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arXiv 2023年

作者： Ma, Teng Yin, Shucong Hou, Zhimin Wang, Yuxuan Huang, Binxin Yu, Haoyong Fu, Chenglong Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Guangdong Provincial Key Laboratory of Human Augmentation and Rehabilitation Robotics in Universities Department of Mechanical and Energy Engineering Southern University of Science and Technology Shenzhen518055 China Department of Biomedical Engineering National University of Singapore Singapore119077 Singapore

Impedance-based control represents a prevalent strategy in the powered transfemoral prostheses because of its ability to reproduce natural walking. However, most existing studies have developed impedance-based prosthesis controllers for specific tasks, while creating a task-adaptive controller for variable-task walking continues to be a significant challenge. This article proposes a task-adaptive quasi-stiffness control framework for powered prostheses that generalizes across various walking tasks, including the torque-angle relationship reconstruction part and the quasi-stiffness controller design part. A Gaussian Process Regression (GPR) model is introduced to predict the target features of the human joint’s angle and torque in a new task. Subsequently, a Kernelized Movement Primitives (KMP) is employed to reconstruct the torque-angle relationship of the new task from multiple human reference trajectories and estimated target features. Based on the torque-angle relationship of the new task, a quasi-stiffness control approach is designed for a powered prosthesis. Finally, the proposed framework is validated through practical examples, including varying speeds and inclines walking tasks. Notably, the proposed framework not only aligns with but frequently surpasses the performance of a benchmark finite state machine impedance controller (FSMIC) without necessitating manual impedance tuning and has the potential to expand to variable walking tasks in daily life for the transfemoral amputees. © 2023, CC BY.

关键词： Adaptive control systems

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Dynamic Blockchain-Empowered Trustworthy End-Edge Collaborative Computing via Rotating Multi-Agent DRL

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IEEE Transactions on Wireless Communications 2025年

作者： Xu, Chi Zhang, Peifeng Yu, Haibin Li, Yonghui Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang Institute of Automation Shenyang China Chinese Academy of Sciences Key Laboratory of Networked Control Systems Shenyang China University of Chinese Academy of Sciences Beijing China University of Sydney School of Electrical and Information Engineering Sydney Australia

Blockchain-empowered end-edge collaborative computing is a promising technology for enhancing the timeliness and trustworthiness of Industrial Internet of Things (IIoT). However, integrating task offloading with blockchain consensus inevitably escalates resource consumption across communication, computation, and energy domains. Thus, the joint optimization of task offloading, resource allocation and blockchain consensus is very important for IIoT. This paper studies a general end-edge collaborative computing scenario with multiple end devices and multiple edge servers. We first propose a novel dynamic blockchain (DBC) scheme by developing a dynamic leader election mechanism and designing a dynamic consensus waiting time window. Then, by fully considering the constraints of multi-task size and deadline, communication bandwidth, computing frequency, battery capacity, Byzantine fault tolerant and trustworthiness, we formulate the trustworthy processing efficiency (TPE) maximization problem with respect to end-edge task division, communication and computation resource allocation, leader election and consensus waiting window. To address this problem, we transform it into a Markov decision process and design a compound reward by fully considering the penalty for computing timeout and consensus failure. After that, we propose a rotating multi-agent deep reinforcement learning (R-MADRL) algorithm tailored to the proposed DBC scheme, where an entropy-based dual-critic DRL algorithm is proposed for rotating multi-agent training and decentralized execution. Extensive experiments validate the effectiveness and superiority of the proposed DBC with R-MADRL, where three benchmark DRL algorithms and three blockchain consensus schemes are compared. The results demonstrate that R-MADRL achieves stable convergence with more than 60.32% TPE reward than other algorithms while the task timeout ratio of DBC is reduced by more than 66.49% compared with other schemes. © 2025 Institute of El

关键词： Markov processes

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Quantification of Shoulder Joint Impedance During Dynamic Motion: A Pilot Study Using a Parallel-Actuated Shoulder Exoskeleton Robot

Quantification of Shoulder Joint Impedance During Dynamic Mo...

