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22nd IEEE International Conference on E-Health Networking, Application and Services, HEALTHCOM 2020

作者： Liu, Youfu Chen, Chunjie Lu, Jun Liu, Yida Zhang, Yu Wang, Zhuo College of Mechanical and Electrical Engineering Shaanxi University of Science and Technology Shenzhen China ShenZhen College of Advanced Technology University of Chinese Academy of Sciences Shenzhen China Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen China CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced Technology Shenzhen China Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen China

ISBN: (纸本)9781728162676

In the past two decades, with growing focus of lower limb exoskeleton, large variety of rigid exoskeletons were designed for medical rehabilitation and the other purposes. Compared with the rigid exoskeletons, which added extra inertial to low limb and restricted wearers' movement, the soft wearable lower extremity exoskeleton minimized the impact of these factors on the human body locomotion. In this paper, a novel design of exosuit that provided assistive force for both hip extension and flexion through the variation in hip joint dynamics during strides was proposed. Based on the change of hip moment, an assistance strategy and assistance force curve were came up with. PD type iterative learning control (ILC) method was introduced to reduce the error caused by wearing position and biological characteristics to improve assistance performance. To evaluate assistance performance, the metabolic cost of four subjects wearing exosuit and walking on treadmill at 5km/h in the situations of that without assistance, assisting both hip extension and hip flexion, and assisting hip extension respectively was measured. Compared with assisting hip extension only and wearing exosuit with no assistance, results indicated that the decrease in average net metabolic cost of assisting both hip extension and flexion was 0.445W/kg and 1.027W/kg respectively, corresponding to the average net metabolic cost rate decrease was 7.45% and 15.67%. © 2021 IEEE.

关键词： Exoskeleton (robotics)

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Observability Analysis of Graph SLAM-Based Joint Calibration of Multiple Microphone Arrays and Sound Source Localization

arXiv

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arXiv 2022年

作者： He, Yuanzheng Wang, Jiang Su, Daobilige Nakadai, Kazuhiro Wu, Junfeng Huang, Shoudong Li, Youfu Kong, He Shenzhen518055 China The Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities SUSTech Shenzhen518055 China College of Engineering China Agricultural University Beijing China The Department of Systems and Control Engineering Tokyo Institute of Technology Tokyo Japan The School of Data Science The Chinese University of Hong Kong Shenzhen Shenzhen China The Robotics Institute University of Technology Sydney Sydney Australia The Department of Mechanical Engineering City University of Hong Kong Hong Kong

Multiple microphone arrays have many applications in robot audition, including sound source localization, audio scene perception and analysis, etc. However, accurate calibration of multiple microphone arrays remains a challenge because there are many unknown parameters to be identified, including the Euler angles, geometry, asynchronous factors between the microphone arrays. This paper is concerned with joint calibration of multiple microphone arrays and sound source localization using graph simultaneous localization and mapping (SLAM). By using a Fisher information matrix (FIM) approach, we focus on the observability analysis of the graph SLAM framework for the above-mentioned calibration problem. We thoroughly investigate the identifiability of the unknown parameters, including the Euler angles, geometry, asynchronous effects between the microphone arrays, and the sound source locations. We establish necessary/sufficient conditions under which the FIM and the Jacobian matrix have full column rank, which implies the identifiability of the unknown parameters. These conditions are closely related to the variation in the motion of the sound source and the configuration of microphone arrays, and have intuitive and physical interpretations. We also discover several scenarios where the unknown parameters are not uniquely identifiable. All theoretical findings are demonstrated using simulation data. © 2022, CC BY.

关键词： Microphone array

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Application of Complementary Sliding Mode Control with State Observer in Servo System of Voice Coil Motor

Application of Complementary Sliding Mode Control with State...

