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Gait Phase Classification Based on sEMG Signals Using Long Short-Term Memory for Lower Limb Exoskeleton Robot

IOP Conference Series: Materials Science and Engineering 2020年第1期853卷

作者： Ye Yuan Ziming Guo Can Wang Shengcai Duan Lufeng Zhang Xinyu Wu Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences CAS Key Laboratory of Human-Machine Intelligence-Synergic Systems Shenzhen Institutes of Advanced Technology Chongqing Key Laboratory of Nonlinear Circuits and Intelligent Information Processing College of Electronic and Information Engineering Southwest University.

In this work, we present a Long Short-Term Memory Model (LSTMM) for gait phase classification based on sEMG signals to control the lower limb exoskeleton robot which can recognize 2 phases (Stand and Swing) of leg phases between the foot and ground. This model only needs four sEMG signals to control the lower limb exoskeleton robot helping the hemiplegia patient walking. Compared with the existing methods, the proposed model not only avoids the complex sensor systems but also enhances the accuracy of gait phase classification. The experimental results first verify the availability of sEMG data acquisition system on the lower limb exoskeleton robot made by the shenzhen Institutes of Advanced Technologies (SIAT) by quantify the system with gold standard optoelectronic system Vicon, then show that the proposed LSTMM is significantly higher on prediction accuracy and has better robustness for gait phase classification to control the lower limb exoskeleton robot with different speeds. Finally, the maximum accuracy of LSTMM on the gait phase classification is 97.89%.

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Fundus-Image-Based Retinal Vascular Analysis in Myopic Eyes

Fundus-Image-Based Retinal Vascular Analysis in Myopic Eyes

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Chinese Control Conference (CCC)

作者： Jichen Shen Haohan Zou Yan Wang Jinchao Liu Ningbo Yu College of Artificial Intelligence Nankai University Tianjin China Clinical College of Ophthalmology Tianjin Medical University Tianjin China Tianjin Key Lab of Ophthalmology and Visual Science Tianjin Eye Institute Tianjin Eye Hospital Nankai University Affiliated Eye Hospital Tianjin China Nankai University Eye Institute Nankai University Tianjin China Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin China Engineering Research Center of Trusted Behavior Intelligence Ministry of Education Nankai University Tianjin China Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University Shenzhen China

Myopia is prevalent worldwide and it is of great significance to prevent, control and intervene myopia in an early stage. The etiopathogenesis of myopia remains unclear and needs further research. Fundus photographs can show biomarkers and lesions of the retina in a non-invasive way directly. To discover some potential changes in myopic eyes, we extracted the retinal vascular features from vessel segmented results, and calculated the Spearman correlation coefficients between the retinal vascular features and the spherical refractive errors. The Kruskal-Wallis test was applied to explore the difference exists in the characteristics of retinal vessels among the mild, moderate and high myopia groups. The statistical analysis results indicated that the higher the degrees of myopia, the smaller the retinal vessels. This study found vascular changes in myopic eyes through fundus images, which could help to explain the mechanism of myopia and the damage caused by myopia.

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Research on Position Sensorless Control of PMSM Based on Improved SMO

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IOP Conference Series: Materials Science and Engineering 2019年第1期533卷

作者： Zhang Guoqing Xiong Xinhong Zheng Yousheng Zhang Yanhui Chen Lianbo Wu Xinyu Feng Wei Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen 518055 China CAS Key Laboratory of Human-Machine-Intelligence Synergic Systems Shenzhen Institutes of Advanced Technology Shenzhen 518055 China School of Logistics Engineering Wuhan University of Technology Wuhan 430070 China

The sliding mode observer (SMO) can effectively achieve the permanent magnet synchronous motor (PMSM) to perform position sensorless control, but there are still drawbacks of system chattering and high complexity. In this paper, an improved SMO is established based on hyperbolic tangent function and Kalman filter. The system chattering is effectively suppressed, and the accuracy of position and speed observation error is significantly improved without phase compensation. It is found that the convergence rate of the hyperbolic tangent function has a strong correlation with the system chattering degree and the speed observation error. When a is between 3 and 4, the speed error accuracy of the improved SMO is the optimum situation.