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International Conference on Ubiquitous Robots (UR)

作者： Seunghoon Hwang Edward Chan Hyunglae Lee Neuromuscular Control and Human Robotics Laboratory School of Matter Transport and Energy Arizona State University Tempe AZ School of Biological and Health Systems Engineering Arizona State University Tempe AZ

ISBN: (数字)9798350361070

ISBN: (纸本)9798350361087

Previous studies characterizing shoulder joint impedance were either strictly limited to 2D planar motion or static postures in 3D space. It is still not clear how shoulder joint impedance is regulated during dynamic motion in 3D space. To address this knowledge gap, this study presents our initial efforts to quantify shoulder joint impedance during dynamic shoulder motion using a parallel-actuated shoulder exoskeleton robot. The robot's 4-bar spherical parallel manipulation mechanism, characterized by low inertia, allows for transparent and natural arm motion in 3D space and applies rapid perturbations to the upper arm during dynamic shoulder motion. Two unimpaired individuals participated in an experiment involving repeated shoulder flexion and extension motions at a fixed horizontal shoulder extension angle of 45°. Shoulder impedance was quantified by estimating the relation-ship between the kinematics of input position perturbations, which were applied in the orthogonal direction of the arm motion, and the output torque responses resulting from these perturbations. This relationship was approximated by a second-order model consisting of inertia, damping, and stiffness. Both subjects showed high reliability in impedance quantification during shoulder flexion and extension movements, evidenced by a high percentage Variance Accounted For that exceeds 96%. The experimental results showed the following notable trends. First, the contribution of stiffness to the shoulder torque was greater than that of the other two impedance parameters. Next, damping was larger during shoulder extension (downward motion) as opposed to flexion (upward motion). Lastly, inertia remained relatively constant regardless of shoulder motions. This pilot study validated the reliability of the presented robotic approach, paving the way for future shoulder impedance studies involving various dynamic motions in 3D space.

关键词： Damping Three-dimensional displays Torque Perturbation methods Dynamics Exoskeletons Shoulder

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Current Trends in Deep Learning Techniques for Alzheimer's Disease Diagnosis Using Medical Images: A Systematic Literature Review

SSRN

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SSRN 2024年

作者： Wong, Pui Ching Abdullah, Shahrum Shah Razak, Mohd Ibrahim Bin Shapiai Abd Shapiai Biologically Inspired System and Technology Laboratory Department of Electronic Systems Engineering Malaysia-Japan International Institute of Technology Universiti Teknologi Malaysia Kuala Lumpur Malaysia Centre for Artificial Intelligence and Robotics Laboratory Department of Electronic Systems Engineering Malaysia-Japan International Institute of Technology Universiti Teknologi Malaysia Kuala Lumpur Malaysia

Early diagnosis of Alzheimer’s Disease (AD), a severe brain-related disorder where patients experience progressive memory loss and other cognitive abilities that affect their quality of life, is of utmost importance to reduce its deterioration. However, current medical imaging results are analysed through manual visualisation and traditional Machine Learning (ML) methods, which are time-consuming, highly prone to human errors, and less accurate. Due to these limitations, Deep Learning (DL) approaches have steadily gained attention over their tremendous potential ability to handle large medical imaging datasets and provide clinical decisions to support AD diagnosis. Therefore, this paper presents a Systematic Literature Review (SLR) on the current research trend in AD diagnosis using medical images focusing on DL techniques while identifying potential issues and knowledge gaps in the current literature. Accordingly, 110 articles from Scopus and Web of Science databases were selected from the screening and assessment process, which followed the Preferred Reporting Items for Systematic Review and Meta-analysis (PRISMA) framework. Based on the SLR analysis, the types of neuroimaging modalities used to assist AD diagnosis were first discussed, followed by a thorough evaluation of the commonly used databases for AD diagnosis. Lastly, the existing diagnosis techniques frequently used in the literature for AD diagnosis were reviewed. Overall, this paper provides valuable insights to supplement the lack of a comprehensive review of the application of medical images and DL for AD diagnosis and serves as a reference for new researchers in this field. © 2024, The Authors. All rights reserved.

