检索结果-内蒙古大学图书馆

SSRN 2024年

作者： Niu, Yan Bao, Pengxiao Li, Jieren Guo, Shuxiang Song, Zhibin Yang, Dan Lin, Xinru Shi, Liwei School of Medical Technology Beijing Institute of Technology Beijing100081 China Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Ministry of Industry and Information Technology Beijing Institute of Technology Beijing100081 China Beijing Institute of Technology China

HighlightsNumerical study on the impact of manta ray formation on the swimming performancePengxiao Bao, Yan Niu, Jieren Li, Shuxiang Guo, Zhibin Song, Dan Yang, Xinru Lin, Liwei Shi• The theoretical energy-saving position is calculated according to Kutta-Joukowshi vortex loop theorem. It is the basis of the numerical calculation models.• CFD models of different formations including dual and triple manta rays are established to calculate the force situation and flow field characteristics using fluid-structure coupling.• Propulsion efficiency and hydrodynamic pulsation characteristic are chosen to evaluate the swimming *** the basis, a comprehensive evaluation model is established. © 2024, The Authors. All rights reserved.

关键词： Energy conservation

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Two-Way Perceived Color Difference Saliency Algorithm for Image Segmentation of Port Wine Stains 1st

Two-Way Perceived Color Difference Saliency Algorithm for Im...

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1st BenchCouncil International Federated Intelligent Computing and Block Chain Conferences, FICC 2020

作者： Kang, Wenrui Wang, Xu Zhang, Jixia Hu, Xiaoming Li, Qin School of Life Science Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology Beijing Institute of Technology Beijing100081 China

ISBN: (纸本)9789811611599

The image segmentation of port wine stains (PWS) lesions is of great significance to assess PDT treatment outcomes. However, it mainly depends on the manual division of doctors at present, which is time-consuming and laborious. Therefore, it is urgent and necessary to explore an efficient and accurate automatic extraction method for PWS lesion images. A two-way perceived color difference saliency algorithm (TPCS) for PWS lesion extraction is proposed to improve the efficiency and accuracy, and is compared with other image segmentation algorithms. The proposed algorithm shows the best performance with 88.91% accuracy and 96.36% sensitivity over 34 test images of PWS lesions. © 2021, Springer Nature Singapore Pte Ltd.

关键词： Image segmentation

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Study on the Backstepping Sliding Mode-Based Tracking Control Method for the SUR

Study on the Backstepping Sliding Mode-Based Tracking Contro...

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IEEE International Conference on Mechatronics and Automation

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

ISBN: (数字)9798350388077

ISBN: (纸本)9798350388084

To improve autonomous and tracking capabilities when the spherical underwater robot (SUR) performs complex tasks such as inspection, patrol and aquaculture, etc. This paper presented a path tracking method rooted in backstepping sliding mode control (BSMC) for the SUR. Through the derivation of the robot’s kinematic and dynamic models, a novel control scheme for the SUR was developed. Then, the Lyapunov function was applied to enhance the stability and robustness of the BSMC in unknown environments. Ultimately, this paper utilized Matlab to carry out the path tracking simulation of the SUR, thereby validating the effectiveness of the proposed method. The experimental results demonstrated that the proposed BSMC method boosted the SUR’s path tracking capabilities and met the task’s requirements.

关键词： Autonomous underwater vehicles Analytical models Backstepping Tracking Kinematics Stability analysis Robustness

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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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IEEE International Conference on Robotics and Biomimetics

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

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

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.

关键词： Training Limbs Tracking Phase modulation Phase frequency detectors Assistive robots Real-time systems Safety Robots Tuning

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Study on a Novel Fuzzy PID Control system for the Ellipsoidal Underwater Robot

Study on a Novel Fuzzy PID Control System for the Ellipsoida...

