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International Conference on Mechatronics and Machine Vision in Practice (M2VIP)

作者： Yidan Ding Peiyuan Xie Songwei Li Jianjun Meng School of Mechanical Engineering Shanghai Jiao Tong University Shanghai China School of Mechanical Engineering and State Key Laboratory of Mechanical Systems and Vibrations of Robotics Shanghai Jiao Tong University Shanghai China

ISBN: (纸本)9781665431545

Motor imagery has been widely employed in noninvasive brain-computer interface (BCI) systems. Maintaining and manipulating specific motor imagery is essential to these systems, but motor imagery is usually performed using individual strategies and thus can be quite challenging for some healthy and disabled users. Kinematic movement parameters, such as the clenching speed, are important factors affecting the modulation strength of brain rhythm. Intuitively, prompts containing more detailed instruction related to the task could inform the users more precisely and vividly and hopefully could alleviate the challenge of motor imagination. In this sense, we explored the electroencephalography (EEG) characteristics of performing motor imagery and motor execution under different motion speeds and different prompt types. Ten subjects were invited to participate in motor imagery (MI) and motor execution (ME) tasks of the left hand and right hand at seven different speeds with either audio prompt or GIF prompt. A hypothesis of a linear relationship between the modulation of alpha (8-12 Hz) and beta band (18-28 Hz) ERD/ERS and motion speeds were tested. The experimental results showed that motion speeds were not linearly correlated to relative EEG changes at the alpha and beta bands in the sensorimotor cortex. Different prompts are found to have an effect on EEG activities in alpha and beta bands across the scalp, especially at occipital and frontal areas. Compared with audio prompts, subjects performed tasks with significantly improved accuracy with the assistance of GIF instructions. The current results could provide meaningful guidance for a better MI-based BCI system design as well as the MI classification enhancement.

关键词： Mechatronics Machine vision Scalp Modulation Kinematics Rhythm Electroencephalography

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3d Printing Sacrificial Templates for Manufacturing Hydrogel Constructs with Channel Networks

SSRN

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SSRN 2022年

作者： Pan, Bingchu Shao, Lei Jiang, Jinhong Zou, Sijia Kong, Haoyu Hou, Ruixia Yao, Yudong Du, Jianke Jin, Yuan Key Laboratory of Impact and Safety Engineering Ministry of Education Ningbo University Zhejiang Ningbo315211 China State Key Laboratory of Fluid Power and Mechatronic Systems College of Mechanical Engineering Zhejiang University Zhejiang Hangzhou310027 China Research Institute for Medical and Biological Engineering Ningbo University Zhejiang Ningbo315211 China Smart Materials and Advanced Structure Laboratory School of Mechanical Engineering and Mechanics Ningbo University Zhejiang Ningbo315211 China Biomedical Engineering Research Center Medical School of Ningbo University Ningbo315211 China Key Laboratory of Fluid Power and Mechatronic Systems China

In hydrogel-based tissue engineering, channel network is an efficient structure for transporting nutrients/oxygen to support cell survival and construct living tissues in vitro. 3D printing can create complex hydrogel-based tissue constructs, however, due to the weak mechanical properties of hydrogel bioinks, cell-laden hydrogel constructs with effective channel networks are difficult to be directly printed. Here, an easy sacrificial 3D printing method based on commercial desktop 3D printer and water-soluble polyvinyl alcohol (PVA) to construct effective hydrogel channel networks is introduced. PVA is a water-soluble sacrificial material with sufficient dissolution time and high mechanical strength, which can avoid the disadvantages of classic sacrificial materials (sugar and Pluronic F127). High roundness of printed PVA filaments results in high roundness of the channel networks. The interconnected channel networks accelerate the supply of oxygen/nutrients and promote cell growth. Additionally, PVA sacrificial templates have high stability and long-term preservation, facilitating transportation, circulation and use, which is conducive to the manufacturing and promotion of hydrogel-based constructs with channel networks. Taken together, our easy strategy of manufacturing hydrogel constructs with channel networks has broad application prospects, such as 3D cell culture, construction of functional tissue in vitro or tissue repair in vivo etc. © 2022, The Authors. All rights reserved.

