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2022 International Conference on Electronic Information Technology, EIT 2022

作者： Yu, Yajie Liu, Xianda Wei, Weixuan Chen, Hengfei 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 University of Chinese Academy of Sciences Beijing100049 China College of Information Engineering Shenyang University of Chemical Technology Shenyang110142 China

ISBN: (纸本)9781510655096

Intrusion detection technology can effectively evaluate the security state of the system. However, the accuracy of traditional intrusion detection methods still needs to be improved. Therefore, this paper proposed a SVM model based on improved QPSO. QPSO is used to optimize the hyperparameters of SVM to improve its accuracy. In addition, the shrinkage expansion coefficient in QPSO is improved to make QPSO adaptive. Experiment shows that the proposed algorithm has good performance. © 2022 SPIE. All rights reserved.

关键词： Intrusion detection

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Novel Surface Design of Deployable Reflector Antenna Based on Polar Scissor Structures

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Chinese Journal of Mechanical Engineering 2020年第5期33卷 4-18页

作者： Pengyuan Zhao Jinguo Liu Chenchen Wu Yangmin Li Keli Chen State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of ScienceShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China Department of Industrial and Systems Engineering The Hong Kong Polytechnic UniversityHong Kong 999077China

Space-deployable mechanisms can be used as supporting structures for large-diameter antennas in space *** study proposes a novel method for constructing the surface design of space reflector antennas based on polar scissor *** concurrency and deployability equations of the space scissor unit with definite surface constraints are derived using the rod and vector *** equations of the spatial transformation for space n-edge polar scissor units are summarized.A new closed-loop deployable structure,called the polar scissor deployable antenna(PSDA),is designed by combining planar polar scissor units with spatial polar scissor *** overconstrained problem is solved by releasing the curve constraint that locates at the end-point of the planar scissor *** simulation and error analysis are *** results show that the PSDA can effectively fit the paraboloid of ***,deployment experiments verify the validity and feasibility of the proposed design method,which provides a new idea for the construction of large space-reflector antennas.

关键词： Deployable structures Polar scissor unit Reflector antenna Surface design

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Deep Learning-Based Prediction of Subsurface Oil Reservoir Pressure Using Spatio-Temporal Data

Deep Learning-Based Prediction of Subsurface Oil Reservoir P...

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Annual Conference of Industrial Electronics Society

作者： Haibo Cheng Yunpeng He Peng Zeng Shichao Li Valeriy Vyatkin State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Beijing China Department of Computer Science Electrical and Space Engineering Luleå University of Technology Luleå Sweden Department of Electrical Engineering and Automation Aalto University Helsinki Finland

Prediction of subsurface oil reservoir pressure are critical to hydrocarbon production. However, the accurate pressure estimation faces great challenges due to the complexity and uncertainty of reservoir. The underground seepage flow and petrophysical parameters (permeability and porosity) are important but difficult to measure in oilfield. Deep learning methods have been successfully used in reservoir engineering and oil & gas production process. In this study, the effective but inaccessible subsurface seepage fields are not used, only the spatial coordinates and temporal information are selected as model input to predict reservoir pressure. A stacked GRU-based deep learning model is proposed to map the relationship between spatio-temporal data and reservoir pressure. The proposed deep learning method is verified by using a three-dimensional reservoir model, and compared with commonly-used methods. The results show that the stacked GRU model has a better performance and higher accuracy than other deep learning or machine learning methods in pressure prediction.