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IEEE International Conference on Mechatronics and Automation

作者： Xueting Liu Shuxiang Guo Chunying Li Qirong Lei Jinglei Nie The Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen China The Aerospace Center Hospital School of Life Science and the Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Ministry of Industry and Information Technology Beijing Institute of Technology Beijing China

ISBN: (数字)9798350388077

ISBN: (纸本)9798350388084

Autonomous Underwater Vehicles (AUVs) have gained popularity for their exceptional maneuverability and versatility in marine environments. However, conventional PID methods often fail to achieve precise control in complex environments, as they lack accuracy in nonlinear systems. This paper developed a fuzzy PID control system for the Ellipsoidal Underwater Robot (EUR) to improve its stability and precision. Firstly, the structure and motion characteristics of the EUR were introduced. Then, the principles of the fuzzy PID control were analyzed and implemented to the EUR. Through simulations and underwater experiments, the effectiveness of the control system was evaluated and the results highlighted the significant improvement in motion stability and control accuracy achieved by the fuzzy PID control algorithm. This paper provided valuable insights and methodologies for the development of control systems in underwater robots.

关键词： Autonomous underwater vehicles PI control Accuracy Propellers Velocity control Stability analysis Robustness

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Study on the Path Planning Based on A* Algorithm for Vascular Intervention Robots

Study on the Path Planning Based on A* Algorithm for Vascula...

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IEEE International Conference on Mechatronics and Automation

作者： Huiyin Xu Shuxiang Guo Chunying Li Sheng Cao National Engineering Laboratory for Big Data System Computing Technology Shenzhen University Shenzhen China The Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen China The Aerospace Center Hospital School of Life Science and the Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Ministry of Industry and Information Technology Beijing Institute of Technology Beijing China

ISBN: (数字)9798350388077

ISBN: (纸本)9798350388084

In vascular interventional surgery, accurate path planning is essential to improve surgical success and reduce risk. This paper aimed to verify the effectiveness and practicability of the A* algorithm in the shortest path planning of vascular interventional surgical robot systems. Computed tomography angiography (CTA) vascular images were processed in advance to extract features and calibrate obstacles, simulating the path planning problem in vascular interventional surgery. The A* algorithm was then employed to search for the shortest path from the starting point to the endpoint. Based on the planned path, assistance could be provided to surgeons during operative procedures. The experimental results indicated that the A* algorithm effectively navigated obstacles and identified the shortest path. Moreover, through user-interactive design, this paper offered an intuitive operational experience, allowing users to interactively choose start and end points and display the algorithm’s search process and outcomes in real-time. This paper demonstrated the potential application of the A* algorithm within vascular structures and laid the groundwork for the future development of more efficient and intelligent systems for planning and navigating vascular interventional surgeries.

关键词： medical robotics Mechatronics Navigation Computed tomography Surgery Feature extraction Path planning

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Evaluation of the Dynamic Performance of a Novel Egg-shaped Underwater Robot

Evaluation of the Dynamic Performance of a Novel Egg-shaped ...

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IEEE International Conference on Mechatronics and Automation

作者： Jipeng Long Shuxiang Guo Chunying Li National Engineering Laboratory for Big Data System Computing Technology Shenzhen University Shenzhen China The Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen China The Aerospace Center Hospital School of Life Science and the Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Ministry of Industry and Information Technology Beijing Institute of Technology Beijing China

ISBN: (数字)9798350388077

ISBN: (纸本)9798350388084

With the increasing demand for ocean exploration and underwater operations, the development of new autonomous underwater vehicles (AUVs) to adapt to specific marine environments has become crucial. This paper designed an innovative Egg-shaped Underwater Robot (EUR) aiming to optimize its mobility, stability and operational efficiency in complex underwater environments. Compared to traditional simulation robots of various types, the structure possessed the stability of a ball-shaped robot and the characteristics of a streamlined robot. The EUR adopted a unique elliptic structure to reduce underwater drag, improve maneuverability and enhance load capacity. Then, the overall design of the EUR was presented with detailed descriptions of the mechanical structure and electrical system respectively. Next, various motion states of the EUR and experimental validation were simulated by Computational Fluid Dynamics (CFD), and the experimental results showed that the motion characteristics of the EUR are acceptable, and the design was worthy of further study.

