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3rd International Conference on Information Technology and Computer Communications, ITCC 2021

作者： Gao, Daowei State Key Laboratory of Mechatronics Engineering and Control Beijing Institute of Technology China

ISBN: (纸本)9781450389884

Abnormal gait is the main functional disorder of stroke patients after stroke. Accurate and quantitative evaluation of stroke patients by gait analysis is of great significance for analyzing the causes of abnormal gait and making treatment plans. It is a challenging research direction. This paper puts forward a hemiplegic gait analysis method based on Kincet sensor, which can quantitatively evaluate the gait abnormality of stroke patients. Thirty participants were enrolled into the study, including 15 hemiplegic patients and 15 controls. The kinematic data of their joints were recorded during walking, and the gait quality of hemiplegic patients was quantitatively evaluated by a new hemiplegic gait quality index based on radar map. The results showed that there was a significant negative correlation between hemiplegic gait quality index and Fugl-Meyer Assessment of Lower Extremity score (P © 2021 ACM.

关键词： Gait analysis

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TensWheBot: A Double Wheeled Rolling Robot Based on Tensegrity Structures

TensWheBot: A Double Wheeled Rolling Robot Based on Tensegri...

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2024 IEEE International Conference on Robotics and Biomimetics, ROBIO 2024

作者： Zhang, Niansong Liu, Gang Li, Yiqing Li, Ke Yu, Zhiyuan Wu, Haiteng Liu, Yixiang Li, Yibin Nanjing University of Science and Technology School of Mechanical Engineering Nanjing210094 China Chengdu Aeronautic Polytechnic School of Automotive Engineering Chengdu610100 China Harbin Institute of Technology School of Mechatronics Engineering and Automation Shenzhen Shenzhen518055 China Beijing Institute of Precision Mechatronics and Controls Laboratory of Aerospace Servo Actuation and Transmission Beijing100076 China Hangzhou Shenhao Technology Co. Ltd Zhejiang Key Laboratory of Intelligent Operation and Maintenance Robot Hangzhou311121 China Shandong University School of Control Science and Engineering Jinan250061 China Jilin University Key Laboratory of Bionic Engineering Ministry of Education Jilin130022 China

ISBN: (纸本)9781665481090

Tensegrity structure constitutes a self-supporting and self-stressed spatial grid framework, comprising distinct compression components and continuous tension components, which integrates the benefits of rigid structure and flexible structure. This paper introduces TensWheBot, a robot designed with deformable wheels based on tensegrity structure. Based on the force density method, the form-finding of the tensegrity module is accomplished. The tensegrity module can actively alter its shape through the central driving compression rod, thereby modifying the width and the wheel diameter of the robot. The robot's motion law is derived from kinematic modeling. The assembly of the prototype, the establishment of the robot model, and the results of related simulation experiments have validated the effectiveness of the robot. The tensegrity wheeled robot meets the needs of complex and variable environments, as well as diverse tasks such as disaster rescue and terrain exploration. © 2024 IEEE.

关键词： Wheels

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Research on UAV Anti-Multi-type Interferences Strategy Based on Improved Q-Learning 2021

Research on UAV Anti-Multi-type Interferences Strategy Based...

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3rd International Conference on Information Technology and Computer Communications, ITCC 2021

作者： Xie, Wentao State Key Laboratory of Mechatronics Engineering and Control Beijing Institute of Technology China

ISBN: (纸本)9781450389884

UAVs have been widely used in military and civilian applications, and they play a huge role in many aspects. However, due to the open nature of the UAV communication link, it is susceptible to malicious or unintentional interference. Besides, the interference that UAVs are facing has developed from a single type of interference to multi-type interference. The traditional anti-interference method is designed to deal with single-dimensional interference and cannot meet the requirements of anti-Multi-type interference. The purpose of the paper is to improve the communication capabilities of UAVs by programming frequency-power (Change the transmission frequency and transmission power of the UAV)in Multi-type interference environment. Compared with the existing work, the UAVs in the system can exploit degree-of-freedom in frequency, power to optimize the communication quality in the receiving area and reduce energy costs. The paper propose a Anti-multi-type interference strategy based on improved and eligibility traces Q-learning algorithm, which is based on multi-parameters, and the simulation results show the effectiveness of the algorithm. © 2021 ACM.

关键词： Unmanned aerial vehicles (UAV)

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Numerical simulation of piston rings in marine diesel engines considering thermal-fluid-structure factors: From normal to gas leakage conditions 24

Numerical simulation of piston rings in marine diesel engine...