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第34届中国控制与决策会议

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

ISBN: (纸本)9781665478977

Due to the vulnerability of the voice coil motor(VCM) servo system to uncertain elements such as external disturbance,nonlinear friction,and inherent end impact,a dynamic model of the linear servo motor motion system with uncertainty is *** complementary sliding mode variable structure controller(CSMC) is built on the basis of the standard sliding mode control by merging the generalized sliding mode surface with the complimentary sliding mode *** study demonstrates that this controller can ensure the system's tracking error converges,suppresses uncertain factors,increases the system's transient reaction speed,and successfully reduces tracking ***,the saturation function is chosen as the switching function,which mitigates the sliding mode control chattering *** total interference is defined as the unmeasured and unknown interference in the mathematical model of the *** system's position and total disturbance are estimated using the nonlinear extended state observer(ESO).The estimated total disturbance is then feed-forward corrected to the control *** a result,a nonlinear extended state observer-based closed-loop complementary sliding mode position control technique is ***,the system experiment demonstrates the effectiveness and feasibility of the suggested control *** complimentary sliding mode control system with state observer offers a high degree of tracking accuracy and robustness,which considerably minimizes the system's tracking error.

关键词： Voice coil motor Complementary sliding mode control Extended state observer Servo system

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Position Sensorless Control of Permanent Magnet Synchronous Motor Based on Adaptive Sliding Mode Observer

Position Sensorless Control of Permanent Magnet Synchronous ...

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2021 China Automation Congress, CAC 2021

作者： Zhang, Tao Xiong, Yingjie Wang, Bolun Yan, Hongyu Chen, Xiyou School of Electrical Engineering Dalian University of Technology Dalian China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China College Of Information Science and Engineering Northeastern University Shenyang China School of Artificial Intelligence Shenyang University of Technology Shenyang China

ISBN: (纸本)9781665426473

Permanent magnet synchronous motors(PMSM) are popular in AC motor applications due to their small size, high efficiency. They have appeared widely in various areas of life. Due to the high-frequency chattering problem caused by sliding mode observer sensorless control of PMSM, an SMO with piecewise control function is designed in this *** the same time, based on the back EMF output of the SMO, the gain of the SMO is adapted to reduce the system bucket vibration problem caused by the conventional SMO. Finally, a simulation experiment was carried out in MATLAB/SIMULINK and compared with the conventional SMO. The results show that the improved SMO has achieved a better control effect. © 2021 IEEE

关键词： Sensorless control

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Optimization of input shaping parameters based on genetic algorithm 4

Optimization of input shaping parameters based on genetic al...

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4th International Symposium on Power Electronics and Control engineering, ISPECE 2021

作者： Lu, Xu Jia, Danping Zhang, Hualiang Zhao, Bingjie Zhang, Tao Liu, Yang Yan, Hongyu 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

ISBN: (数字)9781510650374

ISBN: (纸本)9781510650367

In view of the position control vibration problem of permanent magnet synchronous motor, the control model of permanent magnet synchronous motor is simulated by using Simulink software. At the same time, according to the structure of the system model, an input shaper is added to the input end of the system to suppress the vibration of the system. However, the input parameters of the shaper are highly dependent on the parameters of the system model, so it is usually necessary to accurately identify the system model. However, the identification of permanent magnet synchronous motor is often not accurate enough, which makes it difficult to determine the input parameters of the shaper. Aiming at the problem that the input shaper is too dependent on the system, a method of input shaper parameter optimization based on genetic algorithm is designed and verified by experiments. The results show that the parameters of the input shaper with better effect can be selected by genetic optimization, and the dependence of the input shaper on the system model is reduced. © COPYRIGHT SPIE. Downloading of the abstract is permitted for personal use only.

关键词： Computer control systems

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Compressive and energy absorption properties of titanium hybrid lattice structures for bioimplant applications fabricated via LPBF

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Materials and Design 2025年 254卷

作者： Karmiris-Obratański, Panagiotis Georgakopoulos-Soares, Ilias Cichocki, Kamil Lisiecka-Graca, Paulina Papazoglou, Emmanouil L. Advanced Manufacturing Laboratory Department of Manufacturing Systems Faculty of Mechanical Engineering and Robotics AGH University of Krakow Krakow Poland School of Chemical Engineering Department of Materials Science and Engineering National Technical University of Athens Heroon Polytechniou 9 Athens15780 Greece Institute for Personalized Medicine Department of Biochemistry and Molecular Biology The Pennsylvania State University College of Medicine HersheyPA United States Faculty of Metals Engineering and Computer Science AGH University of Krakow Adama Mickiewicza Ave. 30 Kraków30-059 Poland School of Mechanical Engineering Section of Manufacturing Technology National Technical University of Athens Heroon Polytechniou 9 Athens15780 Greece

