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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Chen, Yunwang Kang, Yaozhong Zhao, Ziqi Hong, Yue Meng, Lingxiao Meng, Max Q.-H. Southern University of Science and Technology Shenzhen Key Laboratory of Robotics Perception and Intelligence Shenzhen518055 China SUSTech Department of Electrical and Electronic Engineering Shenzhen China School of System Design and Intelligent Manufacturing SUSTech Shenzhen China

ISBN: (纸本)9781665481090

This paper presents a collaborative fall detection and response system integrating Wi-Fi sensing with robotic assistance. The proposed system leverages channel state information (CSI) disruptions caused by movements to detect falls in non-line-of-sight (NLOS) scenarios, offering non-intrusive monitoring. Besides, a companion robot is utilized to provide assistance capabilities to navigate and respond to incidents autonomously, improving efficiency in providing assistance in various environments. The experimental results demonstrate the effectiveness of the proposed system in detecting falls and responding effectively. © 2024 IEEE.

关键词： Fall detection

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Nonsmooth Dynamic Modeling of a Humanoid Robot with Parallel Mechanisms 16th

Nonsmooth Dynamic Modeling of a Humanoid Robot with Paral...

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16th International Conference on intelligent robotics and Applications, ICIRA 2023

作者： Xiong, Jiaming Liang, Dingkun Wang, Xin Huang, Yongshan Xie, Anhuan Gu, Jason Research Center for Intelligent Robotics Research Institute of Interdisciplinary Innovation Zhejiang Lab Hangzhou311100 China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou311100 China Department of Electrical and Computer Engineering Dalhousie University HalifaxNSB3H 4R2 Canada

ISBN: (纸本)9789819964918

This paper establishes a nonsmooth dynamic model for a humanoid robot with parallel mechanisms. Firstly, the constraint equations of the parallel mechanism are derived through kinematic analysis. By combining the links involved in closed-loop constraints into aggregate nodes, the topology of the robot can be equivalent to a tree structure. Equivalent physical quantities for the aggregate nodes are defined to unify their treatment with individual nodes during dynamic modeling. Subsequently, the contact and impact dynamics of the robot are modeled using constraint-based methods, with a frictional multiple impacts model employed for impacts. Due to the high degree of freedom of the robot, recursive methods are adopted to calculate the corresponding dynamic matrices. Finally, numerical examples are provided to illustrate the dynamic model of the robot. A comparison with the compliance-based methods of Simscape Multibody demonstrates that our dynamic model can reflect more realistic physical processes, providing a more accurate simulation environment for the motion control of the robot. The simulation of standing balance control is also performed based on our dynamic model. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd 2023.

关键词： Anthropomorphic robots

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MSMB-GCN: Multi-scale Multi-branch Fusion Graph Convolutional Networks for 3D Human Pose Estimation

MSMB-GCN: Multi-scale Multi-branch Fusion Graph Convolutiona...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Ji, Shanshan Meng, Qiwei Wang, Wen Lin, Zheyuan Li, Te Wan, Minhong Zhang, Chunlong Gu, Jason Research Institute of Interdisciplinary Innovation Zhejiang Laboratory Research Center for Intelligent Robotics Hangzhou311100 China Dalhousie University Department of Electrical and Computer Engineering HalifaxNSB3H 4R2 Canada

ISBN: (纸本)9798350325706

In human-robot interaction (HRI), human pose estimation is a necessary technology for the robot to perceive the dynamic environment and make interactive actions. Recently, graph convolutional networks (GCNs) have been increasingly used for 2D to 3D pose estimation tasks since the skeleton topologies can be viewed as graph structures. In this paper, we propose a novel graph convolutional network architecture, Multi-scale Multi-branch Fusion Graph Convolutional Networks (MSMB-GCN), for 3D Human Pose Estimation(3D HPE) task. The proposed model consists of multiple GCN blocks with a multi-branch architecture. This multi-branch architecture enables the model to get multi-scale features for human skeletal representations. The group of GCN blocks, which has strong multi-level feature extraction capabilities, allows the model to learn global and local features, lower-level and higher-level features. Experiment results on the HumanPose benchmark demonstrate that our model outperforms the state-of-the-art and ablation studies validate the effectiveness of our approach. © 2023 IEEE.

