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12th International Conference on CYBER Technology in automation, Control, and Intelligent systems, CYBER 2022

作者： Li, Wayne Jason Tian, Yuqing Kwok, Chun Xi, Ning St. Stephen's College Stanley Hong Kong Department of Industrial and Manufacturing Systems Engineering The University of Hong Kong Hong Kong Robotics and Automation The University of Hong Kong Hong Kong

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

For more than a decade, researchers have been attempting to synchronize humanoid robot motion with musical beats, including incorporating 'emotion' of the music into the movement of robots. However, the cost the humanoid robots capable of executing motions using real-time recognition of musical notes is typically in the order of thousands of US$, which is extremely difficult for students to explore as 'education robots', especially for students from the developing or underdeveloped countries around the world. We report here our work on exploring the possibility of applying the 'robot-music synchronization' technology to an affordable robot, i.e., US$50, to proliferate the educational value of this concept. We have chosen the mBot as the educational robot platform and showed that it can recognize the frequency of the musical sound signals in real-time and subsequently control the robot's LED (light-emitting diode) colors and motor functions for three different musical sound sources: 1) individual musical notes, 2) a rock-n-roll song, and 3) a classical music song. The limitations of the sound sensor used to collect real-time musical sound input and the deficiencies of the mBot's computing power are discussed in this paper. © 2022 IEEE.

关键词： Anthropomorphic robots

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Atomic force microscopy for revealing micro/nanoscale mechanics in tumor metastasis:from single cells to microenvironmental cues

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中国药理学报（英文版） 2021年第3期42卷 323-339页

作者： Mi Li Ning Xi Yue-chao Wang Lian-qing Liu State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China Department of Industrial and Manufacturing Systems Engineering The University of Hong KongHong KongChina

Mechanics are intrinsic properties which appears throughout the formation,development,and aging processes of biological *** have been shown to play important roles in regulating the development and metastasis of tumors,and understanding tumor mechanics has emerged as a promising way to reveal the underlying mechanisms guiding tumor *** particular,tumors are highly complex diseases associated with multifaceted factors,including alterations in cancerous cells,tissues,and organs as well as microenvironmental cues,indicating that investigating tumor mechanics on multiple levels is significantly helpful for comprehensively understanding the effects of mechanics on tumor ***,diverse techniques have been developed for probing the mechanics of tumors,among which atomic force microscopy(AFM)has appeared as an excellent platform enabling simultaneously characterizing the structures and mechanical properties of living biological systems ranging from individual molecules and cells to tissue samples with unprecedented spatiotemporal resolution,offering novel possibilities for understanding tumor physics and contributing much to the studies of *** this review,we survey the recent progress that has been achieved with the use of AFM for revealing micro/nanoscale mechanics in tumor development and *** and future progress are also discussed.

关键词： atomic force microscopy tumor mechanics cancerous cell tumor microenvironment exosome extracellular matrix

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NA-CPG: A robust and stable rhythm generator for robot motion control

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Biomimetic Intelligence & robotics 2022年第4期2卷 30-38页

作者： Ru Tong Changlin Qiu Zhengxing Wu Jian Wang Min Tan Junzhi Yu State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049China Department of Advanced Manufacturing and Robotics College of EngineeringPeking UniversityBeijing 100871China

Central pattern generators(CPGs)have been widely applied in robot motion control for the spontaneous output of coherent periodic ***,the underlying CPG network exhibits good convergence performance only within a certain range of parameter spaces,and the coupling of oscillators affects the network output accuracy in complex topological ***,CPGs may diverge when parameters change drastically,and the divergence is irreversible,which is catastrophic for the control of robot ***,normalized asymmetric CPGs(NA-CPGs)that normalize the amplitude parameters of Hopf-based CPGs and add a constraint function and a frequency regulation mechanism are ***-CPGs can realize parameter decoupling,precise amplitude output,and stable and rapid convergence,as well as asymmetric output ***,it can effectively cope with large parameter changes to avoid network oscillations and *** optimize the parameters of the NA-CPG model,a reinforcement-learning-based online optimization method is further ***,a biomimetic robotic fish is illustrated to realize the whole optimization *** demonstrated that the designed NA-CPGs exhibit stable,secure,and accurate network outputs,and the proposed optimization method effectively improves the swimming speed and reduces the lateral swing of the multijoint robotic fish by 6.7%and 41.7%,*** proposed approach provides a significant improvement in CPG research and can be widely employed in the field of robot motion control.