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自主水下直升机——海洋探测的新平台

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Engineering 2023年第6期25卷 21-27页

作者：周晶黄豪彩黄善和司玉林石凯全向前郭春雷陈振纬王智鲲王英强王章霖蔡成业胡若愚荣振威何佳钟刘鸣陈鹰 Intelligent Ocean Technology Center Zhejiang UniversityZhoushan 316021China College of Electrical Engineering Zhejiang UniversityHangzhou 310027China Ocean College Zhejiang UniversityZhoushan 316021China State Key Laboratory of Fluid Power&Mechatronic Systems Zhejiang UniversityHangzhou 310027China State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110169China Institute of Deep-Sea Science and Engineering Chinese Academy of SciencesSanya 572000China

The demand for ocean exploration down to the deep seafloor,for instance,ocean resource exploration and ocean observations,has promoted innovations in underwater *** unmanned vehicles are urgently required to be deployed and operate on the *** most underwater vehicles are unable to operate on the seafloor and even have difficulty reaching there,we developed a seafloor-resident autonomous underwater helicopter(AUH).This paper introduces the new idea and design of AUHs and discusses the pros and cons of AUHs in comparison with other underwater ***,we verify the importance of developing new facilities to enable mankind to easily operate close to the seafloor.

关键词：海洋探测 ocean underwater

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Position Control of X-Y Precision Motion Stage Based on Iterative Learning and Model Prediction

Position Control of X-Y Precision Motion Stage Based on Iter...

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Chinese Control and Decision Conference, CCDC

作者： Guopeng Zhang Tao Zhang Qingxin Li Li Chen Hualiang Zhang Jingzhe Fang Yiqiang Zhang School of Artificial Intelligence Shenyang University of Technology Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China School of Artificial Intelligence Shenyang University of Technology Shenyang China School of Electrical Engineering Shenyang University of Technology Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China

ISBN: (数字)9798350387780

ISBN: (纸本)9798350387797

The X-Y precision planar motion stage is a highly advanced motion control device that has been widely utilized in various precision motion control fields. This platform achieves precise positioning and control of objects through precise motion along the X and Y axes, providing an outstanding solution for scientific research, industrial production, and other applications. The X-Y platform consists of two permanent magnet synchronous linear motors. In the three-loop control of the motor, when the current loop uses a PID controller, there is a problem in tuning the parameters. This paper replaces the original PID controller in the current loop with a model predictive controller. Simultaneously, addressing the issue of improving the tracking accuracy of the X-Y precision planar motion stage, a forgetting high-order variable gain PD-type iterative learning control is proposed. Subsequently, both of these control methods are applied to the Simulink model of the X-Y precision motion stage motor. This not only solves the complex problem of tuning the motor current loop parameters but also improves the tracking accuracy of the X-Y precision motion stage. The results indicate that when using both model predictive controllers and forgetting high-order variable gain PD-type iterative learning controllers for motor control, not only can the tuning of current loop parameters be omitted, but also tracking errors can be effectively reduced, and the system convergence speed can be accelerated.

关键词： Tracking loops Trajectory tracking Predictive models Motors Mathematical models Motion control Tuning

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Design and 3D Printing of Lower Limb Prosthetic Socket *

Design and 3D Printing of Lower Limb Prosthetic Socket *

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IEEE International Conference on Cyborg and Bionic systems (CBS)

作者： Sheng Li Bin Xie Ye Chen Xinyu Wu Guoxin Fang Yan Zhang Fei Gao Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen China Shien-Ming Wu School of Intelligent Engineering South China University of Technology Guangzhou China Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong China State Key Laboratory of Powder Metallurgy Central South University Changsha Hunan China

ISBN: (数字)9798350388039

ISBN: (纸本)9798350388046

The prosthetic socket is a crucial interface connecting the residual limb to the prosthetic device, significantly affecting force transmission and wearer comfort. This work presents a comprehensive framework for design, simulation, and fabrication of the prosthetic socket. A 3D model of the residual limb, including the skeleton model and skin contour, is reconstructed from CT scan data. Using this model, the prosthetic socket and liner are designed based on biomechanical principles. The interaction force between the residual limb and the prosthetic socket and liner is simulated via finite element analysis (FEA) when the body weight of a below-knee amputee exerts on the prosthetic socket. Finally, the prosthetic socket and residual limb are fabricated using additive manufacturing (AM) technology, and a soft prosthetic liner is made of ethylene-vinyl-acetate (EVA) polymer. Clinical trials on a below-knee amputee were conducted to preliminarily test the prosthetic socket’s performance.