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A Comprehensive SLAM Dataset for Indoor Exhibition Environments: Data Collection, Processing, and Comparative Evaluation

A Comprehensive SLAM Dataset for Indoor Exhibition Environme...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Yuan, Songyu Zhang, Jing Pan, Chen Zhang, Chunlong Wan, Minhong Zheng, Tao Gu, Jason Zhejiang Lab Research Center for Intelligent Robotics Research Institute of Interdisciplinary Innovation Hangzhou311100 China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou311100 China Dalhousie University Department of Electrical and Computer Engineering HalifaxNSB3H 4R2 Canada

ISBN: (纸本)9798350325706

The field of Simultaneous Localization and Mapping(SLAM) has witnessed significant advancements in recent years. However, due to the difficulty of data obtains and ground-truth makes, there is a lack of real indoor scenarios datasets, especially the scenarios with less-texture, repeat-texture, extreme light condition, causing the slowly progress in indoor SLAM. In this paper, we present a dataset captured in a real indoor exhibition hall with diverse type of sensor data. Which contributes to diverse school of SLAM that using different sensors. We provide ground-truth 6DoF pose captured by motion capture devices, RGB-D data captured by a RealSense D455 camera. Laser-data captured by Ouster. And a high-resolution color point cloud captured by a laser scanner. This dataset offers three distinct sources of ground truth from real-world scenarios. It combines motion capture, ICP based laser localization, and visual localization methods to provide comprehensive and accurate reference data. This dataset is designed for evaluating positioning methods that employ various types of sensors, moving beyond a singular matrix-based evaluation approach. Besides, We show results of several state-of-the-art SLAM method in our datasets, illustrates the utility of our dataset and served as a reference for other researcher. We converge LiDAR-based SLAM with ground truth, made a good closure. An ensemble approach-based Visual SLAM, achieves results of odometry errors of 4% and loop closure position errors of 40 cm. Additionally, visual localization demonstrated an absolute position error of 21 cm using high-resolution point clouds. We highlight the potentials of our indoor datasets in LiDAR SLAM, RGB-D SLAM, and visual localization and combines method. The datasets are available at https://***/IMBAfarmer09/ExhibitionDataset © 2023 IEEE.

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Insights into Household Energy Consumption: Disaggregating Cooling and Heating Profiles using Principal Component Analysis 3

Insights into Household Energy Consumption: Disaggregating C...

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3rd International Conference on Energy Transition in the Mediterranean Area, SyNERGY MED 2024

作者： Loizidis, Stylianos Kourougianni, Fanourios Olympios, Andreas V. Kyprianou, Andreas Georghiou, George E. University of Cyprus PV Technology Laboratory Department of Electrical and Computer Engineering Nicosia Cyprus PHAETHON Centre of Excellence for Intelligent Efficient and Sustainable Energy Solutions Nicosia Cyprus University of Cyprus Department of Mechanical and Manufacturing Engineering Nicosia Cyprus

ISBN: (纸本)9798350375923

This paper develops a methodology based on Principal Component Analysis (PCA) to disaggregate distinct baseline electricity, heating and cooling components from the daily total electricity consumption data of 68 houses in Cyprus over the course of one year. The results show that the electricity data involves several principal components, with the two main ones accounting for 52.27% and 14.83% of the total variance, representing cooling and heating, respectively. The findings highlight the potential of using PCA for effective energy disaggregation, which could be extended to various building types and communities. By analyzing energy consumption patterns, targeted energy-saving and improved energy efficiency measures can be identified. Future research will compare PCA results with physics-driven building models, explore alternative disaggregation methods, and apply the methodology to broader datasets. © 2024 IEEE.

