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A new active rehabilitation training mode for upper limbs based on Tai Chi Pushing Hands

Biomimetic Intelligence & robotics 2024年第3期4卷 82-92页

作者： Xiangpan Li Liaoyuan Li Jianhai Han Bingjing Guo Ganqin Du School of Mechatronics Engineering Henan University of Science and TechnologyLuoyang 471003China Henan Provincial Key Laboratory of Robotics and Intelligent Systems Luoyang 471003China School of Automotive Engineering Hubei University of Automotive TechnologyShiyan 442002China Hubei Key Laboratory of Automotive Power Train and Electronic Control Shiyan 442002China The First Affiliated Hospital of Henan University of Science and Technology Luoyang 471003China

Robot-assisted rehabilitation is a crucial approach to restoring motor function in the ***,the current training trajectory lacks sufficient theoretical or practical support,and the monotony of single-mode training is a *** Chi Pushing Hands,a beneficial and effective daily exercise,has been shown to improve balance function,psychological state,and motor function of the upper extremities in patients recovering from *** address these issues,we propose a new active rehabilitation training that incorporates Tai Chi Pushing Hands movements and yin-yang balance *** training trajectory and direction are encoded by the velocity field and consist of two processes:yang(push)and yin(return).During yang,the limb actively pushes the robot to move,while during yin,the limb actively follows the robot’s *** provide necessary assistance,an admittance controller with self-adaptive parameters is *** addition,we introduce two indexes,the‘Intention Angle’(ϖ)and the time ratio(Γ),to evaluate motion perception *** experiment was conducted on a 4-degree-of-freedom upper limb rehabilitation robot platform,and the subjects were separated into a familiar group and an unfamiliar *** experiment results show that the training could be completed well no matter whether the subject is familiar with Tai Chi Pushing Hands or *** parameters and the movement of the robot can be adjusted based on the interactive force to adapt to the ability of the subject.

关键词： Tai Chi Push Hands Velocity field Self-adaptive admittance Upper limb rehabilitation Active training

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Design of Polar Coding in Filtered-OFDM

Design of Polar Coding in Filtered-OFDM

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International Conference on Internet of Things, Communication and intelligent Technology, IoTCIT 2022

作者： Piao, Jinnan Li, Dong Li, Zhibo Yang, Ming Liu, Jindi Yu, Xueting 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)9789819904150

The filtered-orthogonal frequency division multiplexing (f-OFDM) is a new waveform configuration for the fifth generation wireless communication system, which satisfies different requirements and channel characteristics more flexibly. Polar codes are adopted as the channel coding scheme of enhance mobile broadband (eMBB) control channel scenario of 5G and is also the candidate coding scheme for ultra-reliable and low latency communications (URLLC) which is on services with strict delay constraints, such as industrial automation. In the paper, we introduce polar codes into f-OFDM system to increase the performance. The conception of channel polarization transformation is extended into the f-OFDM transmission system, where we divide the f-OFDM channels into binary-input channels with a two-stage channel polarization transformation. For the first stage of transformation, we divide a f-OFDM channel into a group of f-OFDM synthesized channels with the bit-interleaved modulation scheme. For the second stage of transformation, we decompose the f-OFDM synthesized channels into binary polarized channels with parallel channels polarization principle. The proposed scheme is evaluated via link simulation under AWGN and fading channels. The simulation results illustrate that the performance gain of polar codes is not affected by the f-OFDM compared with turbo coding scheme. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Orthogonal frequency division multiplexing

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Analytic Compact Model of Short-channel Cylindrical ballistic GAA MOSFET Including SDT effect 3

Analytic Compact Model of Short-channel Cylindrical ballisti...

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2020 3rd International Conference on Advanced Algorithms and control Engineering, ICAACE 2020

作者： Cheng, He Zhang, Chao Liu, Tiefeng Yang, Zhijia Zhang, Zhipeng 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

We have proposed an analytic compact model describing the drain current characteristics valid in all operating regions, for ultra-short channel cylindrical gate-all-around metal-oxide-semiconductor field-effect transistors considering source-to-drain tunnelling effect. The drain-induced barrier lowering had been incorporated from one two-dimensional analysis in our previous compact model. In this study, to represent the energy level profile along the device channel direction into the Wentzel-Kramers-Brillouin approximation by substituting a parabolic function, we can analytically derive the expressions of the transmission coefficients for source-to-drain tunneling. In the subthreshold region, the source-to-drain tunneling current then can be evaluated using the Landauer formula. Finally, a fully analytic compact model is proposed for representing the drain current in all operating regions. The results compared with non-equilibrium Green's function transport simulations can be obtained in a good agreement. © Published under licence by IOP Publishing Ltd.

