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Advanced Centroid State Estimation and Instability Detection Framework Leveraging UKF and AdvSAE-LSTM

IEEE Sensors Journal 2025年

作者： Mao, Han Zhu, Aibin Tu, Yao Song, Jiyuan Zheng, Chunli Li, Meng Xu, Peng Shi, Lei Liu, Yang Li, Xiao Guan, Zhenpeng Xi'an Jiaotong University Institute of Robotics and Intelligent Systems Shaanxi Key Laboratory of Intelligent Robots Xi'an710049 China Key Laboratory of Education Ministry for Modern Design and Rotor-Bearing System Xi'an710049 China Xi'an Jiaotong University School of Energy and Power Engineering Xi'an710049 China Xi'an Jiaotong University School of Mechanical Engineering Xi'an710049 China Xi'an Jiaotong University Honghui Hospital Xi'an710000 China Xi'an Jiaotong University Department of Sports Xi'an710049 China Xi'an Jiaotong University Second Affiliated Hospital Department of General Surgery Xi'an710004 China Fourth Medical Center of PLA General Hospital Department of Rehabilitation Senior Department of Orthopedics Beijing100048 China Sports Medicine and Rehabilitation National Clinical Research Center for Orthopedics Beijing100048 China Peking University Shougang Hospital Orthopedics Department Beijing100144 China

With the growing aging population, fall detection has become a significant research focus in recent years. However, most existing studies have not effectively improved the accuracy of centroid state estimation in human instability, particularly in terms of multi-source information fusion. To address this, we propose a centroid state estimation method based on the Unscented Kalman Filter (UKF), integrating data from the five-link model and trunk IMU sensors, significantly enhancing both the accuracy and robustness of centroid state estimation. Experimental results demonstrate that the proposed method achieves estimation errors of 0.0099 m and 0.0226 m/s for centroid displacement and velocity in the x-direction, and 0.0006 m and 0.0099 m/s in the y-direction, indicating high accuracy. To overcome the reliance of traditional supervised learning methods on large amounts of labeled data for instability state estimation, we propose an unsupervised learning-based instability state estimation method, featuring the AdvSAE-LSTM model. Data from different sensors are preprocessed and independent training datasets are constructed, after which the feature maps from each sensor are concatenated to form a global feature map. Compared to baseline methods, the proposed approach significantly improves instability state detection performance. Specifically, when the SAS threshold is set to 0.02, both the False Positive Rate (FPR) and False Negative Rate (FNR) are 0%, with a detection delay of only 77.16 ms, achieving highly efficient and accurate estimation of human instability states. © 2025 IEEE.

关键词： Kalman filters

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Efficient Random Subspace Decision Forests with A Simple Probability Dimensionality Setting Scheme

SSRN

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SSRN 2022年

作者： Wang, Quan Wang, Fei Li, Zhongheng Jiang, Peilin Ren, Fuji Nie, Feiping Institute of Artificial Intelligence and Robotics Xi’an Jiaotong University Shaanxi Xi’an710049 China Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System Engineering Beijing100094 China School of Software Engineering Xi’an Jiaotong University Shaanxi Xi’an710049 China School of Computer Science and Engineering University of Electronic Science and Technology of China Sichuan Chengdu611731 China Northwestern Polytechnical University Shaanxi Xi’an710072 China

The random subspace concept is widely used in decision forests. However, there is not a reasonable approach to specify the appropriate number of randomly selected features. Previous random subspace decision forests simply specify the random subspace dimensionality d s to a preset function value such as [log 2 d ] or [√ d ] where d is the number of the total feature dimensions. Actually, this preset value may be a relatively poor choice for high dimensional data sets. In this paper, a novel framework named Efficient Random Subspace decision forest (ERS) is proposed which pays attention to how to set the random subspace dimensionality for each decision tree of decision forests. Specifically, a simple discrete uniform distribution is employed to set with probability the number of randomly selected features for each tree in random subspace decision forests. The proposed Half Range Discrete Uniform distribution-based Varied Dimensionality setting (HRDUVD) method removes the hesitation of how to preset an appropriate d s for different data sets but also results in good enough classification performance along with relatively short running time. Plenty of experiments on public benchmark data sets have demonstrated the effectiveness and the efficiency of the proposed ERS. © 2022, The Authors. All rights reserved.

