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SSRN 2024年

作者： Li, Xia You, Birong Wang, Xuhui Zhao, Zhipeng Qi, Tianyu Xu, Jinyou Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China National Demonstration Centre for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin300384 China

The virtual model serves as the foundation for constructing a digital twin system. In order to provide technical guidance for the construction of a digital twin system for subsoiling, this study employed the line structured light method for soil model generation. Field experiments and indoor experiments were conducted separately, using the extreme value method, grayscale centroid method, and Steger algorithm to extract the laser centrelines in the experiments. The results show that the extreme value method and grayscale centroid method have almost the same processing time when dealing with two types of images, which are 1.9ms and 18ms respectively. The Steger algorithm has a significant difference in processing time when dealing with indoor and field images, with the processing time being longer for indoor images, approximately 300ms. Regarding memory usage, there is a large difference when the extreme value method processes two sets of images. Therefore, the grayscale centroid method is the most suitable method for centreline extraction in a digital twin system for subsoiling. When performing 3D reconstruction, the camera shooting frequency is positively correlated with the reconstruction effect, while the moving speed is negatively correlated with the reconstruction effect. Of course, the reconstruction effect is also related to the performance of the binocular camera used. In addition, the processing time for each image during reconstruction is within 1ms, indicating that the method of line laser 3D reconstruction can solve the problem of soil modelling in subsoiling digital twin. © 2024, The Authors. All rights reserved.

关键词： Soils

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Application of Digital Twin Technology in the Teaching of Engineering Drawing Course 4

Application of Digital Twin Technology in the Teaching of En...

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4th International Conference on Information Science and Education, ICISE-IE 2023

作者： Zhang, Runfeng Tang, Yuxin Liu, Zhenzhong Sun, Yanfang Wu, Jianguo School of Mechanical Engineering Tianjin University of Technology Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control Tianjin300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin China School of Language and Culture Tianjin University of Technology Tianjin300384 China Tianjin Hanhailanfan Marine Technology Co. Ltd. Tianjin300457 China

ISBN: (纸本)9798350394610

As an advanced technology that integrates virtuality and reality, digital twin technology has shown a wide range of application prospects in various fields. This paper aims to explore the potential application of digital twin technology in the teaching of engineering drawing courses, to improve students' theoretical knowledge and practical ability. By combining digital twin technology with traditional engineering drawing teaching, students can carry out practical operations and simulations in a virtual environment to better understand and apply drawing concepts and principles. Besides, taking the assembly drawing of thread connection as an actual teaching case, the specific application of digital twin technology in theoretical and experimental teaching is explained, respectively. The results show that digital twin technology is conducive to improving students' interest in engineering drawing courses and training students' spatial imagination ability, which is of great significance to reforming drawing courses. © 2023 IEEE.

关键词： Teaching

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Study on control Strategy of the Vascular Interventional Surgical Robot Based on LADRC 20

Study on Control Strategy of the Vascular Interventional Sur...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Zhang, Wenqiang Guo, Jian Guo, Shuxiang Fu, Qiang Tianjin University of Technology Tianjin Key Laboratory for Control Theory & Applications Complicated Systems and Intelligent Robot Laboratory Binshui Xidao Extension 391 Tianjin300384 China Shenzhen Institute of Advanced Biomedical Robot Co. Ltd. No.12 Ganli Sixth Road Jihua Street Longgang District Shenzhen518100 China Beijing Institute of Technology Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science No.5Zhongguancun South Street Beijing100081 China

ISBN: (纸本)9798350320831

As a medical device used in surgery, the vascular interventional surgical robot itself needs to have good control accuracy to ensure the safety of the surgery process. Given this security problem, this paper selects the Line Active Disturbance Rejection control (LADRC) as the control strategy of the vascular interventional robot, aiming at improving the master-slave tracking accuracy of the vascular interventional robot. This article compares the LADRC and PID(Proportional-Integral-Derivative) control strategies through simulation and experiments. The experimental results show that LADRC has good control performance for master-slave tracking and can be applied to the vascular interventional surgical robots. © 2023 IEEE.

关键词： Robotic surgery

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A DDPG-Based Method of Autonomous Catheter Navigation in Virtual Environment 20

A DDPG-Based Method of Autonomous Catheter Navigation in Vir...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Tian, Wei Guo, Jian Guo, Shuxiang Fu, Qiang Tianjin University of Technology Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems Intelligent Robot Laboratory Binshui Xidao Extension 391 Tianjin300384 China Shenzhen Institute of Advanced Biomedical Robot Co. Ltd. No.12 Ganli Sixth Road Jihua Street Longgang District Shenzhen518100 China Beijing Institute of Technology Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science No.5Zhongguancun South Street Beijing100081 China

