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A sEMG-based Muscle-Compensation-Error Elimination Module for the Home-Based Bilateral Rehabilitation system

IEEE Robotics and Automation Letters 2025年第7期10卷 6696-6703页

作者： Wang, Hanze Guo, Shuxiang Li, He Ding, Mingchao Southern University of Science and Technology Department of Electronic and Electrical Engineering Guangdong Shenzhen518055 China Beijing Institute of Technology Aerospace Center Hospital School of Life Science The Key Laboratory of Convergence Medical Engineering System and Healthcare Technology Ministry of Industry and Information Technology Beijing100081 China Beijing Institute of Technology Department of Peripheral Vascular Intervention Aerospace Center Hospital School of Life Science Beijing100081 China

Home-based bilateral training using exoskeletons is considered an effective rehabilitation method to restore the normal motion function of stroke patients' limbs. However, due to the imbalance of limb muscle strength, muscle compensation of the functional upper limb will cause surface electromyography (sEMG) signal fluctuations. The signal fluctuations will lead to prediction errors, thereby affecting the effect of bilateral rehabilitation. To eliminate the prediction error caused by muscle compensation, a novel rehabilitation module for a home-based bilateral rehabilitation robotic system is proposed in this letter. This sEMG-driven rehabilitation module, which incorporates the channel splitting and transferable frequency domain, first identifies the type of muscle compensation mixed in continuous movement and then eliminates the error caused by muscle compensation. Online experiments were conducted to evaluate the system in tracking accuracy and muscle-compensation-error elimination, which showed the proposed rehabilitation system with rehabilitation module achieved fast adaption to the patient's compensatory movement as well as improving the effect of robot-assisted bilateral training. © 2025 IEEE.

关键词： Human rehabilitation equipment

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Tsinghua science and technology 2024年第4期29卷 971-984页

作者： Yuze Peng Shengjun Xu Qingkun Chen Wenjin Huang Yihua Huang School of Electronics and Information Technology Sun Yat-sen UniversityGuangzhou 510006China Guangdong Provincial Key Laboratory of Optoelectronic Information Processing Chips and Systems Sun Yat-sen UniversityGuangzhou 510006Chinaand Southern Marine Science and Engineering Guangdong LaboratoryZhuhai 519080China

Popularity plays a significant role in the recommendation system. Traditional popularity is only defined as a static ratio or metric (e.g., a ratio of users who have rated the item and the box office of a movie) regardless of the previous trends of this ratio or metric and the attribute diversity of items. To solve this problem and reach accurate popularity, we creatively propose to extract the popularity of an item according to the Proportional Integral Differential (PID) idea. Specifically, Integral (I) integrates a physical quantity over a time window, which agrees with the fact that determining the attributes of items also requires a long-term observation. The Differential (D) emphasizes an incremental change of a physical quantity over time, which coincidentally caters to a trend. Moreover, in the Session-Based Recommendation (SBR) community, many methods extract session interests without considering the impact of popularity on interest, leading to suboptimal recommendation results. To further improve recommendation performance, we propose a novel strategy that leverages popularity to enhance the session interest (popularity-aware interest). The proposed popularity by PID is further used to construct the popularity-aware interest, which consistently improves the recommendation performance of the main models in the SBR community. For STAMP, SRGNN, GCSAN, and TAGNN, on Yoochoose1/64, the metric P@20 is relatively improved by 0.93%, 1.84%, 2.02%, and 2.53%, respectively, and MRR@20 is relatively improved by 3.74%, 1.23%, 2.72%, and 3.48%, respectively. On Movieslen-1m, the relative improvements of P@20 are 7.41%, 15.52%, 8.20%, and 20.12%, respectively, and that of MRR@20 are 2.34%, 12.41%, 20.34%, and 19.21%, respectively.

关键词： popularity Proportional Integral Differential(PID) algorithm session-based recommendation user’s interests

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Outage Behaviors of Active Intelligent Reflecting Surface Enabled NOMA Communications

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Computer Modeling in engineering & sciences 2023年第10期137卷 789-812页

作者： Zhiping Lu Xinwei Yue Shuo Chen Weiguo Ma School of Information and Communication Engineering Beijing University of Posts and TelecommunicationsState Key Laboratory of Wireless Mobile CommunicationsChina Academy of Telecommunications Technology(CATT)BeijingChina School of Information and Communication Engineering Beijing Information Science and Technology UniversityBeijing100101China

Active intelligent reflecting surface(IRS)is a novel and promising technology that is able to overcome the multiplicative fading introduced by passive *** this paper,we consider the application of active IRS to nonorthogonalmultiple access(NOMA)networks,where the incident signals are amplified actively through integrating amplifier to reflecting *** specifically,the performance of active/passive IRS-NOMA networks is investigated over large and small-scale fading *** to characterize the performance of active IRSNOMA networks,the exact and asymptotic expressions of outage probability for a couple of users,i.e.,near-end user n and far-end user m are derived by exploiting a 1-bit coding *** on approximated analyses,the diversity orders of user n and user m are obtained for active *** addition,the system throughput of active IRS-NOMA is discussed in the delay-sensitive *** simulation results are carried out to verify that:i)The outage behaviors of active IRS-NOMAnetworks are superior to that of passive IRS-NOMAnetworks;ii)As the reflection amplitude factors increase,the active IRS-NOMAnetworks are capable of furnishing the enhanced outage performance;and iii)The active IRS-NOMA has a larger system throughput than passive IRS-NOMA and conventional communications.

