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YOLOv7-Based Land and Underwater Target Detection and Recognition

YOLOv7-Based Land and Underwater Target Detection and Recogn...

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IEEE International Conference on Mechatronics and Automation

作者： Jieren Li Liwei Shi Shuxiang Guo 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 School of Life Science Beijing Institute of Technology Beijing China The Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen Guangdong China

There is a growing demand for marine resource development. Bionic amphibious robots can replace humans to conduct land and underwater exploration, which has important research significance. Deep learning has developed rapidly in recent years, and many kinds of target detection algorithms have emerged. We select one two-stage target detection algorithm Faster R-CNN, three single-stage target detection algorithms SSD, Centernet, and YOLOv7. We use each of these four algorithms to train the VOC2007 dataset in a deep learning environment. After the training is completed, these four models are evaluated and predicted separately. We find an algorithm that is most suitable for the amphibious robot applicationYOLOv7. Finally, we use the YOLOv7 model to detect the underwater dataset, and the results prove that the model is promising for detecting small underwater targets.

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Design and Characteristic Evaluation of a Novel Clamping Mechanism for Amphibious Spherical Bionic Robots

Design and Characteristic Evaluation of a Novel Clamping Mec...

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IEEE International Conference on Mechatronics and Automation

作者： Chengchao Gu Shuxiang Guo Meng Liu He Yin Ao Li 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 Haidian District Beijing China The Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen Guangdong China

The motion function and control of amphibious robots is a hot topic at present. The multi-function of robot is the development trend of robot. In this paper, based on the existing prototype bionic robot in the laboratory, the structure of the robot’s mechanical leg is updated, and the underwater grasping function is successfully added. The new mechanical leg integrates a mechanical claw device, which makes use of the geometric characteristics of the parallelogram to shrink the mechanical claw, maximizes the use of the limited space below the robot, and greatly extends the effective length of the grasping end of the mechanical claw. At the same time, through static stress analysis and motion simulation, the designed structure was evaluated and analyzed, and the appropriate servo specifications and structure size were obtained, which verified that the current designed structure can complete the grasping task of 3kg objects. Finally, 3D printing technology was used to complete the production of the first version of the new mechanical leg, and the functional verification experiment of grasping objects of two different sizes was completed by using the steering gear control.

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Study on an Adaptive Clamping Device for Passive Safety Delivery of Vascular Intervention Robot

Study on an Adaptive Clamping Device for Passive Safety Deli...

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IEEE International Conference on Mechatronics and Automation

作者： Sheng Cao Shuxiang Guo Jian Guo Jian Wang Chunying Li Huiyin Xu 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 China Shenzhen Institute of Advanced Biomedical Robot Company Limited Shenzhen China Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen China National Engineering Laboratory of Computer Technology for Big Data Systems Shenzhen University Shenzhen China

ISBN: (数字)9798350388077

ISBN: (纸本)9798350388084

In practical clinical applications, vascular intervention surgical robots have developed sophisticated human-machine interaction systems, enabling assistance to physicians in performing remote surgeries and providing intelligent visual feedback. However, regarding surgical safety, current research predominantly focuses on force feedback and robot control logic, with clamping mechanisms targeting the locking of catheters and guide wires. Excessive clamping force may lead to surface damage to intervention instruments, while insufficient force delivery may result from slippery surfaces. Therefore, addressing these issues, this study proposed a passive, compliant safety strategy for an adaptive clamping device based on a vascular intervention surgical robot platform. This device can accommodate different diameter catheters and maintain a constant delivery force during the intervention process. Finally, through experimentation, the effectiveness, safety, and stability of the device were demonstrated.

关键词： Visualization medical robotics Force Wires Robot control Surgery Safety

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A Novel SEA-based Haptic Interface for Robot-Assisted Vascular Interventional Surgery

A Novel SEA-based Haptic Interface for Robot-Assisted Vascul...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Yonggan Yan Shuxiang Guo Chuqiao Lyu Jian Guo Jian Wang Pengfei Yang Yongwei Zhang Yongxin Zhang Jianmin Liu 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 Shenzhen Institute of Advanced Biomedical Robot Co. Ltd Shenzhen China Neurovascular Center Changhai Hospital Naval Medical University Shanghai China