ISBN: (纸本)9798350320831

Vascular interventional surgery is the main method for treating cardiovascular diseases. But navigating endovascular catheters through the vascular tree is a highly challenging task even for highly trained specialists. Automation of this task can reduce the burden on surgeons and is expected to improve the surgical outcomes. Although there have been relevant studies utilizing reinforcement learning algorithms to realize autonomous navigation of catheter in the virtual environment Cathsim. However, the kinematics model of the catheter in Cathsim does not conform to the operating mode of the catheter in real vascular interventional surgery. Besides, there are problems such as low success rates of catheter autonomous navigation tasks. To address these issues, this paper modifies the kinematics model of the catheter in Cathsim and designs a catheter autonomous navigation model based on reinforcement learning DDPG (Deep Deterministic Policy Gradient) algorithm. The experimental results show that the agents trained through DDPG in this paper performs better than the agents trained through PPO (Proximal Policy optimization) in other studies in terms of navigation task success rate, completion time, and contact force between the catheter and vascular wall during the navigation process. © 2023 IEEE.

关键词： Reinforcement learning

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Design of a Capsule Robot system for Gastric Hemorrhage Detection using Luminol 20

Design of a Capsule Robot System for Gastric Hemorrhage Dete...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Mao, Yuchen Guo, Jian Guo, Shuxiang Fu, Qiang Tianjin University of Technology Tianjin Key Laboratory for Control Theory & Application Complicated Systems Intelligent Robot Laboratory School of Electrical Engineering and Automation Binshui Xidao Extension 391 Tianjin300384 China Shenzhen Institute of Advanced Biomedical Robot Co. Ltd No.12 Ganli Sixth Road Jihua Street Longgang District Shenzhen518100 China Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology No.5 Zhongguancun South Street Beijing100081 China

ISBN: (纸本)9798350320831

Gastric hemorrhage in upper gastrointestinal bleeding is an obvious indicator of deteriorating gastric disease. This paper proposes a capsule robot system for detecting bleeding in the stomach. The patient ingests a capsule robot containing luminol reagent, which detects bleeding in the stomach via chemiluminescence. The MCU receives the optical sensor signal, and the data is transmitted via radio frequency. The external lower computer receives and forwards the data to the upper computer for processing and display. The data is used to determine the presence and amount of stomach bleeding. Chemiluminescence is an excellent sensor, requiring no external energy supply, and demonstrating excellent sensitivity and selectivity. Combining chemical and electronic sensors presents opportunities for further development. Capsule robot detection reduces the discomfort and risk of secondary injury associated with traditional endoscopy. This paper establishes an experimental platform using porcine blood to simulate human blood, demonstrating the feasibility of the system. © 2023 IEEE.

关键词： Chemiluminescence

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Design of control system for Lower Limb Rehabilitation Robot on the Healthy Side sEMG Signal 20

Design of Control System for Lower Limb Rehabilitation Robot...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Yu, Shiqin Guo, Jian Guo, Shuxiang Fu, Qiang Tianjin University of Technology Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems Intelligent Robot Laboratory Binshui Xidao Extension 391 Tianjin300384 China Shenzhen Institute of Advanced Biomedical Robot Co. Ltd. No.12 Ganli Sixth Road Jihua Street Longgang District Shenzhen518100 China Beijing Institute of Technology Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science No.5 Zhongguancun South Street Beijing100081 China

ISBN: (纸本)9798350320831

With the number of stroke patients increasing year by year, rehabilitation exoskeleton robot has been paid more and more attention. For the rehabilitation exoskeleton robot, human-computer interaction ability is an important index, which affects the effect of rehabilitation therapy to a great extent. Surface Electromyography (sEMG) signals are the combined effect of sEMG signals and electrical activities on nerve stem on the skin surface, which can reflect neuromuscular activities in advance and can be used to predict movement intention by sEMG signals. Therefore, this article proposes to use sEMG signals to monitor the motion information of the healthy leg in real-time, extract the characteristics of the electromyography signals, use the sEMG of the healthy leg as the control signal, reflect the motion patterns reflected by the sEMG collected from the healthy side, and then use the motion intention recognition method of Long Short Term Memory(LSTM) neural network to identify the motion intention of the prosthetic limb by identifying the motion patterns of the swing phase of the healthy side. The results indicate that the predicted maximum Root Mean Squared Error(RMSE) is 5.3729, which proves the feasibility of using LSTM model for motion intention recognition and contributes to the real-time and accuracy of lower limb exoskeleton rehabilitation. © 2023 IEEE.

