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Dynamic Obstacle Avoidance for Application of Human-Robot Cooperative Dispensing Medicines

Journal of Shanghai Jiaotong university(Science) 2022年第1期27卷 24-35页

作者： WANG Zheng XU Hui LU Na TAO Wei CHEN Guodong CHI Wenzheng SUN Lining Department of Gerontology Shanghai Jiao Tong University Affiliated Sixth People’s HospitalShanghai 200233China School of Mechanical and Electrical Engineering/Jiangsu Provincial Key Laboratory of Advanced Robotics/Collaborative Innovation Center of Suzhou Nano Science and Technology Soochow UniversitySuzhou 215123JiangsuChina Department of Instrument Science and Engineering Shanghai Jiao Tong UniversityShanghai 200240China

For safety reasons,in the automated dispensing medicines process,robots and humans cooperate to accomplish the task of drug sorting and *** this dynamic unstructured environment,such as a humanrobot collaboration scenario,the safety of human,robot,and equipment in the environment is *** this work,a practical and effective robot motion planning method is proposed for dynamic unstructured *** figure out the problems of blind zones of single depth sensor and dynamic obstacle avoidance,we first propose a method for establishing offline mapping and online fusion of multi-sensor depth images and 3D grids of the robot workspace,which is used to determine the occupation states of the 3D grids occluded by robots and obstacles and to conduct real-time estimation of the minimum distance between the robot and ***,based on the reactive control method,the attractive and repulsive forces are calculated and transformed into robot joint velocities to avoid obstacles in real ***,the robot’s dynamic obstacle avoidance ability is evaluated on an experimental platform with a UR5 robot and two KinectV2 RGB-D sensors,and the effectiveness of the proposed method is verified.

关键词： automated dispensing medicines dynamic unstructured environment human-robot collaboration dynamic obstacle avoidance multi-sensor depth images 3D grids reactive control method

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Ultra-low temperature anodic bonding of silicon and glass based on nano-gap dielectric barrier discharge

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Journal of Central South University 2021年第2期28卷 351-360页

作者： YAO Fu-rong PAN Ming-qiang ZHU Zong-jian LIU Ji-zhu WANG Yang-jun College of Mechatronics Engineering&Collaborative Innovation Center of Suzhou Nano Science and Technology Soochow UniversitySuzhou 215123China Jiangsu Key Laboratory for Advanced Robotics Technology Soochow UniversitySuzhou 215123China Robotics and Microsystems Center Soochow UniversitySuzhou 215123China

The article improves the process of dielectric barrier discharge(DBD)activated anode *** treated surface was characterized by the hydrophilic surface *** results showed that the hydrophilic angle was significantly reduced under nano-gap conditions and the optimal discharge voltage was 2 ***,the anodic bonding and dielectric barrier discharge activated bonding were performed in comparison experiments,and the bonding strength was characterized by tensile failure *** results showed that the bonding strength was higher under the nano-gap dielectric barrier *** process completed 110°C ultra-low temperature anodic bonding and the bonding strength reached 2 ***,the mechanism of promoting bonding after activation is also discussed.

关键词： dielectric barrier discharge anodic bonding ultra-low temperature

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All-weather,natural silent speech recognition via machine-learning-assisted tattoo-like electronics

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npj Flexible Electronics 2021年第1期5卷 183-191页

作者： Youhua Wang Tianyi Tang Yin Xu Yunzhao Bai Lang Yin Guang Li Hongmiao Zhang Huicong Liu YongAn Huang State Key Laboratory of Digital Manufacturing Equipment and Technology Huazhong University of Science and TechnologyWuhanChina Flexible Electronics Research Center Huazhong University of Science and TechnologyWuhanChina School of Mechanical and Electric Engineering Jiangsu Provincial Key Laboratory of Advanced RoboticsSoochow UniversitySuzhouChina State Key Laboratory of Industrial Control Technologyg Institute of Cyber Systems and ControlZhejiang UniversityHangzhouChina