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Robot-assisted vascular interventional surgery can isolate interventionists and X-ray radiation, and improve surgical accuracy. However, the leader side outside the operating room still has problems such as incomplete collection of operating information and unrealistic tactile feedback. The main objective of this paper is to design a haptic interface that can simultaneously capture the force-position information of the interventionists and generate force to assist the interventionists in performing surgeries on the leader side. It can capture the interventionists’ delivery displacement, twisting angle, clamping force, and provide real-time force feedback. A leader-follower bidirectional force feedback control strategy was proposed. Based on this strategy, on the one hand, the interventionist perceives the multi-modal information fed back from the follower side, makes judgments, and actively adjusts the surgical operation. On the other hand, the interventionist controls the grasping state of the instruments remotely to control the safety operating force threshold. Finally, the experimental setup was built and a series of evaluation experiments were performed. The experimental results verified the feasibility of the designed haptic interface. It can generate dynamic and accurate force feedback and realize leader-follower grasping force control.

关键词： Accuracy Instruments Force Force feedback Dynamics Surgery Grasping

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Flocking Control Strategy of Multi-underwater Spherical Robot based on Potential Function

Flocking Control Strategy of Multi-underwater Spherical Robo...

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IEEE International Conference on Mechatronics and Automation

作者： Ao Li Shuxiang Guo Bin Wang Mingchao Ding 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 Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen China The Department of Peripheral Vascular Intervention Aerospace Center Hospital School of Life Science Beijing Institute of Technology Beijing China

ISBN: (数字)9798350388077

ISBN: (纸本)9798350388084

Underwater robot formation cooperation is an important research content of swarm intelligence on underwater robot. Based on the Flocking algorithm and the dynamics characteristics of the underwater spherical robot, this paper establishes a multi-underwater spherical robot flocking model. Then, through a series of simulation, the reliability and stability of the group movement of underwater robots are verified. Moreover, the effect of flocking is explained by analyzing the trajectory and control quantity. Finally, the application is extended by simulating more robots and more complex scenarios.

关键词： Autonomous underwater vehicles Mechatronics Heuristic algorithms Simulation Kinematics Stability analysis Trajectory

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Collaborative Hunting Strategy for Multi-Amphibious Spherical Robots in Underwater Environment with Obstacles

Collaborative Hunting Strategy for Multi-Amphibious Spherica...

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IEEE International Conference on Mechatronics and Automation

作者： Shilong Feng Shuxiang Guo Dan Yang Ao Li He Yin Bin Wang Mingchao Ding The Aerospace Center Hospital School of Life Science and the Key Laboratory of Convergence Medical 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 China The Department of Peripheral Vascular Intervention Aerospace Center Hospital School of Life Science Beijing Institute of Technology Beijing China

ISBN: (数字)9798350388077

ISBN: (纸本)9798350388084

Collaborative target hunting by multiple underwater robots in obstacle environment is a challenging task. This study addresses this problem by proposing a cooperative hunting strategy based on an improved artificial potential field to achieve an efficient hunting task. The algorithm combines the perception and decision-making capabilities of the robots to guide the robots to form an effective roundup formation near the target by generating a suitable potential field in the environment. The robot's path is planned at a long distance, and the hunting potential points are assigned after approaching the target point, and finally the hunting of the target point is accomplished. The simulation results show that the method has good adaptability and feasibility in obstacle environments, and can effectively realize the cooperative target hunting task of multiple underwater robots.

关键词： Autonomous underwater vehicles Mechatronics Automation Simulation Decision making Collaboration Task analysis

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Deep Learning Based Tremor Signal Recognition Method for a Vascular Interventional Surgery Robot

Deep Learning Based Tremor Signal Recognition Method for a V...

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IEEE International Conference on Mechatronics and Automation

作者： Jintao Luo Shuxiang Guo Yonggan Yan Duohao Zhao Chuqiao Lyu Zhijun Lin Bin Wang Mingchao Ding 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 The Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen China The Department of Peripheral Vascular Intervention Aerospace Center Hospital School of Life Science Beijing Institute of Technology Beijing China

ISBN: (数字)9798350388077

ISBN: (纸本)9798350388084

Hand tremor seriously reduce the accuracy and safety of robot-assisted vascular interventional surgery. However, the existing methods have some deficiencies, such as phase delay and distortion of operation signal. Therefore, a more accurate and universal method for tremor signal recognition is needed. This paper proposes a recognition method based on residual neural networks. And we use a Geomagic TouchX to collect tremor signal. The sliding window algorithm is used to process the data and make the dataset. Finally, the validation results indicate that the method can recognize normal operation signal and tremor signal, and ensure that the normal operation signal of the surgeon is not affected.

