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International Conference on Mechatronics and Machine Vision in Practice (M2VIP)

作者： Linlin Guo Yu Dang Yue Wang Jinqiao Wu Yang Yu Jialing Wu Jianda Han College of Artificial Intelligence Nankai University Tianjin China Engineering Research Center of Trusted Behavior Intelligence Ministry of Education Nankai University Tianjin China Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin China Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University Shenzhen China Department of Rehabilitation Medicine Tianjin Huanhu Hospital Tianjin China Department of Neurology Tianjin Huanhu Hospital Tianjin China

ISBN: (数字)9798350391916

ISBN: (纸本)9798350391923

As the population ages, the incidence of diseases such as stroke is increasing, leading to a growing number of patients with dysphagia or difficulty swallowing. Dysphagia directly affects the hydration and nutritional intake, potentially leading to serious complications such as aspiration pneumonia, severely threatening patients' health and quality of life. Currently, the rehabilitation of swallowing function mainly relies on therapists to conduct swallowing training for patients. However, the high incidence and long duration of swallowing rehabilitation training pose a burden on the patients and medical resources. There remains a gap in the robotic devices for swallowing rehabilitation. To address this gap, this paper proposes a soft bellow-shaped robot for dysphagia rehabilitation. One mode of the rehabilitation training, where the therapist manipulates the throat to move horizontally, is selected to mimic. This robot simulates the force and displacement applied by the therapist's fingertip during dysphagia rehabilitation. First, swallowing training data were collected and analyzed to understand the variations in displacement and force applied by therapists' fingertips on the throat. Based on this analysis, the technical requirements for the swallowing rehabilitation robot were summarized. Following these requirements, we designed a physical prototype of the pneumatic bellow-shaped robot. The robot simulates the fingertip movement on both sides of the throat through the linear elongation and contraction of the bellows. The performance of the soft bellows was then characterized, verifying that its output force and displacement meet the technical requirements. This characterization lays a foundation for the modeling and control of the displacement and force of the robot.

关键词： Training Technical requirements Bellows Actuators Force Prototypes Training data Pneumatic systems Stroke (medical condition) Robots

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Application of Iterative Learning Control in X-Y Precision Planar Motion Platform

Application of Iterative Learning Control in X-Y Precision P...

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2021 China Automation Congress, CAC 2021

作者： Yan, Hongyu Jia, Danping Zhang, Tao Zhang, Hualiang Xiong, Yingjie Lu, Xu Liu, Yang School of Artificial Intelligence Shenyang University of Technology Shenyang China School of Information Science and Engineering Shenyang University of Technology Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China School of Electrica l Engineering Dalian University of Technology Dalian China College Of Information Science and Engineering Northeastern University Shenyang China

ISBN: (纸本)9781665426473

The size of the tracking error is one of the important indicators to measure the control system of the X-Y Precision Planar Motion Platform. Iterative learning control (ILC) can obtain higher tracking accuracy through multiple iterations. However, it is found in experiments that the tracking error of the XY precision motion stage using ordinary PD-type iterative learning will eventually fluctuate in a relatively range, and some high-frequency Noise will seriously affect the stability of the system after many iterations. Aiming at the above problems, a PD-type variable gain open-closed loop ILC with a low-pass filter is proposed. This control scheme can effectively remove high-frequency noise and reduce tracking errors. Finally, a hardware-in-the-loop real-time simulator is used to conduct a comparative experiment. Through comparison with PID controller and ordinary PD-type ILC, the experimental consequence show that this arithmetic has a smaller tracking error than the other two algorithms. © 2021 IEEE

关键词： Low pass filters

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Domain generalization for document authentication against practical recapturing attacks

arXiv

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arXiv 2021年

作者： Chen, Changsheng Zhang, Shuzheng Lan, Fengbo Huang, Jiwu The Guangdong Key Laboratory of Intelligent Information Processing Shenzhen Key Laboratory of Media Security National Engineering Laboratory for Big Data System Computing Technology College of Electronics and Information Engineering Shenzhen University Shenzhen China Shenzhen Institute of Artificial Intelligence and Robotics for Society China