关键词： Drain current

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Learning Cooperative Object Pushing with Variable Contact Point

Learning Cooperative Object Pushing with Variable Contact Po...

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2007 IEEE/ASME International Conference on Advanced intelligent Mechatronics, Pages 805-1210

作者： Abdol Hossein Aminaiee Majid Nili Ahmadabadi Robotics and AI Laboratory Control and Intelligent Processing Center of Excellence Department of Electerical and Computer Engineering University of Tehran

ISBN: (纸本)9781424412631;1424412633

Learning in multi-agent environments where each agent's action directly affects other agents would be an important matter and a complicated task. To reduce the learning time and simplifying the learning process, it is suitable to learn individual skills and then provide cooperation and coordination utilizing the learned individual skills. In the approach proposed in this paper, agents benefit from their individual knowledge obtained in the individual learning phase to cooperate with other agents. Cooperative object pushing system is used as a testbed to our proposed method where cooperation and coordination between agents are needed in these systems. Agents independently learn to push the object to the target by using the proposed fuzzy reinforcement learning method. Agents attain their cooperative behaviors properly making use of the coded knowledge in the Q-table. Simulation and experimental results show that by interpreting the knowledge in the Q-table, agents can achieve high level behaviors with a high degree of cooperation.

关键词： Agents Learning Point contacts pushing variable contact

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Selection of sources as a prerequesite for information fusion with application to SLAM

Selection of sources as a prerequesite for information fusio...

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International Conference on Information Fusion

作者： Xinde Li Jean Dezert Xinhan Huang Intelligent Control and Robotics Laboratory Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan China ONERA Chatillon France

ISBN: (纸本)1424409535

We consider in this work evidential sources of information and propose a very general evidence supporting measure of similarity (ESMS) for selecting the most coherent subset of sources to combine among all sources available at each instant. The methodology proposed here coupled with a DSmT-based fusion machine is tested in robotics for the automatic estimation of an unknown simulated environment with obstacles where an autonomous mobile Pioneer II robot with sonar sensors evolves. Our simulation results are based on the fusion of similar and equireliable sensors but same approach can also be used with dissimilar sources as well by using a discounting method taking into account the reliability of each sensor. Our results show clearly the benefit of the selection of the sources as prerequisite for improvement of information fusion

关键词： Simultaneous localization and mapping Information resources Sensor fusion Mobile robots Robot sensing systems robotics and automation intelligent control intelligent robots Laboratories Automatic testing

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Modelling combined automata via semi-tensor product of matrices

Modelling combined automata via semi-tensor product of matri...

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Chinese control Conference (CCC)

作者： Yongyi Yan Zengqiang Chen Zhongxin Liu Tianjin Key Laboratory of Intelligent Robotics College of Computer and Control Engineering Nankai University Tianjin Tianjin CN

Using semi-tensor product of matrices (STP), a new matrix analysis tool, this paper investigates the problem of modelling combined automata, which are constructed in three ways: parallel, serial and feedback. By representing the states, input and output symbols in vector forms, the transition and output functions are expressed as algebraic equations of the states and inputs, in which the matrix product is STP. Based on such algebraic descriptions, three new models are established for three types of combined automata with the help of STP. Illustrative examples verify the correctness of the new models.

关键词： Automata Equations Vectors Mathematical model Educational institutions Finite element analysis Matrices

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Experimental Testing of a Traction control System with On-line Road Condition Estimation for Electric Vehicles

Experimental Testing of a Traction Control System with On-li...

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Mediterranean Conference on control & Automation

作者： Goran Vasiljevic Karlo Griparic Stjepan Bogdan LARICS - Laboratory for Robotics and Intelligent Control Systems Department of Control and Computer Engineering. Faculty of Electrical Engineering and Computing University of Zagreb

ISBN: (纸本)9781479909964

In this paper experimental results of testing slip-based traction control system (TCS) with an on-line road condition estimation are presented. TCS is designed for a car with in-wheel electric motors, so that estimation and control are implemented independently for each wheel thus enabling the optimal friction coefficient for every wheel, even if they are on different surfaces or have different tire characteristics. A road condition is approximated using a function which is estimated in the real-time and used as the input to the TCS. The design of the presented TCS is based on the wheel slip ratio, controlled to it's optimal value by a PI controller and with the addition of a feedforward branch for the transition response speed up. System is tested on a newly developed experimental setup consisting of the wheel with embedded (in-wheel) motor rolling on the metal drum loaded by the second motor simulating car behaviour.