关键词： Autonomous underwater vehicles Mechatronics Computational fluid dynamics Oceans Propulsion Stability analysis Vectors

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Study on the Depth Control for an "Egg-shaped" Underwater Robot Based on Backstepping Sliding Mode Algorithm

Study on the Depth Control for an "Egg-shaped" Underwater Ro...

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IEEE International Conference on Mechatronics and Automation

作者： Haotian Li Shuxiang Guo Chunying Li Jipeng Long National Engineering Laboratory for Big Data System Computing Technology Shenzhen University Shenzhen China The Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen China The Aerospace Center Hospital School of Life Science and the Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Ministry of Industry and Information Technology Beijing Institute of Technology Beijing China

ISBN: (数字)9798350388077

ISBN: (纸本)9798350388084

With the growing demand for autonomous underwater vehicles (AUVs) capable of precise navigation in intricate environments, achieving accurate depth control becomes pivotal. This paper introduced a pioneering study on depth control for an "Egg-shaped" underwater robot (EUR) utilizing the backstepping sliding mode control (BSMC) algorithm. By analyzing the kinematic and kinetic models of the EUR, a specialized control system was devised. This paper significantly advanced underwater robotics by presenting a robust and efficient solution for depth control, employing Lyapunov function in stability analysis. Simulation and experimental results validated the performance of the proposed algorithm in regulating the robot's depth across diverse operating conditions, surpassing traditional control methods in terms of stability and accuracy.

关键词： Autonomous underwater vehicles Backstepping Accuracy Mechatronics Navigation Stability analysis Robustness

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Design and Control of an Ellipsoidal Underwater Robot Driven by Four-Vector Propellers

Design and Control of an Ellipsoidal Underwater Robot Driven...

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IEEE International Conference on Mechatronics and Automation

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

ISBN: (数字)9798350388077

ISBN: (纸本)9798350388084

With the increasing demand for underwater exploration and intervention tasks, the development of efficient and maneuverable underwater robots is essential. This paper introduced a novel ellipsoidal underwater robot(EUR) designed specifically for precise motion control in aquatic environments. The prototype features a unique propulsion system and thruster configuration optimized for underwater navigation. Thrust vectoring was achieved through the rotation of the propulsion unit, enhancing maneuverability underwater. Detailed design aspects and practical realization of the four-propeller driven prototype were discussed. The kinematics and dynamics of the underwater robot were analyzed, followed by the description of the parallel PID control system, including position control, and attitude control algorithms. Simulations and experimental results demonstrated the effectiveness of the proposed design in achieving precise underwater motion control. The innovative design concept proposed in this paper will be of great value to the research and development of underwater robotics, which can be used to enhance precise navigation and maneuverability in diverse aquatic environments.

关键词： Autonomous underwater vehicles PI control Attitude control Heuristic algorithms Prototypes Propulsion Underwater navigation

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A Machine Learning Approach to Movement Intention Estimation Using Rollator-user Interaction Force

A Machine Learning Approach to Movement Intention Estimation...

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IEEE International Conference on Mechatronics and Automation

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

ISBN: (数字)9798350388077

ISBN: (纸本)9798350388084

Rollators have gained popularity as rehabilitation and assistive robots due to their simplicity and compact size. Equipped with sensors and actuators, robotic rollators can provide guidance, assistance, and rehabilitation training during walking. However, existing assistance and training primarily support straight walking, presenting a challenge in providing intuitive assistance during turns. This research introduces an approach for predicting user intention during walking solely using the interaction force between the rollator and the user. A Long Short-Term Memory (LSTM) network-based machine learning method is proposed for establishing a movement intention model, accurately estimating the intentions of “Straight Walk”, “Turn Left” and “Turn Right”. Experimental results with elderly participants demonstrated a high accuracy of 92.85% in estimating movement intentions.

关键词： Legged locomotion Training Accuracy Force Estimation Machine learning Turning

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