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International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Xian YUE Aibin ZHU Jiyuan SONG Guangzhong CAO Delin AN Zhifu GUO Institute of Robotics & Intelligent Systems Shaanxi Key Laboratory of Intelligent Robots Xi'an Jiaotong University Xi'an China Shenzhen Key Laboratory of Electromagnetic Control Shenzhen University Shenzhen China Key Laboratory of Education Ministry for Modern Design and Rotor-Bearing System Xi’an China Taiyuan Institute Co.Ltd. of China Coal Technology and Engineering Group Taiyuan China

ISBN: (数字)9781728157153

ISBN: (纸本)9781728157160

Aiming at the existing problems of exoskeletons in human motion capture and recognition, causing human can only move passively in the exoskeleton, which is difficult to efficiently rebuild the connection between human muscles and nerves. This paper describes a system for the analysis of human motion capture based on CAN bus. The system adopts a distributed system architecture, which can collect data including plantar pressure, exoskeleton joint angle, and provide data support for subsequent motion recognition algorithm. The system has a simple measurement method and low dependence on measurement environment. The accuracy of the system is verified by the contrast experiment of Vicon 3D motion capture system. The results of the experiment indicate that the designed human motion capture system has a high accuracy, and meets the requirements of human motion perception when controlling the Rehabilitation Exoskeleton.

关键词： Robot sensing systems Exoskeletons Legged locomotion Foot Pressure sensors Acceleration

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Study on the Active Movement Capsule Robot for Biopsy

Study on the Active Movement Capsule Robot for Biopsy

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IEEE International Conference on Mechatronics and Automation

作者： Shuxiang Guo Fang Huang Jian Guo Qiang Fu Tianjin Key Laboratory for Control Theory & Application in Complicated Systems and Intelligent Robot Laboratory Tianjin University of Technology Binshui Xidao Extention 391 Tianjin China Kagawa University Takamatsu Kagawa Japan

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

In this paper, a novel biopsy robot is proposed. In order to solve the problem of the single function of the commercial capsule endoscope, this paper proposes a novel biopsy capsule robot driven by an external magnetic field. The module includes two radial magnetized magnetic rings and a biopsy mechanism. Without considering the addition energy consumption, using the coupling effect of the three-axis Helmholtz coil and the robot's built-in magnet, the crank slider mechanism converts the torque acting on the magnet by a uniform rotating magnetic field into the cutting force during biopsy. The magnetic switch used to control the switching between the motion function of the anchor biopsy robot and the anchor biopsy function. Finally, the functional modules in the pipeline of anchored biopsy robot is verified by experiments. The results show that the biopsy robot can realize the robot's anchoring in the intestine while performing the biopsy function. The realization of the biopsy capsule robot has important medical diagnostic significance.

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Magnetic Localization Technology of Capsule Robot Based on Magnetic Sensor Array

Magnetic Localization Technology of Capsule Robot Based on M...

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IEEE International Conference on Mechatronics and Automation

作者： Qiang Fu Xinrui Wang Jian Guo Shuxiang Guo Zhuocong Cai Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems and Biomedical Robot Laboratory Tianjin University of Technology Binshui Xidao 391 Tianjin China Dpartment of Intelligent Mechanical Systems Engineering Kagawa University Takamatsu Kagawa Japan

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

Compared with traditional endoscopes, endoscopic capsule robots have been widely used in the medical field due to their small size, wireless transmission of internal images of digestive tract, and non-invasive and minimally invasive diagnosis and treatment. Therefore, when the capsule robot enters the human body, positioning it outside the human body becomes a key technology. Magnetic positioning technology has become the best method to realize capsule robot positioning with its high efficiency and high precision. In this paper, a magnetic positioning method is proposed, which measures the magnetic induction intensity through the magnetic sensor array platform built, and calculates the relative position of the capsule robot according to the magnetic dipole model derivation equation. In addition, this paper also carries out curve fitting for this method. The fitting results show that this method has higher positioning accuracy and shorter calculation time.

