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Tracking Control in Presence of Obstacles and Uncertainties for Bioinspired Spherical Underwater Robots

Journal of Bionic engineering 2023年第1期20卷 323-337页

作者： Chunying Li Shuxiang Guo Jian Guo Graduate School of Engineering Kagawa UniversityTakamatsuKagawa761-0396Japan Key Laboratory of Convergence Medical Engineering System and Healthcare Technology the Ministry of Industry and Information TechnologySchool of Life Science and TechnologyBeijing Institute of TechnologyBeijing100081China Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems and Intelligent Robot Laboratory Tianjin University of TechnologyBinshui Xidao Extension 391Tianjin300384China

During marine missions,AUVs are susceptible to external disturbances,such as obstacles,ocean currents,etc.,which can easily cause mission failure or *** this paper,considering the strong nonlinearities,external disturbances and obstacles,the kinematic and dynamic model of bioinspired Spherical Underwater Robot(SUR)was ***,the waypoints-based trajectory tracking with obstacles and uncertainties was proposed for SUR to guarantee its safety and ***,the Lyapunov theory was adopted to verify the stability and the Slide Mode Control(SMC)method is used to verify the robustness of the control *** addition,a series of simulations were conducted to evaluate the effectiveness of proposed control *** tests,including path-following,static and moving obstacle avoidance were performed which verified the feasibility,robustness and effectiveness of the designed control ***,a series of experiments in real environment were performed to verify the performance of the control *** simulation and experimental results of the study supplied clues to the improvement of the path following capability and multi-obstacle avoidance of AUVs.

关键词： Path following Obstacle avoidance Bioinspired.Spherical underwater robot(SUR) Lyapunov theory

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Implementation and uniformity calibration of LED array for photodynamic therapy

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Journal of Innovative Optical Health Sciences 2022年第4期15卷 61-69页

作者： Xu Wang Jiyuan Xiong Xiaoming Hu Qin Li Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology Beijing 100081 P.R.China

Irradiance uniformity is an important parameter for a Photodynamic Therapy(PDT)*** calibration and verification of a LED array light source based on computer vision technology were implemented and carried ***,the correlation coe±cients between the pulse width modulate value and the irradiance were ***,the correction of the actual light center and divergence angle were solved by image processing to reduce errors from each LED ***,uniformity was optimized according to the irradiance formula of the Lambertian *** lowest coe±cients of variation of irradiance were 4.87%in a 5 cm×12 cm area and 3.55%in a 3 cm×10 cm area within the depth range of 8–12 cm when the expected irradiance was 100 mW/cm^(2).This finding indicated that the light source can achieve a more uniform illumination and provide a better therapeutic effect for the PDT of port-wine stains.

关键词： Photodynamic therapy computer vision light source calibration

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A Review:From Aquatic Lives Locomotion to Bio-inspired Robot Mechanical Designations

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Journal of Bionic engineering 2023年第6期20卷 2487-2511页

作者： Pengxiao Bao Liwei Shi Lijie Duan Shuxiang Guo Zhengyu Li School of Medical Technology Beijing Institute of TechnologyBeijing100081China School of Life Science Beijing Institute of TechnologyBeijing100081China The Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information TechnologyBeijing Institute of TechnologyNo.5ZhongguancunSouth StreetBeijing100081China The Department of Electronic and Electrical Engineering Southern University of Science and TechnologyShenzhen518055GuangdongChina

With the development of camera technology,high-speed cameras have greatly contributed to capturing the movement and posture of animals,which has dramatically promoted experimental biology *** the same time,with the concept of bionics gradually gaining popularity among researchers,the design of robots is absorbing more and more biological features,where the interest in the bio-inspired robot is hewed *** with the traditional robot,the bio-inspired robot imitates the motion pattern to achieve similar propulsion features,which may be more effective and *** this paper,the motion patterns of aquatic animals are divided into four categories according to their propulsion mechanisms:drag-based,lift-based,jet-based,and *** bio-inspired robots imitating aquatic prototypes are introduced and ***,the prospect of aquatic bio-inspired robots is discussed.