关键词： Decision trees

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Tunable unidirectional compact acoustic amplifier via space-time modulated membranes

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Physical Review B 2020年第2期102卷 024309-024309页

作者： Xiaohui Zhu Junfei Li Chen Shen Guangyu Zhang Steven A. Cummer Longqiu Li State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 150001 China Department of Electrical and Computer Engineering Duke University Durham North Carolina 27708 USA

Space-time modulation has recently attracted considerable attention as it enables new possibilities in wave manipulation and control. Here we propose a tunable unidirectional acoustic amplifier based on a space-time modulated membrane system. The transfer matrix method is applied to design this system and optimize the modulation parameters for the realization of unidirectional amplification. Efficient one-way amplification of acoustic waves is demonstrated theoretically and numerically within a frequency range from 2260 to 2520 Hz, with overall dimension being less than 1/3 of the corresponding wavelength. Across this operation band, the amplification factor in the positive direction varies smoothly from 3.0 to 5.8, while the transmitted wave energy in the negative direction does not change significantly. Our work identifies a feasible approach to realize a tunable unidirectional acoustic amplifier via space-time modulated membranes, which offers a design platform for a number of applications in sensing, imaging, and communication.

关键词： Acoustic metamaterials Acoustic wave phenomena Sound waves

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Formation mechanism of a smooth, defectfree surface of fused silica optics using rapid CO2 laser polishing

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International Journal of Extreme Manufacturing 2019年第3期1卷 85-95页

作者： Linjie Zhao Jian Cheng Mingjun Chen Xiaodong Yuan Wei Liao Qi Liu Hao Yang Haijun Wang State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001People’s Republic of China Research Center of Laser Fusion China Academy of Engineering PhysicsMianyang 621900People’s Republic of China

Surface defects introduced by conventional mechanical processing methods can induce irreversible damage and reduce the service life of optics applied in high-power *** to mechanical processing,laser polishing with moving beam spot is a noncontact processing method,which is able to form a defect-free *** work aims to explore the mechanism of forming a smooth,defect-free fused silica surface by high-power density laser polishing with coupled multiple *** underlying mechanisms of laser polishing was revealed by numerical simulations and the theoretical results were verified by *** simulated polishing depth and machined surface morphology were in close agreement with the experimental *** obtain the optimized polishing quality,the effects of laser polishing parameters(*** rate,pulse width and polishing times)on the polishing quality were experimentally *** was found that the processing efficiency of fused silica materials by carbon dioxide(CO2)laser polishing could reach 8.68 mm2 s−1,and the surface roughness(Ra)was better than 25 ***,the cracks on pristine fused silica surfaces introduced by initial grinding process were completely removed by laser polishing to achieve a defect-free *** maximum laser polishing rate can reach 3.88μm s−1,much higher than that of the traditional mechanical polishing *** rapid CO2 laser polishing can effectively achieve smooth,defect-free surface,which is of great significance to improve the surface quality of fused silica optics applied in high-power laser facilities.

关键词： laser polishing mechanical processing smooth surface defect-free surface polishing rate

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A method for recognition of dynamic hand gestures based on wrist tendon sounds 22

A method for recognition of dynamic hand gestures based on w...

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

作者： He, Bailin Wang, Can Wang, Hao Li, Mengyao Duan, Shengcai Wu, Xinyu Guangdong Provincial Key Laboratory 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 Chinese Academy of Sciences Shenzhen518055 China University of Chinese Academy of Sciences Beijing100049 China Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong Samsung Electronics Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China

ISBN: (纸本)9781728162676

Hand gesture recognition are widely applied in game industry and rehabilitation engineering. Some recognition methods based on physiological data are attracting attention. In this paper, a novel method for dynamic hand gesture recognition based on sounds of wrist tendon is proposed. Bone conduction sensors which automatically filter the ambient noise is utilized to collect the wrist tendon sounds of three types of dynamic hand gestures. Continuous Wavelet Transform(CWT) is utilized extract the features of sounds and Support Vector Machine(SVM) is utilized to train the classifier model. Five healthy subjects participated the experiment and the average test accuracy of three classes achieves 92.33%. The proposed method provides an effective perspective for hand gesture recognition. © 2021 IEEE.