Recapturing attack can be employed as a simple but effective anti-forensic tool for digital document images. Inspired by the document inspection process that compares a questioned document against a reference sample, we proposed a document recapture detection scheme by employing Siamese network to compare and extract distinct features in a recapture document image. The proposed algorithm takes advantages of both metric learning and image forensic techniques. Instead of adopting Euclidean distance-based loss function, we integrate the forensic similarity function with a triplet loss and a normalized softmax loss. After training with the proposed triplet selection strategy, the resulting feature embedding clusters the genuine samples near the reference while pushes the recaptured samples apart. In the experiment, we consider practical domain generalization problems, such as the variations in printing/imaging devices, substrates, recapturing channels, and document types. To evaluate the robustness of different approaches, we benchmark some popular off-the-shelf machine learning-based approaches, a state-of-the-art document image detection scheme, and the proposed schemes with different network backbones under various experimental protocols. Experimental results show that the proposed schemes with different network backbones have consistently outperformed the state-of-the-art approaches under different experimental settings. Specifically, under the most challenging scenario in our experiment, i.e., evaluation across different types of documents that produced by different devices, we have achieved less than 5.00% APCER (Attack Presentation Classification Error Rate) and 5.56% BPCER (Bona Fide Presentation Classification Error Rate) by the proposed network with ResNeXt101 backbone at 5% BPCER decision *** Codes 94A08 Copyright © 2021, The Authors. All rights reserved.

关键词： Feature extraction

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Deep learning-based forgery attack on document images

arXiv

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arXiv 2021年

作者： Zhao, Lin Chen, Changsheng Huang, Jiwu the Guangdong Key Laboratory of Intelligent Information Processing Shenzhen Key Laboratory of Media Security National Engineering Laboratory for Big Data System Computing Technology College of Electronics and Information Engineering Shenzhen University Shenzhen China Shenzhen Institute of Artificial Intelligence and Robotics for Society China

With the ongoing popularization of online services, the digital document images have been used in various applications. Meanwhile, there have emerged some deep learning-based text editing algorithms which alter the textual information of an image in an end-to-end fashion. In this work, we present a low-cost document forgery algorithm by the existing deep learning-based technologies to edit practical document images. To achieve this goal, the limitations of existing text editing algorithms towards complicated characters and complex background are addressed by a set of network design strategies. First, the unnecessary confusion in the supervision data is avoided by disentangling the textual and background information in the source images. Second, to capture the structure of some complicated components, the text skeleton is provided as auxiliary information and the continuity in texture is considered explicitly in the loss function. Third, the forgery traces induced by the text editing operation are mitigated by some post-processing operations which consider the distortions from the print-and-scan channel. Quantitative comparisons of the proposed method and the exiting approach have shown the advantages of our design by reducing the about 2/3 reconstruction error measured in MSE, improving reconstruction quality measured in PSNR and in SSIM by 4 dB and 0.21, respectively. Qualitative experiments have confirmed that the reconstruction results of the proposed method are visually better than the existing approach in both complicated characters and complex texture. More importantly, we have demonstrated the performance of the proposed document forgery algorithm under a practical scenario where an attacker is able to alter the textual information in an identity document using only one sample in the target domain. The forged-and-recaptured samples created by the proposed text editing attack and recapturing operation have successfully fooled some existing document authenticat

关键词： Textures

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Research on Industrial Control Network Security Measurement Method Based on GRU-SVM

Research on Industrial Control Network Security Measurement ...

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Chinese Automation Congress (CAC)

作者： Hengfei Chen Xianda Liu Chuan Sheng Hao Pan College of Information Engineering Shenyang University of Chemical Technology Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China

Since the industrial Internet entered people's field of vision, industrial control network security has gradually received attention. Traditional network security measurement methods rely on the accuracy of situation sequences and historical situation values, and various factors in the network have a great influence on the results. However, compared with industrial control networks, the number and types of affected factors are less than those of the modern Internet. Therefore, based on the research on network security situational awareness, this paper proposes an industrial control network security measurement method model based on GRU-SVM. First, the data sets with threat type labels are classified, and then the similarity scoring mechanism and softmax function are introduced, to process the classification results. For the GRU-SVM classification module, the analysis of the simulation results shows that the convergence is better and the robustness is stronger. For the safety prediction measurement part, by comparing with different models, the mean absolute error and root mean square error are smaller and the reliability is higher.