关键词： Bionic Bio-inspired robot Aquatic animal Propelling mechanism Structure design

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Design, Implementation and Control of an Amphibious Spherical Robot

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Journal of Bionic engineering 2022年第6期19卷 1736-1757页

作者： Liwei Shi Zhongyin Zhang Zhengyu Li Shuxiang Guo Shaowu Pan Pengxiao Bao Lijie Duan Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information TechnologySchool of Life ScienceBeijing Institute of TechnologyBeijing100081China Faculty of Engineering Kagawa University2217-20 HayashichoTakamatsuKagawa761-0396Japan

We proposed and implemented a leg-vector water-jet actuated spherical robot and an underwater adaptive motion control system so that the proposed robot could perform exploration tasks in complex *** aim was to improve the kinematic performance of spherical *** developed mechanical and dynamic models so that we could analyze the motions of the robot on land and in *** robot was equipped with an Inertial Measurement Unit(IMU)that provided inclination and motion *** designed three types of walking gait for the robot,with different stabilities and ***,we proposed an online adjustment mechanism to adjust the gaits so that the robot could climb up slopes in a stable *** the system function changed continuously as the robot moved underwater,we implemented an online motion recognition system with a forgetting factor least squares *** proposed a generalized prediction control algorithm to achieve robust underwater motion *** ensure real-time performance and reduce power consumption,the robot motion control system was implemented on a Zynq-7000 system-on-Chip(SoC).Our experimental results show that the robot’s motion remains stable at different speeds in a variety of amphibious environments,which meets the requirements for applications in a range of terrains.

关键词： Bionic amphibious spherical robot Inertial measurement unit Quadruped gaits Forgetting factor least squares algorithm Generalized prediction control

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An EMG-Based Biomimetic Variable Stiffness Modulation Strategy for Bilateral Motor Skills Relearning of Upper Limb Elbow Joint Rehabilitation

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Journal of Bionic engineering 2023年第4期20卷 1597-1612页

作者： Ziyi Yang Shuxiang Guo Keisuke Suzuki Yi Liu Masahiko Kawanishi Graduate School of Engineering Kagawa UniversityTakamatsuKagawa761-0396Japan Key Laboratory of Convergence Medical Engineering System and Healthcare Technology School of Life Science and TechnologyBeijing Institute of TechnologyBeijing100081China National Rehabilitation Center for Persons with Disabilities Tokorozawa359-8555Japan Faculty of Medicine Kagawa UniversityTakamatsuKagawa761-0793Japan

Bilateral rehabilitation systems with bilateral or unilateral assistive robots have been developed for hemiplegia patients to recover their one-side ***,the compliant robotic assistance to promote bilateral inter-limb coordination remains a challenge that should be *** this paper,a biomimetic variable stiffness modulation strategy for the Variable Stiffness Actuator(VSA)integrated robotic is proposed to improve bilateral limb coordination and promote bilateral motor skills *** Electromyography(EMG)-driven synergy reference stiffness estimation model of the upper limb elbow joint is developed to reproduce the muscle synergy effect on the affected side limb by independent real-time stiffness ***,the bilateral impedance control is incorporated for realizing compliant patient-robot *** experiments were carried out to evaluate the tracking performance and investigate the multiple task intensities’influence on bilateral motor skills *** results evidence the proposed method could enable bilateral motor task skills relearning with wide-range task intensities and further promote bilateral inter-limb coordination.

关键词： Biomimetic stiffness modulation Compliant physical human-robot interaction(pHRI) Electromyography(EMG) Variable stiffness actuator(VSA) Rehabilitation robotics Synergy-based control Skill relearning

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A Phase-Dependent and EMG-Driven Variable Stiffness Control Strategy for Upper Limb Rehabilitation Robot

A Phase-Dependent and EMG-Driven Variable Stiffness Control ...

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2024 IEEE International Conference on Robotics and Biomimetics, ROBIO 2024

作者： Li, Pengcheng Guo, Shuxiang Li, Chunying Southern University of Technology and Science Department of Electronic and Electrical Engineering Shenzhen China Aerospace Center Hospital School of Life Science Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Ministry of Industry and Information Technology Beijing Institute of Technology Beijing China

ISBN: (纸本)9781665481090

Bilateral training is a widely adopted approach in upper limb rehabilitation due to its effectiveness and ease of implementation. Variable stiffness actuators enhance this approach by facilitating compliant human-machine interaction, ensuring both comfort and safety. However, optimizing stiffness levels for individual subjects to maximize training effectiveness remains a significant challenge. The difficulty of different task phases varies across subjects, necessitating customized robotic assistance. This paper proposes an adaptive stiffness modulation strategy that leverages the cyclic nature of rehabilitation tasks. An adaptive frequency oscillator is employed for real-time phase detection, while a tuning rule, based on motion tracking error and muscular activation, dynamically adjusts stiffness levels. Experimental validation with two participants demonstrated that the proposed strategy effectively promotes affected arm motion and tailors assistance to the user's specific needs. © 2024 IEEE.