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2024 International Conference on Industrial Automation and Robotics, IAR 2024

作者： Luo, Congcong Zhao, Minghang Fu, Song Zhang, Yan Han, Yan Huang, Qingqing Cui, Zhiquan Department of Mechanical Engineering Harbin Institute of Technology Shandong Weihai China School of Mechatronics Engineering Harbin Institute of Technology Heilongjiang Harbin China The Key Laboratory of Industrial Internet of Things and Networked Control Ministry of Education Chongqing University of Posts and Telecommunications Chongqing China School of Automotive Engineering Harbin Institute of Technology Shandong Weihai China

ISBN: (纸本)9798400711268

Worn piston rings disrupt the sealing performance of combustion chambers, reducing the compression ratio and combustion efficiency, thereby affecting engine power. Currently, limited in-depth simulations have been conducted on gas leakage of combustion chamber caused by piston ring faults. This paper presents a thermal-fluid-structure coupling simulation of a piston rings in a large marine diesel engine, focusing on the thermal parameter variations induced by its fault. The simulation results indicate that, under the given simulated conditions, the maximum deformation of the piston ring is 37.922 μm. As piston ring wear accumulates, both the velocity and pressure of gas leakage decrease, and the rate of decrease is diminished accordingly. Additionally, piston ring sticking may significantly raise gas pressure, resulting in a noticeable increase in the pressure drop at the inlet of ring-liner gap. © 2024 Copyright held by the owner/author(s).

关键词： Piston rings

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Feature extraction and classification method of electrooculogram based on variational modal decomposition 2

Feature extraction and classification method of electrooculo...

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2nd International Conference on Signal Image Processing and Communication, ICSIPC 2022

作者： Jing, Xingyu Jing, Zhiyuan State Key Laboratory of Mechatronics Engineering and Control Beijing Institute of Technology No. 5 South Street Zhongguancun Haidian District Beijing100081 China

ISBN: (纸本)9781510657694

With the progress of science and technology, human-computer interaction technology has become a research hotspot. Many new interaction methods have been developed. As an important organ to receive information, eye plays an important role in human-computer interaction. In this paper, an electrooculogram acquisition system is designed by using five electrodes to measure the amplitude of electrooculogram. The 3Hz and 8Hz components of electrooculogram are extracted by variational modal decomposition. The maximum, minimum, distance between maximum and minimum, mean and standard deviation of these frequency components are used as features. KNN, SVM, CART and Bagging classifiers are used to classify electrooculogram. In the two-dimensional coordinate system, the highest accuracy of the classification of 44 eye rotation angles is 88.40%, which is 12.50% higher than the accuracy of only using the time domain features. It proves the effectiveness of the proposed method and provides a richer interaction mode for human-computer interaction. © 2022 SPIE.

关键词： Human computer interaction

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Research on the grading method of Parkinson's patients based on the analysis of complexity characteristics 2

Research on the grading method of Parkinson's patients based...

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2nd International Conference on Signal Image Processing and Communication, ICSIPC 2022

作者： He, Linxi State Key Laboratory of Mechatronics Engineering and Control Beijing Institute of Technology No. 5 South Street Zhongguancun Haidian District Beijing100081 China

ISBN: (纸本)9781510657694

In this paper, a method for grading Parkinson's disease patients based on the analysis of the complexity of electrostatic gait signals is proposed. The non-contact electrostatic sensing device is used to obtain the electrostatic gait signals generated by the natural stepping process of Parkinson's patients and healthy people, and extract their features respectively. The LZ complexity, C0 complexity, multi-scale entropy (MSE) and permutation entropy (PE) were obtained, and the differences in gait characteristics of the two groups were compared and analyzed. Then, the support vector machine (SVM) algorithm was used to establish the Parkinson's disease grading model. The experimental results show that several complex features proposed in this paper can effectively distinguish Parkinson's patients with different severity levels, and the classification accuracy rate is 91.77%. © 2022 SPIE.

关键词： Electrostatics

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High-temperature friction behavior of amorphous carbon coating in glass molding process

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Friction 2021年第6期9卷 1648-1659页

作者： Kangsen LI Gang XU Xiaobin WEN Jun ZHOU Feng GONG Guangdong Provincial Key Laboratory of Micro/Nano Optomechatronics Engineering College of Mechatronics and Control EngineeringShenzhen UniversityShenzhen 518060China Shenzhen Kingmag Precision Techonology Co.LTD. Shenzhen 518172China

In the glass molding process,the sticking reaction and fatigue wear between the glass and mold hinder the service life and functional application of the mold at the elevated *** improve the chemical inertness and anti-friction properties of the mold,an amorphous carbon coating was synthesized on the tungsten carbide-cobalt(WC–8Co)substrate by magnetron *** friction behavior between the glass and carbon coating has a significant influence on the functional protection and service life of the ***,the glass ring compression tests were conducted to measure the friction coefficient and friction force of the contact interface between the glass and amorphous carbon coating at the high ***,the detailed characterization of the amorphous carbon coating was performed to study the microstructure evolution and surface topography of the amorphous carbon coating during glass molding process by scanning electron microscopy(SEM),X-ray photoelectron spectroscopy(XPS),Ramon spectroscopy,and atomic force microscope(AFM).The results showed that the amorphous carbon coating exhibited excellent thermal stability,but weak shear friction *** friction coefficient between the glass and coating depended on the ***,the service life of the coating was governed by the friction force of the contact interface,processing conditions,and composition *** work provides a better understanding of the application of carbon coatings in the glass molding.

