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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Mao, Yuchen Guo, Jian Guo, Shuxiang Fu, Qiang Tianjin University of Technology Tianjin Key Laboratory for Control Theory & Application Complicated Systems Intelligent Robot Laboratory School of Electrical Engineering and Automation Binshui Xidao Extension 391 Tianjin300384 China Shenzhen Institute of Advanced Biomedical Robot Co. Ltd No.12 Ganli Sixth Road Jihua Street Longgang District Shenzhen518100 China Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology No.5 Zhongguancun South Street Beijing100081 China

ISBN: (纸本)9798350320831

Gastric hemorrhage in upper gastrointestinal bleeding is an obvious indicator of deteriorating gastric disease. This paper proposes a capsule robot system for detecting bleeding in the stomach. The patient ingests a capsule robot containing luminol reagent, which detects bleeding in the stomach via chemiluminescence. The MCU receives the optical sensor signal, and the data is transmitted via radio frequency. The external lower computer receives and forwards the data to the upper computer for processing and display. The data is used to determine the presence and amount of stomach bleeding. Chemiluminescence is an excellent sensor, requiring no external energy supply, and demonstrating excellent sensitivity and selectivity. Combining chemical and electronic sensors presents opportunities for further development. Capsule robot detection reduces the discomfort and risk of secondary injury associated with traditional endoscopy. This paper establishes an experimental platform using porcine blood to simulate human blood, demonstrating the feasibility of the system. © 2023 IEEE.

关键词： Chemiluminescence

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Study on Autonomous Surgical Control System of The Vascular Interventional Surgical Robot Based on Catheter Tip Location Tracking 20

Study on Autonomous Surgical Control System of The Vascular ...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Feng, Zhimin Guo, Jian Guo, Shuxiang Fu, Qiang Tianjin University of Technology Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems Intelligent Robot Laboratory Binshui Xidao Extension 391 Tianjin300384 China Shenzhen Institute of Advanced Biomedical Robot Co. Ltd. No.12 Ganli Sixth Road Jihua Street Longgang District Shenzhen518100 China Beijing Institute of Technology Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science No.5Zhongguancun South Street Beijing100081 China

ISBN: (纸本)9798350320831

The control system of vascular interventional surgical robot is a complex nonlinear system. When the catheter is inserted into human blood vessels, due to the irregular and curved shape of human blood vessels, the catheter will undergo small deformation, which will affect the displacement of the catheter. In order to reduce the displacement tracking error, a BP neural network PID controller was designed to compensate the displacement error of the autonomous vascular interventional surgical robot. Firstly, the dynamic analysis is carried out according to the axial displacement motion of the vascular interventional surgical robot, and the catheter displacement tracking controller was designed. According to the displacement error, BP neural network PID control is used to output three parameters of PID. Finally, in the experiment and PID control simulation comparison, the results show that the BP neural network PID control has a small displacement tracking error and superior tracking performance, which can meet the requirements. © 2023 IEEE.

关键词： Three term control systems

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Study on Control Strategy of the Vascular Interventional Surgical Robot Based on LADRC 20

Study on Control Strategy of the Vascular Interventional Sur...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Zhang, Wenqiang Guo, Jian Guo, Shuxiang Fu, Qiang Tianjin University of Technology Tianjin Key Laboratory for Control Theory & Applications Complicated Systems and Intelligent Robot Laboratory Binshui Xidao Extension 391 Tianjin300384 China Shenzhen Institute of Advanced Biomedical Robot Co. Ltd. No.12 Ganli Sixth Road Jihua Street Longgang District Shenzhen518100 China Beijing Institute of Technology Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science No.5Zhongguancun South Street Beijing100081 China

ISBN: (纸本)9798350320831

As a medical device used in surgery, the vascular interventional surgical robot itself needs to have good control accuracy to ensure the safety of the surgery process. Given this security problem, this paper selects the Line Active Disturbance Rejection Control (LADRC) as the control strategy of the vascular interventional robot, aiming at improving the master-slave tracking accuracy of the vascular interventional robot. This article compares the LADRC and PID(Proportional-Integral-Derivative) control strategies through simulation and experiments. The experimental results show that LADRC has good control performance for master-slave tracking and can be applied to the vascular interventional surgical robots. © 2023 IEEE.

