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Filter algorithm based on cochlear mechanics and neuron filter mechanism and application on enhancement of audio signals

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Journal of Central South University 2021年第6期28卷 1813-1828页

作者： GAO Wa KAN Yue ZHA Fu-sheng College of Furnishings and Industrial Design Nanjing Forestry UniversityNanjing 210037China School of Mechanical and Power Engineering Henan Polytechnic UniversityJiaozuo 454003China The State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

A filter algorithm based on cochlear mechanics and neuron filter mechanism is proposed from the view point of *** helps to solve the problem that the non-linear amplification is rarely considered in studying the auditory filters.A cochlear mechanical transduction model is built to illustrate the audio signals processing procedure in cochlea,and then the neuron filter mechanism is modeled to indirectly obtain the outputs with the cochlear properties of frequency tuning and non-linear *** mathematic description of the proposed algorithm is derived by the two *** parameter space,the parameter selection rules and the error correction of the proposed algorithm are *** unit impulse responses in the time domain and the frequency domain are simulated and compared to probe into the characteristics of the proposed *** a 24-channel filter bank is built based on the proposed algorithm and applied to the enhancements of the audio *** experiments and comparisons verify that,the proposed algorithm can effectively divide the audio signals into different frequencies,significantly enhance the high frequency parts,and provide positive impacts on the performance of speech enhancement in different noise environments,especially for the babble noise and the volvo noise.

关键词： cochlea neuron filter audio signal processing speech enhancement

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Design and 3D Printing of Lower Limb Prosthetic Socket *

Design and 3D Printing of Lower Limb Prosthetic Socket *

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IEEE International Conference on Cyborg and Bionic systems (CBS)

作者： Sheng Li Bin Xie Ye Chen Xinyu Wu Guoxin Fang Yan Zhang Fei Gao Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen China Shien-Ming Wu School of Intelligent Engineering South China University of Technology Guangzhou China Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong China State Key Laboratory of Powder Metallurgy Central South University Changsha Hunan China

ISBN: (数字)9798350388039

ISBN: (纸本)9798350388046

The prosthetic socket is a crucial interface connecting the residual limb to the prosthetic device, significantly affecting force transmission and wearer comfort. This work presents a comprehensive framework for design, simulation, and fabrication of the prosthetic socket. A 3D model of the residual limb, including the skeleton model and skin contour, is reconstructed from CT scan data. Using this model, the prosthetic socket and liner are designed based on biomechanical principles. The interaction force between the residual limb and the prosthetic socket and liner is simulated via finite element analysis (FEA) when the body weight of a below-knee amputee exerts on the prosthetic socket. Finally, the prosthetic socket and residual limb are fabricated using additive manufacturing (AM) technology, and a soft prosthetic liner is made of ethylene-vinyl-acetate (EVA) polymer. Clinical trials on a below-knee amputee were conducted to preliminarily test the prosthetic socket’s performance.

关键词： Limbs Solid modeling Sockets Biological system modeling Force Three-dimensional printing Skin Data models Finite element analysis Prosthetics

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Design of deployable bridge using multistable miura-ori structure for emergency rescue

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Automation in Construction 2025年 176卷

作者： Wang, Wei Li, Xu Yan, Peng Huang, Hailin Li, Bing School of Robotics and Advanced Manufacture Harbin Institute of Technology Shenzhen518052 China Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Shenzhen518052 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

Rapid deployment equipment is crucial in emergency rescue operations during natural disasters such as earthquakes and floods. However, traditional equipment often has limitations such as complex operations, long deployment times, and high manpower requirements. This paper designs a deployable bridge for post-disaster rescue, with its core component being a bistable Miura-ori unit. Bistable characteristics of the Miura-ori unit are shown. Then, finite element model (FEM) and prototype experiments are used to demonstrate the load-bearing capacity and bistable characteristics of the bistable Miura-ori unit. By arranging the bistable Miura-ori units, a deployable bridge with multistable characteristics is achieved, enabling rapid deployment with a single drive. The load-bearing and impact resistance capabilities of the bridge are also tested. This design significantly simplifies system complexity, reduces labor requirements, and ensures high load-bearing capacity and impact resistance, providing a new solution for emergency rescue. © 2025 Elsevier B.V.