关键词： glass molding process high temperature friction behavior amorphous carbon coating

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Linear-FM fuze signal enhancement based on WGAN 2

Linear-FM fuze signal enhancement based on WGAN

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2nd International Conference on Signal Image Processing and Communication, ICSIPC 2022

作者： Jing, Zhiyuan Jing, Xingyu State Key Laboratory of Mechatronics Engineering and Control Beijing Institute of Technology No. 5 South Street Zhongguancun Haidian District Beijing100081 China

ISBN: (纸本)9781510657694

In order to solve the problem that the effect of jamming Linear-FM(LFM) fuze decreases in strong noise environment, this paper proposes a WGAN-based LFM fuze signal enhancement technology. Taking advantage of the obvious feature of the LFM signal in the time-frequency domain, we connect two WGANs in series for signal enhancement. The first WGAN learns to reduce the noise in the signal while converting a time-series signal into a spectrogram. The second WGAN learns to enhance the main frequency components of the signal while converting the spectrogram back to a time-series signal. The experimental results show that the algorithm proposed in this paper reduces the noise component and enhances the main frequency component in the signal, which improves the interference effect to the LFM fuze in strong noise environment. © 2022 SPIE.

关键词： III-V semiconductors

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Distributed Robust Communication-Efficient Multi-Robot SLAM Combining Real-Time Intersection and Historical Loop Constraints

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IEEE Internet of Things Journal 2025年

作者： Zhang, Bo Xiong, Zhe Qiu, Jinshi Chen, Shiyu Hu, Yu Chen, Shoubin Shenzhen University College of Mechatronics and Control Engineering Shenzhen Joint Laboratory of Autonomous Unmanned Systems and Intelligent Manipulation Shenzhen518060 China Shenzhen518107 China

To perform collaborative tasks in unknown environment, multi-robot SLAM must establish their spatial constraints from the perception data, and locate each robot within a unified and consistent shared environmental map. However, it faces the challenges of insufficient utilization of perception information, low robustness, and poor real-time communication. For example, most current work focuses on historical loop constraints, neglecting the more direct, geometrically stronger, and communication-efficient "real-time intersection" constraints. To overcome this problem, we propose a distributed robust communication-efficient multi-robot SLAM framework, integrating real-time intersection constraints and historical loop constraints. The detection and tracking results of anchor robot are used as real-time intersection constraints to update the front-end status estimation, and the historical loop constraints within and between robots are considered to establish a distributed optimization back-end. Additionally, to generate accurate real-time intersection constraints, a two-stage clustering detection and tracking method for teammate robots based on reflective points is proposed. We established an experimental platform consisting of different mobile robots and collected datasets to test the system. These experimental results in various scenes show that combining real-time intersection and historical loop constraints can effectively improve robust positioning, global consistent mapping and efficient communication performance of multi-robot SLAM systems. © 2014 IEEE.

关键词： SLAM robotics

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Surface Defect Detection of Medical Cables Based on Anomaly Detection

Surface Defect Detection of Medical Cables Based on Anomaly ...

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Annual Conference of Industrial Electronics Society

作者： Junyu Yue Guangzhong Cao Zhiyong Hu Yu Lei Haotian Wang Guangdong Key Laboratory of Electromagnetic Control and Intelligent Robots College of Mechatronics and Control Engineering Shenzhen University Shenzhen China

Medical cables have strict requirements for appearance quality, even minor surface defects are considered non-compliant. Surface defects in medical cables exhibit diverse types, uneven distribution and inconspicuous features, which is difficult to identify. This paper proposes Abnormal Generative Adversarial Networks (AbnormalGAN), a surface defect detection method of medical cables based on anomaly detection. The proposed method combines generative adversarial network (GAN) and anomaly detection. The input samples are fed into the generator to reconstruct the positive sample features, “repairing” the surface defect areas of the medical cables. Then, get the abnormal score which is obtained based on the sum of pixel errors between the input and generated samples. The surface defects of medical cables are identified based on the abnormal score. Experimental results show that the proposed method is able to identifies surface defects in medical cables accurately, including previously unseen defects. The accuracy rate on the medical cable dataset reaches 99.8%.

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