关键词： Hydrogels

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Bionic Soft Fingers with Hybrid Variable Stiffness Mechanisms for Multimode Grasping

Bionic Soft Fingers with Hybrid Variable Stiffness Mechanism...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Xiangbo Wang Tianran Zhang Hongze Yu Zhenwei Wen Lide Fang Huaping Liu Fuchun Sun Lixue Tang Bin Fang College of Quality and Technical Supervision Hebei University Baoding China School of Artificial Intelligence Beijing University of Posts and Telecommunications Beijing China School of Mechanical Engineering & Automation Beihang University Beijing China International School Beijing University of Posts and Telecommunications Beijing China Department of Computer Science and Technology Beijing National Research Center for Information Science and Technology Institute for Artificial Intelligence State Key Lab of Intelligent Technology and Systems Tsinghua University Beijing China School of Biomedical Engineering Beijing Key Laboratory of Fundamental Research on Biomechanics in Clinical Application Capital Medical University Beijing China

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

This paper presents a novel Bionic Soft Finger (BSF) that aims to overcome the limitations of conventional rigid manipulators in terms of adaptability and safety, as well as the challenges faced by soft hands regarding carrying capacity and stability. The BSF design uses a hybrid variable stiffness mechanism combining memory alloy actuators with particle jamming to achieve the desired bending angle and actuator stiffness. Our innovative approach utilizes a bionic finger design that incorporates a memory alloy skeleton and a water-cooled recirculation system, leading to a substantial reduction in the time required for each operation. Through the integration of particle jamming, we have enhanced the overall stiffness and performance of the manipulator, enabling load capacities of up to 3N per finger and more than twice the stiffness of a normal condition. Additionally, our design enables multimode grasping and incorporates a liquid metal strain sensor (METT) for real-time monitoring of finger bending angles. Comparative analyses demonstrate that our design exhibits superior stiffness and enables five-mode grasping in comparison to pneumatic actuators. We believe that bionic soft fingers present a promising solution for enhancing adaptability, safety, and performance in human-robot interaction applications.

关键词： Metals Grasping Bending Manipulators Stability analysis Skeleton Real-time systems

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Development and Evaluation of a Robotic System for Safe Cardiac Sheath Delivery

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IEEE Transactions on biomedical engineering 2025年 PP卷 PP页

作者： Wang, Weizhao Saija, Carlo Xu, Zhouyang Zeidan, Aya Wilcox, Joshua Patterson, Tiffany Redwood, Simon Wang, Shuangyi Rhode, Kawal Housden, Richard King's College London School of Biomedical Engineering and Imaging Sciences LondonWC2R 2LS United Kingdom Guy's and St Thomas' NHS Foundation Trust Cardiovascular Department LondonSE1 7EH United Kingdom King's College London School of Cardiovascular Medicine and Sciences LondonSE1 7EH United Kingdom Institute of Automation Chinese Academy of Sciences State Key Laboratory of Multimodal Artificial Intelligence Systems Beijing100190 China University of Chinese Academy of Sciences School of Artificial Intelligence Beijing101408 China Chinese Academy of Sciences Centre for Artificial Intelligence and Robotics Hong Kong Institute of Science & Innovation Hong Kong