关键词： Traction control Systems Pavement condition Electric vehicles Wheels PI control coefficient of friction experimental test SLIP RATIO Cars Best value IN-LINE

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Matrix-Based Approach to Sequence analysis in Multiple Reentrant Flowlines

Matrix-Based Approach to Sequence analysis in Multiple Reent...

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2008 American control Conference (ACC), vol.3

作者： Tamara Petrovic Stjepan Bogdan LARICS-Laboratory for Advanced Robotics and Intelligent Control Systems Faculty of Electrical Engeneering and Computing University of Zagreb Croatia

This paper presents a method for extension of matrix model of manufacturing system in order to provide an efficient tool for analysis of systems with various dispatching sequences of shared resources. Proposed method is used for transformation of system matrices in linear max-plus model. Once the linear model is determined sequence feasibility can be checked. Furthermore, the method provides a straightforward procedure for production cycle calculation and resource utilisation. Efficiency of presented technique is demonstrated on a manufacturing system example at the end of the paper.

关键词： Manufacturing systems Dispatching Resource management Production Flexible manufacturing systems Algebra Laboratories intelligent robots intelligent control Computer aided manufacturing

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Enrichment of qualitative beliefs for reasoning under uncertainty

Enrichment of qualitative beliefs for reasoning under uncert...

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FUSION 2007 - 2007 10th International Conference on Information Fusion

作者： Li, Xinde Huang, Xinhan Dezert, Jean Smarandache, Florentin Intelligent Control and Robotics Laboratory Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan 430074 China ONERA 29 Av. de la Division Leclerc 92320 Châtillon France Department of Mathematics University of New Mexico Gallup NM 87301 United States

ISBN: (纸本)0662478304

This paper deals with enriched qualitative belief functions for reasoning under uncertainty and for combining information expressed in natural language through linguistic labels. In this work, two possible enrichments (quantitative and/or qualitative) of linguistic labels are considered and operators (addition, multiplication, division, etc) for dealing with them are proposed and explained. We denote them qe-operators, qe standing for "qualitative- enriched" operators. These operators can be seen as a direct extension of the classical qualitative operators (q-operators) proposed recently in the Dezert-Smarandache Theory of plausible and paradoxist reasoning (DSmT). q-operators are also justified in details in this paper. The quantitative enrichment of linguistic label is a numerical supporting degree in [0,∞), while the qualitative enrichment takes its values in a finite ordered set of linguistic values. Quantitative enrichment is less precise than qualitative enrichment, but it is expected more close with what human experts can easily provide when expressing linguistic labels with supporting degrees. Two simple examples are given to show how the fusion of qualitative-enriched belief assignments can be done, and a simulation application is given to show its advantage in rough navigation map building of mobile robot.

关键词： Mobile robots

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Exponential synchronization of stochastic complex dynamical networks with impulsive perturbations and Markovian switching

Exponential synchronization of stochastic complex dynamical ...

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第26届中国控制与决策会议

作者： Anding Dai Wuneng Zhou Yichao Zheng Shengchao Su College of Information Science and Technology Donghua University Laboratory of Robotics and Intelligent Control Shanghai University of Engineering Science

ISBN: (纸本)9781479937097

This paper investigates the exponential synchronization problem of stochastic complex dynamical networks with impulsive perturbations and Markovian switching. The complex dynamical networks consists of ? modes and the networks switch from one mode to another according to a Markovian chain with known transition probability. Basing on the Lyapunov functional method and stochastic analysis, by employing ?-matrix approach, some sufficiency conditions are presented to ensure the exponential synchronization of stochastic complex dynamical networks with impulsive perturbations and Markovian switching, and the upper bound of impulsive gain is evaluated. At the end of this paper, a numerical examples are included to show the effectiveness of our results.

关键词： Exponential synchronization,Complex dynamical network,Markovian switching,Impulsive perturbation

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