The internal availability of silent speech serves as a translator for people with aphasia and keeps human–machine/human interactions working under various *** paper develops a silent speech strategy to achieve all-weather,natural *** strategy requires few usage specialized skills like sign language but accurately transfers high-capacity information in complicated and changeable daily *** the strategy,the tattoo-like electronics imperceptibly attached on facial skin record high-quality bio-data of various silent speech,and the machine-learning algorithm deployed on the cloud recognizes accurately the silent speech and reduces the weight of the wireless acquisition module.A series of experiments show that the silent speech recognition system(SSRS)can enduringly comply with large deformation(~45%)of faces by virtue of the electricitypreferred tattoo-like electrodes and recognize up to 110 words covering daily vocabularies with a high average accuracy of 92.64%simply by use of small-sample machine *** successfully apply the SSRS to 1-day routine life,including daily greeting,running,dining,manipulating industrial robots in deafening noise,and expressing in darkness,which shows great promotion in real-world applications.

关键词： translator weather silent

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Intelligent Wireless Self-Sustained Sensing Cubic Node Toward AIOT Ready Smart City

Intelligent Wireless Self-Sustained Sensing Cubic Node Towar...

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Micro and Nanotechnology for Power Generation and Energy Conversion Applications (PowerMEMS)

作者： Manjuan Huang Tingting Zhao Guoqing Jin Xiaojing Mu Huicong Liu Jiangsu Provincial Key Laboratory of Advanced Robotics School of Mechanical and Electrical Engineering Soochow University Suzhou CHINA Key Laboratory of Optoelectronic Technology & Systems Ministry of Education International R&D Center of Micro-nano Systems and New Materials Technology Chongqing University Chongqing CHINA

This paper presents an intelligent wireless self-sustained sensing cubic node, consisting of a rotational electromagnetic generator (R-EMG) for power supply and a versatile triaxial piezoelectric sensor (TPS) composed of three piezoelectric beams. This system enhances internet of things (IoT) sensing through cloud-based artificial intelligence (AI) computing. The cubic node provides power generation and multi-functional sensing capabilities, including vibration acceleration, frequency, and tilting angle. The design of the R-EMG ensures stable output at different rotational speeds, reaching a maximum output power of 66 mW at 550 rpm with an external load of 1.1 kΩ, allowing for self-sustaining energy generation for the node. Additionally, the cubic design enables the orthogonal placement of the three piezoelectric beams, enabling a broad response to vibrational energy from various directions. This flexibility allows for diverse applications across different frequencies and scenarios.

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Brightness-Enhanced Electroluminescence Driven by Triboelectric Nanogenerators Through Permittivity Manipulation and Impedance Matching

SSRN

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SSRN 2022年

作者： Gu, Mingwei Chen, Yunfeng Gu, Shaoqiang Wang, Can Chen, Liguo Shen, Hao Chen, Guanyu Sun, Xuhui Huang, Haibo Zhou, Yunlei Wen, Zhen Institute of Mechanical and Electric Engineering Jiangsu Provincial Key Laboratory of Advanced Robotics Soochow University Suzhou215123 China Jiangsu Key Laboratory for Carbon-Based Functional Materials and Devices Soochow University Suzhou215123 China College of Chemical Engineering and Technology Hebei University of Technology Tianjin300130 China Key Laboratory of Advanced Technologies of Materials Ministry of Education School of Materials Science and Engineering Southwest Jiaotong University Chengdu610031 China State Key Laboratory of Digital Manufacturing Equipment and Technology Flexible Electronics Research Center Huazhong University of Science and Technology Wuhan430074 China Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China

Triboelectric nanogenerator-driven electroluminescence (TDEL) that can convert human kinetic energy into visible light has attracted extensive attention in wearable electronics. However, the brightness is usually low due to the low electric field strength on the phosphors caused by impedance mismatch. In this work, a TDEL system with optimal brightness has been proposed by adjusting the dielectric constant of nanocomposite and matching impedance with TENG. The circuit model of the TDEL system is established and the voltage at both ends of the EL layer is predicted through simulation, which error is within 4.7%. Finite element simulation is used to simulate the optimal field strength of phosphors under the dual effects of voltage drop and polarization enhancement of EL layer caused by the increase of dielectric constant of nanocomposites in TDEL system. When the volume ratio of ZnS:Cu is 40% and the dielectric constant of the composite increases from 12 to 22.8, the optimal brightness value increases by 172%. Finally, a patterned TDEL system driven by walking or running to realize the functions of night alarm and information exchange is demonstrated. This study opens the window to improve the brightness of TDEL system through permittivity manipulation and impedance matching, which is applicable to different types of TENG, luminescent particles and dielectric nanocomposites. © 2022, The Authors. All rights reserved.