关键词： Neuroimaging

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Spiking neural networks: Towards bio-inspired multimodal perception in robotics

arXiv

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arXiv 2024年

作者： Oikonomou, Katerina Maria Balaska, Vasiliki Tsintotas, Konstantinos A. Mavridis, Christos N. Kansizoglou, Ioannis Gasteratos, Antonios The Department of Production and Management Engineering Laboratory of Robotics and Automation Democritus University of Thrace Xanthi Greece The Department of Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden

Spiking neural networks (SNNs) have captured apparent interest over the recent years, stemming from neuroscience and reaching the field of artificial intelligence. However, due to their nature SNNs remain far behind in achieving the exceptional performance of deep neural networks (DNNs). As a result, many scholars are exploring ways to enhance SNNs by using learning techniques from DNNs. While this approach has been proven to achieve considerable improvements in SNN performance, we propose another perspective: enhancing the biological plausibility of the models to leverage the advantages of SNNs fully. Our approach aims to propose a brain-like combination of audio-visual signal processing for recognition tasks, intended to succeed in more bio-plausible human-robot interaction applications. © 2024, CC BY-NC-SA.

关键词： Adversarial machine learning

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Modeling and Experimental Characterization of Propeller-driven Capsule Endoscope Robot for Gastrointestinal Minimally Invasive Diagnosis

Modeling and Experimental Characterization of Propeller-driv...

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IEEE International Conference on Cyborg and Bionic systems (CBS)

作者： Weihao Wang Yi Zhang Chengzhi Hu Department of Mechanical and Energy Engineering Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Southern University of Science and Technology Shenzhen China Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen China

Wireless capsule endoscopy robots are miniaturized robots that integrate camera, wireless communication, microcontroller, power supply, and other modules. In this paper, we study the modeling and experimental characterization of a propeller-driven capsule endoscopy robot (PCER). The profile of the propeller is challenging to design without detailed drawings because of the complex curved surfaces. The propeller design is achieved in the MIT open-source project OpenProp. The modeling of the propeller and the PCER shell are completed. We used the FLUENT fluid simulation toolkit to evaluate the hydrodynamic performance of the propeller and PCER shell. The thrust generated by the propeller is measured by experiment, and the resistance of PCER shell is measured by experiment following the fluid similarity law. The error between the simulation and the experiment results is within the allowable range, which proves that the hydrodynamic performance parameters of the micro-propeller and the PCER shell calculated by the simulation are reliable, and it provides a new method for the design and optimization of the PCER.

关键词： Wireless communication Solid modeling Fluids Spirals Propellers Endoscopes Propulsion

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EFFECTS OF VISUAL DISPLAY MODALITY ON SIMULATED ON- ORBIT INSPECTION PERFORMANCE: INITIAL RESULTS FROM HUMAN EXPLORATION RESEARCH ANALOG CAMPAIGN 6 66th

EFFECTS OF VISUAL DISPLAY MODALITY ON SIMULATED ON- ORBIT IN...

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66th International Annual Meeting of the Human Factors and Ergonomics Society, HFES 2022

作者： Liu, Andrew M. Weiss, Hannah Stirling, Leia Human Systems Laboratory Massachusetts Institute of Technology CambridgeMA United States Industrial and Operations Engineering University of Michigan Ann ArborMI United States Robotics Institute University of Michigan Ann ArborMI United States

To reduce risk in future human spaceflights, free-flying teleoperated inspector robots could be a viable alternative to extravehicular activity inspection operations. Teleoperation depends on accurate operator situation awareness;consequently, a key to successful operations is providing appropriate feedback through an intuitive interface. During each week of a 45-day mission in NASA Human Exploration Research Analog Campaign 6, four crew members perform two simulated telerobotic inspection tasks (Synchronous Inspection task, Asynchronous Inspection task) while using three distinct visual displays (2D, 3D, AR). Preliminary results from Campaign 6 Mission 1 suggest that task performance and efficiency generally improved with each repetition of the task. Performance with the AR display did not show a performance benefit compared to using the 2D or 3D displays. These results are also in general agreement with a prior laboratory study using the same experiment protocol. © 2022 by Human Factors and Ergonomics Society. All rights reserved.