关键词： Normalized asymmetric CPGs Rhythm generator Motion control Robotic fish

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Human-Robot Pose Tracking Based on CNN with Color and Geometry Aggregation 16th

Human-Robot Pose Tracking Based on CNN with Color and Geo...

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16th International Conference on Social robotics, ICSR + InnoBiz 2024

作者： Xu, Yue Zhang, Yinlong Liu, Shuai Liu, Yuanhao Liang, Wei He, Hongsheng Shenyang University of Technology Shenyang110020 China Guangzhou Institute of Industrial Intelligence Guangzhou511458 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 Shenyang110016 China University of Chinese Academy of Sciences Beijing100049 China Department of Computer Science The University of Alabama TuscaloosaAL35487 United States

ISBN: (纸本)9789819611508

Accurately tracking the robotic arm and human joints is crucial to ensure safety during human-robot interaction. However, traditional pose tracking methods often exhibit insufficient performance and robustness in complex environments. The variations in the robotic arm’s environment and posture make it challenging for traditional methods to accurately capture the positions and posture of its joints. Specifically, when addressing challenges such as high similarity, occlusion, background complexity, and joint recognition failures, they often struggle to provide reliable and accurate results. To address these challenges, this paper proposes a human-robot pose tracking algorithm based on a new convolutional neural network model. To enhance detection accuracy, an improved color detection module is introduced to resolve joint misclassification. A geometric perception module is designed to accurately locate joints even under occlusion. Additionally, innovative iEMA and DBB modules are incorporated. The iEMA module employs edge detection technology to dynamically adjust thresholds for correct matching by improving the edge matching process. The DBB module refines the boundary box parameters for precise localization by introducing adaptive bounding box updates in real-time. This algorithm also integrates human pose recognition, enabling real-time pose recognition, thereby facilitating more intelligent and natural human-robot interaction. The algorithm has been rigorously evaluated on a custom-designed robotic arm platform. Experimental results validate the algorithm’s effectiveness and feasibility. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Robotic arms

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Opportunistic Communication in Robot Teams

Opportunistic Communication in Robot Teams

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IEEE International Conference on robotics and automation (ICRA)

作者： Daniel Mox Kashish Garg Alejandro Ribeiro Vijay Kumar General Robotics Automation Sensing and Perception (GRASP) Laboratory University of Pennsylvania Philadelphia PA USA Electrical and Systems Engineering Department University of Pennsylvania Philadelphia PA USA

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

In this paper we present a new approach to Mobile Infrastructure on Demand (MID) where a dedicated team of robots creates and sustains a wireless network that satisfies the communication requirements of a different team of task-oriented robots seeking to coordinate their actions in the absence of existing communication infrastructure. Different from previous works, our approach forgoes heuristics for network performance such as algebraic-connectivity or network flow optimizations and instead positions communication support robots to directly maximize the probability of packet delivery by the underlying opportunistic routing protocol. Our system is task agnostic and practical to implement and operate on robots equipped with off-the-shelf WiFi radios. We demonstrate this through a set of experiments showing our MID system maintaining the delivery of critical mission data in a situational awareness setting and enabling foraging robots to effectively coordinate their actions during multi-robot exploration.