关键词： Nanogenerators

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A Space Crawling Robotic Bio-Paw (Scrbp) Enabled by Triboelectric Sensors for Surface Identification

SSRN

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SSRN 2022年

作者： Hou, Xuyan Zhang, Li Gao, Guowei Liu, Yuhui Na, Zhonglai Xu, QingZhang Ding, Tianxiang Li, Long Chen, Tao Research Center of Aerospace Mechanism and Control School of Mechatronics Engineering Harbin Institute of Technology Harbin150080 China Department of MECHANICAL ENGINEERING FACULTY OF ENGINEERING Hong Kong Polytechnic University Hong Kong Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai University Shanghai200444 China Jiangsu Provincial Key Laboratory of Advanced Robotics School of Mechanical and Electric Engineering Soochow University Suzhou215123 China

With the rapid development of space crawling robotics technology, tactile perception, a significant source for the robot to sense the external environment, has become the preferred solution to gather information in space. Sensors embedded in the robotic end-effector unit can collect and encode the large tactile data, allowing the robot to feel and perceive the real surroundings. Therefore, a space crawling robotic bio-paw (SCRBP) inspired by a cat paw, which performs as a compliant device and can flat the impulse force during the robot’s contact process to the target surface, is proposed in this paper. Meanwhile, a touch-sensing system embedded on SCRBP with self-powered sensors based on the triboelectric nanogenerator (TENG) technology is proposed which can provide the multi-dimensional sensation information in real time. By combining with machine learning (ML), the sensory system can be used for surface identification from the footfall process to the robot’s controller hub. In conclusion, SCRBP device proposed in this paper has obvious advantages in surface information acquisition, space adaptability, power consumption, cost, reliable signal and minimized data. Accordingly, SCRBP system shows fabulous potential in space robotics. © 2022, The Authors. All rights reserved.

关键词： End effectors

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Battery thermal management systems on the integration of multi-layer phase change materials and liquid cooling energy-saving strategies

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Applied Thermal Engineering 2025年 278卷

作者： Yupeng Sun Hao Zhang Fei Qi Yuan Li Hao Guo Chunju Wang Yao Chen School of Mechanical and Electric Engineering Soochow University Suzhou 215137 China Zhejiang Zeekr Intelligent Technology Co. Ltd. Ningbo 315336 China College of Energy and Power Engineering Inner Mongolia University of Technology Hohhot 010050 China Jiangsu Provincial Key Laboratory of Advanced Robotics & Robotics and Microsystems Center Soochow University Suzhou 215137 China

The performance and life of lithium-ion batteries are very sensitive to temperature, therefore, maintaining the proper temperature range is important for battery applications. However, localized high temperature regions within the battery are the main cause of temperature non-uniformity or even thermal runaway of the battery, so it is necessary to implement thermal management for these critical regions. In this paper, a thermal management cooling system utilizing liquid cooling and multilayer composite phase change materials (CPCM) is introduced. This article explored the effectiveness of different material in thermal management and designed a multi-layer phase change material structure to increase the thermal conductivity of the high heat region, in order to further reduce the temperature difference within the battery pack. By combining liquid cooling with CPCM cooling, this article proposes a composite thermal management system (BTMS) that places greater emphasis on thermal management efficiency. The results showed that the combined BTMS successfully reduced the maximum internal temperature of the battery pack to 29.18 ℃, with a maximum temperature difference of only 1.82 ℃, thereby improving the performance of the system. The combination of liquid and phase change cooling in BTMS can provide new technical support for improving the lifespan and safety of battery packs.

