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A Gaze-Guided Human Locomotion Intention Recognition and Volitional Control Method for Knee-Ankle Prostheses

IEEE Transactions on Cognitive and Developmental systems 2025年

作者： Chen, Xinxing Chen, Zhaokai Wang, Yuxuan Yin, Shucong Chen, Chuheng Huang, Jian Fu, Chenglong Huazhong University of Science and Technology Key Laboratory of Image Processing and Intelligent Control Hubei Key Laboratory of Brain-inspired Intelligent Systems School of Artificial Intelligence and Automation Wuhan430074 China Southern University of Science and Technology Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Shenzhen518055 China Shanghai Jiaotong University Shanghai China

This paper presents a novel gaze-guided volitional control method for knee-ankle prostheses, designed to enhance the precision and intuitiveness of prosthetic control in complex locomotion tasks. The method utilizes an eye-tracking system coupled with an RGBD camera to estimate 3D gaze points, which are then used to construct a gaze attention map. This map serves as the basis for predicting human locomotion intentions, enabling the prosthesis to accurately step on the intended foot placement. Experimental validation was conducted with both a healthy subject and an amputee subject, focusing on level-ground walking and stair ascent tasks. The results demonstrated that the prosthesis could achieve precise foot placement, with a mean error of 1.22 cm ± 3.14 cm for the healthy subject and 3.40 cm ± 0.66 cm for the amputee subject during level-ground walking. In stair ascent tasks, the system successfully adapted to various gait patterns, with the prosthetic joint angles closely matching natural human movements. The proposed method also effectively reduced the root mean square error (RMSE) of 3D gaze estimation to 2.70 cm, 2.63 cm, and 1.97 cm along the x, y, and z axes, respectively. These findings indicate that the gaze-guided volitional control method not only enhances the functionality of knee-ankle prostheses but also offers a more intuitive interface for users, aligning prosthetic actions with the user’s visual focus and intentions. © 2016 IEEE.

关键词： Knee prostheses

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Flexible job shop machines and AGVs cooperative scheduling on the basis of DQN algorithm

Flexible job shop machines and AGVs cooperative scheduling o...

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IEEE Advanced Information Management,Communicates,Electronic and automation Control Conference (IMCEC)

作者： Dong Xiaoting Wan Guangxi Zeng Peng State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Key Laboratory of Networked Control Systems Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Shenyang China University of Chinese Academy of Sciences Beijing China

ISBN: (数字)9798350316537

ISBN: (纸本)9798350316544

In flexible job shop, the transportation time and path of Automated Guided Vehicles (AGVs) greatly impact the production cycle time. However, traditional flexible job shop scheduling problems (FJSSP) mainly focus on job sequencing and machine selection, neglecting the effect of AGVs transportation on the production process. This often leads to suboptimal scheduling solutions that are difficult to guide the shop floor operation effectively. To address this issue, this paper formulates a cooperative scheduling model that integrates the AGVs scheduling into traditional flexible job shop scheduling problem, abbreviated as the FJSMAS problem, with the objective of makespan minimization. Furthermore, by designing state features, action space, and reward function, the FJSMAS problem is transformed into a Markov decision process, a deep reinforcement learning algorithm (DRL) is then adopted to solve it. The feasibility of the proposed FJSMAS model and the effectiveness of DRL algorithm in solving the FJSMAS problem are verified through benchmark’s instances.

关键词： Greedy algorithms Sequential analysis Job shop scheduling Remotely guided vehicles Transportation Production Benchmark testing

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An edge-aware-oriented semantic association retrieval method for industrial data 6

An edge-aware-oriented semantic association retrieval method...

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6th International Workshop on Advanced Algorithms and Control Engineering, IWAACE 2022

作者： Liu, Yang Zhang, Tianshi Xiao, Jinchao Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang110016 China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110000 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China

ISBN: (纸本)9781510657755

The development of the Industrial Internet has caused a change that traditional Internet technologies gradually sink into the field of industrial manufacturing. Due to the high degree of business coupling at the edge of industrial production, the relationships between the data are complex and difficult to comprehensively analyze and apply. This paper proposes a data semantic association retrieval method for industrial data at the industrial edge. Firstly, the framework of semantic association retrieval of industrial data is established, and then the construction method of inverted table in association retrieval is explained, including the formation method of keyword set and concept set, and the algorithm for realizing semantic association retrieval is given. The algorithm is verified in the actual scene of the test production line, and the results show that the algorithm in this paper is feasible and effective in relational retrieval. © 2022 SPIE.

关键词： Edge computing

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On Networked Dynamical systems with Heterogeneous Constraints:Equilibrium Points and Stability 41

On Networked Dynamical Systems with Heterogeneous Constraint...