关键词： Support vector machines

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Closed-Form Modeling and Analysis of an XY Flexure-Based Nano-Manipulator

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Chinese Journal of Mechanical engineering 2018年第1期31卷 176-186页

作者： Yan-Ding Qin Xin Zhao Bijan Shirinzadeh Yan-Ling Tian Da-Wei Zhang Institute of Robotics and Automatic Information System (Tianjin Key Laboratory of Intelligent Robotics) Nankai University Robotics and Mechatronics Research Laboratory Department of Mechanical and Aerospace Engineering Monash University School of Mechanical Engineering Tianjin University

Flexure-based mechanisms are widely utilized in nano manipulations. The closed-form statics and dynamics modeling is difficult due to the complex topologies, the inevitable compliance of levers, the Hertzian contact interface, etc. This paper presents the closed-form modeling of an XY nano-manipulator consisting of statically indeterminate symmetric(SIS) structures using leaf and circular flexure hinges. Theoretical analysis reveals that the lever’s compliance, the contact stiffness, and the load mass have significant influence on the static and dynamic performances of the *** are conducted to verify the effectiveness of the established models. If no piezoelectric actuator(PEA) is installed, the influence of the contact stiffness can be eliminated. Experimental results show that the estimation error on the output stiffness and first natural frequency can reach 2% and 1.7%, respectively. If PEAs are installed, the contact stiffness shows up in the models. As no effective method is currently available to measure or estimate the contact stiffness, it is impossible to precisely estimate the performance of the overall system. In this case, the established closed-form models can be utilized to calculate the bounds of the performance. The established closed-form models are widely applicable in the design and optimization of planar flexure-based mechanisms.

关键词： Flexure-based mechanism Statically indeterminate structure Dynamics Lever mechanism Piezoelectric actuator

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A comprehensive channel and feature selection method for myoelectric pattern recognition 22

A comprehensive channel and feature selection method for myo...

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

作者： Li, Mengyao Ma, Yue Zheng, Liangsheng Wang, Can Feng, Wei Wu, Xinyu Guangdong Provincial Key Laboratory 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 Chinese Academy of Sciences Shenzhen518055 China University of Chinese Academy of Sciences Beijing100049 China Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China

ISBN: (纸本)9781728162676

The advent of myoelectric control schemes provides promising chances for locomotion empowerment and restoration of those with disabilities. Despite substantial efforts have been made into advancing sEMG-based motion recognition, it may be a little tricky to determine appropriate muscles and features for people with muscle disorders or different muscle use preferences. To mitigate it, an advantageous sEMG channel and feature selection method based on ReliefF algorithm was proposed. Related experiments were conducted on a eight able-bodied subject database to showcase the feasibility and efficiency of the proposed approach, that is, considerably high classification performance was maintained with the original feature set reduced by more than half. Ulteriorly, we also investigated the influences of different number of neighbors or features on classification accuracy for ascertaining the optimal values. The strengths of our proposed method lie in not only customizing channel and feature selection for individual users, but also offering preliminary insight for a general mapping mechanism between human muscles and corresponding motions. © 2021 IEEE.

关键词： Feature Selection

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Prevalence and prognostic value of cardiac troponin in elderly patients hospitalized for COVID-19

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Journal of Geriatric Cardiology 2021年第5期18卷 338-345页

作者： Vincenzo De Marzo Antonio Di Biagio Roberta Della Bona Antonio Vena Eleonora Arboscello Harusha Emirjona Sara Mora Mauro Giacomini Giorgio Da Rin Paolo Pelosi Matteo Bassetti Pietro Ameri Italo Porto GECOVID study group Cardiovascular Diseases Unit IRCCS Ospedale Policlinico San MartinoGenovaItaly Department of Internal Medicine University of GenovaGenovaItaly Infectious Diseases Unit IRCCS Ospedale Policlinico San MartinoGenovaItaly Department of Health Sciences University of GenovaGenovaItaly Emergency Department IRCCS Ospedale Policlinico San MartinoGenovaItaly Department of Informatics BioengineeringRobotics and System EngineeringUniversity of GenovaGenovaItaly Laboratory Unit IRCCS Ospedale Policlinico San MartinoGenovaItaly Anesthesia and Intensive Care Unit IRCCS Ospedale Policlinico San MartinoGenovaItaly Department of Surgical Sciences and Integrated Diagnostics University of GenovaGenovaItaly