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Solving A Class of Nonsmooth Resource Allocation Problems with Directed Graphs though Distributed Smooth Multi-Proximal Algorithms

arXiv

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arXiv 2020年

作者： Wei, Yue Shang, Chengsi Fang, Hao Zeng, Xianlin Dou, Lihua Pardalos, Panos Peng Cheng Laboratory China The Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology China Graduate School at Shenzhen Tsinghua University China Industrial and Systems Engineering University of Florida United States

In this paper, two distributed multi-proximal primal-dual algorithms are proposed to deal with a class of distributed nonsmooth resource allocation problems. In these problems, the global cost function is the summation of local convex and nonsmooth cost functions, each of which consists of one twice differentiable function and multiple nonsmooth functions. Communication graphs of underling multi-agent systems are directed and strongly connected but not necessarily weighted-balanced. The multi-proximal splitting is designed to deal with the difficulty caused by the unproximable property of the summation of those nonsmooth functions. Moreover, it can also guarantee the smoothness of proposed algorithms. Auxiliary variables in the multi-proximal splitting are introduced to estimate subgradients of nonsmooth functions. Theoretically, the convergence analysis is conducted by employing Lyapunov stability theory and integral input-to-state stability (iISS) theory with respect to set. It shows that proposed algorithms can make states converge to the optimal point that satisfies resource allocation conditions. Copyright © 2020, The Authors. All rights reserved.

关键词： Directed graphs

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Study on Delay and Accuracy of control System for the Vascular Interventional Surgical Robot based on Fuzzy PID and Improved Smith Algorithms

Study on Delay and Accuracy of Control System for the Vascul...

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IEEE International Conference on Mechatronics and Automation

作者： Jian Guo Zixiang Zhuang Shuxiang Guo Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems and Intelligent Robot Laboratory Tianjin University of Technology BinshuiXidao 391 Tianjin China Kagawa University 2217-20 Hayashi-cho Takamatsu Japan

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

In vascular interventional surgical robot, performance of displacement is one of the criteria for evaluating whether the robot's system can safely complete the operation. However, there is a pure time delay phenomenon which caused by motor of the slave side and also the data processing for the robot's system. These factors will reduce the control performance of the vascular interventional surgical robot and even cause the system is unstable, which makes the analysis of the system very complicated. In order to this situation, this paper proposed an algorithm combining fuzzy PID and improved smith estimation compensation, which reduces the error and time delay of vascular interventional surgical robot caused by time delay and improves the following ability of master and slave vascular interventional surgical robot. Finally, this paper verified the effectiveness of the algorithm through the tracking experiment of master-slave's tracking experiment. It showed the improved algorithms can improve the real-time and accuracy of the control system for the robot.

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Motion Planning of Redundant Dual-arm Based on Improved RRTstar

Motion Planning of Redundant Dual-arm Based on Improved RRTs...

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Chinese Automation Congress (CAC)

作者： Zhi Li Qiang Gao Yu Song Chunping Liu Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems Tianjin University of Technology Tianjin China Intelligent Manufacturing College Tianjin Sino-German University of Applied Sciences Tianjin China

ISBN: (数字)9781728176871

ISBN: (纸本)9781728176888

In view of the lack of search orientation and slow convergence speed of RRT * algorithm, this paper proposes an improved RRT * path planning algorithm. Firstly, after sampling random points, the attractive function is introduced to guide the expansion direction of the random tree. Then, the variable multiple step size method is used. Every time the random tree is expanded, if no collision is detected, the step size will be doubled in the next expansion, and so on; if collision is detected, the step size will be adjusted back to single step size for expansion, so as to speed up the algorithm and improve the efficiency. Then, after analyzing the workspace of the redundant double manipulator, the possibility of collision between the two arms is confirmed, and the loose coordination method of master-slave programming is used for the experiment. Simulation and experimental results show that compared with the original algorithm, the improved algorithm saves about 23% in time and 11% in path cost, which proves the effectiveness and efficiency of the proposed algorithm.

关键词： Manipulators control theory Task analysis Planning Mathematical model Manufacturing Kinematics

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A Novel Fuzzy Neural Network-based Rehabilitation Stage Classifying Method for the Upper Limb Rehabilitation Robotic System

A Novel Fuzzy Neural Network-based Rehabilitation Stage Clas...

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IEEE International Conference on Mechatronics and Automation

作者： Shuxiang Guo Huimin Cai Jian Guo Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems and Intelligent Robot Laboratory Tianjin University of Technology Binshui Xidao Extension 391 Tianjin China Faculty of Engineering Kagawa University Takamatsu Kagawa Japan

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

According to the “brain plasticity” theory, the hemiplegia patients could improve the ability to keep balance through rehabilitation training. This paper proposes a method of collecting sEMG signals and interaction force signals during the rehabilitation training which is completed by continuously making specified actions driven by external forces. The signals are collected to classify the rehabilitation stage and evaluate the rehabilitation effect to solve the problem of stroke rehabilitation physician's shortage. This paper conducted an experiment of rehabilitation exercise based on the manual muscle testing (MMT) scale, fitted a fuzzy neural network and verified its predicted performance for the assessment of rehabilitation stage.