Objective: This study aimed to develop and evaluate a 3-degree-of-freedom (DoF) robotic system for the safe delivery of cardiac sheaths through challenging anatomical structures, including the fossa ovalis and pathways with tight curves. Methods: The robot and its kinematic model were built on a previously proposed single-DoF actuation module and bending model. A sheath delivery strategy (SDS) was developed, combining two control methods: tip position control to approach an optimal entry point and point-constrained control to maintain consistent navigation through this point, minimizing tissue contact. Technical performance was evaluated through trajectory-following and point-crossing tests, followed by feasibility experiments in a simulated scenario. Trials were conducted by three cardiologists using a validated phantom model under fluoroscopic guidance, comparing SDS with joint control (JC) and manual control (MC). Results: Average root mean square errors were 2.10 mm for tip position control and 1.86 mm for point-constrained control. SDS outperformed MC with significantly shorter trajectory lengths and lower root mean square jerk. Compared to JC, SDS reduced sheath-induced movements (an indirect measure of force) and increased retraction success rates at the fossa ovalis. Conclusion: The proposed robotic system reduced tissue wall contact compared to JC and provided smoother, more controlled operations than MC, ensuring safer and more effective delivery through confined pathways. Significance: This work contributes to advancing robotic-assisted cardiac sheath delivery, providing a reliable and safer method for navigating challenging anatomical structures. © 2025 IEEE Computer Society. All rights reserved.

关键词： Medical robotics

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In situ TEM revealing the effects of dislocations on lithium-ion migration in transition metal dichalcogenides

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Journal of Energy Chemistry 2021年第7期30卷 280-284页

作者： Ruiwen Shao Chengkai Yang Chen Yang Shulin Chen Weikang Dong Bairong Li Xiumei Ma Jing Lu Lixin Dong Peng Gao Dapeng Yu Beijing Advanced Innovation Center for Intelligent Robots and Systems and Institute of Convergence in Medicine and Engineering Beijing Institute of TechnologyBeijing 100081China Electron Microscopy Laboratory School of PhysicsPeking UniversityBeijing 100871China College of Materials Science and Engineering Fuzhou UniversityFuzhou 350108FujianChina State Key Laboratory for Artiﬁcial Microstructure&Mesoscopic Physics School of PhysicsPeking UniversityBeijing 100871China Analysis and Testing Center Beijing Institute of TechnologyBeijing 100081China Collaborative Innovation Center of Quantum Matter Beijing 100871China Department of Biomedical Engineering City University of Hong KongHong KongChina International Center for Quantum Materials School of PhysicsPeking UniversityBeijing 100871China Department of Physics South University of Science and Technology of ChinaShenzhen 518055GuangdongChina

The two-dimensional (2D) structure of layered transition metal dichalcogenides (TMDs) provides unusual physical properties [1,2]and chemical reactivity [3,4], which can be influenced by defects such as dislocations [5,6]. For example, dislocations can act as nucleation sites for the onset of deformation when subjected to stress [7].

关键词： Batteries Defect Structure–property relationships Electrodes Transition metal dichalcogenides

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BLIP-Adapter: Bridging Vision-Language Models with Adapters for Generalizable Face Anti-spoofing

BLIP-Adapter: Bridging Vision-Language Models with Adapters ...

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IEEE International Joint Conference on Biometrics (IJCB)

作者： Bin Zhang Xiangyu Zhu Li Gao Xiaoyu Zhang Zhen Lei Institute of Information Engineering Chinese Academy of Sciences China School of Cyber Security University of Chinese Academy of Sciences China State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences China School of Artificial Intelligence University of Chinese Academy of Sciences China China Mobile Financial Technology Co. Ltd. China Centre for Artificial Intelligence and Robotics Hong Kong Institute of Science & Innovation Chinese Academy of Sciences China

ISBN: (数字)9798350364132

ISBN: (纸本)9798350364149

Face anti-spoofing is essential for ensuring the security of facial recognition systems against spoofing attacks. Recent methods have transferred Vision-Language models to face anti-spoofing (e.g., FLIP and CLIPC8), demonstrating that learning perception from supervision in natural language can enhance the model’s detection performance. However, such methods exhibit limited depth in the interaction between images and texts, resulting in poor performance on fine-grained understanding tasks such as face anti-spoofing. Besides, the lack of diversity in image-text pairs for face anti-spoofing further hinders such methods from playing their best. To address these issues, we propose a novel fine-tuning strategy for Vision-Language models in face anti-spoofing. This strategy introduces the Bootstrapping Language-Image Pre-training model (BLIP), known for its novel interaction mechanisms and superior image-text comprehension, to construct a more generalized feature representation for face anti-spoofing. Furthermore, we propose an Adapter module for the text branch to reduce the negative impact of insufficient data diversity and catastrophic forgetting. Extensive experiments conducted on various cross-domain testing benchmarks demonstrate the significant superiority of our method over the state-of-the-art, highlighting its effectiveness and robustness.