关键词： Industrial control Simulation Measurement uncertainty Network security Predictive models Logic gates Robustness

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A Novel Signals and Features Fusion Method Based on Fisher Vector for Severity Assessment in Parkinson's Disease

A Novel Signals and Features Fusion Method Based on Fisher V...

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International Conference on Advanced robotics and Mechatronics (ICARM)

作者： Yubo Sun Yuanyuan Cheng Zhizhong Zhu Jinrui Liu Zhenhui Guo Ningbo Yu College of Artificial Intelligence Nankai University Tianjin China Department of Rehabilitation Medicine Tianjin Huanhu Hospital Tianjin China Engineering Research Center of Trusted Behavior Intelligence Ministry of Education Nankai University Tianjin China Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin China Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University Shenzhen China

Parkinson's disease (PD) is a progressive neurode-generative disorder that requires accurate severity assessment to facilitate proper medication and interventions. This study proposes a novel method for PD severity assessment by fusing bilateral surface electromyography (sEMG) signals and features using Fisher vector. The sEMG signals were measured from the tibialis anterior (TA) and lateral gastrocnemius (GL) muscles in 28 PD patients. Preprocessing was performed to remove industrial frequency noise and low-frequency trend, followed by feature extraction using a customized feature generator that included time-domain and frequency-domain features. The extracted features and preprocessed sEMG signals were then vectorized using the Fisher vector and fused as input to the classifier. Our results demonstrated that considering bilateral features is more favorable than unilateral features for the PD severity assessment. Moreover, the proposed method significantly enhanced the classification accuracy, with a remarkable classification accuracy of 96.00% achieved through the combination of our proposed method with a decision tree classifier.

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Conceptual design and implementation of an Arctic under-ice legged/gliding morphing robot

Conceptual design and implementation of an Arctic under-ice ...

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作者： Lingshuai Meng Wei Zhang Yang Lin Haitao Gu Dongyong Gao Tsung-Chow Su State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Naval Research Academy College of Mechanical Engineering Shenyang University of Technology Ocean and Mechanical Engineering Florida Atlantic University

With rising temperatures and complete melting of Arctic ice expected by 2050,an increasing interest in exploiting Arctic resources and protecting the Arctic from exploitation requires advanced technology be deployed to achieve long duration environmental monitoring and data *** will provide the necessary knowledge to guide the development of the Arctic in the coming ***,we have concept designed and implemented for the first time an autonomous underwater morphing robot prototype known as First Arctic Under-ice Ocean Walking laboratory(FAU-OWL) for long duration environmental monitoring and data collection in the *** underwater robot is capable of skiing or being anchored upside-down under a sheet of ice using buoyancy control in combination with suction cups and can travel long distances by morphing its legs into wings in order to glide as well as *** this paper,the detailed structure,working modes,energy supplement and equipped sensors were explained,and then the dynamics of FAU-OWL under different working modes was ***,the hydrodynamic characteristics of FAU-OWL were analyzed using computational fluid dynamics(CFD) software known as ***,the working principle of FAU-OWL under different working modes in combination with the test situation was described in detail.

关键词： Morphing robot Stability analysis Computational Fluid Dynamics(CFD) Working principle

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A motion assignment strategy based on macro-micro robotic system for enhancement of kinematic performance

A motion assignment strategy based on macro-micro robotic sy...

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IEEE International Conference on robotics and Biomimetics

作者： Yaohua Zhou Chin-Yin Chen Renfeng Zhu Ye Tang Guilin Yang Weijun Wang Yaonan Li College of Materials Sciences and Opto-Electronic Technology University of Chinese Academy of Sciences Beijing China Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology Ningbo Institute of Materials Technology and Engineering Chinese Academy of Sciences Ningbo China College of Mechanical Engineering Zhejiang University of Technology Hangzhou China Shenzhen Academy of Robotics Shenzhen China

ISBN: (纸本)9781665405362

In this paper, a motion assignment method based on a macro-micro robotic polishing system is proposed to enhance kinematic performance. Combined with workspace analysis and trajectory constraints of the micro, a search set is obtained for motion assignment. The optimal solution will be generated by traversing the search set. Finally, a simulation based on polishing tasks is performed and the effectiveness (about 25% enhancement) and stability of the proposed strategy is demonstrated.