关键词： Long short-term memory

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Study on Autonomous Surgical control system of The Vascular Interventional Surgical Robot Based on Catheter Tip Location Tracking 20

Study on Autonomous Surgical Control System of The Vascular ...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Feng, Zhimin Guo, Jian Guo, Shuxiang Fu, Qiang Tianjin University of Technology Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems Intelligent Robot Laboratory Binshui Xidao Extension 391 Tianjin300384 China Shenzhen Institute of Advanced Biomedical Robot Co. Ltd. No.12 Ganli Sixth Road Jihua Street Longgang District Shenzhen518100 China Beijing Institute of Technology Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science No.5Zhongguancun South Street Beijing100081 China

ISBN: (纸本)9798350320831

The control system of vascular interventional surgical robot is a complex nonlinear system. When the catheter is inserted into human blood vessels, due to the irregular and curved shape of human blood vessels, the catheter will undergo small deformation, which will affect the displacement of the catheter. In order to reduce the displacement tracking error, a BP neural network PID controller was designed to compensate the displacement error of the autonomous vascular interventional surgical robot. Firstly, the dynamic analysis is carried out according to the axial displacement motion of the vascular interventional surgical robot, and the catheter displacement tracking controller was designed. According to the displacement error, BP neural network PID control is used to output three parameters of PID. Finally, in the experiment and PID control simulation comparison, the results show that the BP neural network PID control has a small displacement tracking error and superior tracking performance, which can meet the requirements. © 2023 IEEE.

关键词： Three term control systems

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Development of a 3-RRS Micromanipulator Based on Origami-Inspired Spherical Joint

Development of a 3-RRS Micromanipulator Based on Origami-Ins...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Haoqi Han Xiaoming Liu Yan Chen Hao Pang Xiaoqing Tang Dan Liu Qiang Huang Tatsuo Arai Beijing Advanced Innovation Center for Intelligent Robots and Systems and School of Mechatronical Engineering Key Laboratory of Biomimetic Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing China Department of Micro-Nano Electronics Shanghai Jiao Tong University China Center for Neuroscience and Biomedical Engineering The University of Electro-Communications Tokyo Japan

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

In recent years, micromanipulation technology has achieved extensive applications in industry and life science. Improving the precision and bandwidth of the micromanipulator and simultaneously reducing size, weight, and cost pose significant challenges to the existing micromanipulator design and fabrication methods. Here, we propose a 3-RRS micromanipulator with an origami-inspired spherical joint based on the PC-MEMS process, aiming for miniaturization and cost-effectiveness. The spherical joint allows rotations of 140° around the x-axis approximately, 140° around the y-axis approximately, and 20° around the z-axis approximately. The micromanipulator has weights of 0.8 g, dimensions of 16 mm × 16 mm × 22 mm, and workspace of 0.7 mm 3 . The end platform of the micromanipulator can be equipped with various effectors to accomplish different kinds of tasks. Experimental results validated its high precision and bandwidth, exhibiting its potential to perform intricate micromanipulation tasks.

关键词： Industries Fabrication Costs Micromanipulators Design methodology Bandwidth Life sciences

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A Low Delay AES Round Transform Architecture Using Constant Matrix Multiplications Merging Technologies 17

A Low Delay AES Round Transform Architecture Using Constant ...

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17th IEEE Conference on Industrial Electronics and Applications, ICIEA 2022

作者： Zheng, Xinxing Zhang, Xiaoqiang Yang, Fan Xu, Mingyu Yan, Han Wuhu Institute of Technology College of Information Engineering Wuhu China Key Laboratory of Advanced Perception and Intelligent Control of High-end Equipment Ministry of Education Wuhu China Engineering Research Center of Vehicle-Mounted Display Integration System Wuhu China Anhui Polytechnic University College of Electrical Engineering Wuhu China

ISBN: (纸本)9781665409841

This paper presents a low delay architecture design method for the hardware implementation of the advanced Encryption Standard (AES) algorithm. The proposed architecture is designed by using constant matrix multiplications (CMM) merging technologies. To reduce the area cost in hardware implementations, S-box/InvS-box is usually implemented with composite field arithmetic (CFA) technologies. In this paper, CMM in CFA-based S-box/InvS-box are further merged with constant coefficient multiplications in MixColumns/ InvMixColumns, which can also be expressed as CMM forms. By the merging, the delay of the hardware implementation of encryption round transform is reduced at the cost of slight area cost increasing, and both delay and area cost are reduced in hardware implementations of decryption round transform. Hardware complexities analysis indicates that our designs have less delay compared with previous works. © 2022 IEEE.

关键词： Cryptography

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Numerical Simulation and Analysis of HLTZ60-LJ-233 Water Turbine Transformation

Numerical Simulation and Analysis of HLTZ60-LJ-233 Water Tur...

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Computational Modeling, Simulation and Data Analysis (CMSDA), International Conference on

作者： Meiping Zhang Shoujun Wang Xuejun Zhou Tianjin Key Laboratory of Advanced Electromechanical System Design and Intelligent Control Tianjin University of Technology Tianjin Tianjin Sino-German University of Applied Technology Tianjin

In order to study the internal flow state of the mixed-flow turbine, this paper takes the modified HLTZ60-LJ-233 model turbine as the research object, combines with the modeling software UG, uses the grid division software ICEM, and then imports the flow field analysis software Fluent, and the turbine full-flow flow field analysis based on the k- ω turbulence model.

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