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第41届中国控制会议

作者： Qichao Ma Jiahu Qin Yu Kang Huijun Gao Department of Automation University of Science and Technology of China Institute of Artificial Intelligence Hefei Comprehensive National Science Center Institute of Advanced Technology University of Science and Technology of China Research Institute of Intelligent Control and Systems and the State Key Laboratory of Robotics and System Harbin Institute of Technology

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In this paper,we investigate multi-agent systems with heterogeneous constraints,which can represent the heuristic beliefs of the agents towards an issue or the physical constraints of the *** typical example is a group of interacting unmanned aerial vehicles in a complex environment with multiple physical *** a result of the heterogeneity of the constraints,an equilibrium point may not exist and is presumably to be a dissensus point when it *** investigate the existence of equilibrium points from the perspective of Kakutani's fixed point theory for a set-valued *** also prove the local/global stability of certain equilibrium ***,a special case that the constraints are homogeneous is taken into *** constrains are assumed to take interval forms with nonempty *** is proved that consensus can be achieved globally and asymptotically for this *** examples are designed to illustrate our theoretical findings.

关键词： Multi-agent systems heterogeneous constraints equilibrium point and its stability constrained consensus

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Deployment Schemes of In-Band Management Mode Based on Industrial SDN Network

Deployment Schemes of In-Band Management Mode Based on Indus...

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2022 International Conference on 6G Communications and IoT Technologies, 6GIoTT 2022

作者： Piao, Jinnan Li, Dong Yang, Ming Liu, Jindi Yu, Xueting Li, Zhibo Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang110016 China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China

ISBN: (纸本)9781665454841

When software defined network (SDN) is used to deploy the industrial control network, the deployment schemes are different in actual according to the different industrial production business, environment and capital cost. In this paper, we use the in-band management mode to deploy the SDN network in an industrial environment. We design four deployment schemes of the in-band management mode for the industrial SDN network according to the specific requirements of industrial environment and propose an algorithm for controller location selection in the in-band management network For the four schemes and the algorithm, we use the controller and switches to build a simulation environment according to different schemes and compare the performance between the in-band management and out-of-band management, which shows that the in-band management mode can set up a normal SDN industrial network with applicable network scale and throughput. © 2022 IEEE.

关键词： Internet of things

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A Task Offloading Method for Smart Instruments Based on Edge Computing 7

A Task Offloading Method for Smart Instruments Based on Edge...

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7th International Conference on Computer and Information Processing Technology, ISCIPT 2022

作者： Liu, Yang Zhang, Tianshi Xiao, Jinchao Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110000 China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China

The development of edge computing technology has enabled the promotion of traditional industrial instruments to smart instruments with collaborative working capabilities. Smart instruments are widely distributed in industrial production sites and can monitor working conditions in real time. Implementing multi-instruments collaborative computing on the edge side will help improve the responsiveness of industrial systems and reduce instrument maintenance costs. This paper proposes a task offloading method for smart instruments based on edge computing. Firstly, the instrument capability is evaluated based on the characteristics of the smart instrument. Then, the task scheduling of smart instruments is optimized based on Lyapunov algorithm. Finally the simulation verification is carried out. The experimental results show that the algorithm in this paper has a significant effect on improving computing power and reducing resource occupancy. © 2022 Copyright for this paper by its authors.

关键词： Edge computing

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Atomic force microscopy for revealing micro/nanoscale mechanics in tumor metastasis:from single cells to microenvironmental cues

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中国药理学报（英文版） 2021年第3期42卷 323-339页

作者： Mi Li Ning Xi Yue-chao Wang Lian-qing Liu State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China Department of Industrial and Manufacturing Systems Engineering The University of Hong KongHong KongChina

Mechanics are intrinsic properties which appears throughout the formation,development,and aging processes of biological *** have been shown to play important roles in regulating the development and metastasis of tumors,and understanding tumor mechanics has emerged as a promising way to reveal the underlying mechanisms guiding tumor *** particular,tumors are highly complex diseases associated with multifaceted factors,including alterations in cancerous cells,tissues,and organs as well as microenvironmental cues,indicating that investigating tumor mechanics on multiple levels is significantly helpful for comprehensively understanding the effects of mechanics on tumor ***,diverse techniques have been developed for probing the mechanics of tumors,among which atomic force microscopy(AFM)has appeared as an excellent platform enabling simultaneously characterizing the structures and mechanical properties of living biological systems ranging from individual molecules and cells to tissue samples with unprecedented spatiotemporal resolution,offering novel possibilities for understanding tumor physics and contributing much to the studies of *** this review,we survey the recent progress that has been achieved with the use of AFM for revealing micro/nanoscale mechanics in tumor development and *** and future progress are also discussed.