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An epidermal sEMG tattoo-like patch as a new human–machine interface for patients with loss of voice

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microsystems & Nanoengineering 2020年第1期6卷 1209-1221页

作者： Huicong Liu Wei Dong Yunfei Li Fanqi Li Jiangjun Geng Minglu Zhu Tao Chen Hongmiao Zhang Lining Sun Chengkuo Lee School of Mechanical and Electric Engineering Jiangsu Provincial Key Laboratory of Advanced RoboticsSoochow University215123 SuzhouChina Department of Electrical&Computer Engineering National University of Singapore4 Engineering Drive 3Singapore 117576Singapore National University of Singapore Suzhou Research Institute(NUSRI) Suzhou Industrial Park215123 SuzhouChina

Throat cancer treatment involves surgical removal of the tumor,leaving patients with facial disfigurement as well as temporary or permanent loss of *** electromyography(sEMG)generated from the jaw contains lots of voice ***,it is difficult to record because of not only the weakness of the signals but also the steep skin *** paper demonstrates the design of an imperceptible,flexible epidermal sEMG tattoo-like patch with the thickness of less than 10μm and peeling strength of larger than 1N cm−1 that exhibits large adhesiveness to complex biological surfaces and is thus capable of sEMG recording for silent speech *** a tester speaks silently,the patch shows excellent performance in recording the sEMG signals from three muscle channels and recognizing those frequently used instructions with high accuracy by using the wavelet decomposition and pattern *** average accuracy of action instructions can reach up to 89.04%,and the average accuracy of emotion instructions is as high as 92.33%.To demonstrate the functionality of tattoo-like patches as a new human–machine interface(HMI)for patients with loss of voice,the intelligent silent speech recognition,voice synthesis,and virtual interaction have been implemented,which are of great importance in helping these patients communicate with people and make life more enjoyable.

关键词： sEMG patients patch

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Research of Binocular Visual Inertial Algorithm Based on Point and Line Features

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Journal of Physics: Conference Series 2022年第1期2246卷

作者： Yipeng Zhou Maohai Li Guowei Shao College of Mechanical and Electrical Engineering Soochow University Suzhou Jiangsu 215131 China Key Laboratory of Jiangsu Robotics and Microsystems Research Center Suzhou Jiangsu 215131 China

To solve the problem of poor performance of the binocular visual inertial odometer VINS-Fusion in scenes with low texture and large luminosity changes, a binocular visual inertial odometer PLVINS-Fusion is designed that integrates line feature measurement information, which use line features to easy to extract in low-texture scenes, and have the advantage of more robust tracking performance in scenes with large luminosity changes. Point and line features are extracted in the front-end visual extraction at the same time, and line feature residuals are added to the back-end nonlinear optimization, construct a bag-of-words model combining point and line features in the loop detection module. On this basis, a real-time photometric calibration algorithm is adopted to jointly optimize the exposure time, the camera response function and the vignetting factor, and the stability of KLT optical flow tracking is improved by correcting the image brightness. Experiments on benchmark dataset show that the optimized algorithm has higher robustness and effectively improves the positioning accuracy, and meets the real-time performance requirement.

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A new OEW microfluidic device based on p-n junction

A new OEW microfluidic device based on p-n junction

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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Li, Yaqing Huang, Haibo Chen, Liguo Yan, Su Sun, Lining Collaborative Innovation Center of Suzhou Nano Science and Technology Soochow University School of Mechanical and Electric Engineering Jiangsu Provincial Key Laboratory of Advanced Robotics Su Zhou215123 China

ISBN: (纸本)9781728163215

Compared with the electrowetting on dielectric (EWOD) microfluidic device, optoelectrowetting (OEW) microfluidic device does not need to control the on-off of single electrode, but only needs to change the lighting condition to control the droplet, simplifying the peripheral control device and improving the stability of the device. The contradiction between the operating voltage and the driving force exists in the existing OEW device. To solve this problem, this paper proposes an OEW device based on diode structure, which uses the photoelectric effect of the diode connected in the DC circuit to control the movement state of the droplet. In this paper, the feasibility of the OEW device with pn structure is theoretically analyzed. Compared with the previous OEW device, under the same applied voltage and the same illumination difference, the potential difference between the diodes in the new device will be significantly larger than the potential difference between the photoresistors, which will effectively improve the driving force of the DC drive. © 2019 IEEE.

关键词： Microfluidics

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