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International Conference on Advanced robotics and Mechatronics (ICARM)

作者： Guotao Gou Kong Hoi Cheng Jinxin Sun Chengyu Lin Wei Pan Guojing Huang Yuquan Leng Yixuan Guo Chenglong Fu Department of Mechanical and Energy Engineering Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems and Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen China Guangxi Human Physiological Information Non Invasive Detection Engineering Technology Research Center School of Life and Environmental Sciences Guilin University of Electronic Technology Guilin China

ISBN: (数字)9798350385724

ISBN: (纸本)9798350385731

Stroke survivors frequently face the challenge of regaining hand-grasping functions, which are crucial for performing daily activities. While Functional Electrical Stimulation (FES) has demonstrated promise for hand function recovery, the application of online control methods tailored to varied daily grasps remains underexplored. In response, our study presents a refined framework utilizing an inertial measurement unit (IMU) for the real-time recognition of grasp intentions in stroke patients. Data on arm trajectories and orientations preceding diverse grasping actions were gathered from three healthy individuals, segmented by acceleration to determine high-accuracy intervals for grasp prediction. The Support Vector Classification (SVC) model emerged as a superior method for intent recognition. By segmenting data based on acceleration, our model’s general accuracy improved. Moreover, the time required to achieve a stable accuracy rate exceeding 95% was reduced from 0.8 s to 0.2 s. This research lays the groundwork for future advancements in online gesture recognition systems. The successful implementation of FES based on SVC-model predictions mark a significant step toward intuitive and adaptive rehabilitation therapies for stroke patients.

关键词： Accuracy Static VAr compensators Grasping Stroke (medical condition) Real-time systems Iron Data models Trajectory Neuromuscular stimulation Context modeling

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Flexible Multi-Channel Electrical Stimulation System for Assisting Grasping in Patients with Hemiplegia

Flexible Multi-Channel Electrical Stimulation System for Ass...

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International Conference on Advanced robotics and Mechatronics (ICARM)

作者： Jinxin Sun Guojing Huang Chengyu Lin Wei Pan Kong Hoi Cheng Guotao Gou Shuyan Huang Yuquan Leng Chenglong Fu Zhencheng Chen Guangxi Human Physiological Information Non Invasive Detection Engineering Technology Research Center School of Life and Environmental Sciences Guilin University of Electronic Technology Guilin China Department of Mechanical and Energy Engineering Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems and Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen China

ISBN: (数字)9798350385724

ISBN: (纸本)9798350385731

Stroke patients are unable to perform gripping actions effectively as normal individuals due to impaired hand function. Electrical stimulation is currently a relatively effective rehabilitation method, but there is still room for improvement in aspects such as grip control precision and grip posture selection. Therefore, we propose a multi-channel electrical stimulation system to achieve precise control of hand gripping in stroke patients and assist in hand function rehabilitation. The pressure-controlled constant current source electrical stimulation system is proposed and a flexible wearable 16-channel hand FPC electrical stimulation patch is designed according to the distribution of hand muscles. The MCU controls an external DAC chip to generate voltage to drive the pressure-controlled constant current source, thereby generating adjustable biphasic symmetrical stimulation pulse waveforms. The FPC transmits the generated stimulation pulses to the corresponding stimulation points to achieve precise electrical stimulation of specific points. Through three comparative experiments, the results indicate that precise control of finger movement angles has been achieved by adjusting the stimulation current and frequency. The flexible multi-channel hand electrical stimulation system offers a solution for restoring motor function in patients with hemiplegia.

关键词： Mechatronics Thumb Electrical stimulation Bending Stroke (medical condition) Muscles Motors Voltage control Frequency control Robots

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Dynamic Collision Avoidance Using Velocity Obstacle-Based Control Barrier Functions

arXiv

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arXiv 2025年

作者： Huang, Jihao Zeng, Jun Chi, Xuemin Sreenath, Koushil Liu, Zhitao Su, Hongye State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou China Institute of Intelligence Science and Engineering Shenzhen Polytechnic University Shenzhen China Hybrid Robotics Group The Department of Mechanical Engineering UC Berkeley United States

