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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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A DDPG-Based Method of Autonomous Catheter Navigation in Virtual Environment 20

A DDPG-Based Method of Autonomous Catheter Navigation in Vir...

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

作者： Tian, Wei 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

Vascular interventional surgery is the main method for treating cardiovascular diseases. But navigating endovascular catheters through the vascular tree is a highly challenging task even for highly trained specialists. Automation of this task can reduce the burden on surgeons and is expected to improve the surgical outcomes. Although there have been relevant studies utilizing reinforcement learning algorithms to realize autonomous navigation of catheter in the virtual environment Cathsim. However, the kinematics model of the catheter in Cathsim does not conform to the operating mode of the catheter in real vascular interventional surgery. Besides, there are problems such as low success rates of catheter autonomous navigation tasks. To address these issues, this paper modifies the kinematics model of the catheter in Cathsim and designs a catheter autonomous navigation model based on reinforcement learning DDPG (Deep Deterministic Policy Gradient) algorithm. The experimental results show that the agents trained through DDPG in this paper performs better than the agents trained through PPO (Proximal Policy optimization) in other studies in terms of navigation task success rate, completion time, and contact force between the catheter and vascular wall during the navigation process. © 2023 IEEE.

关键词： Reinforcement learning

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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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Photodegradation of psychotropic medications: Impact on efficacy, safety, and drug properties

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Computers in Biology and Medicine 2025年 191卷 110115-110115页

作者： Udrea, Ana-Maria Buiu, Catalin Staicu, Angela Dabu, Aurelia Nicoleta Avram, Speranta Laser Department National Institute for Laser Plasma and Radiation Physics Magurele Ilfov Romania Department of Anatomy Animal Biology Animal Physiology and Biophysics Faculty of Biology University of Bucharest Bucharest Romania Earth Environmental and Life Sciences Section Research Institute of the University of Bucharest University of Bucharest Romania Department of Automatic Control and Systems Engineering Politehnica University of Bucharest Bucharest Romania Department of Neurosurgery The University Emergency Hospital of Bucharest Bucharest Romania

Antipsychotics and antidepressants are essential psychotropic medications used for treating various mental health conditions such as depression, schizophrenia, and bipolar disorder. However, when exposed to light, these compounds are susceptible to photodegradation, potentially changing their biological activity and safety profiles. This study evaluates the pharmacokinetic and pharmacodynamic properties of several photoproducts derived from 13 psychotropic drugs. We used computational methods to predict the biological activity, toxicity, and drug-like properties of the photoproducts. Our results indicate that photoproducts such as amisulpride_TP166, TP246, quetiapine_D4, and quetiapine_PH1 show enhanced biological affinity and ADME-Tox profiles similar to their parent compounds, suggesting possible therapeutic advantages in their interaction with targeted receptors. However, some of the photocompounds exhibit lower predicted binding affinities when interacting with those receptors compared to their parent compounds, indicating a possible loss of function. These findings emphasize the need for further investigation into the effects and safety of drug photoproducts, particularly in the context of long-term pharmacotherapy. © 2025 The Author(s)

关键词： Bioactivity

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Elasticity-Aware Online Motion Optimization for Link-Elastic Manipulators

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IFAC-PapersOnLine 2020年第2期53卷 9980-9985页

作者： Maximilian Krmer Freia I. Muster Christoph Rsmann Torsten Bertram Institute of Control Theory and Systems Engineering TU Dortmund University Dortmund Germany

The field of human-robot interaction is a typical application of elastic robots, as they reduce the risk of injuries and physical damage in case of a collision. Elasticities, however, also impose high demands on underlying joint controllers to guarantee minimal vibration during regular operation. Numerous control concepts assume a sufficiently high ability to control vibrations, by e.g., dedicated actuators or special kinematic structures. This work presents an online, optimization-based trajectory planning approach that concentrates on maximizing this ability for elastic manipulators without additional damping actuators or certain kinematic structures. The planning algorithm utilizes a modified quadratic objective function to incorporate the controllability of vibrations as a secondary goal. The effectiveness of the approach is demonstrated on a real 3-DOF, link-elastic robot for different set-points subject to disturbances. The results show that the approach successfully generates elasticity-aware motions and improves the vibration damping capabilities of the underlying controllers. Especially for critical configurations in which the controllers usually have little or no influence on the vibrations, vibration damping is improved or even made possible.

