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IEEE International Conference on robotics and Biomimetics

作者： Jiahao Fang Xueyi Zhang Xingchao Wang Xiaoqiang Ji Ning Tan Zhenglong Sun School of Science and Engineering The Chinese University of Hong Kong Shenzhen China Shenzhen Institute of Artificial Intelligence and Robotics for Society (AIRS) Shenzhen China School of Computer Science and Engineering Sun Yat-sen University Guangzhou China State Key Laboratory of Robotics and Systems (HIT) Harbin China

ISBN: (纸本)9781665405362

Continuum robots or serpentine manipulators have dexterous bodies that fit in narrow space and have advantages over traditional robot arms. In this paper, universal joints were involved in our serpentine manipulator to reinforce its stiffness. In order to have a more compact physical body without compensating much of the dexterity, the manipulator should be under-actuated. For mechanical errors, assembly errors and deformation of components, it is not likely to design the full kinematics model. Also for cable-driven manipulator, the actuation of the driven- cables are always highly coupled. In this paper, we proposed a CNN-based control method to learn the actual kinematics of the manipulator by introducing an ideal model mapping from the cable actuation to joint space. In such manner, we can achieve self-learnt kinematics model with reduced risk of damage in cable.

关键词： Shape Conferences Biomimetics Position control Kinematics Arms Aerospace electronics

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Pulsed Microfluid Force-Based On-Chip Modular Fabrication for Liver Lobule-Like 3D Cellular Models

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Cyborg and Bionic systems 2021年第1期2021卷 222-233页

作者： J.Cui H.P.Wang Q.Shi T.Sun Science and Technology on Electronic Test and Measurement Laboratory North University of ChinaTaiyuan 030051China Intelligent Robotics Institute School of Mechatronical EngineeringBeijing Institute of TechnologyBeijing 100081China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of TechnologyBeijing 100081China Key Laboratory of Biomimetic Robots and Systems(Beijing Institute of Technology) Ministry of EducationBeijing 100081China

In vitro three-dimensional(3D)cellular models with native tissue-like architectures and functions have potential as alternatives to human tissues in regenerative medicine and drug ***,it is difficult to replicate liver constructs that mimic in vivo microenvironments using current approaches in tissue engineering because of the vessel-embedded 3D structure and complex cell distribution of the *** paper reports a pulsed microflow-based on-chip 3D assembly method to construct 3D liver lobule-like models that replicate the spatial structure and functions of the liver *** heterogeneous cell-laden assembly units with hierarchical cell distribution are fabricated through multistep photopatterning of different cell-laden *** fluid force interaction by pulsed microflow,the hierarchical assembly units are driven to a stack,layer by layer,and thus spatially assemble into 3D cellular models in the closed liquid chamber of the assembly *** 3D models with liver lobule-like hexagonal morphology and radial cell distribution allow the dynamic perfusion culture to maintain high cell viability and functional expression during long-term culture in *** results demonstrate that the fabricated 3D liver lobule-like models are promising for drug testing and the study of individual diagnoses and treatments.

关键词： culture maintain spatially

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Force Sensing Guided Artery-Vein Segmentation via Sequential Ultrasound Images

arXiv

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arXiv 2024年

作者： Geng, Yimeng Meng, Gaofeng Chen, Mingcong Cao, Guanglin Zhao, Mingyang Zhao, Jianbo Liu, Hongbin State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences Beijing China School of Artificial Intelligence University of Chinese Academy of Sciences China Centre for Artificial Intelligence and Robotics HK Institute of Science & Innovation Chinese Academy of Sciences Hong Kong City University of Hong Kong Hong Kong School of Biomedical Engineering and Imaging Sciences King’s College London London United Kingdom

Accurate identification of arteries and veins in ultrasound images is crucial for vascular examinations and interventions in robotics-assisted surgeries. However, current methods for ultrasound vessel segmentation face challenges in distinguishing between arteries and veins due to their morphological similarities. To address this challenge, this study introduces a novel force sensing guided segmentation approach to enhance artery-vein segmentation accuracy by leveraging their distinct deformability. Our proposed method utilizes force magnitude to identify key frames with the most significant vascular deformation in a sequence of ultrasound images. These key frames are then integrated with the current frame through attention mechanisms, with weights assigned in accordance with force magnitude. Our proposed force sensing guided framework can be seamlessly integrated into various segmentation networks and achieves significant performance improvements in multiple U-shaped networks such as U-Net, Swin-unet and Transunet. Furthermore, we contribute the first multimodal ultrasound artery-vein segmentation dataset, Mus-V, which encompasses both force and image data simultaneously. The dataset comprises 3114 ultrasound images of carotid and femoral vessels extracted from 105 videos, with corresponding force data recorded by the force sensor mounted on the US probe. Our code and dataset will be publicly available. © 2024, CC BY-NC-SA.