关键词： cooling disaggregation Energy demand heating principal component analysis

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Advances in Wireless,Batteryless,Implantable Electronics for Real‑Time,Continuous Physiological Monitoring

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Nano-Micro Letters 2024年第3期16卷 254-302页

作者： Hyeonseok Kim Bruno Rigo Gabriella Wong Yoon Jae Lee Woon‑Hong Yeo IEN Center for Wearable Intelligent Systems and Healthcare Georgia Institute of TechnologyAtlantaGA 30332USA George W.Woodruff School of Mechanical Engineering Georgia Institute of TechnologyAtlantaGA 30332USA School of Electrical and Computer Engineering Georgia Institute of TechnologyAtlantaGA 30332USA Wallace H.Coulter Department of Biomedical Engineering Georgia Tech and Emory University School of MedicineAtlantaGA 30332USA Parker H.Petit Institute for Bioengineering and Biosciences Institute for MaterialsInstitute for Robotics and Intelligent MachinesGeorgia Institute of TechnologyAtlantaGA 30332USA

This review summarizes recent progress in developing wireless,batteryless,fully implantable biomedical devices for real-time continuous physiological signal monitoring,focusing on advancing human health *** considerations,such as biological constraints,energy sourcing,and wireless communication,are discussed in achieving the desired performance of the devices and enhanced interface with human *** addition,we review the recent achievements in materials used for developing implantable systems,emphasizing their importance in achieving multi-functionalities,biocompatibility,and *** wireless,batteryless devices offer minimally invasive device insertion to the body,enabling portable health monitoring and advanced disease ***,we summarize the most recent practical applications of advanced implantable devices for human health care,highlighting their potential for immediate commercialization and clinical uses.

关键词： Implantable electronics Biomedical systems Batteryless devices Wireless electronics Physiological signal monitoring

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Visual recognition of wheel hubs with convolutional neural network 3

Visual recognition of wheel hubs with convolutional neural n...

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3rd International Conference on Consumer Electronics and computer engineering, ICCECE 2023

作者： Dai, Yining Fang, Zaojun Zhong, Caiming Ningbo University Faculty of Electrical Engineering and Computer Science NingBo Zhejiang China Ningbo Institute of Materials Technology and Engineering Chinese Academy of Sciences Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology NingBo Zhejiang China

ISBN: (纸本)9798350331578

The traditional recognition methods of wheel hubs are mainly based on extracted feature matching. In practical production, their accuracy, robustness and processing speed are usually greatly affected. To overcome these problems, this paper proposes a recognition method based on convolutional neural network. The basic steps include two parts: wheel image pre-processing and wheel model classification. The image processing method, mainly using the detection algorithm of hough circles, obtains the center coordinates and radius of the wheel. Then it maps the ring-shaped wheel in right-angle coordinates to polar coordinates by the center coordinates and radius. This stepcan extract the ring-shaped feature information of the wheel image and reduce the influence generated by redundant features. Then a network architecture with an improved Resnet is designed to classify the wheel models. Finally, the wheel model recognition algorithm is evaluated, and the effectiveness of the method is verified through the comparison experiments of SVM, KNN and other models. The experiments show that the recognition accuracy can reach about 99.8% for 10 kinds of wheels. © 2023 IEEE.

关键词： Wheels

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Lightweight Design and Property Analysis of Humanoid Robot Thigh Integrated Structure with Appearance 16th

Lightweight Design and Property Analysis of Humanoid Robot T...

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16th International Conference on intelligent robotics and Applications, ICIRA 2023

作者： Nie, Daming Gu, Jason Zhang, Yu Jiang, Hongjian Research Center for Intelligent Robotics Zhejiang Lab Hangzhou310058 China Department of Electrical and Computer Engineering Dalhousie University HalifaxB3M 1A2 Canada

ISBN: (纸本)9789819964949

The lightweight and high stiffness leg structure of humanoid robots can effectively reduce rotational inertia and energy consumption, improving the robot's ability to quickly switch motion states. Based on the lightweight requirements of robots, this article proposes an innovative design method for humanoid robot legs based on the "structure-appearance" integration of light-alloy additive manufacturing technology. The load-bearing part of the leg structure is designed as a "shell + density-variable lattice" configuration, and the appearance part is set as a thin shell with equal thickness. The load-bearing part and the appearance one are combined together, resulting in a 20% weight reduction compared to traditional legs. The leg structure sample was processed using metal additive manufacturing method, and tested by a set of personalized fixture. When applying 200 Nm loading under pure torsion conditions, the local strain did not exceed 0.0175%, indicating that it meets the usage requirements. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Anthropomorphic robots

