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IEEE International Conference on Mechatronics and Automation

作者： Jun Leng Shuxiang Guo Chunying Li Sheng Cao School of Control Science and Engineering Shandong University Jinan 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

Inspired by the lateral line systems found in aquatic organisms, an artificial lateral line system (ALLS) for underwater robots was developed. This technology was integrated into Autonomous Underwater Vehicles (AUVs) to enhance their environmental awareness and navigation. This paper was focused on improving water flow prediction performance for a amphibious spherical robot (ASR) equipped with a ALLS comprising 12 pressure sensors. To address the challenge of the initial method relying on polynomial fitting based on data from a single sensor, which encounters difficulties when the flow direction falls between sensor angles. Two strategies were explored: increasing the quantity of sensors and implementing a Classification-Regression approach. Experimental simulations using Computational Fluid Dynamics (CFD) software were conducted to investigate the effectiveness of these strategies. Experimental results indicated that the classification-regression method significantly enhanced prediction accuracy compared to the original approach and offered a cost-effective alternative to increasing sensor quantity. This research contributed to the advancement of underwater robotics by enhancing perception capabilities, which were crucial for navigating challenging underwater environments efficiently.

关键词： Autonomous underwater vehicles Analytical models Accuracy Navigation Computational fluid dynamics Fitting Robot sensing systems

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Elastic Collision Based-Interactive Path Planning system for Vascular Intervention Robots

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Procedia Computer Science 2024年 250卷 244-249页

作者： Sheng Cao Shuxiang Guo Jian Guo Jian Wang Bin Wang Mingchao Ding Aerospace Center Hospital & the Key Laboratory of Convergence Medical Engineering System and Healthcare Technology School of Life Science & Ministry of Industry and Information Technology Beijing Institute of Technology Beijing 100081 China Shenzhen Institute of Advanced Biomedical Robot Company Limited Shenzhen 518000 Guangdong Province China Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen Guangdong 518055 China

As population aging intensifies, the incidence of cardiovascular and cerebrovascular diseases has continued to rise. Vascular interventional surgery, known for its minimal trauma, rapid recovery, and clear effectiveness, requires doctors to perform procedures in radiation environments while wearing lead aprons. The advent of vascular intervention robots has provided a system-level solution to protect doctors from radiation and enhance outcomes. Currently, preoperative path planning for these robots predominantly relies on automatically generated paths, calculated by setting constraints and minimizing costs. However, this method lacks incorporation of physicians' expertise and consideration of elastic collision. Therefore, this study has designed an interactive path planning system for vascular intervention robot based on elastic collision. By establishing a simulation environment, doctors can use a manipulator to control virtual catheters and guidewires. While considering deformations, they maneuver the guidewire to the target position and record the current motion trajectory to guide the procedure in actual surgeries. Experimental tests have been conducted, confirming the system's effectiveness and feasibility.

关键词： Elastic Collision Interactive Path Planning Vascular Intervention Robot

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

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

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Youth Academic Annual Conference of Chinese Association of Automation (YAC)

作者： Yan Niu Liwei Shi Shuxiang Guo 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 Beijing China

ISBN: (纸本)9781665465373

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.

关键词： Legged locomotion Analytical models Adaptation models Automation Modal analysis Propulsion Robots

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Attention Field Size Alters Patterns of Population Receptive Fields in the Early Visual Cortex

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Neuroscience Bulletin 2022年第2期38卷 205-208页

作者： Bo Liu Xiaochun Wang Le Wang Qiaojun Qu Wei Zhang Bin Wang Jie Xiang Ting Yan Tianyi Yan Hui Zhang College of Medical Imaging Shanxi Medical UniversityTaiyuan 030001China Department of Radiology First Clinical Medical CollegeShanxi Medical UniversityTaiyuan 030001China College of Information and Computer Taiyuan University of TechnologyTaiyuan 030001China Intelligent Imaging Big Data and Functional Nano-imaging Engineering Research Center of Shanxi Province Shanxi Medical UniversityTaiyuan 030001China Translational Medicine Research Center Shanxi Medical UniversityTaiyuan 030001China School of Life Science Beijing Institute of TechnologyBeijing 100081China Ministry of Industry and Information Technology Key Laboratory of Convergence Medical Engineering System and Healthcare TechnologyBeijing Institute of TechnologyBeijing 100081China