Designing safety-critical controllers for acceleration-controlled unicycle robots is challenging, as control inputs may not appear in the constraints of control Lyapunov functions (CLFs) and control barrier functions (CBFs), leading to invalid controllers. Existing methods often rely on state-feedback-based CLFs and high-order CBFs (HOCBFs), which are computationally expensive to construct and fail to maintain effectiveness in dynamic environments with fast-moving, nearby obstacles. To address these challenges, we propose constructing velocity obstacle-based CBFs (VOCBFs) in the velocity space to enhance dynamic collision avoidance capabilities, instead of relying on distance-based CBFs that require the introduction of HOCBFs. Additionally, by extending VOCBFs using variants of VO, we enable reactive collision avoidance between robots. We formulate a safety-critical controller for acceleration-controlled unicycle robots as a mixed-integer quadratic programming (MIQP), integrating state-feedback-based CLFs for navigation and VOCBFs for collision avoidance. To enhance the efficiency of solving the MIQP, we split the MIQP into multiple sub-optimization problems and employ a decision network to reduce computational costs. Numerical simulations demonstrate that our approach effectively guides the robot to its target while avoiding collisions. Compared to HOCBFs, VOCBFs exhibit significantly improved dynamic obstacle avoidance performance, especially when obstacles are fast-moving and close to the robot. Furthermore, we extend our method to distributed multi-robot systems. Copyright © 2025, The Authors. All rights reserved.

关键词： State feedback

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Transparent Objects: A Corner Case in Stereo Matching

Transparent Objects: A Corner Case in Stereo Matching

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IEEE International Conference on robotics and Automation (ICRA)

作者： Zhiyuan Wu Shuai Su Qijun Chen Rui Fan The Robotics & Artificial Intelligence Laboratory (RAIL) the State Key Laboratory of Intelligent Autonomous Systems Machine Intelligence & Autonomous Systems (MIAS) Group the College of Electronic & Information Engineering Tongji University Frontiers Science Center for Intelligent Autonomous Systems Shanghai P. R. China

Stereo matching is a common technique used in 3D perception, but transparent objects such as reflective and penetrable glass pose a challenge as their disparities are often estimated inaccurately. In this paper, we propose transparency-aware stereo (TA-Stereo), an effective solution to tackle this issue. TA-Stereo first utilizes a semantic segmentation or salient object detection network to identify transparent objects, and then homogenizes them to enable stereo matching algorithms to handle them as non-transparent objects. To validate the effectiveness of our proposed TA-Stereo strategy, we collect 260 images containing transparent objects from the KITTI Stereo 2012 and 2015 datasets and manually label pixel-level ground truth. We evaluate our strategy with six deep stereo networks and two types of transparent object detection methods. Our experiments demonstrate that TA-Stereo significantly improves the disparity accuracy of transparent objects. Our project webpage can be accessed at ***/TA-Stereo.

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Mode-switching single-pixel imaging via a high-performance perovskite-Si dual-mode photodetector

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Photonics Research 2024年第12期12卷 2873-2880页

作者： YUJIN LIU DONGXU LIN JINGYANG XING HANYAN ZHAO HONGLING WAN HAO WANG ZHONG JI XUELI CHEN Innovation Center for Advanced Medical Imaging and Intelligent Medicine Guangzhou Institute of TechnologyXidian UniversityGuangzhou 510555China Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems Department of Mechanical and Energy EngineeringSUSTech Energy Institute for Carbon NeutralitySouthern University of Science and TechnologyShenzhen 518055China Center for Biomedical-Photonics and Molecular Imaging Advanced Diagnostic-Therapy Technology and Equipment Key Laboratory of Higher Education Institutions in Shaanxi ProvinceSchool of Life Science and TechnologyXidian UniversityXi’an 710126China

Visible–near-infrared(VIS-NIR)dual-mode imaging can expand the human perception ***,the development of dual-mode image sensors is still challenging due to complex fabrication processes and readout circuit ***,we design a simple-structured(perovskite-Au/Si/Ag)dual-mode *** unique asymmetric electrode design allows the device to support two operating modes at zero *** device exhibits a detection range covering 400–1100 nm under top illumination mode,with a peak specific detectivity of up to 5.56×1013 *** bottom illumination mode,the device demonstrates pronounced narrowband NIR response *** importantly,we develop a dual-mode single-pixel imaging system based on this device,bypassing the fabrication processes of high-density array image *** system exhibits excellent VISNIR dual-mode imaging results,effectively separating NIR and VIS information and enhancing infrared details in the fused ***,we discover that the system can effectively suppress ringing artifacts,achieving infrared information perception at a low sampling rate,which can accelerate the imaging speed by∼16 times(reduced from∼3.2 s to∼0.2 s).Our proposed dual-mode single-pixel imaging technology offers new means for material identification and intelligent perception.