关键词： Emergency services

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Farthest Streamline Sampling for the Uniform Distribution of Forearm Muscle Fiber Tracts from Diffusion Tensor Imaging

arXiv

引用

arXiv 2023年

作者： Li, Yang Ma, Shihan Zhao, Jiamin Li, Qing Sheng, Xinjun State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai China Department of Bioengineering Imperial College London London United Kingdom Co. Ltd. Shanghai China Meta Robotics Institute Shanghai Jiao Tong University Shanghai China

Background: Diffusion tensor imaging (DTI) has been used to characterize forearm muscle architecture. Since only uniform sampling is performed for seed points rather than fiber tracts, the tracts may be unevenly distributed in the muscle volume. Purpose: To reconstruct uniformly distributed fiber tracts in human forearm by filtering the tracts from DTI. Study Type: Prospective. Subjects: 12 normal subjects. Field Strength/Sequence: 3T/T2-weighted turbo-spin-echo sequence with simultaneous multi-slice technique and diffusion-weighted echo-planar sequence. Assessment: Farthest streamline sampling (FSS) was proposed for filtering and compared with two conventional methods, i.e., two-dimensional sampling and three-dimensional sampling. The uniform coverage performance of the methods was evaluated by streamline coverage (SC) and the coefficient of variation of streamline density (SDCV). Architectural parameters were calculated for 17 forearm muscles. Anatomical correctness was verified by 1. visually assessing the fiber orientation, 2. checking whether the architectural parameters were within physiological ranges, and 3. classifying the architectural types. Statistical Tests: We used a two-tailed paired t-test to measure the difference between samplings, and a one-sample t-test to evaluate the ranges of the architectural parameters and R2 for the classification of architectural types. Results: FSS had the highest SC (0.93±0.04) and the lowest SDCV (0.34±0.06) among the three methods (P2=0.95±0.02, P Copyright © 2023, The Authors. All rights reserved.

关键词： Diffusion tensor imaging

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Mechanism Design and Motion Analysis of Heavy⁃Load Transfer Robot with Parallel Four⁃Bar Mechanism

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Transactions of Nanjing University of Aeronautics and Astronautics 2022年第5期39卷 606-618页

作者： ZHANG Jing WANG Dongbao WU Guangping GUO Hongwei LIU Rongqiang College of Mechanical and Vehicle Engineering Taiyuan University of TechnologyTaiyuan 030024P.R.China School of Electronic Information and Electrical Engineering Shanghai Jiao Tong UniversityShanghai 200240P.R.China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001P.R.China

Heavy-load transfer robots are widely used in automobile production and machinery manufacturing to improve production *** order to meet the needs of large billet transfer,a 4-DOF transfer robot is designed in this paper,which consists of parallel four-bar *** Jacobian matrix referring to the mapping matrix from the joint velocity to the operating space velocity of the transfer robot can be solved by the differential-vector *** mean value of the Jacobian matrix condition number in the workspace is used as the global performance index of the robot velocity and the optimization *** constraint condition is established based on the actual working *** the linkage length optimization is carried out to decrease the length of the linkage and to increase the global performance index of *** total length of robot rods is reduced by 6.12%.The global performance index of velocity is improved by 45.15%.Taking the optimized rod length as the mechanism parameter,the distribution of the motion space of the transfer robot is ***,the results show that the proposed method for establishing the Jacobian matrix of the lower-mobility robot and for the optimization of the rods based on the velocity global performance index is accurate and *** workspace distribution of the robot meets the design requirements.