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Design of A Novel Virtual Sensor for the Vascular Interventional Robotic System

Design of A Novel Virtual Sensor for the Vascular Interventi...

引用

IEEE International Conference on Mechatronics and Automation

作者： Jian Guo Han Zhao Shuxiang Guo Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems and Intelligent Robot Laboratory Tianjin University of Technology Binshui Xidao 391 Tianjin China Faculty of Engineering Kagawa University Hayashi-cho Takamatsu Japan

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

In order to solve existed problems in the force measurement part of vascular interventional surgical robots. In this paper, A new concept was proposed to obtain more accurate force information and solve the problems of traditional sensors in vascular interventional surgery. This sensorless measurement is based on kinematic equations in robotics. First of all, the virtual sensor mentioned in this paper firstly collects the pictures of the catheter in the blood vessel, extracts the deformation variables, then establishes the catheter kinematics model, and imports the extracted deformation variables into the catheter kinematics model. The final output force value. Finally, experimental results showed that force measurement in this way can avoid the problem of sterilization caused by the sensor entering the blood vessel and the problem of insufficient accuracy caused by indirect measurement.

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A SSVEP-Based Wireless Retrieval Robot System

A SSVEP-Based Wireless Retrieval Robot System

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Chinese Automation Congress (CAC)

作者： Sihao Yang Tao Xue Shicheng Yan Zekun Tian Yuxin Zhang Qihuai Zhang Jintao Chen Zhongli Bai Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin China Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems Tianjin University of Technology Tianjin China

ISBN: (数字)9781728176871

ISBN: (纸本)9781728176888

The brain-computer interface (BCI) plays an important role in assisting the disabled in life support and entertainment. In this study, a wireless retrieval robot system for steady-state visual evoked potential (SSVEP) based BCI system was proposed. In order to improve the recognition accuracy and system stability of BCI system for subjects' instructions, in this study, offline and online experiments are used to study and solve the performance parameters, obstacle avoidance and retrieval performance of BCI respectively. In the offline experiment, 5 types of SSVEP data of 4 subjects were used. Based on CCA algorithm, the multi-channel fusion recognition accuracy, time window length (TWL), command activation margin and other aspects are studied. The optimal experimental parameters are determined. Online experiments are based on the optimal test parameters of offline experiments, 8 subjects were used to study the performance of obstacle avoidance and retrieval. The online experiments achieved an average accuracy of 87.89 ± 6.62% with an ITR of 23.6 ± 4.76 bit/min. Furthermore, the rate of success in grasping three kinds of different difficulty preset targets was 61.38%.

关键词： Electroencephalography Robots Electrodes Correlation coefficient Task analysis Visualization Liquid crystal displays

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Leaderless Consensus of Heterogeneous Multiple Euler-Lagrange systems with Unknown Disturbance

arXiv

引用

arXiv 2021年

作者： Wang, Shimin Zhang, Hongwei Baldi, Simone Zhong, Renxin The Department of Chemical Engineering Queen's University KingstonONK7L 3N6 Canada The School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen518055 China The School of Mathematics Southeast University Nanjing China The Delft Center for Systems and Control Delft University of Technology Delft2628 CD Netherlands The Guangdong Key Laboratory of Intelligent Transportation Systems School of Intelligent Systems Engineering Sun Yat-Sen University Guangzhou510275 China

This paper studies the leaderless consensus problem of heterogeneous multiple networked Euler-Lagrange systems subject to persistent disturbances with unknown constant biases, amplitudes, initial phases and frequencies. The main characteristic of this study is that none of the agents has information of a common reference model or of a common reference trajectory. Therefore, the agents must simultaneously and in a distributed way: achieve consensus to a common reference model (group model);achieve consensus to a common reference trajectory;and reject the unknown disturbances. We show that this is possible via a suitable combination of techniques of distributed 'observers', internal model principle and adaptive regulation. The proposed design generalizes recent results on group model learning, which have been studied for linear agents over undirected networks. In this work, group model learning is achieved for Euler-Lagrange dynamics over directed networks in the presence of persistent unknown disturbances. Copyright © 2021, The Authors. All rights reserved.

关键词： Multi agent systems

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