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IEEE International Conference on robotics and Automation (ICRA)

作者： Junfei Li Simon X. Yang Advanced Robotics and Intelligent Systems Laboratory School of Engineering University of Guelph Guelph Canada

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Fish schools present high-efficiency group behaviors to collective migration and dynamic escape from the predator through simple individual interactions. The purpose of this research is to infuse swarm robots with "fish-like" intelligence that will enable safe navigation and efficient cooperation, and successful completion of escape tasks in changing environments. In this paper, a novel fish-inspired self-adaptive approach is proposed for the collective escape of swarm robots. A bio-inspired neural network (BINN) is introduced to generate collision-free escape trajectories through the dynamics of neural activity and the combination of attractive and repulsive forces. In addition, a neurodynamics-based self-adaptive mechanism is proposed to improve the self-adaptive performance of the swarm robots in dynamic environments. Similar to fish escape maneuvers, simulations and real-robot experiments show that the swarm robots can collectively leave away from the threat and respond to sudden environmental changes. Several comparison studies demonstrated that the proposed approach can significantly improve the effectiveness, efficiency, and flexibility of swarm robots in complex environments.

关键词： Uncertainty Navigation Biological system modeling Dynamics Neural activity Swarm robotics Trajectory

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Facial Emotion Recognition in Smart Education systems: A Review 9

Facial Emotion Recognition in Smart Education Systems: A Rev...

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9th IEEE International Smart Cities Conference, ISC2 2023

作者： Farman, Haleem Sedik, Admed Nasralla, Moustafa M. Esmail, Maged Abdullah College of Engineering Prince Sultan University Smart Systems Engineering Laboratory Department of Communications and Networks Engineering Riyadh Saudi Arabia Kafrelsheikh University Faculty of Artificial Intelligence Department of the Robotics and Intelligent Machines Kafrelsheikh Egypt

ISBN: (纸本)9798350397758

Facial Emotion Recognition (FER) plays a pivotal role in the realm of Smart Education systems (SES), catering to the growing need for personalized and adaptive learning experiences. This paper presents a comprehensive review of the current state-of-the-art techniques and methodologies employed in FER in general and within the context of SES in particular. The primary objective of this review is to explore the FER technology for the enhancement of educational environments. The review begins by providing an insightful overview of the significance of emotions in education, leveraging deep learning approaches to elucidate the impact of emotional states on cognitive performance and academic outcomes. Subsequently, it explores the key components and working principles of FER systems, encompassing the extraction, representation, and classification of facial emotions. Furthermore, this paper highlights the updated literature in the field of FER applied to SES, ranging from real-time emotion analysis during classroom interactions to adapting instructional content based on learners' emotional states. Furthermore, the review critically analyzes the existing facial emotion recognition datasets utilized in facial emotion recognition research. The dataset is subcategorized in to two parts, images and videos, providing readers with convenience in understanding the various data sources employed in FER model training and evaluation. © 2023 IEEE.

关键词： Face recognition

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A Battery Control Strategy for Sequential Utilization of Energy Storage systems in Power Batteries 7

A Battery Control Strategy for Sequential Utilization of Ene...

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7th IEEE Advanced Information Technology, Electronic and Automation Control Conference, IAEAC 2024

作者： Li, Bowen Cui, Shijie Zhu, Lizhong Shenyang Ligong University College of Automation and Electrical Engineering Liaoning China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Liaoning China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China

ISBN: (纸本)9798350339161

With the widespread adoption of energy storage systems utilizing power batteries, battery lifespan degradation has become a primary constraint on system performance. To address this issue, this study proposes a lifespan-optimized battery control strategy. Firstly, a battery lifespan calculation model for the energy storage system is established, taking into detailed consideration key parameters such as battery State of Charge (SOC). Secondly, a control strategy based on SOC for charging and discharging is designed, aiming to minimize battery lifespan consumption to the greatest extent possible. Finally, experimental results demonstrate that the proposed control strategy significantly improves the lifespan of the energy storage system compared to existing strategies. This research provides an effective means of control for the long-term stable operation of power battery systems. © 2024 IEEE.

关键词： Charging (batteries)

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Electrochemical Monitoring of Intracellular Reactive Oxygen Species Based on Automated Nanoprobe Platform

Electrochemical Monitoring of Intracellular Reactive Oxygen ...

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2023 Annual IEEE International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale, 3M-NANO 2023

作者： Ma, Yanmei Hu, Weikang Ruan, Muyang Zhan, Zhen Zhang, Yi Hu, Chengzhi Southern University of Science and Technology Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy Engineering Shenzhen China City University of HongKong Department of Biomedical Engineering Hong Kong

ISBN: (纸本)9798350344486

The electrochemical detection of endogenous molecules from a single cell is a crucial technique for understanding fundamental cellular processes at the subcellular level and uncovering cellular heterogeneity. However, high throughput intracellular detection has posed significant challenges. This paper proposes a simple method for fabricating a nanoprobe for the electrochemical monitoring of intracellular reactive oxygen species (ROS), which are important signaling molecules that play a key role in a wide range of cellular processes, including apoptosis, proliferation, and differentiation. Combined with the automated nanoprobe platform, the study successfully achieved minimally invasive and efficient intracellular ROS detection in living cells. Moreover, the results reveal that the average ROS concentration in the cytoplasm and nucleus is uneven, which has important implications for the understanding of cellular redox signaling. © 2023 IEEE.