关键词： Robotic surgery

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Design of Control System for Lower Limb Rehabilitation Robot on the Healthy Side sEMG Signal 20

Design of Control System for Lower Limb Rehabilitation Robot...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Yu, Shiqin Guo, Jian Guo, Shuxiang Fu, Qiang Tianjin University of Technology Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems Intelligent Robot Laboratory Binshui Xidao Extension 391 Tianjin300384 China Shenzhen Institute of Advanced Biomedical Robot Co. Ltd. No.12 Ganli Sixth Road Jihua Street Longgang District Shenzhen518100 China Beijing Institute of Technology Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science No.5 Zhongguancun South Street Beijing100081 China

ISBN: (纸本)9798350320831

With the number of stroke patients increasing year by year, rehabilitation exoskeleton robot has been paid more and more attention. For the rehabilitation exoskeleton robot, human-computer interaction ability is an important index, which affects the effect of rehabilitation therapy to a great extent. Surface Electromyography (sEMG) signals are the combined effect of sEMG signals and electrical activities on nerve stem on the skin surface, which can reflect neuromuscular activities in advance and can be used to predict movement intention by sEMG signals. Therefore, this article proposes to use sEMG signals to monitor the motion information of the healthy leg in real-time, extract the characteristics of the electromyography signals, use the sEMG of the healthy leg as the control signal, reflect the motion patterns reflected by the sEMG collected from the healthy side, and then use the motion intention recognition method of Long Short Term Memory(LSTM) neural network to identify the motion intention of the prosthetic limb by identifying the motion patterns of the swing phase of the healthy side. The results indicate that the predicted maximum Root Mean Squared Error(RMSE) is 5.3729, which proves the feasibility of using LSTM model for motion intention recognition and contributes to the real-time and accuracy of lower limb exoskeleton rehabilitation. © 2023 IEEE.

关键词： Long short-term memory

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Prescribed-Time Tracking Control for Robotic systems with Uncertain Dynamics

Prescribed-Time Tracking Control for Robotic Systems with Un...

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Data Driven Control and Learning systems (DDCLS)

作者： Hang Yang Yingbo Huang Jing Na Qiang Chen Faculty of Mechanical and Electrical Engineering Kunming University of Science and Technology Kunming China Yunnan International Joint Laboratory of Intelligent Control and Application of Advanced Equipment Kunming China Data-Driven Intelligent Systems Laboratory College of Information Engineering Zhejiang University of Technology Hangzhou China

This paper presents a prescribed-time tracking control scheme for robotic systems with unknown dynamics. One salient feature is that the robotic systems can achieve prescribed-time stability with the prescribed transient performance, which is different with the traditional work that achieves uniformly ultimately bounded (UUB) and/or asymptotic stability. To realize this purpose, the prescribed performance dynamics (PPD) instead of the traditional prescribed performance function (PPF) is suggested, by which both the transient and steady-state tracking performance can be guaranteed within a specified region in-priori. To avoid using the function approximators (i.e., neural networks (NNs), fuzzy logic systems (FLSs)), an approximation-free-based prescribed-time controller is established with the inertial matrix of robotic systems and the finite-time function merely, which can not only address the system unknown uncertainties but also regulate the control error to zero in a prescribed-time. Furthermore, the Lyapunov-based theoretical analysis is conducted to prove the prescribed-time stability of the closed-loop system. Finally, comparative numerical simulation results are provided to demonstrate the effectiveness of the proposed method.

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Tracking performance limitations of MIMO discrete-time networked control systems with multiple constraints

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Science China(Information Sciences) 2023年第8期66卷 267-268页

作者： Xiaowei JIANG Bin ZHANG Xiangyong CHEN Huaicheng YAN School of Automation China University of Geosciences Key Laboratory of Industrial Internet of Things & Networked Control Ministry of Education Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education School of Automation and Electrical Engineering Linyi University Key Laboratory of Smart Manufacturing in Energy Chemical Process of the Ministry of Education

Dear editor,Networked control systems(NCSs) have attracted widespread attention in some fields because they offer the advantages of reduced cabling, greater resource sharing,and ease of installation and maintenance [1]. However, in an unreliable network environment, network constraints can significantly limit the performance of NCSs.

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A Deep CNN-BiGRU model for Lymphoma and Residual Masses Recognition

A Deep CNN-BiGRU model for Lymphoma and Residual Masses Reco...

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International Conference on advanced Technologies for Signal and Image Processing (ATSIP)

作者： Radhia Ferjaoui Sana Boujnah Anouar Ben Khalifa Universitíde Jendouba Institut National des Technologies et des Sciences du Kef 7100 Le Kef Tunisie Research Laboratory of biophysics and Medical technologies (LRBTM) University of Tunis EManar CNRS SAMOVAR Telecom Sud Paris Universití Paris Saclay France Ecole Nationale d’Ingínieurs de Sousse LATIS- Laboratory of Advanced Technology and Intelligent Systems 4023 Universitíde Sousse Sousse Tunisie

ISBN: (数字)9798350351484

ISBN: (纸本)9798350351491

Medical science has been revolutionised by advances in deep learning, particularly in the detection and treatment of disease, particularly in the field of oncology. Among the most worrying cancers are those that affect the lymphatic system, known as lymphomas. Due to their increasing prevalence, early detection of lymphomas has become critical to improving clinical outcomes and patient survival. Advances in medical imaging andimage analysis have enabled the development of sophisticated deep learning models capable of automatically detecting and characterising lymphatic lesions on radiological images. In this context, we proposed an innovative approach “CNN-BiGRU model” based on ResNet50, a deep convolutional neural network recognised for its ability to perform exceptionally well in image recognition challenges, and bidirectional recurrent networks (BiGRU) for automatic lymphoma recognition from multimodal medical images. By integrating the capabilities of these deep learning models, our method aims to provide valuable assistance to clinicians for early and precise identification of lymphoma, enabling faster and better therapeutic intervention.