BACKGROUND Increases in cardiac troponin(cTn)in coronavirus disease 2019(COVID19)have been associated with worse ***,data about the significance of cTn in elderly subjects with COVID19 are *** From a registry of consecutive patients with COVID19 admitted to a hub hospital in Italy from 25/02/2020 to 03/07/2020,we selected those≥60 yearold and with cTnI measured within three days from the molecular diagnosis of SARSCoV2 *** available,a second cTnI value within 48 h was also *** relationship between increased cTnI and allcause inhospital mortality was evaluated by a Cox regression model and restricted cubic spline functions with three *** Of 343 included patients(median age:75.0(68.0−83.0)years,34.7%men),88(25.7%)had cTnI above the upperreference limit(0.046μg/L).Patients with increased cTnI had more comorbidities,greater impaired respiratory exchange and higher inflammatory markers on admission than those with normal ***,they died more(73.9%vs.37.3%,P<0.001)over 15(6−25)days of *** association of elevated cTnI with mortality was confirmed by the adjusted Cox regression model(HR=1.61,95%CI:1.06−2.52,P=0.039)and was linear until 0.3μg/L,with a subsequent *** 191(55.7%)patients with a second cTnI measurement,49(25.7%)had an increasing trend,which was not associated with mortality(univariate HR=1.39,95%CI:0.87−2.22,P=0.265).CONCLUSIONS In elderly COVID19 patients,an initial increase in cTn is common and predicts a higher risk of *** cTn testing may not confer additional prognostic information.

关键词： patients mortality admitted

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UAV-based Odor Source Localization in Multi-Building Environments Using Simulated Annealing Algorithm

UAV-based Odor Source Localization in Multi-Building Environ...

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第三十九届中国控制会议

作者： Zi-Zhen Yang Tao Jing Qing-Hao Meng Institute of Robotics and Autonomous System Tianjin Key Laboratory of Process Measurement and Control School of Electrical and Information Engineering Tianjin University

A single unmanned-aerial-vehicle(UAV) based odor source localization(OSL) method for outdoor multi-building environments was proposed. The simulated annealing(SA) algorithm was introduced in this problem in consideration of the difficulties of relatively large search space, turbulent airflow in the building environment, and local concentration extrema near the building walls. To avoid the effect of rotating UAV rotors on airflow, a tunable diode laser absorption spectroscopy(TDLAS) rather than the contact gas sensor was used to collect odor information remotely. Moreover, a three-mode(plume finding, tracking, and escaping local extremum) searching framework was designed in the SA-based OSL method to equip the UAV with abilities of traversing the searching area and escaping local extrema rapidly. Simulation results on a robot active olfaction simulator show that, the UAV could effectively escape the local extremum, track the plume and localize the odor source in the area of 30×30×10 m with an average time of about 119 steps and an average error of 1.56 m.

关键词： Odor source localization active olfaction UAV multi-building environments simulated annealing

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A Reinforcement Learning Based Multiple Strategy Framework for Tracking a Moving Target

A Reinforcement Learning Based Multiple Strategy Framework f...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Zixuan Huo Shilong Dai Mingxing Yuan Xiang Chen Xuebo Zhang Institute of Robotics and Automatic Information System Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin China Department of Electrical and Computer Engineering University of Windsor Ontario Canada

ISBN: (数字)9781728167947

ISBN: (纸本)9781728167954

The pursuit-evasion game has been a classic research topic in the field of mobile robotics. Reinforcement learning (RL), which shows outstanding advantages in the decision-making area, is a widely used method in pursuitevasion game. This paper proposes a hierarchical framework in which RL allows the pursuer to select an appropriate strategy for the current condition in the upper level from multiple underlying strategies in the lower level. Through the analysis of existing motion planning algorithms, the dynamic window approach (DWA) and the proportional guidance method (PG) are used as the lower level strategies of the framework. Individual discussions on the merits and limitations of the two motion planning algorithms indicate a possible complementarity between them. Simulations are carried out and the corresponding results validate the excellent performance of the proposed approach.

关键词： Games Robots Planning Heuristic algorithms Dynamics Target tracking Trajectory

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