关键词： Robot kinematics Wireless networks Routing protocols Mobile robots Communication networks Task analysis Robots

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Stabilizing a Class of Periodical Time-Delay Milling systems by Adaptive Active Control Method

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IEEE Transactions on industrial Informatics 2025年第6期21卷 4457-4465页

作者： Wu, Yue Zhang, Hai-Tao Xu, Bowen Ren, Gui-Ping Shi, Yang Chen, Guanrong Beijing Forestry University State Key Laboratory of Efficient Production of Forest Resources Key Laboratory of National Forestry and Grassland Administration on Forestry Equipment and Automation School of Technology Beijing100083 China Huazhong University of Science and Technology School of Artificial Intelligence and Automation the State Key Laboratory of Digital Manufacturing Equipment and Technology Institute of Artificial Intelligence MOE Engineering Research Center of Autonomous Intelligent Unmanned Systems Wuhan430074 China Huazhong University of Science and Technology Guangdong HUST Industrial Technology Research Institute Dongguan523808 China Guangdong Provincial Key Laboratory of Manufacturing Equipment Digitization Dongguan523808 China Northwestern Polytechnical University School of Artificial Intelligence Optics and Electronics Xi'an710072 China University of Victoria Department of Mechanical Engineering VictoriaBCV8W 2Y2 Canada City University of Hong Kong Department of Electrical Engineering 999077 Hong Kong

Periodical time-delay scenario is often encountered in industrial manufacturing processes. However, the presence of time delays and periodical coefficients brings challenges to controller design and system analysis, which thereby hinders the performance improvement of such systems. In this work, the dynamics of milling systems are transformed into a time-invariant finite-dimensional uncertain model described by Fourier series and Padé approximation. An adaptive active control law is accordingly designed to stabilize such complex dynamics. With the assistance of LaSalle–Yoshizawa theorem, conditions are derived to guarantee sufficiently large stability regions of the corresponding closed-loop system. A numerical case study is conducted on a standard two degrees of freedom milling perturbation system to substantiate the superiority of the proposed adaptive active control technique in terms of enlarged stable operational regions. © 2005-2012 IEEE.

关键词： Milling (machining)

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Rock-Climbing Fish Inspired Skeleton-Embedded Rigid-Flexible Coupling Suction Disc Design for Adhesion Enhancement 16th

Rock-Climbing Fish Inspired Skeleton-Embedded Rigid-Flexible...

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16th International Conference on Intelligent robotics and Applications, ICIRA 2023

作者： Tan, Wenjun Qin, Hengshen Zhang, Chuang Wang, Ruiqian Zhang, Yiwei Yang, Lianchao Chen, Qin Wang, Feifei Xi, Ning Liu, Lianqing State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China University of Chinese Academy of Sciences Beijing100049 China Chengdu Institute of Biology Chinese Academy of Sciences Sichuan Chengdu610042 China Department of Electrical and Electronic Engineering University of Hong Kong 999077 Hong Kong Emerging Technologies Institute Department of Industrial and Manufacturing Systems Engineering University of Hong Kong Pokfulam999077 Hong Kong

ISBN: (纸本)9789819964888

Underwater high-performance biological adhesion systems have attracted increasing research interest to inspire engineered adhesion systems. Switchable underwater adhesion systems typically employ suction adhesion. However, achieving low pre-pressure negative pressure adhesion is still a challenge. An inspiring nature mode is provided by the rock-climbing fish, which needs little preload and can resist a pull-off force of 1000 times its own body weight. The pectoral and abdominal fins of rock-climbing fish have evolved to almost a flat suction cup. Through micro CT, we found that a unique skeletal network is embedded in the suction cup. This unique structure increases the stiffness of the suction cup and enhances its adhesion performance. Through numerical simulation, it was revealed that this rigid, flexible coupling structure enhances the ability of the suction cup to resist lateral pressure and increases the energy dissipation of the edge detachment of the suction cup. This work can shed light on the design of novel underwater adhesion systems and inspire underwater adhesion crawling robots. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Adhesion

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Backstepping Control of Permanent Magnet Synchronous Motor: A Parallel Control Approach