关键词： NASA

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Validation of two-wire power line UAV localization based on the magnetic field strength

Validation of two-wire power line UAV localization based on ...

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International Conference on Unmanned Aircraft systems (ICUAS)

作者： Goran Vasiljević Dean Martinović Matko Batoš Stjepan Bogdan Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems University of Zagreb Zagreb Croatia

ISBN: (数字)9781665405935

ISBN: (纸本)9781665405942

In this paper we extend our previous work on UAV localization based on the magnetic field strength. The method is based on a magnetic flux density distribution in vicinity of two very long, thin and parallel transmission lines. An UAV is equipped with 4 magnetometers, positioned so that obtained measurements give unique solution to an optimization problem used to find relative position and orientation of the UAV with respect to conductors. Several sets of experiments, undertaken on a laboratory setup, confirmed validity of the method for both solutions - analytical and numerical optimization. Obtained results, compared with high precision motion capture system, are within range of standard RTK positioning.

关键词： Location awareness Magnetic field measurement Power measurement Magnetometers Current measurement Wires Transmission line measurements

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Movement of bipedal robot based on Whole Body Control

Movement of bipedal robot based on Whole Body Control

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IEEE International Conference on Cyborg and Bionic systems (CBS)

作者： Zhen Wang Yuhan Chen Yan Bai Chengzhi Hu Wende Ke Department of Mechanical and Energy Engineering Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Southern University of Science and Technology Shenzhen China Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen China

In order to make biped robot act more precisely and complicated, the method of linear quadratic regulator tracking center of mass of robot and the whole biped robot modeling process based on Whole Body Control algorithm are analyzed. Through the floating base dynamics function, friction cone model and QP formulation, the Roban robot squat is completed based on the drake simulation platform. It is proved that the control method is also effective on Roban robot.

关键词： Vibrations Torque Regulators Tracking Heuristic algorithms Process control Organ transplantation

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Development of a Compact Autonomous Propeller-driven Capsule Robot for Noninvasive Gastric Endoscopic Examination

Development of a Compact Autonomous Propeller-driven Capsule...

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IEEE International Conference on Cyborg and Bionic systems (CBS)

作者： Yi Zhang Zongze Li Wende Ke Chengzhi Hu Department of Mechanical and Energy Engineering Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Southern University of Science and Technology Shenzhen China Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen China

Wireless capsule endoscope ro!bot is painless, safe, and efficient throughout the inspection procedure, which offers a promising prospect in the early diagnosis of digestive tract diseases. In this article, we propose a compact design of capsule endoscope robot actuated by micro propellers for noninvasive gastric endoscopic examination. First, the shell structure, electronic components, and internal circuit board system of propeller-driven capsule endoscope robot (PCER) are designed to improve the mobility in liquid environment. The PCER is integrated with wireless communication module, microcontroller, camera module, motor driver chips, and battery. Then the undesired interference of four coreless motors with the embedded magnetic sensor in the PCER is avoided. The attitude calculation of the PCER is achieved by using the Kalman filtering algorithm based on inertial measurement unit and three-axis magnetic sensor. The PCER is controlled via the XBOX joystick, and the real-time attitude information can be obtained and displayed to ease the operation. The experimental results demonstrate the reliability and superior performance of the system. The PCER can perform the calculation of its own attitude, fixed-point rotation, upward spiral motion, and horizontal circular movement. The PCER reduces the dependence on external manipulation equipment and makes the application of capsule robot more convenient and adequate for different types of diagnoses and treatments in the stomach.

关键词： Wireless communication Spirals Endoscopes Propellers Magnetic sensors Magnetic cores Magnetic liquids

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