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30th International Symposium on Micro-NanoMechatronics and Human Science, MHS 2019

作者： Zhang, Mengshi Huang, Jian Cao, Yu Zhang, Hai-Tao Key Laboratory of the Ministry of Education for Image Processing and Intelligent Control School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan430074 China

ISBN: (纸本)9781728126746

Pneumatic Muscles (PMs) - driven exoskeleton has a promising prospect in the field of rehabilitation and assistance, because of the PMs intrinsic features of compliance and high force-to-weight ratio. However, the precise control of PMs-driven exoskeleton still remains a challenging problem due to the hysteresis, time-varying parameters of PMs and complexity of the mechanism. To solve this problem, this paper presents a super twisting controller (STC), essentially a second-order sliding mode control, to realize the human gait tracking control of lower limb exoskeleton. As a result, the disturbances and uncertainties of the system can be handled, and the chattering caused by the traditional sliding mode control (SMC) could be eliminated. The stability of the closed-loop system is ensured according to the Lyapunov theorem. In addition, we conduct experiments in real exoskeleton system and the results illustrate the validity of the super twisting algorithm. Pneumatic Muscles (PMs) - driven exoskeleton has a promising prospect in the field of rehabilitation and assistance, because of the PMs' intrinsic features of compliance and high force-to-weight ratio. However, the precise control of PMs-driven exoskeleton still remains a challenging problem due to the hysteresis, time-varying parameters of PMs and complexity of the mechanism. To solve this problem, this paper presents a super twisting controller (STC), essentially a second-order sliding mode control, to realize the human gait tracking control of lower limb exoskeleton. As a result, the disturbances and uncertainties of the system can be handled, and the chattering caused by the traditional sliding mode control (SMC) could be eliminated. The stability of the closed-loop system is ensured according to the Lyapunov theorem. In addition, we conduct experiments in real exoskeleton system and the results illustrate the validity of the super twisting algorithm.. © 2019 IEEE.

关键词： Sliding mode control

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Enhancing Resilience of Microgrid-Integrated Power Systems in Disaster Events Using Reinforcement Learning 1

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Chinese intelligent Automation Conference, CIAC 2023

作者： Zha, Zhongyi Wang, Bo Liu, Lei Fan, Huijin Key Laboratory of Ministry of Education for Image Processing and Intelligent Control Artificial Intelligence and Automation School Huazhong University of Science and Technology Wuhan430074 China

ISBN: (数字)9789819961870

ISBN: (纸本)9789819961863

Enhancing the resilience of power systems has become increasingly important to mitigate the negative impact of risk attacks. Integrating microgrids, which are small-scale power grids that can operate independently or in conjunction with the main grid, has emerged as an effective energy source for emergency situations and can avoid power outages. Typhoons, which are inevitable and relatively easy to predict risk attacks, have become one of the contexts to examine power system resilience. In this paper, we propose a reinforcement learning algorithm that combines graph theory knowledge to make decisions for optimizing power system resilience with microgrids under the Typhoon event. The algorithm effectively utilizes graph theory knowledge and reduces the number of decisions required in the optimization process. Numerical experimental results show that compared to traditional methods, the reinforcement learning algorithm can more effectively respond to typhoon changes, achieve flexible economic control, and enhance the resilience of power systems with microgrids. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd 2023.

关键词： Numerical methods

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Design of a wearable rehabilitation robotic hand actuated by pneumatic artificial muscles

Design of a wearable rehabilitation robotic hand actuated by...

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2009 7th Asian control Conference, ASCC 2009

作者： Kexin, Xing Jian, Huang Qi, Xu Yongji, Wang Key Lab. of Image Processing and Intelligent Control Department of Control Science and Technology Huazhong University of Science and Technology Wuhan China

ISBN: (纸本)9788995605691

Intensive task-oriented repetitive physical therapies provided by individualized interaction between the patient and the rehabilitation specialist can improve the hand motor performance of the patient survived from stroke or traumatic brain injury. However, the therapy is time-consuming and expensive. Furthermore, it is difficult to evaluate the result of therapy quantitatively and objectively. The goal of this research is to develop a novel wearable device for robotic assistive hand repetitive therapy. We designed a pneumatic artificial muscle (PAM) driven rehabilitation robotic hand that is wearable and provides assistive forces required for grasping and release movements. The robot has two distinct degrees of freedom at the thumb and the fingers. The embedded sensors are employed to obtain the feedback position and force information for robot control and quantitative evaluation of task performance. To encourage the patients' self-regulation and improve the performance of the task, a PC based Virtual Reality game was developed. In order to realize a compliant and smooth motion, cubic spline functions are adopted in the trajectory planning of metacarpophalangeal joints. To realize the trajectory tracking control, a conventional PID controller was implemented and evaluated. Experiments were performed to confirm the effectiveness of the proposed device and methods. The robot has the potential of providing supplemental at-home therapy in addition to in the clinic treatment. ©2009 ACA.

关键词： Degrees of freedom (mechanics)

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Transmit aperture function for large depth focusing combined with phase coherence imaging for interference suppressing

Transmit aperture function for large depth focusing combined...