Dear Editor,Visual spatial attention is a cognitive process by which prior information about the relevance of spatial locations is used to improve perceptual performance[1].Visual attention is spread across the attention field(AF),a range within visual *** AF reshapes the distribution of activity throughout the visual pathway,including the early visual cortex(EVC)and all areas along the dorsal and ventral visual cortical pathways[2,3].Importantly,the effect of attention depends not only on the spatial position of the AF but also on its size[4].

关键词： Visual Cortex visual

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Trajectory Planning for Bipedal Locomotion of a Duck-Inspired Robot

Trajectory Planning for Bipedal Locomotion of a Duck-Inspire...

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IEEE International Conference on Mechatronics and Automation

作者： Shuhui Zhang Yan Niu Yiran Xu Xinru Lin Shuxiang Guo Liwei Shi School of Medical Technology Beijing Institute of Technology Beijing China Key Laboratory of Convergence Medical Engineering System and Healthcare Technology(Beijing Institute of Technology) Ministry of Industry and Information Technology Beijing China The Aerospace Center Hospital School of Life Science Beijing Institute of Technology Beijing China The Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen China

ISBN: (数字)9798350388077

ISBN: (纸本)9798350388084

Nowadays, amphibious robots demonstrate significant potential in fields such as disaster relief and environmental monitoring. In response to these applications, this study plans the leg trajectory of a duck-inspired robot based on the motion trajectory and characteristics of real ducks, aiming to enhance the robot’s adaptability and operational efficiency in complex aquatic and terrestrial environments. To design the duck-like gait, this paper analyzes motion videos of real ducks frame by frame. Using the DeepLabCut algorithm and geometric analysis, we identify key leg points. The joint angle change curve of the real duck and the spatial motion trajectory of the metatarsophalangeal joint are obtained by cubic spline interpolation. Finally, we use inverse kinematics to determine the robot’s joint rotation angles, providing a reference for designing the duck-inspired robot’s motion gait.

关键词： Legged locomotion Photography Trajectory planning Tracking Robot kinematics Kinematics Trajectory

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An improved YOLOv5 algorithm for enhancing pre-classification of soft gripper grasp

An improved YOLOv5 algorithm for enhancing pre-classificatio...

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IEEE International Conference on Mechatronics and Automation

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

ISBN: (数字)9798350388077

ISBN: (纸本)9798350388084

As a popular direction in the field of robotics, soft robots have many applications, for example, rescue, medical treatment, and human-computer interaction because of their flexibility and high adaptability. As a representative of soft robots, the soft hand is most used in object grasping. Therefore, it is necessary to explore and study soft hand-grasping technology. Object detection technology based on deep learning brings a new opportunity to the development of soft hand. It can pre-classify objects to be grasped in a non-contact way, so that a soft hand can better determine the grasping posture. Based on the YOLOv5 algorithm, this paper proposes an improved YOLOv5 algorithm to enhance the pre-classification ability of soft hands. A SamAM attention module has been introduced into the YOLOv5 structure to weigh different hierarchical features, making it more suitable for grasping situations. The experimental results show that on VOC2007, COCO, and common food data sets, the improved algorithm has different degrees of improvement in the evaluation performance index.

关键词： YOLO Human computer interaction Deep learning Mechatronics Automation medical treatment Grasping

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Preliminary Exploration of Haptic-enabled Therapist-in-the-Loop Telerehabilitation system for Exoskeleton-assisted Upper Limb Training

Preliminary Exploration of Haptic-enabled Therapist-in-the-L...