关键词： mode illumination details

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3D Path Planning of the Solar Powered UAV in the Urban-Mountainous Environment with Multi-Objective and Multi-Constraint Based on the Enhanced Sparrow Search Algorithm Incorporating the Levy Flight Strategy

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Guidance, Navigation and Control 2024年第1期4卷 149-175页

作者： Pengyang Xie Ben Ma Bingbing Wang Jian Chen Gang Xiao College of Engineering China Agricultural UniversityBeijing 100083P.R.China State Key Laboratory of Clean Energy Utilization Zhejiang UniversityHangzhou 310027P.R.China Key Laboratory of Intelligent Equipment and Robotics for Agriculture of Zhejiang Province College of Biosystems Engineering and Food ScienceZhejiang UniversityHangzhou 310058P.R.China Key Laboratory of Smart Agricultural Technology(Yangtze River Delta) Ministry of Agriculture and Rural AffairsNanjing 210044P.R.China Key Laboratory of Smart Agricultural Technology in Tropical South China Ministry of Agriculture and Rural AffairsGuangzhou 510642P.R.China State Key Laboratory of Virtual Reality Technology and Systems Beihang UniversityBeijing 100191P.R.China

In response to practical application challenges in utilizing solar-powered unmanned aerial vehicle(UAV)for remote sensing,this study presents a three-dimensional path planning method tailored for urban-mountainous *** into account constraints related to the solar-powered UAV,terrain,and mission objectives,a multi-objective trajectory optimization model is transferred into a single-objective optimization problem with weight factors and multiconstraint and is developed with a focus on three key indicators:minimizing trajectory length,maximizing energy flow efficiency,and minimizing regional risk ***,an enhanced sparrow search algorithm incorporating the Levy flight strategy(SSA-Levy)is introduced to address trajectory planning challenges in such complex *** simulation,the proposed algorithm is compared with particle swarm optimization(PSO)and the regular sparrow search algorithm(SSA)across 17 standard test functions and a simplified simulation of urban-mountainous *** results of the simulation demonstrate the superior effectiveness of the designed improved SSA based on the Levy flight strategy for solving the established single-objective trajectory optimization model.

关键词： Solar powered UAV multi-objective optimization problem single-objective optimization problem multi-constraint sparrow search algorithm Levy flight strategy

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Cooperative Motion Control Using Hybrid Acoustic-Optical Communication Networks ⁎

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IFAC-PapersOnLine 2021年第16期54卷 232-237页

作者： Rodrigo Rego Nguyen Hung Antonio Pascoal Laboratory of Robotics and Systems in Engineering and Science(LARSyS) ISR/IST University of Lisbon Lisbon Portugal

There is currently widespread interest in the development of groups of autonomous underwater vehicles for ocean exploration. This calls for the deployment of robots that can act in cooperation by exchanging data over communication networks. For this purpose, acoustic networks have been so far the choice par excellence. However, for operations involving vehicles operating at close range, there is currently a flurry of activity on the use of optical-based communication systems, capable of higher transmission rates. As a result, the goal of this work is to make optical communications viable and to use both communication technologies during underwater cooperative missions. Motivated by this goal, the first part of this work is dedicated to design a coordination controller with an event-based communication strategy for the coordination of the vehicles over the acoustic network. The second part of this work proposes an algorithm to make optical communications viable, which ultimately boils down to achieving optical beam alignment between a pair of cooperative agents. The proposed algorithm is illustrated by simulation results that show optical beam alignment being reached for a pair of vehicles in a cooperative formation.

关键词： Motion Control Cooperative Path Following Autonomous Underwater Vehicles Acoustic Optical Communication Event-Triggered Communications

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Robust Tracking for Electromagnetic-Actuated Microrobot Via Sliding Mode Control

Robust Tracking for Electromagnetic-Actuated Microrobot Via ...