关键词： Active intelligent reflecting surface amplification noise non-orthogonal multiple access outage probability

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Image Reconstruction on Electromagnetic Simulation by Using a Recurrent Neural Network 16

Image Reconstruction on Electromagnetic Simulation by Using ...

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16th Pacific Rim Conference on Lasers and Electro-Optics, CLEO-PR 2024

作者： Fukuda, Hiroshi Chitose Institute of Science and Technology Department of Information System Engineering 758-65 Bibi Hokkaido Chitose Japan

This study demonstrates that images can be inferred using a recurrent neural network trained on a large number of electromagnetic field images as time-series data and that the simulation results can be repeatedly and ... 详细信息

ISBN: (纸本)9798350372076

关键词： Digital elevation model

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Position Measurement Based Slave Torque Feedback Control for Teleoperation systems With Time-Varying Communication Delays

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IEEE/CAA Journal of Automatica Sinica 2023年第2期10卷 388-402页

作者： Xian Yang Jing Yan Changchun Hua Xinping Guan the Institute of Information Science and Engineering Yanshan University the Key Laboratory for Computer Virtual Technology and System Integration of Hebei Province Qinhuangdao 066004China IEEE the Institute of Electrical Engineering Yanshan UniversityQinhuangdao 066004China the Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China

Bilateral teleoperation system is referred to as a promising technology to extend human actions and intelligence to manipulating objects *** the tracking control of teleoperation systems,velocity measurements are necessary to provide feedback ***,due to hardware technology and cost constraints,the velocity measurements are not always *** addition,the time-varying communication delay makes it challenging to achieve tracking *** paper provides a solution to the issue of real-time tracking for teleoperation systems,subjected to unavailable velocity signals and time-varying communication *** order to estimate the velocity information,immersion and invariance(I&I)technique is employed to develop an exponential stability velocity *** the proposed velocity observer,a linear relationship between position and observation state is constructed,through which the need of solving partial differential and certain integral equations can be ***,the mean value theorem is exploited to separate the observation error terms,and hence,all functions in our observer can be analytically *** the estimated velocity information,a slave-torque feedback control law is presented.A novel Lyapunov-Krasovskii functional is constructed to establish asymptotic tracking *** particular,the relationship between the controller design parameters and the allowable maximum delay values is ***,simulation and experimental results reveal that the proposed velocity observer and controller can guarantee that the observation errors and tracking error converge to zero.

关键词： Asymptotic stability bilateral teleoperation time-varying delay velocity observer

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Toward High-Performance Delta-Based Iterative Processing with a Group-Based Approach

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Journal of Computer science & technology 2022年第4期37卷 797-813页

作者： Hui Yu Xin-Yu Jiang Jin Zhao Hao Qi Yu Zhang Xiao-Fei Liao Hai-Kun Liu Fu-Bing Mao Hai Jin National Engineering Research Center for Big Data Technology and System Huazhong University of Science and TechnologyWuhan 430074China Service Computing Technology and System Laboratory Huazhong University of Science and TechnologyWuhan 430074China Cluster and Grid Computing Laboratory Huazhong University of Science and TechnologyWuhan 430074China School of Computer Science and Technology Huazhong University of Science and TechnologyWuhan 430074China

Many systems have been built to employ the delta-based iterative execution model to support iterative algorithms on distributed platforms by exploiting the sparse computational dependencies between data items of these iterative algorithms in a synchronous or asynchronous approach. However, for large-scale iterative algorithms, existing synchronous solutions suffer from slow convergence speed and load imbalance, because of the strict barrier between iterations;while existing asynchronous approaches induce excessive redundant communication and computation cost as a result of being barrier-free. In view of the performance trade-off between these two approaches, this paper designs an efficient execution manager, called Aiter-R, which can be integrated into existing delta-based iterative processing systems to efficiently support the execution of delta-based iterative algorithms, by using our proposed group-based iterative execution approach. It can efficiently and correctly explore the middle ground of the two extremes. A heuristic scheduling algorithm is further proposed to allow an iterative algorithm to adaptively choose its trade-off point so as to achieve the maximum efficiency. Experimental results show that Aiter-R strikes a good balance between the synchronous and asynchronous policies and outperforms state-of-the-art solutions. It reduces the execution time by up to 54.1% and 84.6% in comparison with existing asynchronous and the synchronous models, respectively.