关键词： Nanoprobes

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STAPointGNN: Spatial-Temporal Attention Graph Neural Network for Gesture Recognition Using Millimeter-Wave Radar 19th

STAPointGNN: Spatial-Temporal Attention Graph Neural Network...

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19th EAI International Conference on Collaborative Computing: Networking, Applications and Worksharing, CollaborateCom 2023

作者： Zhang, Jun Wang, Chunyu Wang, Shunli Zhang, Lihua Academy for Engineering and Technology Fudan University Shanghai China Jilin Provincial Key Laboratory of Intelligence Science and Engineering Changchun China Engineering Research Center of AI and Robotics Ministry of Education Shanghai China Engineering Research Center of AI and Unmanned Vehicle Systems of Jilin Province Changchun China

ISBN: (纸本)9783031545276

Gesture recognition plays a pivotal role in enabling natural and intuitive human-computer interaction (HCI), finding applications in diverse domains such as smart homes, robot control, and virtual reality. Thanks to advances in computer vision, the most popular method currently is to use the camera for gesture recognition. However, the camera struggles to function properly in poor lighting and inclement weather, and risks invading privacy. Due to the robust and non-invasive features of millimeter-wave radar, gesture recognition based on millimeter-wave radar has received extensive attention from researchers in recent years. In this paper, we propose a novel graph neural network named STAPointGNN for gesture recognition using millimeter-wave radar. In order to better extract features in the spatial and temporal dimensions of point clouds collected by millimeter-wave radar, we designed a spatial-temporal attention mechanism based on graph neural network. We also propose a novel point flow embedding method to capture the motion features of the point clouds in adjacent frames. To verify the superiority of our method, we conduct experiments on two public millimeter-wave radar gesture recognition datasets. The results show that our model outperforms existing mainstream algorithms. © ICST Institute for Computer Sciences, Social Informatics and Telecommunications engineering 2024.

关键词： Gesture recognition

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Development of a Vibration-driven Capsule Robot with Protruding Magnetic Bristles with Enhanced Adaptability in Wet and Dry Environments

Development of a Vibration-driven Capsule Robot with Protrud...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Zhang, Yujie Wei, Tanyong He, Shujing Hong, Yuying Hu, Chengzhi Southern University of Science and Technology Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy Engineering Shenzhen518055 China Guangdong Prov. Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen518055 China

ISBN: (纸本)9798350325706

Colonoscopy is a widely used method for diagnosing bowel cancers, requiring coordinated efforts from medical professionals due to its invasive nature. In contrast, miniature capsule robots, measuring just a few centimeters, offer a less invasive diagnostic option by integrating multiple functions. However, current capsule robots face challenges with complex designs, limited mobility, size, and cost, which hinder their adoption and reduce gastrointestinal disorder screening rates. To address these issues, we introduce the vibration-driven capsule robot (VCR) with magnetic protruding bristle structures. Four simple components (shell structure, electronic components, permanent magnet, and magnetic soft bristles) are designed to improve the robot's mobility in dry and wet environments. The magnetic bristle structures are inspired by flexible organisms and enhance the robot's adaptability. The robot is propelled by centrifugal force from a vibration motor, allowing efficient movement along the intestinal tract while protecting the patient's lining. The fabrication process of the magnetic soft bristles has been refined to optimize material ratios and enhance the robot's performance. The vibration motor's output is analyzed using load cells to ensure efficiency. For precise path planning, an external permanent magnet (EPM) is applied to guide the capsule's direction. Experiments confirm the VCR's versatility, performing fluid linear and curved motions in different environments. These findings underscore the feasibility of the VCR as a potent tool for non-invasive, timely screening of gastrointestinal disorders. © 2023 IEEE.

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WEARABLE ULTRASOUND DEVICE FOR MONITORING BLOOD FLOW IN INTERNAL CAROTID ARTERY

WEARABLE ULTRASOUND DEVICE FOR MONITORING BLOOD FLOW IN INTE...