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Annual Conference of Industrial Electronics Society

作者： Yihang Wu Ziyao Qu Xiaocong Chang Zhijian Hu Rongni Yang Renjie Ma State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China School of Electrical and Electronic Engineering Nanyang Technological University Singapore School of Control Science and Engineering Shandong University Jinan China

Microrobots can work in small, enclosed spaces and complete complex tasks. It has potential applications in the field of biomedical and life sciences. This paper focuses on investigating robust dynamic tracking for electromagnetic-actuated microrobot via sliding mode control. First, we generalize the planar motion to the case of spatial trajectory tracking and then establish the three-dimensional tracking error model of microrobot. Then, we deploy a novel sliding control strategy and ensure the stability of sliding mode dynamics, once the robotic state reaches the sliding surface and sustains there in the sequel. Finally, the numerical simulation is conducted, compared to the traditional proportion-integration-differentiation control strategy, to verify the effectiveness and advantages of our proposed control scheme.

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Electrolyte Effect on Photoetching of Gallium Nitride

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Nanomanufacturing and Metrology 2024年第1期7卷 61-74页

作者： Huiqiang Liang Zhenghao Wei Jiongchong Fang Yanming Li Changli Li Zhirun Xie Yun Hau Ng Guosong Zeng Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems Southern University of Science and TechnologyShenzhen 518055People’s Republic of China Department of Mechanical and Energy Engineering Southern University of Science and TechnologyShenzhen 518055People’s Republic of China School of Materials Sun Yat-Sen UniversityGuangzhou 510275People’s Republic of China School of Energy and Environment City University of Hong KongKowloon 999077Hong Kong SARPeople’s Republic of China City University of Hong Kong Shenzhen Research Institute Shenzhen Hi-Tech Industrial ParkNanshan DistrictShenzhen 518000People’s Republic of China SUSTech Energy Institute for Carbon Neutrality Southern University of Science and TechnologyShenzhen 518055People’s Republic of China

The limited material removal rate of conventional chemical mechanical polishing(CMP)significantly hinders the fabrica-tion efficiency and surface quality,thereby preventing the development of gallium nitride(GaN)-based ***,the incorporation of photoelectrochemistry in CMP has garnered increasing attention because of its potential to enhance the quality and efficiency of the GaN ***,a considerable gap still exists in the comprehensive understanding of the specific photoelectrochemical(PEC)behavior of ***,we report the influence of the electrolyte on the PEC etching of *** acids and bases were tested,with their pH being carefully *** concentrations of the cations and anions were also *** results showed that photocorrosion/photoetching was more pronounced in sulfuric acid,phosphoric acid,and nitric acid environments than in alkaline environments,but it was less pronounced in hydrochloric ***,the effects of pH and anion concentration on photoetching were investigated,and the results revealed that pho-toetching in acidic environments weakened with increasing pH levels and diminished with increasing sulfate *** underlying reasons contributing to this observation were *** findings provide ideas for improving the pho-toetching efficiency of GaN,thereby enriching the photoelectrochemical mechanical polishing(PECMP)technology of GaN.

关键词： GaN Photoelectrochemistry Photoetching pH

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T3: Multi-modal Tailless Triple-Flapping-Wing Robot for Efficient Aerial and Terrestrial Locomotion

arXiv

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arXiv 2025年

作者： Xu, Xiangyu Zheng, Zhi Wang, Jin Chen, Yikai Huang, Jingyang Wu, Ruixin Yu, Huan Lu, Guodong The State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical Engineering Zhejiang University Hangzhou310058 China Zhejiang Key Laboratory of Industrial Big Data and Robot Intelligent Systems Zhejiang University Hangzhou310058 China Robotics Research Center of Yuyao City Ningbo315400 China College of Control Science and Engineering Zhejiang University Hangzhou310027 China

Flapping-wing robots offer great versatility;however, achieving efficient multi-modal locomotion remains challenging. This paper presents the design, modeling, and experimentation of T3, a novel tailless flapping-wing robot with three pairs of independently actuated wings. Inspired by juvenile water striders, T3 incorporates bio-inspired elastic passive legs that effectively transmit vibrations generated during wing flapping, enabling ground movement without additional motors. This novel mechanism facilitates efficient multi-modal locomotion while minimizing actuator usage, reducing complexity, and enhancing performance. An SE(3)-based controller ensures precise trajectory tracking and seamless mode transition. To validate T3’s effectiveness, we developed a fully functional prototype and conducted targeted modeling, real-world experiments, and benchmark comparisons. The results demonstrate the robot’s and controller’s outstanding performance, underscoring the potential of multi-modal flapping-wing technologies for future aerial-ground robotic applications. Copyright © 2025, The Authors. All rights reserved.

关键词： Antenna grounds

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