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2011 IEEE International conference on intelligent Computation and Bio-Medical Instrumentation, ICBMI 2011

作者： Xu, Mengling Chen, Yimin Yuchi, Ming Ding, Mingyue School of Life Science and Technology Key Laboratory of Image Processing and Intelligent Control of Education Ministry of China Huazhong University of Science and Technology Wuhan China

ISBN: (纸本)9780769546230

Dynamic focus and dynamic aperture applied on both transmit and receive aperture can provide the best possible quality of the B-mode ultrasound image, which is called a "gold standard" image. However, they are implemented only on the receive beam in most medical ultrasound systems because the application of dynamic focus on the transmit beam will reduce the frame rate severely, which has great medical importance especially when tissue motion needs to be considered. Recently, a specific transmit aperture function has been proposed to achieve uniform transmit energy distribution on the axis over a large depth without reducing the frame rate. Although it can maintain the uniformity of the transmit energy on the axis, the energy distribution off the axis of the transmit beam is not satisfactory, meaning a wider main lobe width and higher side lobe levels compared with some general aperture functions such as rectangular and hamming functions. To suppress the interference signals originating from the targets on the side and grating lobes, we processed the received echo signals using the phase coherence imaging method (PCI), which is an adaptive receive aperture weighting technique presented in the recent literatures. Experimental results show that the uniform sensitivity along the axis range has been achieved and image quality on spatial and contrast resolution improved when we use the transmit aperture function combined with PCI. © 2011 IEEE.

关键词： Ultrasonic applications

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Lightweight Human Pose Estimation Using Loss Weighted by Target Heatmap 26th

Lightweight Human Pose Estimation Using Loss Weighted by Ta...

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26th International Conference on Pattern Recognition, ICPR 2022

作者： Li, Shiqi Xiang, Xiang Key Laboratory of Image Processing and Intelligent Control Ministry of Education School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan430074 China

ISBN: (纸本)9783031376597

Recent research on human pose estimation exploits complex structures to improve performance on benchmark datasets, ignoring the resource overhead and inference speed when the model is actually deployed. In this paper, we lighten the computation cost and parameters of the deconvolution head network in SimpleBaseline and introduce an attention mechanism that utilizes original, inter-level, and intra-level information to intensify the accuracy. Additionally, we propose a novel loss function called heatmap weighting loss, which generates weights for each pixel on the heatmap that makes the model more focused on keypoints. Experiments demonstrate our method achieves a balance between performance, resource volume, and inference speed. Specifically, our method can achieve 65.3 AP score on COCO test-dev, while the inference speed is 55 FPS and 18 FPS on the mobile GPU and CPU, respectively. © 2023, Springer Nature Switzerland AG.

关键词： Benchmarking

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controllable deoxyribonucleic acids sub-tile self-assembly by deoxyribonucleic acids strand displacement

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Journal of Computational and Theoretical Nanoscience 2015年第10期12卷 3774-3780页

作者： Wang, Yanfeng Zhao, Taotao Shi, Xiaolong Li, Mengmeng Cui, Guangzhao School of Electrical and Information Engineering Henan Key Lab of Information-Based Electrical Appliances Zhengzhou University of Light Industry Zhengzhou China Key Laboratory of Image Information Processing and Intelligent Control School of Automation Huazhong University of Science and Technology Wuhan China

Here we report a controllable four DNA sub-tiles, self-assembling into 4-arm DNA tiles, under control of a DNA strand displacement based on DNA sequential circuit. The motif is encoded, compiled and simulated successively in Visual DSD software. The simulation results show that the four kinds of sub-tiles in the motif combine to their neighbors one after another with a certain time delay and finally form into 4-arm DNA tiles. The formation of the 4th arm of a 4-arm DNA tile indicates that all the 4-arm DNA tiles have been assembled, which implies high productivity of the 4-arm DNA tiles. We also analyze the time responses of the DNA sequence circuit by adjusting the concentration proportions of reactants and/or ordering bind and unbind rates of toeholds in simulation. These simulation results demonstrate that high concentration proportions of reactants and/or toeholds reacting at ascending order rates can shorten the time response more sharply than that low concentration proportion of reactants and/or in a descending order. The motif furthers the integration for DNA sub-tile self-assembly and DNA strand displacement. Copyright © 2015 American Scientific Publishers.

关键词： DNA

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A three-dimensional transrectal ultrasound imaging system

A three-dimensional transrectal ultrasound imaging system

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2011 IEEE International conference on intelligent Computation and Bio-Medical Instrumentation, ICBMI 2011

作者： Chen, Yimin Qi, Jian Zhang, Xuming Ding, Mingyue School of Life Science and Technology Key Laboratory of Image Processing and Intelligent Control of Education Ministry of China Huazhong University of Science and Technology Wuhan China

ISBN: (纸本)9780769546230

A three dimensional transrectal ultrasound imaging system has been developed. The proposed system is aimed at monitoring for the prostate and providing three-dimensional ultrasound image for prostate biopsy and therapy. The device contains mechanical device and control circuit for the rotation of the probe. In addition, a two dimensional ultrasound machine for 2D ultrasound imaging is used and the software system for the reconstruction of three-dimensional ultrasound image based on PC is developed. Experiments are performed in phantom to validate our prototype. The 3D scan of the agar phantom produces minimal geometric distortion. In the future, our system will be tested on patients. © 2011 IEEE.