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IEEE International Conference on Mechatronics and Automation

作者： He Li Shuxiang Guo Hanze Wang Dongdong Bu The Key Laboratory of Convergence Biomedical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology Beijing Institute of Technology Beijing China The Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen Guangdong China

Faced with the increase in upper limb hemiplegia caused by stroke, robotic exoskeleton-assisted home-based telerehabilitation has attracted increasing attention in recent years. Telerehabilitation is a viable alternative to traditional face-to-face rehabilitation training, which has many advantages. In this paper, a preliminary therapist-in-the-loop haptic-enable telerehabilitation system for upper limb training is presented. In the telerehabilitation system, a high-definition haptic device manipulated by the operator (served as the therapist) is the master side, and the designed upper limb rehabilitation exoskeleton worn by the subject (served as the stroke patient) is the slave side. The master-slave side realizes the operation and force data transmission through TCP/IP communication protocol. Through experiments, the angle error and time delay are analyzed, which proves the usability of the constructed system and lays the foundation for the subsequent research.

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Preliminary Bilateral Upper Limb Rehabilitation system Based on sEMG and Muscle Tone

Preliminary Bilateral Upper Limb Rehabilitation System Based...

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IEEE International Conference on Mechatronics and Automation

作者： Hanze Wang Shuxiang Guo He Li Dongdong Bu Key Laboratory of Convergence Biomedical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology Beijing Institute of Technology Beijing China The Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen Guangdong China

In recent years, with the increasing number of stroke patients, master-slave telerehabilitation has become one of the research hotspots in the field of rehabilitation. However, when estimating the angle of the main end, the angle estimation model is difficult to be widely applicable due to the different muscle tension of the physiotherapist itself. During remote rehabilitation training, it is difficult for physical therapists to obtain the damage of the affected limb, so it is difficult to arrange appropriate training intensity and training volume, which affects the effect of remote rehabilitation to a certain extent. To address these issues, this paper proposes a novel master-slave rehabilitation system. The therapist obtains his own muscle tension level a priori through FSR402, and jointly estimates the movement angle through the (Surface Electromyography) sEMG signal collected by MYO, so as to control the slave end. While following the rehabilitation training, the patient at the slave end reflects real-time muscle force of the affected limb and the true feeling of the movement to the master end through the muscle tension measurement arm cuff and the relevant buttons on the PC end. The overall system realizes data transmission through (User Datagram Protocol) UDP, so as to realize more secure and personalized master-slave control. The experiment proves that the new master-slave rehabilitation system is real and feasible.

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

A Portable Surgeon’s Habits-based Master Manipulator for Va...

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IEEE International Conference on Mechatronics and Automation

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

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.

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A Classification Method for ECG Signals Based on Convolutional Neural Network

A Classification Method for ECG Signals Based on Convolution...

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IEEE International Conference on Mechatronics and Automation

作者： Yuan Yang Jin Guo Fengze Lyu Shuxiang Guo The Key Laboratory of Convergence Biomedical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology Beijing Institute of Technology Beijing China The Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen Guangdong China

Cardiovascular disease is a chronic disease with high incidence, high disability and high mortality, which poses a great threat to the life and health of people all over the world. At present, the incidence and mortality of cardiovascular disease are increasing year by year worldwide, so the prevention and treatment of cardiovascular disease has become a top priority. In recent years, with the development of computer technology in the field of auxiliary diagnosis and treatment, the research on automatic classification of Electrocardiogram (ECG) signals has ushered in new opportunities. In this study, ECG signals are taken as the research object, to analyze the auxiliary diagnosis needs of users such as patients and pathologists. This study mainly uses ECG data from MIT-BIH database, combined with relevant preprocessing knowledge and deep learning classification model, to achieve ECG reading, denoising, segmentation, classification and so on. It can effectively improve the efficiency of diagnosis. It has certain reference value for assisting users to diagnose arrhythmia.

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