关键词： atomic force microscopy tumor mechanics cancerous cell tumor microenvironment exosome extracellular matrix

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A Biofuel Risk Management Model for Biomass-Based Heat Sources Considering Supply-Demand-Side Uncertainties 12

A Biofuel Risk Management Model for Biomass-Based Heat Sourc...

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12th International Conference on Quality, Reliability, Risk, Maintenance, and Safety Engineering, QR2MSE 2022

作者： Fu, Dianzheng Zhou, Tingting Yang, Tianji Zhang, Tao Dong, Jingya Key Laboratory of Networked Control Systems Institutes for Robotics and Intelligent Manufacturing Digital Factory Department Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Technical Management Division Guodian Technology & Environment Group Co Ltd Beijing China Digital Factory Department Shenyang Institute of Automation Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781839538360

Biofuel-based heat sources are gradually penetrated into heating systems in Northern China in the background of carbon neutrality. It is essential to conduct biofuel risk management study, not only for enhancing the ability of continuous heat supply for heating systems, but also improving the ability of effective cost control. A biofuel risk management model is thus proposed innovatively for biomass-based heat sources considering supply-demand-side uncertainties. The developed model integrates Chance-constrained programming, Two-stage stochastic programming and the traditional linear programming into a general framework. After that, the developed model is applied in to a real heat-source case of biofuel risk management under uncertainties and the corresponding solutions on biofuel risk management are generated. The beneficial results of biofuel allocation pattern can be obtained for decision-makers to provide the fuel management support under different risk levels. Besides, a trade-off analysis between the constraint-violation risk and the system cost can also be provided to conduct in-depth analysis. © 2022 IEEE.

关键词： Risk management

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AGV Semantic Attack Detection Based on Hidden Markov Model

AGV Semantic Attack Detection Based on Hidden Markov Model

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2022 IEEE International Conference on Industrial Technology, ICIT 2022

作者： Zhang, Sichao Liang, Wei Zhang, Yinlong Pang, Zhibo State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China University of Chinese Academy of Sciences Beijing100049 China Technology Abb Corporate Research Sweden Department of Automation Vasteras72178 Sweden

ISBN: (纸本)9781728119489

Automatic Guided Vehicle (AGV) semantic attack is now becoming an important research topic in digital workshops. Unfortunately, the conventional attack detections could trigger the wrong attack detection alarms, because of the unexpected wireless radio frequency interference. This paper investigates a new method for AGV semantic attack detection based on Hidden Markov Model (HMM). Our method is able to discriminate the typical wireless retransmission in presence of environment interference or in the context of AGV semantic attack by comparing the hidden state transition probability with the predefined threshold. Our model has been evaluated on our developed platform. The extensive experimental results and analysis prove the effectiveness of our method. © 2022 IEEE.

关键词： Semantics

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Multi-agent deep reinforcement learning for end—edge orchestrated resource allocation in industrial wireless networks

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Frontiers of Information Technology & Electronic Engineering 2022年第1期23卷 47-60页

作者： Xiaoyu LIU Chi XU Haibin YU Peng ZENG State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang110016China Key Laboratory of Networked Control Systems Chinese Academy of SciencesShenyang110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang110169China University of Chinese Academy of Sciences Beijing100049China

Edge artificial intelligence will empower the ever simple industrial wireless networks(IWNs)supporting complex and dynamic tasks by collaboratively exploiting the computation and communication resources of both machine-type devices(MTDs)and edge *** this paper,we propose a multi-agent deep reinforcement learning based resource allocation(MADRL-RA)algorithm for end-edge orchestrated IWNs to support computation-intensive and delay-sensitive ***,we present the system model of IWNs,wherein each MTD is regarded as a self-learning ***,we apply the Markov decision process to formulate a minimum system overhead problem with joint optimization of delay and energy ***,we employ MADRL to defeat the explosive state space and learn an effective resource allocation policy with respect to computing decision,computation capacity,and transmission *** break the time correlation of training data while accelerating the learning process of MADRL-RA,we design a weighted experience replay to store and sample experiences ***,we propose a step-by-stepε-greedy method to balance exploitation and ***,we verify the effectiveness of MADRL-RA by comparing it with some benchmark algorithms in many experiments,showing that MADRL-RA converges quickly and learns an effective resource allocation policy achieving the minimum system overhead.

关键词： Multi-agent deep reinforcement learning End-edge orchestrated Industrial wireless networks Delay Energy consumption

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