The compressive properties of lattice structures are strongly influenced by lattice design, density, material, and manufacturing method. Recent advancements in manufacturing, particularly Additive Manufacturing, have enabled the fabrication of complex lattice structures from advanced materials. Building on this progress, the present study investigates the compressive properties and energy absorption capabilities of four distinct lattice structures at three relative densities (20 %, 30 %, and 40 %), specifically tailored for implant applications. The lattices, fabricated from Ti6Al4V ELI alloy using the Laser Powder Bed Fusion (LPBF) method, include a hybrid Fluorite-BCC lattice, a SplitP TPMS skeletal lattice, a stochastic Voronoi lattice, and a hybrid Voronoi-TPMS Gyroid lattice. Compressive properties, including the Elastic Modulus of Compression (EMC), Compressive Yield Strength, and Ultimate Compressive Strength, were systematically analyzed alongside energy absorption capabilities. The Gibson-Ashby model was employed to quantify the relationship between compressive properties and relative density. Additionally, Digital Image Correlation and high-resolution imaging during compression tests provided detailed insights into deformation mechanisms and collapse behavior. The findings offer valuable insights into the compressive performance of these novel hybrid lattices, highlighting their potential applicability in bioimplant applications, with the Fluorite-BCC lattice exhibits the highest EMC and the Fluorite-BCC and SplitP lattices exhibit higher energy absorption capabilities. © 2025 The Author(s)

关键词： Machinability

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Fundus-Image-Based Retinal Vascular Analysis in Myopic Eyes 42

Fundus-Image-Based Retinal Vascular Analysis in Myopic Eyes

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42nd Chinese Control Conference, CCC 2023

作者： Shen, Jichen Zou, Haohan Wang, Yan Liu, Jinchao Yu, Ningbo College of Artificial Intelligence Nankai University Tianjin300350 China Clinical College of Ophthalmology Tianjin Medical University Tianjin300070 China Tianjin Key Lab of Ophthalmology and Visual Science Tianjin Eye Institute Tianjin Eye Hospital Nankai University Affiliated Eye Hospital Tianjin300020 China Nankai University Eye Institute Nankai University Tianjin300350 China Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin300350 China Engineering Research Center of Trusted Behavior Intelligence Ministry of Education Nankai University Tianjin300350 China Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University Shenzhen518083 China

ISBN: (纸本)9789887581543

Myopia is prevalent worldwide and it is of great significance to prevent, control and intervene myopia in an early stage. The etiopathogenesis of myopia remains unclear and needs further research. Fundus photographs can show biomarkers and lesions of the retina in a non-invasive way directly. To discover some potential changes in myopic eyes, we extracted the retinal vascular features from vessel segmented results, and calculated the Spearman correlation coefficients between the retinal vascular features and the spherical refractive errors. The Kruskal-Wallis test was applied to explore the difference exists in the characteristics of retinal vessels among the mild, moderate and high myopia groups. The statistical analysis results indicated that the higher the degrees of myopia, the smaller the retinal vessels. This study found vascular changes in myopic eyes through fundus images, which could help to explain the mechanism of myopia and the damage caused by myopia. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Ophthalmology

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Research on the method of path planning for slag-removing on the surface of zinc pot

Research on the method of path planning for slag-removing on...

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第33届中国控制与决策会议

作者： Kebo LI Ling XIONG Zhenzhou ZHANG Gang CHEN Engineering Research Center for Metallurgical Automation and Measurement Technology of Ministry of Education Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology Key Laboratory of Metallurgical Equipment and Control Technology Wuhan University of Science and Technology