关键词： Ultrasonic imaging

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A social power game for the concatenated Friedkin-Johnsen model

A social power game for the concatenated Friedkin-Johnsen mo...

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IEEE Conference on Decision and Control

作者： Lingfei Wang Guanpu Chen Yiguang Hong Guodong Shi Claudio Altafini Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Chinese Academy of Sciences and also with the University of Chinese Academy of Sciences Beijing China JD Explore Academy Beijing China Department of Control Science and Engineering Tongji University Shanghai China Australian Center for Field Robotics School of Aerospace Mechanical and Mechatronic Engineering The University of Sydney NSW Sydney Department of Electrical Engineering Division of Automatic Control Linköping University Linköping Sweden

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

If a concatenated Friedkin-Johnsen model is used to describe the evolution of the opinions of stubborn agents in a sequence of discussion events, then the social power achieved by the agents at the end of the discussions depends from the stubbornness coefficients adopted by the agents through the sequence of events. In this paper we assume that the agents are free to choose their stubbornness profiles, and ask ourselves what strategy should an agent follow in order to maximize its social power. Formulating the problem as a strategic game, we show that choosing the highest possible values of stubbornness in the early discussions leads to the highest possible social power.

关键词： Games

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A Lightweight Flexible Semi-Cylindrical Valve for Seamless Integration in Soft Robots Based on the Giant Electrorheological Fluid

SSRN

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SSRN 2022年

作者： Huang, Tiantian Xu, Denan Zhang, Hang Bai, Ou Aravelli, Aparna Zhou, Xiaoxiao Han, Bin School of Mechanical Science and Engineering Huazhong University of Science and Technology Wuhan430070 China Human Cyber-Physical Systems Laboratory The Department of Electrical and Computer Engineering Florida International University Florida33174 United States Applied Research Center Florida International University Florida33174 United States Guangdong Intelligent Robotics Institute Dongguan523808 China

Complete compliance of soft robots is a trending research topic. One significant aspect is the control element. In the current work, a flexible electro-rheological (ER) valve development is chosen due to the advantage of its dynamic power density, convenient electronic control mode and no mechanical moving parts. These properties enable the ER valve to be miniaturized and easily integrated into a fluid-driven soft robot. However, the integration effect of the existing flexible ER valve configuration in soft robots is not ideal. In this study, a novel concentric semi-cylindrical flexible giant ER (GER) valve with a dual flowing direction is proposed for a soft robot to enable a larger deformation bending motion with multiple motion modes. The resulting valve has an overall volume of 50 mm 3 , a mass of 0.88 g, and a maximum controlling pressure of 84 kPa with a pressure change rate of 13.9, which is suitable for most soft robot applications. The pressure difference calculation method for the concentric semi-cylindrical GER valve is discussed. The effects of size, voltages, and flow rates on the valve’s static and dynamic performances, as well as the characteristics of the two pressure regulation modes, are investigated through simulations and experiments. The seamless integration and flexibility of the proposed valve are demonstrated by controlling a typical network actuator with six motion modes. Finally, a soft robot composed of two actuators is fabricated and realized the grasping of multiple everyday objects using different motion modes. © 2022, The Authors. All rights reserved.

关键词： Nanofluidics

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Trajectory Tracking of Soft Continuum Robots with Unknown Models Based on Varying Parameter Recurrent Neural Networks

Trajectory Tracking of Soft Continuum Robots with Unknown Mo...