关键词： Training Performance evaluation Accuracy Mechatronics Neural networks Surgery Safety

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Development of a sEMG-Controlled Portable Exoskeleton system for Home-based Upper Limb Rehabilitation

Development of a sEMG-Controlled Portable Exoskeleton System...

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IEEE International Conference on Mechatronics and Automation

作者： He Li Shuxiang Guo Hanze Wang Ruijie He Bin Wang Mingchao Ding 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 The Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen China The Department of Peripheral Vascular Intervention Aerospace Center Hospital School of Life Science Beijing Institute of Technology Beijing China

ISBN: (数字)9798350388077

ISBN: (纸本)9798350388084

As the aging population increases, the number of patients with upper limb hemiplegia is also increasing year by year. The robot-assisted elbow rehabilitation in improving upper limb function abilities in sub-acute hemiplegic patients is promising. In this paper, a surface electromyography (sEMG)-controlled portable robotic system for home-based upper limb rehabilitation is designed. According to the structural parameters of human body, a gear-driven wearable upper limb exoskeleton is designed and analyzed. The sEMG signal is adopted as the control signal to realize the natural and smooth human–robot interaction. To verify the effectiveness of the proposed system, the passive training experiment and the sEMG-based bilateral training experiment are carried out respectively, which also shows the feasibility of the proposed rehabilitation system in assisting the movements of the affected upper limb.

关键词： Training Mechatronics Exoskeletons Sociology Force feedback Electromyography Structural engineering

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Design and Performance Evaluation of a Three-Dimension Triphibian Robot Propulsion Unit Based on Electric Ducted Fan Engine

Design and Performance Evaluation of a Three-Dimension Triph...

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IEEE International Conference on Mechatronics and Automation

作者： Yingduo Chen Shuxiang Guo He Yin Ao Li Bin Wang Mingchao Ding 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 The Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen China The Department of Peripheral Vascular Intervention Aerospace Center Hospital School of Life Science Beijing Institute of Technology Beijing China

ISBN: (数字)9798350388077

ISBN: (纸本)9798350388084

Robots capable of traversing multiple environments impose stringent design requirements on their propulsion units. In order to add flying capabilities to the existing amphibious spherical robot and enhance its maneuverability while optimizing propulsion strategies, this paper proposes a three-dimension triphibian robot propulsion unit based on electric ducted fan engine. The paper begins by introducing the concept of the robot and its significance. Subsequently, it analyzes the design requirements for the propulsion unit based on the functional upgrade. Following this, an evaluation system is designed to conduct thrust tests and verify the power of the propulsion unit, demonstrating the effectiveness of its design. This lays the groundwork for the comprehensive design and experimentation of the three-dimensional triphibian robot propulsion unit.

关键词： Performance evaluation Fans Mechatronics Sea measurements Electric variables measurement Propulsion Task analysis

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Electrode Deviation Evaluation of sEMG during Wrist Motion Classification using SVM

Electrode Deviation Evaluation of sEMG during Wrist Motion C...

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IEEE International Conference on Mechatronics and Automation

作者： Ruijie He Shuxiang Guo He Li Hanze Wang Bin Wang Mingchao Ding 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 The Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen China The Department of Peripheral Vascular Intervention Aerospace Center Hospital School of Life Science Beijing Institute of Technology Beijing China

ISBN: (数字)9798350388077

ISBN: (纸本)9798350388084

With the escalating aging population, the number of individuals suffering from upper limb hemiplegia is steadily rising each year. The upper limb rehabilitation robot plays a vital role in solving the above problems. As an essential bioelectrical signal, Surface Electromyography (sEMG) is widely used in rehabilitation training. However, in practical applications, the deviation of sEMG electrodes often has a bad effect on the accuracy of signal acquisition. The focus of this paper is to delve into the impact of sEMG electrode deviation on signal acquisition and to propose a viable solution strategy. We collected the standard signals and the signals of electrode deviation, respectively, and fused the data. Specifically, we used the Support Vector Machine (SVM) algorithm to address the issues caused by electrode deviation. The experimental results show that the SVM algorithm effectively solves the errors caused by sEMG electrode deviation in classification problems.

关键词： Electrodes Support vector machines Wrist Training Accuracy Sociology Electromyography

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