关键词： Simulation Conferences Biomimetics Kinematics Stability analysis Trajectory Task analysis

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Fabrication of translucent graded dental crown using zirconia-yttrium multi-slurry tape casting 3D printer

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Journal of the Mechanical Behavior of Biomedical Materials 2024年 152卷 106406页

作者： Romario, Yulius Shan Bhat, Chinmai Ramezani, Maziar Pasang, Tim Chen, Zhangwei Jiang, Cho-Pei Graduate Institute of Manufacturing Technology National Taipei University of Technology 1 Sec. 3 Zhongxiao E. Rd. Taipei10608 Taiwan High-value Biomaterials Research and Commercialization Center National Taipei University of Technology 1 Sec. 3 Zhongxiao E. Rd. Taipei10608 Taiwan Department of Mechanical Engineering Auckland University of Technology Auckland1010 New Zealand Department of Engineering Design Manufacturing and Management Systems Western Michigan University KalamazooMI4900-5200 United States Additive Manufacturing Institute Shenzhen University Shenzhen518060 China Guangdong Key Laboratory of Electromagnetic Control and Intelligent Robotics College of Mechatronics and Control Engineering Shenzhen University Shenzhen518060 China Department of Mechanical Engineering National Taipei University of Technology 1 Sec. 3 Zhongxiao E. Rd. Taipei10608 Taiwan

This paper aims to fabricate functionally graded dental crown using a multi-slurry tape casting additive manufacturing technology. The different luminescence of the dental crown was obtained with different composition of zirconia and yttria. Zirconia with tunable mechanical properties and translucency are obtained by adding 3, 3.5, 4, 4.5, and 5 mol% of yttrium oxide to zirconia powder. After obtaining the printable slurry with maximum solid loading, the green bodies are prepared using the in-house built high-speed multi-ceramic tape casting technology. They are later sintered with two-stage sintering method. After the successful fabrication, the mechanical properties and translucency of the specimens were evaluated with Vickers hardness, three-point bending and translucency parameter tests. Finally, an FGM tooth crown with five photocurable slurries is proposed to demonstrate the translucent gradient effect of sintered part. The solid loading of 80% zirconia and 20% resin delivered samples without any surface cracks. The shrinkage ratio analysis showed that the sintered sample dimension was reduced by 20%, 20%, and 23% along X, Y, and Z directions. The samples fabricated with 3% yttrium oxide to zirconia delivered excellent hardness (1687 HV) and flexural strength (650.6 MPa). However, the relative luminescence increased with increasing the yttrium oxide for 3–5 mol%. With the optimized process parameters, the proposed dental crown is fabricated and analyzed for their shrinkage ratio, mechanical, and translucency properties. The study proposes the potential of fabricating customized dental crown with gradient translucent appearance. © 2024

关键词： Zirconia

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Development of a novel autonomous lower extremity exoskeleton robot for walking assistance

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Frontiers of Information technology & Electronic engineering 2019年第3期20卷 318-329页

作者： Yong HE Nan LI Chao WANG Lin-qing XIA Xu YONG Xin-yu WU Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen College of Advanced Technology University of Chinese Academy of Sciences Department of Mechanical Engineering and Intelligent Systems the University of Electro-Communications

Today, exoskeletons are widely applied to provide walking assistance for patients with lower limb motor incapacity. Most existing exoskeletons are under-actuated, resulting in a series of problems, e.g., interference and unnatural gait during walking. In this study, we propose a novel intelligent autonomous lower extremity exoskeleton(Auto-LEE), aiming at improving the user experience of wearable walking aids and extending their application *** traditional exoskeletons, Auto-LEE has 10 degrees of freedom, and all the joints are actuated independently by direct current motors, which allows the robot to maintain balance in aiding walking without extra *** new exoskeleton is designed and developed with a modular structure concept and multi-modal human-robot interfaces are considered in the control system. To validate the ability of self-balancing bipedal walking, three general algorithms for generating walking patterns are researched, and a preliminary experiment is implemented.

关键词： Lower-limb Exoskeleton Self-balancing Bipedal walking Modular design

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