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IEEE International Conference on systems, Man and Cybernetics

作者： Ning Tan Peng Yu Fenglei Ni Zhenglong Sun School of Computer Science and Engineering Sun Yat-sen University Guangzhou PR China State Key Laboratory of Robotics and Systems (HIT) Harbin PR China School of Science and Engineering The Chinese University of Hong Kong Shenzhen China Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen China

ISBN: (纸本)9781665442084

Bio-inspired robots, e.g., soft continuum robots, have broad application prospects due to their structural dexterity and interaction safety. But these features also bring great challenges to the precise control of soft continuum robots. In this work, we investigate how to achieve the kinematic control of soft continuum robots without knowing model parameters of the robots. To this end, a model-free scheme based on varying-parameter recurrent neural networks (VP-RNN) is proposed. The scheme involves two components, one of which solves the inverse kinematics problem based on a VP-RNN model, and the other employs another VP-RNN model to estimate the pseudo-inverse of Jacobian matrix of continuum robots. Finally, the feasibility and robustness of the proposed control strategy are validated by simulations, including comparisons with other methods and case study with jammed actuation.

关键词： Jacobian matrices Recurrent neural networks Trajectory tracking Prototypes Kinematics Interference Robustness

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Application of Iterative Learning Control in X-Y Precision Planar Motion Platform

Application of Iterative Learning Control in X-Y Precision P...

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2021 China Automation Congress, CAC 2021

作者： Yan, Hongyu Jia, Danping Zhang, Tao Zhang, Hualiang Xiong, Yingjie Lu, Xu Liu, Yang School of Artificial Intelligence Shenyang University of Technology Shenyang China School of Information Science and Engineering Shenyang University of Technology Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China School of Electrica l Engineering Dalian University of Technology Dalian China College Of Information Science and Engineering Northeastern University Shenyang China

ISBN: (纸本)9781665426473

The size of the tracking error is one of the important indicators to measure the control system of the X-Y Precision Planar Motion Platform. Iterative learning control (ILC) can obtain higher tracking accuracy through multiple iterations. However, it is found in experiments that the tracking error of the XY precision motion stage using ordinary PD-type iterative learning will eventually fluctuate in a relatively range, and some high-frequency Noise will seriously affect the stability of the system after many iterations. Aiming at the above problems, a PD-type variable gain open-closed loop ILC with a low-pass filter is proposed. This control scheme can effectively remove high-frequency noise and reduce tracking errors. Finally, a hardware-in-the-loop real-time simulator is used to conduct a comparative experiment. Through comparison with PID controller and ordinary PD-type ILC, the experimental consequence show that this arithmetic has a smaller tracking error than the other two algorithms. © 2021 IEEE

关键词： Low pass filters

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RDA: An Accelerated Collision Free Motion Planner for Autonomous Navigation in Cluttered Environments

arXiv

引用

arXiv 2022年

作者： Han, Ruihua Wang, Shuai Wang, Shuaijun Zhang, Zeqing Zhang, Qianru Eldar, Yonina C. Hao, Qi Pan, Jia The Department of Computer Science and Engineering Southern University of Science and Technology Guangdong Shenzhen China The Department of Computer Science The University of Hong Kong Hong Kong Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Shenzhen China The Department of Computer Science and Engineering Harbin Institute of Technology Guangdong Shenzhen China The Weizmann Institute of Science Rehovot Israel The Department of Computer Science and Engineering The Shenzhen Key Laboratory of Robotics and Computer Vision The Sifakis Research Institute for Trustworthy Autonomous Systems Southern University of Science and Technology Guangdong Shenzhen China

Autonomous motion planning is challenging in multi-obstacle environments due to nonconvex collision avoidance constraints. Directly applying numerical solvers to these nonconvex formulations fails to exploit the constraint structures, resulting in excessive computation time. In this paper, we present an accelerated collision-free motion planner, namely regularized dual alternating direction method of multipliers (RDADMM or RDA for short), for the model predictive control (MPC) based motion planning problem. The proposed RDA addresses nonconvex motion planning via solving a smooth biconvex reformulation via duality and allows the collision avoidance constraints to be computed in parallel for each obstacle to reduce computation time significantly. We validate the performance of the RDA planner through path-tracking experiments with car-like robots in both simulation and real-world settings. Experimental results show that the proposed method generates smooth collision-free trajectories with less computation time compared with other benchmarks and performs robustly in cluttered environments. The source code is available at https://***/hanruihua/ RDA_planner. Copyright © 2022, The Authors. All rights reserved.