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An insulation diagnosis method for battery pack based on battery model

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IOP Conference Series: Materials Science and Engineering 2020年第1期793卷

作者： Yanhui Zhang Qingpeng Chen Xiao Liu Zhile Yang Shifeng Guo Wei Feng Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen 518055 China Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen 518055 China CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen 518055 China

The collision and components aging of electric vehicles may lead to dramatic decrease of insulation performance in the complex application environment, which will reduce the insulation between battery pack and chassis, and will affect the performance of on-board equipment and electronic control unit, resulting in heat accumulation effect of leakage circuit and even vehicle fire. Therefore, it is critical to develop a real-time, accurate and reliable detection device to monitor the insulation resistance of the high-voltage system of electric vehicles, which is beneficial to the normal operation of electrical equipment, the safe operation of vehicles and the personal safety of passengers. In this work, an online estimation method of insulation resistance based on battery model is proposed.

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Parameter Tuning of PID Controller of Servo System Based on Particle Swarm Optimization Algorithm

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IOP Conference Series: Materials Science and Engineering 2019年第1期533卷

作者： Chen Lianbo Xiong Xinhong Zheng Yousheng Zhang Yanhui Zhang Guoqing Wu Xinyu Feng Wei Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen 518055 China CAS Key Laboratory of Human-Machine-Intelligence Synergic Systems Shenzhen Institutes of Advanced Technology Shenzhen 518055 China School of Logistics Engineering Wuhan University of Technology Wuhan 430070 China

In order to improve the control precision of permanent magnet synchronous motor servo drive, a Proportional-Integral-Differential (PID) control method based on particle swarm optimization (PSO) algorithm is proposed. Firstly, the mathematical model of the permanent magnet synchronous motor was established. Then the PSO algorithm was used to adjust the parameters of the PID controller. Finally, the simulation experiment was carried out under the MATLAB/Simulink environment to test its performance. Compared with the traditional manual parameters tuning, the PID controller based on PSO algorithm had better performance and better stability.

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Fabrication of translucent graded dental crown using zirconia-yttrium multi-slurry tape casting 3D printer

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Journal of the Mechanical Behavior of Biomedical Materials 2024年 152卷 106406页

作者： Romario, Yulius Shan Bhat, Chinmai Ramezani, Maziar Pasang, Tim Chen, Zhangwei Jiang, Cho-Pei Graduate Institute of Manufacturing Technology National Taipei University of Technology 1 Sec. 3 Zhongxiao E. Rd. Taipei10608 Taiwan High-value Biomaterials Research and Commercialization Center National Taipei University of Technology 1 Sec. 3 Zhongxiao E. Rd. Taipei10608 Taiwan Department of Mechanical Engineering Auckland University of Technology Auckland1010 New Zealand Department of Engineering Design Manufacturing and Management Systems Western Michigan University KalamazooMI4900-5200 United States Additive Manufacturing Institute Shenzhen University Shenzhen518060 China Guangdong Key Laboratory of Electromagnetic Control and Intelligent Robotics College of Mechatronics and Control Engineering Shenzhen University Shenzhen518060 China Department of Mechanical Engineering National Taipei University of Technology 1 Sec. 3 Zhongxiao E. Rd. Taipei10608 Taiwan