关键词： iterative algorithm delta-based execution model efficiency

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An efficient memory data organization strategy for application-characteristic graph processing

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Frontiers of Computer science 2022年第1期16卷 191-193页

作者： Peng FANG Fang WANG Zhan SHI Dan FENG Qianxu YI Xianghao XU Yongxuan ZHANG Wuhan National Laboratory for Optoelectronics Key Laboratory of Information Storage SystemEngineering Research Center of data storage systems and TechnologyMinistry of Education of ChinaSchool of Computer Science and TechnologyHuazhong University of Science and TechnologyWuhan430074China

1 Introduction Graph processing has received significant attention for its ability to cope with large-scale and complex unstructured data in the ***,most of the graph processing applications exhibit an irregular memor... 详细信息

关键词： application processing pattern

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Interference Suppression and Jitter Elimination Ability-Based Adaption Tracking Guidance for Robotic Fishes

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IEEE/CAA Journal of Automatica Sinica 2025年第1期12卷 126-137页

作者： Dongfang Li Jie Huang Rob Law Xin Xu Limin Zhu Edmond Q.Wu IEEE the School of Electrical Engineering and Automation Fuzhou University the Key Laboratory of System Control and Information Processing Ministry of Education the School of Electrical Engineering and Automation Fuzhou University 5G+Industrial Internet Institute Fuzhou University the University of Macau the College of Mechatronics and Automation National University of Defense Technology the School of Mechanical Engineering Shanghai Jiao Tong University the Department of Computer Science and Engineering Shanghai Jiao Tong University

This work presents an adaptive tracking guidance method for robotic fishes. The scheme enables robots to suppress external interference and eliminate motion jitter. An adaptive integral surge line-of-sight guidance rule is designed to eliminate dynamics interference and sideslip issues. Limited-time yaw and surge speed observers are reported to fit disturbance variables in the model. The approximation values can compensate for the system's control input and improve the robots' tracking ***, this work develops a terminal sliding mode controller and third-order differential processor to determine the rotational torque and reduce the robots' run jitter. Then, Lyapunov's theory proves the uniform ultimate boundedness of the proposed method. Simulation and physical experiments confirm that the technology improves the tracking error convergence speed and stability of robotic fishes.

关键词： Adaptive integral surge line-of-sight approximation robotic fish speed observer

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Kalman Filter Adaptive Speed Tracking Control for High-speed Trains with Noise Interference 7

Kalman Filter Adaptive Speed Tracking Control for High-speed...

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7th International Conference on Intelligent Robotics and Control engineering, IRCE 2024

作者： Zhang, Chunli Xie, Yuwei Yan, Lei Qian, Fucai Xi'an University of Technology Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing College of Automation and Information Engineering Xi'an China

ISBN: (纸本)9798350352399

In this paper, high-speed train is regarded as a single prime point, a new tracking control method combining adaptive control and Kalman filtering is proposed. This paper solves the noise interference problem in the tracking control process of high-speed train. The method first linearises the original system, then uses Kalman filtering to do model estimation, and the controller is designed for the predictive model through adaptive control. Finally, MATLAB is used to simulate and verify the effectiveness of this method. This proposed method successfully solves the problems of nonlinearity, noise interference and unknown parameters in system. The error caused by resistance in the high-speed train tracking control process can be dealt with effectively. © 2024 IEEE.

关键词： Kalman filters

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Enhanced Neutrosophic Set and Machine Learning Approach for Kidney Disease Prediction

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Neutrosophic Sets and systems 2025年 80卷 465-477页

作者： Al-Doori, Humam M. Alkellezli, Tareef S. Abdelhafeez, Ahmed Eassaa, Mohamed Sawah, Mohamed S. El-Douh, Ahmed A. Cybersecurity Sciences Department College of Science Ashur University Baghdad Iraq Cybersecurity Engineering Department College of Engineering Ashur University Baghdad Iraq Computer Science Department Faculty of Information System and Computer Science October 6 University Giza12585 Egypt Applied Science Research Center Applied Science Private University Amman Jordan Department of Computer Science Faculty of Information Technology Ajloun National University P.O.43 Ajloun26810 Jordan Cybersecurity Technology Engineering Department College of Engineering Technology Ashur University Baghdad Iraq

Kidney disease (KD) is a gradually increasing global health concern. It is a chronic illness linked to higher rates of morbidity and mortality, a higher risk of cardiovascular disease and numerous other illnesses, and expensive medical expenses. The machine learning (ML) models are applied for KD prediction with higher accuracy and precision. The KD dataset has uncertainty and vague information, so, we used the neutrosophic set (NS) to deal with vague and uncertainty information in the KD dataset. The KD dataset is converted into the N-KD dataset with three membership functions: truth, indeterminacy, and falsity. Three ML models are used in this study such as logistic regression (LR), support vector machine (SVM), and k-nearest neighbor (KNN). These ML models are applied to the N-KD dataset. The results show the LR has higher accuracy and precision on the N-KD dataset than the original KD dataset. © 2025, University of New Mexico. All rights reserved.

关键词： Logistic regression

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