关键词： Motion planning

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Simultaneously Calibration of Multi Hand-Eye Robot System Based on Graph

arXiv

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arXiv 2023年

作者： Zhou, Zishun Ma, Liping Liu, Xilong Cao, Zhiqiang Yu, Junzhi The Institute of Automation Chinese Academy of Sciences Beijing100190 China The College of Electrical Engineering and Computer Science Australian National University Canberra2601 Australia The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China The School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100049 China The State Key Laboratory for Turbulence and Complex System Department of Advanced Manufacturing and Robotics BIC-ESAT College of Engineering Peking University Beijing100871 China

Precise calibration is the basis for the vision-guided robot system to achieve high-precision operations. systems with multiple eyes (cameras) and multiple hands (robots) are particularly sensitive to calibration errors, such as micro-assembly systems. Most existing methods focus on the calibration of a single unit of the whole system, such as poses between hand and eye, or between two hands. These methods can be used to determine the relative pose between each unit, but the serialized incremental calibration strategy cannot avoid the problem of error accumulation in a large-scale system. Instead of focusing on a single unit, this paper models the multi-eye and multi-hand system calibration problem as a graph and proposes a method based on the minimum spanning tree and graph optimization. This method can automatically plan the serialized optimal calibration strategy in accordance with the system settings to get coarse calibration results initially. Then, with these initial values, the closed-loop constraints are introduced to carry out global optimization. Simulation experiments demonstrate the performance of the proposed algorithm under different noises and various hand-eye configurations. In addition, experiments on real robot systems are presented to further verify the proposed method. © 2023, CC BY-SA.

关键词： Multipurpose robots

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Myoelectric Prosthetic Hand with Adjustable Tightening Socket for Varied Residual Limb Shapes*

Myoelectric Prosthetic Hand with Adjustable Tightening Socke...

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IEEE International Conference on Cyborg and Bionic systems (CBS)

作者： Yuki Inoue Yuki Kuroda Yoshiko Yabuki Yusuke Yamanoi Xu Yong Xiaobei Jing Hiroshi Yokoi Department of Mechanical and Intelligent Engineering The University of Electro-Communications Chofu Tokyo JAPAN OMRON SINIC X Corporation Bunkyo-ku Tokyo JAPAN department of Electrical Engineering Faculty of Engineering Tokyo University of Science Katushika-ku Tokyo JAPAN CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institute of Advanced Technology (SIAT) Chinese Academy of Sciences (CAS) and the SIAT Branch Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen CHINA Department of Mechanical and Intelligent Engineering Center for Neuroscience and Biomedical Engineering The University of Electro-Communications Chofu Tokyo JAPAN Mu-BORG K.K. Chofu JAPAN

ISBN: (数字)9798350388039

ISBN: (纸本)9798350388046

The prosthetic socket serves as an interface between the body and the machine. If the socket is not well-fitted to the residual limb, pain can occur. The shape of the residual limb changes over time as surgical scars stabilize or the patient’s body weight fluctuates. A socket with a cutout on the side can be tightened from the outside to adjust its circumference and accommodate these changes. However, when the circumference of the rigid socket is adjusted to fit, soft skin can become trapped due to friction between the skin and the socket. This phenomenon causes pain due to pinching. Consequently, this mechanism cannot be used for myoelectric prosthetic hands, where direct contact between the socket and the skin is necessary. In this study, we developed a socket with a variable circumference that suppresses skin pinching. We applied it to participants with different residual limb shapes. A Box and Block Test (BBT) was performed using two types of sockets. The first used a conventional socket designed to fit their residual limb shape. The second used the proposed socket, which was designed to fit the residual limb’s shape of one out of two participants and adapted to the residual limb’s changing shape. The results of the BBT showed not much difference in the number of blocks moved between the conventional socket and the proposed socket. Therefore, the performance of the proposed socket was comparable to that of conventional sockets and could be applied to different residual limbs. In other words, the proposed socket was shown to adapt to changes in the residual limb without causing pain. Sockets with the proposed functionality could be used in a variety of bio-interfaces, allowing for flexible connections between the body and machines.

关键词： Limbs Shape Pain Sockets Human-machine systems Friction Surgery Skin Interviews Prosthetic hand

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