This paper aims to fabricate functionally graded dental crown using a multi-slurry tape casting additive manufacturing technology. The different luminescence of the dental crown was obtained with different composition of zirconia and yttria. Zirconia with tunable mechanical properties and translucency are obtained by adding 3, 3.5, 4, 4.5, and 5 mol% of yttrium oxide to zirconia powder. After obtaining the printable slurry with maximum solid loading, the green bodies are prepared using the in-house built high-speed multi-ceramic tape casting technology. They are later sintered with two-stage sintering method. After the successful fabrication, the mechanical properties and translucency of the specimens were evaluated with Vickers hardness, three-point bending and translucency parameter tests. Finally, an FGM tooth crown with five photocurable slurries is proposed to demonstrate the translucent gradient effect of sintered part. The solid loading of 80% zirconia and 20% resin delivered samples without any surface cracks. The shrinkage ratio analysis showed that the sintered sample dimension was reduced by 20%, 20%, and 23% along X, Y, and Z directions. The samples fabricated with 3% yttrium oxide to zirconia delivered excellent hardness (1687 HV) and flexural strength (650.6 MPa). However, the relative luminescence increased with increasing the yttrium oxide for 3–5 mol%. With the optimized process parameters, the proposed dental crown is fabricated and analyzed for their shrinkage ratio, mechanical, and translucency properties. The study proposes the potential of fabricating customized dental crown with gradient translucent appearance. © 2024

关键词： Zirconia

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Hair Direction Detection*

Hair Direction Detection*

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WRC Symposium on Advanced robotics and Automation (WRC SARA)

作者： Peng Ba Pengyi Wang Hongde Wu Qian Yang Yongqiang Feng Junchen Wang Yida David Hu Changsheng Li Wenyong Liu Shaolong Kuang Bai-Quan Su Medical Robotics Laboratory School of Intelligent Engineering and Automation Beijing University of Posts and Telecommunications Beijing China Plastic Surgery Hospital Chinese Academy of Medical Sciences and Peking Union Medical College Beijing China School of Mechanical Engineering and Automation Beihang University Beijing China Brigham and Women’s Hospital Harvard Medical School Boston MA USA School of Mechatronical Engineering Beijing Institute of Technology Beijing China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology Beijing China Key Laboratory for Biomechanics and Mechanobiology of Chinese Education Ministry Beijing Advanced Innovation Centre for Biomedical Engineering School of Biological Science and Medical Engineering Beihang University Beijing China School of Health Science and Environmental Engineering Shenzhen University of Technology Shenzhen China

ISBN: (数字)9798331506100

ISBN: (纸本)9798331506117

Hair direction is an important external feature of hair, and recognising hair direction is a prerequisite for processing hair. In this paper, a new algorithm is proposed and systematically verified experimentally for the problem of recognising hair direction. The main goal of this paper is to develop an algorithm that can identify hair direction in a complex image environment. A curve segment analysis method based on image skeletonisation is adopted, which is based on skeleton extraction, intersection identification, curve segmentation and direction prediction. In addition, this paper combines the technique of non-maximal value suppression and PCA analysis to improve the accuracy and stability of the estimation. In the experimental design, this paper chooses a representative image dataset to verify the effectiveness of this paper's algorithm. The experimental process includes the steps of image preprocessing, skeletonisation processing, intersection detection and merging, and direction prediction. The experimental results show that the method in this paper can accurately and effectively identify the hair direction. The main contribution of this paper is to propose a new hair direction recognition method and experimentally verify its effectiveness and accuracy in complex backgrounds.

关键词： Hair Image segmentation Accuracy Three-dimensional displays Merging Prediction algorithms Stability analysis

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The Research on Sensorless Control of Permanent Magnet Synchronous using SMC and SMO

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IOP Conference Series: Materials Science and Engineering 2020年第1期717卷

作者： Li Daoqi Xiong Xinhong Zhang Guoqing Zhang Yanhui Zuo Rui Feng Wei School of Logistics Engineering Wuhan University of Technology Wuhan 430070 China Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen 518055 China Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen 518055 China CAS Key Laboratory of Human-Machine-Intelligence Synergic Systems Shenzhen Institutes of Advanced Technology Shenzhen 518055 China

This work proposes a way to achieve the sensorless control of permanent-magnet synchronous motor using sliding mode controller (SMC) and Sliding Mode Observer(SMO). In this Paper, the SMC is designed to replace the speed control loop PI controller from the original permanent magnet synchronous motor control system with the sliding mode variable structure control theory. Combined with the modified SMO, the 'SMC and modified SMO' motor control system is proposed. Compared with the 'PI and modified SMO' mode, the performance of the motor control is increased substantially, the interference torque speed attenuation is decreased by 87.5%, and the speed control error was also reduced by 67.7%. There is no overshoot with the reaction speed, and significant improvement in response speed, anti-interference performance, control accuracy and observation precision are achieved. Overall, both the system control and observation performance are significantly improved.