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2024 Design of Medical Devices Conference, DMD 2024

作者： Hage, Benjamin D. Krings, Ethan J. Walker, Quentin Markvicka, Eric J. Bashford, Gregory R. Biomedical Imaging and Biosignal Analysis Laboratory Department of Biological Systems Engineering University of Nebraska-Lincoln LincolnNE United States Smart Materials and Robotics Laboratory Department of Mechanical & Materials Engineering University of Nebraska-Lincoln LincolnNE United States Department of Biomedical Engineering The Ohio State University ColumbusOH United States

ISBN: (纸本)9780791887752

Aneurysmal subarachnoid hemorrhage affects 6.1/100, 000 people annually worldwide. After initial bleeding has stopped, victims are at high risk of vasospasm, a narrowing of cerebral arteries that may lead to stroke, for two weeks. One currently used method of monitoring for vasospasm involves calculation of the Lindegaard ratio, a ratio of blood flow velocity in the middle cerebral artery to the ipsilateral internal carotid artery. However, this method requires trained operators, limiting the frequency at which it is performed (no more than once per day). This work demonstrates a proof-of-concept device for frequent Lindegaard ratio calculation via periodic monitoring of blood flow in the internal carotid artery. © 2024 by ASME.

关键词： Ultrasonic devices

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SoSpider:A bio-inspired multimodal untethered soft hexapod robot for planetary lava tube exploration

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Science China(Technological Sciences) 2023年第11期66卷 3090-3106页

作者： NIU LiZhou DING Liang ZHANG ShengJie YANG HuaiGuang GAO HaiBo DENG ZongQuan LIU GuangJun HOSSAIN Mokarram State Key Laboratory of Robotics and Systems Harbin Institute of TechnologyHarbin 150001China Department of Aerospace Engineering Ryerson UniversityToronto ON M5B 2K3Canada Zienkiewicz Institute for Modelling Data and AISwansea UniversitySwansea SA18ENUnited Kingdom

Soft robots have tremendous potential for applications in various fields,owing to their safety and flexibility embedded at the material *** robots,especially bio-inspired soft legged robots,have become one of the most active fields of current research in robotics thanks to their superior mobility and ability to face complex ***,it is arduous to establish a dynamic simulation model for soft robots,owing to their hyper-redundant degrees of freedom,hyper-elasticity,and nonlinearity of their soft *** this study,we designed,simulated,and fabricated a hexapod robot that achieves walking,crawling,pronking,and rolling with wheeled legs plus a soft body capable of shape change.A robot prototype was fabricated using 3D printing technology and soft silicone pneumatic ***,battery power,and control boards were integrated into the body of the robot for untethered *** have explored the capabilities of the robot in different conditions,especially in scenarios that simulate lunar and Martian environments,demonstrating the motion performance of the *** results have shown promising potentials of the developed robot for future applications in planetary lava tube *** experimental and simulation results also show good agreements that indicate the potential predictive roles of simulation tools for soft robot design,planning,and control.

关键词： multimodal soft robot pneumatic simulation planetary exploration

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Multimodal Emotion Classification Supported in the Aggregation of Pre-trained Classification Models 1

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23rd International Conference on Computational Science, ICCS 2023

作者： Cardoso, Pedro J. S. Rodrigues, João M. F. Novais, Rui LARSyS – Laboratory for Robotics and Engineering Systems ISR-Lisbon Lisboa1049-001 Portugal Instituto Superior de Engenharia Universidade do Algarve Faro8005-129 Portugal

ISBN: (数字)9783031360305

ISBN: (纸本)9783031360299

Human-centric artificial intelligence struggles to build automated procedures that recognize emotions which can be integrated in artificial systems, such as user interfaces or social robots. In this context, this paper researches on building an Emotion Multi-modal Aggregator (EMmA) that will rely on a collection of open-source single source emotion classification methods aggregated to produce an emotion prediction. Although extendable, tested solution takes a video clip and divides into its frames and audio. Then a collection of primary classifiers are applied to each source and their results are combined in a final classifier utilizing machine learning aggregator techniques. The aggregator techniques that have been put to the test were Random Forest and k-Nearest Neighbors which, with an accuracy of 80%, have demonstrated superior performance over primary classifiers on the selected dataset. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2023.

关键词： Nearest neighbor search

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A Stair-Climbing Robot with Star-wheel Configuration

A Stair-Climbing Robot with Star-wheel Configuration

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Cui, Tongxin Wang, Wenhui Zhu, Zheng Wu, Jing Jia, Zhenzhong Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems China Guangdong Prov. Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Department of Mechanical and Energy Engineering Shenzhen518055 China

ISBN: (纸本)9781665481090

This paper proposes a four-wheel mobile robot that uses passive star-wheel configuration to climb stairs. Without adding any control complexity, the robot can climb a standard indoor staircase of 15 × 28cm at a speed of 0.7s/step. For stairs of other sizes, it also has a certain adaptability, avoiding the problem of slipping when using active star-wheel to climb stairs. This paper analyzes the obstacle-surmounting conditions of the four-star-wheel robot during stair climbing, and uses statics to calculate the driving torque. We use simulation to validate the torque consumption study, and prove the stability of the robot's central trajectory during stair climbing. These results provide a basis to quantify the robot's stair-climbing capability under certain load. We build an robot prototype platform and conduct physical experimentation to validate the robot performance. © 2022 IEEE.

关键词： Stairs

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