关键词： Phantoms

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Robust Electric Vehicle Routing Problem with Time Windows under Demand Uncertainty and Weight-Related Energy Consumption

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Complex System Modeling and Simulation 2022年第1期2卷 18-34页

作者： Yindong Shen Leqin Yu Jingpeng Li Key Laboratory of Image Processing and Intelligent Control School of Artificial Intelligence and AutomationHuazhong University of Science and TechnologyWuhan 430074China Division of Computer Science and Mathematics University of StirlingStirlingFK94LAUK

Vehicle routing problem with time windows(VRPTW)is a core combinatorial optimization problem in distribution *** electric vehicle routing problem with time windows under demand uncertainty and weight-related energy consumption is an extension of the *** some researchers have studied either the electric VRPTW with nonlinear energy consumption model or the impact of the uncertain customer demand on the conventional vehicles,the literature on the integration of uncertain demand and energy consumption of electric vehicles is still ***,practically,it is usually not feasible to ignore the uncertainty of customer demand and the weight-related energy consumption of electronic vehicles(EVs)in actual ***,we propose the robust optimization model based on a route-related uncertain set to tackle this ***,adaptive large neighbourhood search heuristic has been developed to solve the problem due to the NP-hard nature of the *** effectiveness of the method is verified by experiments,and the influence of uncertain demand and uncertain parameters on the solution is further explored.

关键词： electric vehicle routing problem time windows uncertain demand energy consumption model robust optimization adaptive large neighbourhood search

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control of a rehabilitation robotic exoskeleton based on intentional reaching direction

Control of a rehabilitation robotic exoskeleton based on int...

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21st Annual Symposium on Micro-Nano Mechatronics and Human Science, MHS 2010, Micro-Nano GCOE 2010, Bio-Manipulation 2010

作者： Huo, Weiguang Huang, Jian Wang, Yongji Wu, Jun Key Lab of Image Processing and Intelligent Control Department of Control Science and Technology Huazhong University of Science and Technology Wuhan 430074 China

ISBN: (纸本)9781424479962

An upper limb robotic exoskeleton of three degrees of freedom (DOF) is designed for the patients who survived stroke and the elderly who have not enough strength to move their limbs freely. Particular attention is paid to the realization of a intention-driven robotic control approach, by which the robotic exoskeleton can assist the user moving his/her arm freely to where he/she intends to go. A force sensing system made of multiple force sensing resisters (FSRs) is embedded in the robotic exoskeleton. A static force model of the upper limb in a relaxed state is obtained when the user wears the exoskeleton. A hybrid model is proposed to describe the behavior modes of human upper limb motion. Filtering technology is designed to infer the intended moving direction of upper limb based on the measured force information and the static force model. The motion intention of user's upper limb can be online estimated using the filter and a mode transition detector. Guided by the inferred intention, an admittance control strategy is assumed to control the motors of each DOF. The effectiveness of proposed robotic system and control approaches is evaluated by experiments. ©2010 IEEE.

关键词： Degrees of freedom (mechanics)

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An algorithm for radar scene matching based on multi-area selection using fuzzy sets

An algorithm for radar scene matching based on multi-area se...

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MIPPR 2005: image Analysis Techniques

作者： Yang, Weidong Zuo, Zhengrong Zhang, Tianxu Mao, Haicen State Key Laboratory of Image Processing and Intelligent Control Institute for Pattern Recognition and Artificial Intelligence Huazhong University of Science and Technology Wuhan 430074 China

Radar scene matching technique has been widely found in many application fields such as remote sensing, navigation, terrain-map match, scenery variance analysis and so on. Radar image geometry is quite different from that of optical satellite imagery, whose imaging is a slanting imaging of electromagnetic microwave reflection. The different characters between radar image and optical satellite images are very distinct, such as the layover distortion of ground-truth and speckle noise, which degrades the image to such an extent that the features are very unclear and difficult to be extracted. So the factors such as the hypsography, ground truth, sensor altitude and imaging time should be taken into account for radar image and optical image matching. In this paper, we develop an image match algorithm based on reference map multi-area selection using fuzzy sets. image matching is generally a procedure that calculates the similarity measurement between sensed image and the corresponding intercepted image in reference map and it searches the maximum position in the correlation map. Our method adopts a converse matching strategy which selects multi-areas in optical reference map using fuzzy sets as model images, then match them on the sensed image respectively by normalized cross correlation matching algorithm and fuse the match results to get the optimum registered position. Multi-areas selection mainly considers two influence factors such as ground-truth texture features and the hypsography (DEM) of imaging region, which will suppress the influence of great variance imaging region. Experiment results show the method is effective in registering performance and reducing the calculation.

关键词： Remote sensing

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