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Design of PI Controller for PMSM using Chaos Particle Swarm Optimization Algorithm

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IOP Conference Series: Materials Science and Engineering 2020年第1期717卷

作者： Zuo Rui Xiong Xinhong Chen Lianbo Guo Shifeng Zhang Yanhui Li Daoqi Feng Wei School of Logistics Engineering Wuhan University of Technology Wuhan 430070 China Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen 518055 China Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen 518055 China CAS Key Laboratory of Human-Machine-Intelligence Synergic Systems Shenzhen Institutes of Advanced Technology Shenzhen 518055 China

The proportional-integral-derivative (PID) controller parameters tuning is critical for improving the performance of permanent magnet synchronous motor (PMSM) systems. To improve the performance of particle swarm optimization (PSO) in the PID parameters tuning, the chaos particle swarm optimization (CPSO) is adopted to tune PI parameters in this work. The PMSM vector control system is selected as the research object, and its speed loop PI controller using CPSO algorithm is implemented. The optimal PI controller parameters are obtained using the CPSO algorithm with ten iterations. The simulation is conducted using MATLAB/Simulink to evaluate to the PI controller performance. Four performance indicators including overshoot, rise time, peak time and ITAE are used to evaluate the PI controller with CPSO, and the results suggest that the CPSO algorithm has better performance and stability compared with other tuning methods.

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Spatiotemporally Controlled Formation and Rotation of Magnetic Nanochains In Vivo for Precise Mechanotherapy of Tumors

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Angewandte Chemie 2022年第51期134卷

作者： Dr. Qinrui Fu Hongjuan Feng Dr. Luntao Liu Ziqiao Li Jianjie Li Jing Hu Prof. Chengzhi Hu Prof. Xiaohui Yan Prof. Huanghao Yang Prof. Jibin Song Fujian Science & Technology Innovation Laboratory for Optoelectronic Information of China MOE key laboratory for analytical science of food safety and biology College of Chemistry Fuzhou University Fuzhou 350108 China State Key Laboratory of Molecular Vaccinology and Molecular Diagnostics & Center for Molecular Imaging and Translational Medicine School of Public Health Xiamen University Xiamen Fujian 361005 China Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy Engineering Southern University of Science and Technology Shenzhen 518055 China College of Chemistry Beijing University of Chemical Technology Beijing 10010 P. R. China

Systemic cancer therapy is always accompanied with toxicity to normal tissue, which has prompted concerted efforts to develop precise treatment strategies. Herein, we firstly develop an approach that enables spatiotemporally controlled formation and rotation of magnetic nanochains in vivo, allowing for precise mechanotherapy of tumor. The nanochain comprised nanocomposites of pheophorbide-A (PP) modified iron oxide nanoparticle (IONP) and lanthanide-doped down-conversion NP (DCNP). In a permanent magnetic field, the nanocomposites would be aligned to form nanochain. Next, MnO 2 NPs were subsequently administered to accumulate in tumor as suppliers of Mn 2+ , which coordinates with PP to immobilize the nanochain. In a rotating magnetic field, the nanochain would rapidly rotate, leading to apoptosis/necrosis of tumor cell. The nanochain showed high T 2 -MR and NIR-II fluorescence imaging signals, which facilitated guided therapy. The strategy has great potential in practical applications.

关键词： Activatable Probes Fluorescence Probes In Vivo Bioimaging Material Science Self-Assembly

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