such as lifting and moving a bedridden patient from a bed to a wheelchair or a pedestal pan, is one of the most physically challenging tasks in nursing care. Although many transfer devices have been developed, they are rarely used because of the large time consumption in performing transfer tasks and the lack of safety and comfortableness. We developed a piggyback transfer robot that can conduct patient transfer by imitating the motion when a person holds another person on his/her back. The robot consisted of a chest holder that moves like a human back. In this paper, we present an active stiffness control approach for the motion control of the chest holder, combined with a passive cushion, for lifting a care-receiver comfortably. A human-robot dynamic model was built and a subjective evaluation was conducted to optimize the parameters of both the active stiffness control and the passive cushion of the chest holder. The test results of 10 subjects demonstrated that the robot could transfer a subject safely, and the combination of active stiffness and passive stiffness were essential to a comfortable transfer. The objective evaluation demonstrated that an active stiffness of k = 4 kPa/mm along with a passive stiffness lower than the stiffness of human chest was helpful for a comfort feeling.

关键词： nursing care robot transfer task bio-inspired design compliant control care-receiver's comfort

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