During the production process of cold-rolled hot-dip galvanizing,the slag on the surface of the zinc pot will affect the quality of the *** zinc slag is mostly collected manually or by robots at *** effect of manual salvage is unstable and the operation is *** robot cannot identify the location of the zinc slag and can only salvage it according to a fixed rule,resulting in low *** response to the above problems,a zinc pot slag path planning method based on the greedy algorithm is proposed in this *** zinc pot area is divided,the image processing method is used to identify and locate the zinc slag to be *** the priority of the zinc pot,the obstacle avoidance problem and the restriction of the weight limit of the slag-removing tool are proposed in combination with the process *** three salvage strategies based on the greedy algorithm,the shortest distance,the maximum weight,and the minimum weight are proposed *** results show that the greedy algorithm strategy based on the shortest distance performs best,consumes the least energy,and the algorithm runs for a shorter *** can significantly improve the efficiency of zinc pot slag removal,realize intelligent control of slag removal technology,and can be applied to the actual production of zinc pot slag removal.

关键词： Slag from zinc pot Intelligent control Greedy algorithm Path planning Shortest distance strategy

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Learning to see VOCs with Liquid Crystal Droplets

Learning to see VOCs with Liquid Crystal Droplets

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ISOCS/IEEE International Symposium on Olfaction and Electronic Nose (ISOEN)

作者： Susana I. C. J. Palma José Frazã o Rita Alves Henrique M. A. Costa Clá udia Alves Hugo Gamboa Margarida Silveira Ana C. A. Roque Associate Laboratory i4HB Institute for Health and Bioeconomy UCIBIO - Applied Molecular Biosciences Unit LIBPhys - Laboratory for Instrumentation Biomedical Engineering and Radiation Physics NOVA School of Science and Technology NOVA University of Lisboa Caparica Portugal Institute for Systems and Robotics (ISR) Instituto Superior T&#x00E9 cnico (IST) University of Lisbon Lisbon Portugal

In hybrid gels with immobilized liquid crystal (LC) droplets, fast and unique optical texture variations are generated when distinct volatile organic compounds (VOCs) interact with the LC and disturb its molecular order. The optical texture variations can be observed under a polarized optical microscope or transduced into a signal representing the variations of light transmitted through the LC. We show how hybrid gels can accurately identify 11 distinct VOCs by using deep learning to analyze optical texture variations of individual droplets (0.93 average F1-score) and by using machine learning to analyze 1D optical signals from multiple droplets in hybrid gels (0.88 average F1-score).

关键词： Support vector machines Deep learning Volatile organic compounds Optical polarization Optical microscopy Stacking Production

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Gesture Recognition Based on Attention and Dilated Causal Convolution

Gesture Recognition Based on Attention and Dilated Causal Co...

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2022 IEEE International Conference on Real-Time Computing and robotics, RCAR 2022

作者： Zhou, Xin Liu, Jiaqing Huai, Yaping Ye, Jiancong Wang, Can Wu, Xinyu Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced Technology China Department of Rehabilitation Medicine Shenzhen Longhua District Central Hospital Shenzhen518000 China University of Science and Technology of China China University of Chinese Academy of Sciences China South China University of Technology China Department of Mechanical and Automation Engineering Chinese University of Hong Kong Hong Kong

ISBN: (数字)9781665469838

ISBN: (纸本)9781665469838

In recent years, based on surface electromyography (sEMG), great progress has been made in gesture recognition tasks, which is significant to the study of computer interaction and prosthesis control. Prior to this, many researches have focused on feature selection and time series modeling of data. However, it is difficult and complicated to manually perform feature extraction and feature selection on data. Besides, most of the time series modeling is based on recurrent neural networks with memory cell, that is, Long Short-term Memory (LSTM). Even though LSTM has memory gate, but cannot completely records historical information. In this paper, to address the above problems, we propose a Temporal Convolutional Network based on Attention mechanism (ATCN), in which Attention is used to characterize temporal features, and dilated causal convolution to capture more historical information. ATCN achieves 95.26% accuracy with this method on the public dataset NinaPro DB2, which exceeds the state-of-the-art accuracy of 5%. The experiments show that this approach is feasible and effective for gesture recognition tasks. Our contributions are as follows: Firstly, Attention mechanism is introduced into the field of prosthetic control. Then, ATCN is proposed for gesture recognition. Finally, ATCN achieves better results than LSTM on multiple public datasets. © 2022 IEEE.

关键词： Long short-term memory

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