关键词： Online Trajectory Planning Elastic Links Robotic Manipulators Model Predictive control Vibration Damping

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Object classification in the fixation of a car driver 11

Object classification in the fixation of a car driver

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11. GMM-Fachtagung Automotive meets Electronics, AmE 2020 - 11th GMM Symposium Automotive meets Electronics, AmE 2020

作者： Hugenroth, Alexander Albers, Franz Oeljeklaus, Malte Bertram, Torsten HELLA GmbH and Co. KGaA Lippstadt59552 Germany Institute of Control Theory and Systems Engineering TU Dortmund University Dortmund44221 Germany

ISBN: (纸本)9783800752034

Driver state detection is a key topic in the complex area of automated driving. The reaction time of the driver is critical in the context of partial and conditional automated driving. Hence, it is important to know what is on the driver's mind. To gain this knowledge, a head mounted eye tracking (ET) device is used to determine the drivers fixation. This paper presents a method for automatic processing of the eye tracking data with neural networks in order to automatically classify fixated objects inside and outside the car. Further, a comparison between various structures of the eye tracking signal processing shows differences in precision and calculation time. This approach reduces the effort for the analysis of human subject studies involving eye tracking. Therefore, a higher number of participants and objects could be processed in faster time. In addition, this method can be used to evaluate other unobtrusive methods for driver attention detection. © AmE 2020: Automotive meets Electronics - 11. GMM-Fachtagung. All rights reserved.

关键词： Eye tracking

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Self-triggered MPC robust to bounded packet loss via a min-max approach*

Self-triggered MPC robust to bounded packet loss via a min-m...

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IEEE Conference on Decision and control

作者： Stefan Wildhagen Matthias Pezzutto Luca Schenato Frank Allgöwer University of Stuttgart Institute for Systems Theory and Automatic Control Germany Université Libre de Bruxelles Service d’Automatique et d’Analyse des Systèmes Department of Information Engineering University of Padova Italy

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

Networked control systems typically come with a limited communication bandwidth and thus require special care when designing the underlying control and triggering law. A method that allows to consider hard constraints on the communication traffic as well as on states and inputs is self-triggered model predictive control (MPC). In this scheme, the optimal length of the sampling interval is determined proactively using predictions of the system behavior. However, previous formulations of self-triggered MPC have neglected the widespread phenomenon of packet loss, such that these approaches might fail in practice. In this paper, we present a novel self-triggered MPC scheme which is robust to bounded packet loss by virtue of a min-max optimization problem. We prove recursive feasibility, constraint satisfaction and convergence to the origin for any possible packet loss realization consistent with the boundedness constraint, and demonstrate the advantages of the proposed scheme in a numerical example.

关键词： Networked control systems Packet loss Bandwidth Behavioral sciences Optimization Predictive control Convergence

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A High-Precision Edge Detection Algorithm Based on Improved Sobel Operator-Assisted HED

A High-Precision Edge Detection Algorithm Based on Improved ...

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IEEE International Conference on Cyber Technology in Automation, control, and Intelligent systems

作者： Yeborui Yuan Wenyuan Chen Jie Tang Jia Yang School of Electrical Engineering and Automation Tianjin University of Technology Tianjin China State Key Laboratory of Robotics Shenyang Institute of Automation Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Beijing China Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems School of Electrical Engineering and Automation Tianjin University of Technology Tianjin China

ISBN: (数字)9798331506056

ISBN: (纸本)9798331506063

In response to the problem of poor detection performance of the traditional Sobel operator in edge detection, a high-precision edge detection algorithm based on Sobel operator-assisted Holistically-nested Edge Detection (HED) network was proposed, which is named ISAHED here. The algorithm is designed as follows. Firstly, an improved Sobel operator based on the traditional Sobel operator was proposed through adding gradient direction. Then, the image output by the improved Sobel operator is taken as the ground-truth image and as the end-to-end comparison object in a HED-like network. Finally, the ISAHED algorithm outputs edge images with better quality through iterative learning of the HED-like neural network. The experimental results prove that the proposed ISAHED algorithm has better edge detection performance by visually observing the final edge images and further evaluating the values of FOM. This work provides an important reference for the further development of the edge detection technology.

关键词： Automation Image edge detection Image processing Neural networks control systems Iterative algorithms Intelligent systems

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Data-driven control of dynamic event-triggered systems with delays

arXiv

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arXiv 2021年

作者： Wang, Xin Sun, Jian Berberich, Julian Wang, Gang Allgöwer, Frank Chen, Jie State Key Lab of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing100081 China Institute for Systems Theory and Automatic Control University of Stuttgart Stuttgart70550 Germany Department of Control Science and Engineering Tongji University Shanghai201804 China

This paper studies data-driven control of unknown sampled-data systems with communication delays under an event-triggering transmission mechanism. Data-based representations for stochastic linear systems with a known or an unknown system input matrix are first developed, along with a novel class of dynamic triggering schemes for sampled-data systems with time delays. A model-based stability condition for the resulting event-triggered time-delay system is established using a looped-functional approach. Combining this model-based condition with the data-driven representations, data-based stability conditions are derived. Building on the data-based conditions, methods for co-designing the controller gain and the event-triggering matrix are subsequently provided for both cases with or without using the input matrix. Finally, a numerical example is presented to corroborate the role of additional prior knowledge of the input matrix in reducing the conservatism of stability conditions, as well as the merits of our approaches relative to existing results. © 2021, CC BY.

关键词： Sampled data control systems

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