关键词： Adaptation models Analytical models Face recognition Biological system modeling Transfer learning Natural languages Benchmark testing Robustness Security Visual perception

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Development of Bath Auxiliary Robot for the Disabled Elderly

Development of Bath Auxiliary Robot for the Disabled Elderly

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IEEE International Conference on Intelligence and Safety for robotics (ISR)

作者： Weibo Wang Ya Chen Xiaofeng Zou Shuoyu Wang João Paulo Ferreira Tao Liu State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical Engineering Zhejiang University Hangzhou China Kochi University of Technology Kochi Japan Coimbra Institute of Engineering Institute of Systems and Robotics of Coimbra Portugal

The rapid aging of the population has put huge pressure on social nursing work. As an important part of elderly care, bathing can remove sweat and oil, relax muscles, promote blood circulation and improve skin's metabolic function and disease resistance, which is related to the physical and mental health of the elderly. In this paper, a set of intelligent bath care system for the elderly is introduced. The system automatically showers, mops, dries the elderly and alarms for abnormal physical conditions. Moreover, bathing parameters such as bath water temperature, scrubbing frequency and speed, drying temperature and wind speed can be set according to the different preferences and physical conditions of the elderly. It realizes the exchange of information among the elderly, equipment and nursing staff, with good cleaning effect and high degree of automation.

关键词： Resistance Wind speed Oils Senior citizens Sociology Medical services Skin

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Multiscale Convolutional Transformer with Diverse-aware Feature Learning for Motor Imagery EEG Decoding

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IEEE Transactions on Cognitive and Developmental systems 2025年

作者： Hang, Wenlong Wang, Junliang Liang, Shuang Lei, Baiying Wang, Qiong Li, Guanglin Chen, Badong Qin, Jing Nanjing Tech University College of Computer Nanjing211816 China Nanjing Tech University Information Engineering Nanjing211816 China Nanjing University of Posts and Telecommunications School of Internet of Things Nanjing210023 China Shenzhen University School of Biomedical Engineering Shenzhen518060 China Guangdong Provincial Key Laboratory of Computer Vision Shenzhen518055 China Virtual Reality Technology Shenzhen518055 China Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen518055 China Shenzhen Institute of Advanced Technology Shenzhen518055 China Chinese Academy of Sciences Shenzhen518055 China Xi'an Jiaotong University Institute of Artificial Intelligence and Robotics Xi'an710049 China Hong Kong Polytechnic University School of Nursing Hung Hom Hong Kong

Electroencephalogram (EEG)-based motor imagery (MI) brain-computer interfaces (BCIs) have significant potential in improving motor function for neurorehabilitation. Despite recent advancements, learning diversified EEG features across different frequency ranges remains a significant challenge, as the homogenization of feature representations often limits the generalization capabilities of EEG decoding models for BCIs. In this paper, we propose a novel multiscale convolutional transformer framework for EEG decoding that integrates multiscale convolution, transformer, and diverse-aware feature learning scheme (MCTD) to tackle the above challenge. Specifically, we first capture multiple frequency features using dynamic one-dimensional temporal convolution with different kernel lengths. Subsequently, we incorporate convolutional layers and transformers with a contrastive learning scheme to extract discriminative local and global EEG features within a single frequency range. To mitigate the homogenization of features extracted from different frequency ranges, we propose a novel decorrelation regularization. It enables multiscale convolutional transformers produce less correlated features with each other, thereby enhancing the overall expressiveness of EEG decoding model. The performance of MCTD is evaluated on four public MI-based EEG datasets, including the BCI competition III 3a and IV 2a, the BNCI 2015- 001, and the OpenBMI. For the average Kappa/Accuracy scores, MCTD obtains improvements of 3.58%/2.68%, 3.09%/2.20%, 2.33%/1.54%, and 4.44%/2.22%, over the state-of-the-art method on four EEG datasets, respectively. Experimental results demonstrate that our method exhibits superior performance. © 2016 IEEE.