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Design and Modeling of a Proton Exchange Membrane Electrolyzer-Compressed Hydrogen Storage-Proton Exchange Membrane Fuel Cell Green Hydrogen Subsystem for Integration to a Solar Photovoltaic-Battery Nanogrid 3

Design and Modeling of a Proton Exchange Membrane Electrolyz...

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3rd International Conference on Energy Transition in the Mediterranean Area, SyNERGY MED 2024

作者： Arsalis, Alexandros Kourougianni, Fanourios Olympios, Andreas V. Papanastasiou, Panos Georghiou, George E. Konstantinou, Charalampos University of Cyprus PV Technology Laboratory Department of Electrical and Computer Engineering Nicosia Cyprus Efficient and Sustainable Energy Solutions PHAETHON Centre of Excellence for Intelligent Nicosia Cyprus University of Cyprus Department of Civil and Environmental Engineering Nicosia Cyprus

ISBN: (纸本)9798350375923

A Photovoltaic-Battery-Green Hydrogen nanogrid system is designed and modeled to investigate its potential as a decentralized energy solution able to satisfy the load profile of Near Zero Energy Buildings. Such a system could potentially maximize self-consumption through onsite power generation, which also achieves minimization of dependence on the central power grid. The proposed system includes battery and hydrogen energy storage for various purposes. Such a combination could succeed in satisfying both the need for rapid power supply when needed (through battery energy storage), but it can also provide seasonal energy storage when the weather pattern of available solar energy changes between summer and winter (through hydrogen energy storage). The Green Hydrogen subsystem includes electrolyzer and fuel cell units, both based on proton exchange membrane technology, a hydrogen storage unit, and auxiliary components. The proposed system generates 110 kg of hydrogen per year, with electrolyzer and fuel cell efficiencies (at full load design conditions) at 58.4% and 45.8%, respectively. Self-sufficiency rate is close to 100%, while self-consumption rate is slightly below 48%. © 2024 IEEE.

关键词： Hydrogen storage

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Mathematical Modeling of an Anion Exchange Membrane Electrolyzer for Integration in a Novel Solar Photovoltaic-Battery-Green Hydrogen Nanogrid 3

Mathematical Modeling of an Anion Exchange Membrane Electrol...

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3rd International Conference on Energy Transition in the Mediterranean Area, SyNERGY MED 2024

作者： Arsalis, Alexandros Papanastasiou, Panos Georghiou, George E. University of Cyprus PV Technology Laboratory Department of Electrical and Computer Engineering Nicosia Cyprus PHAETHON Centre of Excellence for Intelligent Efficient and Sustainable Energy Solutions Nicosia Cyprus University of Cyprus Department of Civil and Environmental Engineering Nicosia Cyprus

ISBN: (纸本)9798350375923

The Mediterranean area is an ideal location for harnessing solar energy due to the high solar irradiation availability. Utilization of innovative solutions address renewable energy instabilities and optimize the utilization of local clean energy resources. A promising technology is the utilization of green hydrogen subsystem to these solar systems. Such an integration could add significant capabilities, namely, provision of seasonal energy storage, increase of solar photovoltaic capacity, and export of the generated green hydrogen for other uses, such as fueling of hydrogen electric vehicles. A detailed model is developed in this work to assess the performance of the proposed green hydrogen subsystem configuration with a view to utilizing it as part of a future, larger, wholistic energy system. At full-load the model performs at an efficiency of 62.4%, while performance at a 10% part-load is 82.3%. These performance results suggest a very promising potential for this technology which can be harnessed in the future multi-scale energy systems, provided that the economic performance is also promising. © 2024 IEEE.

关键词： Clean energy

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