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The International Journal of Intelligent Control and systems 2024年第3期29卷 141-146页

作者： Jingwei Lu Qinglai Wei Xiang Cheng Department of Industrial Engineering Tsinghua UniversityBeijing 100084China State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China Institute of Systems Engineering Macao University of Science and TechnologyMacao 999078China

This paper uses parallel control to investigate the problem of tracking control of permanent magnet synchronous motors(PMSMs).First,an augmented PMSM system is designed to introduce the control input into the feedback system,and then achieve parallel ***,based on the backstepping control technique,the detailed steps of the derivation of the parallel controller are *** stability analysis shows that the tracking error of the PMSM system asymptotically converges to ***,the proposed parallel controller is validated in simulations,where the time-invariant reference signal and time-varying reference signal are considered,showing that the proposed parallel controller effectively enables the PMSM to track different reference signals.

关键词： Backstepping control parallel controller permanent magnet synchronous motors tracking control

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Variation of sEMG with Muscle Fatigue for Lower Limb Stroke Patient During Walking

Variation of sEMG with Muscle Fatigue for Lower Limb Stroke ...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Shang, Wenze Huang, Ruisen Liao, Wei-Hsin Wu, Xinyu Gao, Fei Southern University of Science and Technology Shenzhen518005 China Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen518055 China The Chinese University of Hong Kong Department of Mechanical and Automation Engineering Hong Kong999077 Hong Kong

ISBN: (纸本)9781665481090

SEMG signal is widely used and explored in control strategies of powered assistive human-robot interaction systems due to its non-invasive nature and ability to estimate motion intention well. However, prolonged use of the sEMG-based systems leads to muscle fatigue, contributing to unstable sEMG signals and regarding the performance of sEMG-based control strategies. In this study, three subjects, including two healthy subjects and one stroke subject, participated in our experiment, and the time domain, frequency domain, and complex features extracted from their sEMG signals were utilized to evaluate muscle fatigue. The results indicate that sEMG from the stroke side of the stroke subject contains more non-linear and chaotic parts, and the statistical differences between different trials are more significant, indicating that stroke has a more significant impact on the stroke side of the stroke subject. This study suggests that RMS in the stroke side of stroke subjects is less than that in others, whereas FuzzyEn in the stroke side of stroke subjects is greater than that in others, indicating that stroke leads to different motion patterns and more susceptibility to muscle fatigue. © 2024 IEEE.

关键词： Human robot interaction

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Robotic fish:Opening a new era of underwater detection

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The Innovation 2025年第3期6卷 13-14页

作者： Dongfang Li Suet To Zhicheng Xu Guanghong Liu Rob Law Edmond Q.Wu Limin Zhu State Key Laboratory of Ultraprecision Machining Technology Department of Industrial and Systems EngineeringThe Hong Kong Polytechnic UniversityHong Kong 999077China School of Electrical Engineering and Automation Fuzhou UniversityFujian 350108China China Electronics Technology Group Corporation Information Science Research InstituteBeijing 100086China School of Mechanical Engineering Beijing Institute of TechnologyBeijing 100081China Asia-Pacific Academy of Economics and Management Faculty of Business AdministrationUniversity of MacaoMacao 999078China Department of Computer Science and Engineering Shanghai JiaoTong UniversityShanghai 200240China

Escalating competition within aquatic environments,particularly in oceans,underscores the imperative for innovative solutions in underwater *** solutions necessitate the development of intelligent underwater equipment,with robotic fish emerging as a promising contender.1 Leveraging advancements in robotics and artificial intelligence,robotic fish offer a suite of advantages that position them as transformative assets in underwater exploration and *** fish are autonomous robots designed based on biomimetics principles that mimic the appearance of fish and can autonomously swim and perform specific tasks in water.

关键词： robotic fish intelligent underwater equipmentwith autonomous robots underwater detection oceans artificial intelligencerobotic fish aquatic environments innovative solutions

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