关键词： Deep learning Image recognition Lymphatic system Databases Magnetic resonance imaging Oncology Feature extraction

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High-Speed 2 $\mu \mathrm{m}$ Silicon Photonic Mach-Zehnder Modulator with 30 GHz Bandwidth

High-Speed 2 $\mu \mathrm{m}$ Silicon Photonic Mach-Zehnder ...

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Asia Communications and Photonics Conference and Exhibition (ACP)

作者： Jianing Wang Xuelin Zhang Xi Wang Yanfu Yang Jiangbing Du Ke Xu Department of Integrated Circuits Guangdong Provincial Key Laboratory of Semiconductor Optoelectronic Materials and Intelligent Photonic Systems Harbin Institute of Technology Shenzhen China State Key Laboratory of Advanced Optical Communication Systems and Networks Shanghai Jiao Tong University Shanghai China Department of Integrated Circuits Harbin Institute of Technology Shenzhen China

We proposed a high-speed $2-\mu \mathrm{m}$ Mach-Zehnder modulator with a record high bandwidth up to 30 GHz, which is able to modulate high-speed signals up to 34 Gb/s.

ISBN: (数字)9798350379266

ISBN: (纸本)9798350379273

We proposed a high-speed $2-\mu \mathrm{m}$ Mach-Zehnder modulator with a record high bandwidth up to 30 GHz, which is able to modulate high-speed signals up to 34 Gb/s.

关键词： Mach-Zehnder interferometers Asia Modulation Bandwidth Silicon photonics Optical fiber communication System-on-chip Next generation networking Signal to noise ratio

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Design and Simulation of a Helical Microrobot for Maximum Speed Enhancement by Physical Surface Modification

Design and Simulation of a Helical Microrobot for Maximum Sp...

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IEEE International Conference on Real-time Computing and Robotics (RCAR)

作者： Siyu Guo Maolin Wang Huaping Wang Shihao Zhong Yukang Qiu Yaozhen Hou Qing Shi Toshio Fukuda School of Mechatronical Engineering Intelligent Robotics Institute Beijing Institute of Technology Beijing China Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology) Ministry of Education Beijing China School of Medical Technology Beijing Institute of Technology Beijing China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology Beijing China

Magnetic helical microrobots have great potential in biomedical applications. However, improving their motion performance in the complex and variable in vivo fluid environment remains challenging. Previous researches mainly focus on optimizing the geometric parameter, the evolutionary structure design, and chemical modifications of the robots, with limited attention given to the impact of physical surface modifications on propulsion performance. To address this issue, we design the helical microrobot with different surface physical modifications, including dimpled and raised surfaces, to evaluate their effects on swimming performance. With ANSYS Fluent, we simulated their swimming process in water and found that microrobots with physically modified surfaces experience less resistance and exhibit a larger step-out frequency while swimming. Moreover, our findings suggest that helical microrobots with dimpled surfaces demonstrate superior swimming performance due to their larger gas-liquid interface area compared to those with raised surfaces.

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Analysis of the Obstacle-Crossing Capability for a Coupled Parallelogram Leg 16th

Analysis of the Obstacle-Crossing Capability for a Coupled P...

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16th International Federation of Theory of Machines and Mechanisms World Congress, IFToMM WC 2023

作者： Chen, Junpeng Pan, Yang Li, Mi Zhu, Renjie Gao, Meng Wang, Kun Xiao, Xinyu Deng, Lizi Dai, Jian S. Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems Southern University of Science and Technology Shenzhen518055 China Key Laboratory of Mechanism Theory and Equipment Design of the Ministry of Education Centre for Advanced Mechanisms and Robotics Tianjin University Tianjin300350 China Centre for Robotics Research King’s College London LondonWC2R 2LS United Kingdom

ISBN: (纸本)9783031457692

This paper presents the kinematic analysis of a coupled parallelogram leg (CPL) used for locomotion in a hexapod robot. The ability to cross obstacles is a crucial functionality of legged robots, which heavily relies on their control algorithms and structural characteristics. In this study, we specifically focus on analyzing the CPL workspace and propose three performance metrics for assessing its obstacle-crossing (OC) capabilities: workspace utilization, effective obstacle-crossing area ratio, and maximum stride ratio. By calculating these metrics for two main walking directions, we thoroughly evaluate the CPL’s OC abilities. The results offer valuable insights into the maximum stride and the starting and ending footholds in each direction, providing a solid theoretical foundation for the development of flexible OC strategies. Prototype experiments successfully validate the accuracy of these calculations, further confirming the effectiveness of the proposed metrics. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Kinematics

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