关键词： Human robot interaction

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Task Planning and Collaboration of Jellyfish-inspired Multiple Spherical Underwater Robots

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Journal of Bionic engineering 2022年第3期19卷 643-656页

作者： Ruochen An Shuxiang Guo Yuanhua Yu Chunying Li Tendeng Awa Graduate School of Engineering Kagawa UniversityTakamatsuKagawa761-0396Japan Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information TechnologySchool of Life Science and TechnologyBeijing Institute of TechnologyBeijing100081China School of Life Science and Technology Changchun University of Science and TechnologyChangchun130022China

Task planning and collaboration of multiple robots have broad application prospects and value in the field of *** improve the performance and working efficiency of our Spherical Underwater Robot(SUR),we propose a multi-robot control strategy that can realize the task planning and collaboration of multiple *** complete real-time information sharing of multiple robots,we first build an acoustic communication system with excellent communication performance under low noise ratio ***,the task planning and collaboration control strategy adjust the SURs so that they maintain their positions in the desired formation when the formation *** SURs can move along desired trajectories in the expected *** control strategy of each SUR uses only its information and limited information of its neighboring ***,based on theoretical analysis and experiments,we evaluate the validity and reliability of the proposed *** comparison to the traditional leader–follower method,it is not necessary to designate a leader and its followers explicitly in our system;thus,important advantages,such as fault tolerance,are achieved.

关键词： Task planning Collaboration control Multiple spherical underwater robots(SUR) Shape keeping

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A decoupling three-dimensional motion control algorithm for spherical underwater robot

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Biomimetic Intelligence & Robotics 2022年第3期2卷 50-58页

作者： Pengxiao Bao Yao Hu Liwei Shi Shuxiang Guo Zhengyu Li Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Ministry of Industry and Information TechnologySchool of Life ScienceBeijing Institute of TechnologyBeijing 100081China Faculty of Engineering Kagawa UniversityHayashi-choTakamatsu 2217-20Japan

Underwater spherical robots are good assistants for ocean exploration,where motion control algorithms play a vital *** motion control algorithms cannot eliminate the coupling relationship between various motion directions,which will cause the motion control of various directions to interfere with one other and significantly affect the control *** study proposes a new decoupling motion control algorithm based on the robot attitude calculation for an underwater spherical robot designed for offshore,shallow water,and narrow *** proposed method uses four fuzzy proportional-integral-derivative(PID)controllers to independently control the robot’s movement in all *** show that the motion control algorithm proposed in this study can significantly improve the flexibility and accuracy of the movement of underwater spherical robots.

关键词： Motion control algorithm Decoupling control Spherical underwater robots Fuzzy PID

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Static and Modal Analysis of Critical Components of a Natatores-like Amphibious Robot 37

Static and Modal Analysis of Critical Components of a Natato...

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37th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2022

作者： Niu, Yan Shi, Liwei Guo, Shuxiang 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 Beijing100081 China

ISBN: (纸本)9781665465366

The urgent need for marine resources exploration and development has gradually changed the focus of research in the field of robots. The research about robots working across multimedia is more important, including the amphibious robots. In this paper, a Natatores-like robot is designed, which has the characteristics of high environmental adaptability, concealment, propulsion efficiency and energy utilization. In order to study and verify the mechanical strength of the critical components of the robot when walking on land, the static and modal simulation analysis of the leg root, shank, and webbed foot of the leg design is carried out. The results show that the static strength and static stiffness of the leg root and shank meet the requirements, and the webbed foot needs to be optimized to make it have less deformation when loaded. None of them has danger of resonance with the motor. © 2022 IEEE.

关键词： Modal analysis

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A Portable Surgeon's Habits-based Master Manipulator for Vascular Interventional Surgery Robots 20

A Portable Surgeon's Habits-based Master Manipulator for Vas...

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

作者： Zhao, Duohao Guo, Shuxiang Lyu, Chuqiao Yan, Yonggan Lin, Zhijun Beijing Institute of Technology The Key Laboratory of Convergence Biomedical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology Beijing100081 China Southern University of Science and Technology The Department of Electronic and Electrical Engineering Guangdong Shenzhen518055 China

ISBN: (纸本)9798350320831

The emergence of vascular interventional surgery robot (VISR) has brought good news to patients. However, the current research on the master manipulator is still in its infancy. Nowadays, the shortcomings of the developed master manipulator include poor portability, lack of tactile feedback devices, not in line with surgeon's operating habits and so on. In order to solve the above problems, a novel master manipulator is proposed in this paper. In order to realize the linear displacement measurement of the operating handle, a linear displacement measurement (LDM) unit based on rollers was proposed. By using the brushed DC motor and the bevel gears, the angular displacement measurement (ADM) unit and the circumferential force feedback (CFF) unit were designed. The decoupling of the operating rod and the rotating rod facilitated the portability of the proposed manipulator. Evaluation experimental results showed that the maximum linear error of the master manipulator was 0.296mm and the maximum angular displacement error was 7.66 degrees, which is acceptable. Moreover, the mathematical relationship between the circumferential force generated by the CFF and the input current was also obtained. To sum up, compared with other master manipulators, the proposed master manipulator is shown to be better and more promising. © 2023 IEEE.

关键词： Manipulators

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