关键词： Limbs Solid modeling Sockets Biological system modeling Force Three-dimensional printing Skin Data models Finite element analysis Prosthetics

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Region-Aware Grasping for Stacked Workpieces: A 6D-Wise Label Self-Generation Method and Robust Evaluation Strategy

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IEEE Transactions on automation Science and Engineering 2025年 22卷 16899-16912页

作者： Xungao Zhong Tao Gong Junzhi Yu Jiaguo Luo Chengxian Zhou Xunyu Zhong Qiang Liu School of Electrical Engineering and Automation Xiamen University of Technology Xiamen China Xiamen Key Laboratory of Frontier Electric Power Equipment and Intelligent Control Xiamen China Department of Advanced Manufacturing and Robotics College of Engineering State Key Laboratory for Turbulence and Complex Systems Peking University Beijing China School of Aerospace Engineering Xiamen University Xiamen China School of Engineering Mathematics and Technology University of Bristol Bristol U.K. Department of Psychiatry University of Oxford Oxford U.K.

The high-quality datasets and generalized network model combined with robust evaluation strategies serve as a significant benchmark for developing new policies for industrial bin-picking. In this paper, we propose the concept of region-aware grasping, a sim2real cutting-edge system to generate and evaluate 6D poses for robots to pick up novel workpieces from stacked environments. It consists of Region-Aware-Dataset, a large-scale synthetic point cloud grasp dataset; and Semantic-Graspnet, a 6D-wise affordance policy that predicts full 6D grasp pose for stacked workpieces. The introduced Semantic-Graspnet transforms the 6D pose prediction problem into semantic categorization via point cloud encoding and decoding. Meanwhile, we propose a robust evaluation strategy based on pose evaluation and mechanical grasping evaluation, which enhances the robot’s grasping success rate and sorting efficiency. In real industrial tasks, the robot achieves a grasp completion rate of 91.3% in cluttered scenes and 89.2% in densely stacked scenes, demonstrating state-of-the-art results in robotic picking-and-placing applications. Note to Practitioners—This work is inspired by the robotic universal AI technique, which holds an indispensable position in industrial as bin-picking tasks. Leveraging this technology, the robot can proficiently perform picking-and-placing for diverse workpieces. The prior robot grasping policies primarily centered on maximizing the optimization of grasp detection to ensure successful grasping. Nevertheless, limitations still exist regarding efficient datasets, generalized network models, and robust evaluation strategies. Therefore, in order to effectively curtail the development cycle of robot picking-and-placing applications, this paper puts forward a novel region-aware grasping policy for stacked workpieces. We have investigated an autonomous grasp label annotation method and constructed a large-scale synthetic point cloud grasp dataset. Subsequently, a seman

关键词： Grasping Point cloud compression Training Service robots Affordances Collision avoidance Semantics Predictive models Electronic mail Deep learning

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Human-in-the-loop Optimization for Adaptive Assist-as-Needed Rehabilitation 12

Human-in-the-loop Optimization for Adaptive Assist-as-Needed...

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12th International Conference on CYBER Technology in automation, Control, and intelligent systems, CYBER 2022

作者： Li, Ning Yang, Yang Yang, Tie Chen, Wenyuan Wang, Yihan Yu, Peng Wang, Wenxue Xi, Ning Liu, Lianqing Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110016 China University of the Chinese Academy of Sciences Beijing100049 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang10016 China School of Electrical and Electronics Engineering Nanyang Technological University 50 Nanyang Avenue 639798 Singapore Emerging Technologies Institute Department of Industrial and Manufacturing Systems Engineering University of Hong Kong Pokfulam999077 Hong Kong