关键词： Brain computer interface

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Redistributing Controller Orders to Increase Positioning Bandwidth in Nanopositioners

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IFAC-PapersOnLine 2021年第21期54卷 97-102页

作者： Adedayo K. Babarinde Linlin Li Jakub Kuncak LiMin Zhu Sumeet S. Aphale Artificial Intelligence Robotics and Mechatronic Systems Group School of Engineering University of Aberdeen Aberdeen AB24 3UE UK State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai 200240 China

Integer-order damping and tracking controllers are typically used in tandem to overcome resonance and hysteresis induced positioning errors in piezo-actuated nanopositioners. This paper takes a novel approach of strategically redistributing the controller orders to achieve significant positioning bandwidth improvement, without any significant increase in the design complexity. The Positive Position Feedback (PPF) controller combined with a suitably gained Integral tracking controller is used as a candidate to demonstrate the efficacy of the proposed technique. The resulting fractional-order PPF damping and Integral tracking controllers result in increasing the overall positioning bandwidth of the closed-loop system by 37%; and subsequent improvement in positioning accuracy while tracking high-frequency triangular trajectories.

关键词： Nanopositioners piezoelectric actuator positive position feedback tracking control fractional-order control

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Exploring Nanoscale Perovskite Materials for Next‑Generation Photodetectors:A Comprehensive Review and Future Directions

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Nano-Micro Letters 2025年第2期17卷 46-108页

作者： Xin Li Sikandar Aftab Maria Mukhtar Fahmid Kabir Muhammad Farooq Khan Hosameldin Helmy Hegazy Erdi Akman State Key Laboratory of Pulsed Power Laser Technology National University of Defense TechnologyHefei 230037AnhuiPeople’s Republic of China Anhui Laboratory of Advanced Laser Technology Hefei 230037AnhuiPeople’s Republic of China Nanhu Laser Laboratory Changsha 410015HunanPeople’s Republic of China Department of Semiconductor Systems Engineering and Clean Energy Sejong UniversitySeoul 05006Republic of Korea Department of Artificial Intelligence and Robotics Sejong UniversitySeoul 05006Republic of Korea School of Engineering Science Simon Fraser UniversityBurnabyBC V5A 1S6Canada Department of Electrical Engineering Sejong UniversitySeoul 05006South Korea Department of Physics Faculty of ScienceKing Khalid UniversityP.O.Box 9004AbhaSaudi Arabia Central Labs King Khalid UniversityAlQura’aP.O.Box 96061413 AbhaSaudi Arabia Scientific and Technological Research and Application Center Karamanoglu Mehmetbey University70100 KaramanTurkey

The rapid advancement of nanotechnology has sparked much interest in applying nanoscale perovskite materials for photodetection *** materials are promising candidates for next-generation photodetectors(PDs)due to their unique optoelectronic properties and flexible synthesis *** review explores the approaches used in the development and use of optoelectronic devices made of different nanoscale perovskite architectures,including quantum dots,nanosheets,nanorods,nanowires,and *** a thorough analysis of recent literature,the review also addresses common issues like the mechanisms underlying the degradation of perovskite PDs and offers perspectives on potential solutions to improve stability and scalability that impede widespread *** addition,it highlights that photodetection encompasses the detection of light fields in dimensions other than light intensity and suggests potential avenues for future research to overcome these obstacles and fully realize the potential of nanoscale perovskite materials in state-of-the-art photodetection *** review provides a comprehensive overview of nanoscale perovskite PDs and guides future research efforts towards improved performance and wider applicability,making it a valuable resource for researchers.

关键词： Nanoscale perovskites Photodetectors Nanosheets Nanorods Nanowires Quantum dots Nanocrystals

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