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

Active voluntary participation in robot-assisted rehabilitation promote the recovery of stroke hemiplegia. However, different patients have personalized recovery states, which needs the adaptive control strategy to improve the patient's participation. Therefore, in this study, a Mirror Adaptive Assist-As-Needed (MAAN) scheme is proposed to encourage subjects to participate actively and avoid the slack of the subjects including two modules: Functional Capability Estimation (FCE) and Mirror Adaptation (MAD). Specifically, the first MSFE module can obtain joint functional capability based on fused biological and motional signals. The second MAD module acquires the needed assistance via the estimated torques of FCE based on healthy limb. Through the iteration and collaboration of these two modules, a human-in-the-loop adaptive training is achieved to promote the patient participation. The results demonstrate that the MAAN strategy can generate suitable assistance for the patients to correct abnormal muscle activation patterns and promote active voluntary participation. Compared with other methods, the proposed strategy improves motion stability and consistency with the natural physiological state of healthy limbs. This research can be expected to greatly enhance the rehabilitation and power assistance outcome of exoskeleton robot in more practical applications. © 2022 IEEE.

关键词： Mirrors

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Design of magnetorheological brake with adjustable interdigitated comb for lower limb prostheses and exoskeletons *

Design of magnetorheological brake with adjustable interdigi...

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IEEE International Conference on robotics and Biomimetics

作者： Qiuyu Shi Xuan Zhao Haisu Liao Yongji Lin Ruisen Huang Xinyu Wu Fei Gao Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen China Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong Shatin China

Magnetorheological (MR) fluids-based devices such as MR dampers and brakes can output a continuously controllable damping force via modulating the magnitude of the applied magnetic field. Owing to low energy consumption and fast response, recently vast MR dampers and brakes are widely studied and explored for lower limb prostheses and exoskeletons. This paper proposed a novel MR brake with adjustable interdigitated comb for lower limb prostheses. Through actively adjusting the area the of the comb engagement, the maximum viscous and field-induced damping torque can be increased or decreased. Because of that, the dynamic adjustment interval of the output damping torque can be increased to meet the function requirements of the prosthetic knee in different walking modes. Magnetic analysis via ANSYS is performed to check the magnetic density of the MR fluid under different excitations. Mathematical models of the damping torque are built. Finally, a prototype of the novel MR brake is fabricated.

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A smart wearable device for capturing biomechanical energy from human knee motion

A smart wearable device for capturing biomechanical energy f...

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IEEE/ASME (AIM) International Conference on Advanced intelligent Mechatronics

作者： Hugo Hung-Tin Chan Haisu Liao Xuan Zhao Junrui Liang Wei-Hsin Liao Xinyu Wu Fei Gao Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen China Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Shatin Hong Kong China School of Information Science and Technology ShanghaiTech University Shanghai China

ISBN: (数字)9798350355369

ISBN: (纸本)9798350355376

Sustainable power supply is a challenge for portable and wearable electronic devices such as cell phones and headsets. To address this, researchers proposed capturing biomechanical energy from human motion to generate electricity. This paper proposed and developed a lightweight wearable device to capture the biomechanical energy from the human knee motion. To reduce the effect of inertial force on human gait, we developed a lightweight and compact transmission chain to convert the bidirectional rotation of the knee to a unidirectional rotation of the generator. Two input bevel gears with opposite one-way bearings on the same shaft are engaged with a single output bevel gear of the generator thereby only one input bevel gear is engaged for each input direction, achieving unidirectional output. In addition, to reduce velocity fluctuation and further minimize the effect of inertial force, a flywheel was fixed to the motor shaft via a gearbox. A prototype of the wearable device was developed and tested on a subject walking on a treadmill. Experimental results shows the flywheel enabled the harvester to achieve a continuous output while halving voltage fluctuations compared to a conventional harvester. The harvesters average power output can reach 0.11 W with minimal effects on the subject’s walking gait.

关键词： Knee Legged locomotion Biomechanics Shafts Fluctuations Voltage fluctuations Torque

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