关键词： parameter optimization motion analysis mechanism design transfer robot heavy-load

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Learning and Generalizing Variable Impedance Manipulation Skills from Human Demonstrations*

arXiv

引用

arXiv 2021年

作者： Zhang, Yan Zhao, Fei Liao, Zhiwei State Key Laboratory for Manufacturing System Engineering Shaanxi Key Laboratory of Intelligent Robotics School of Mechanical Engineering Xi’an Jiaotong University Shaanxi Xi’an710049 China

By learning Variable Impedance Control policy, robot assistants can intelligently adapt their manipulation compliance to ensure both safe interaction and proper task completion when operating in human-robot interaction environments. In this paper, we propose a DMP-based framework that learns and generalizes variable impedance manipulation skills from human demonstrations. This framework improves robots0 adaptability to environment changes(i.e. the weight and shape changes of grasping object at the robot end-effector) and inherits the efficiency of demonstration-variance-based stiffness estimation methods. Besides, with our stiffness estimation method, we generate not only translational stiffness profiles, but also rotational stiffness profiles that are ignored or incomplete in most learning Variable Impedance Control papers. Real-world experiments on a 7 DoF redundant robot manipulator have been conducted to validate the effectiveness of our framework. © 2021, CC BY.

关键词： Stiffness

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A differential public PUF design for lightweight authentication 16

A differential public PUF design for lightweight authenticat...

引用

2021 International Conference on Synthesis, Modeling, Analysis and Simulation Methods and Applications to Circuit Design, SMACD 2021 and 16th Conference on PhD Research in Microelectronics and Electronics, PRIME 2021

作者： Duan, Shengyu Sai, Gaole School of Computer Engineering and Science Shanghai University Shanghai200444 China State Key Laboratory of Computer Architecture Institute of Computing Technology Chinese Academy of Sciences China Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences China CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced Technology China

ISBN: (纸本)9783800755899

Physical Unclonable Functions (PUFs) have emerged as a promising primitive to provide a hardware keyless security mechanism for integrated circuit applications. Public PUFs (PPUFs) address the crucial PUF vulnerability of requiring databases to store the secrete reference information. This paper investigates one of the PPUF families, differential PPUF (dPPUF), which exploits complexly interacted logic to create time gap between actual execution and simulation, and to prevent simulation attacks. Conventional dPPUFs have high costs. We observe the repressers have large impact on simulation time, but take a great proportion in current dPPUF structure. We thereby present a represser network with specially designed interconnection and shared logic, to maintain a high circuit complexity and to reduce the area cost. We show the proposed dPPUF has similar resilience over simulation attacks as the conventional design. Area cost can be reduced by up to 44%, and thus the proposed design can be used for lightweight authentication. © VDE VERLAG GMBH.

关键词： Authentication

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航空发动机机匣修复用AlSi10Mg激光金属沉积:显微硬度、磨损和腐蚀行为

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表面工程与再制造 2024年第2期24卷 53-53页

作者： Enjie Dong Tingyu Chang Linjie Zhao Yunhao Xing Jiaxuan Chen Mingjun Chen Junwen Lu Jian Cheng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 150001 China State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang University Hangzhou 310027 China Aircraft Repair & Overhaul Plant/Sichuan Province Engineering Technology Research Center of General Aircraft Maintenance Civil Aviation Flight University of China Guanghan 618307 China

基于激光金属沉积(Laser Metal Deposition,LMD)的再制造利用了增材制造的灵活性,为修复或再制造高价值工程零部件提供了一种极具吸引力和性价比的手段。本工作在航空发动机机匣用铸造铝合金板表面熔覆AlSi10Mg合金,当激光功率P=1800 W... 详细信息

基于激光金属沉积(Laser Metal Deposition,LMD)的再制造利用了增材制造的灵活性,为修复或再制造高价值工程零部件提供了一种极具吸引力和性价比的手段。本工作在航空发动机机匣用铸造铝合金板表面熔覆AlSi10Mg合金,当激光功率P=1800 W、送粉速率f=1.6 g/min、扫描速度v=8 mm/s时,获得了孔隙率仅为0.19%的AlSi10Mg修复层。

关键词：铸造铝合金增材制造送粉速率显微硬度激光金属沉积扫描速度激光功率修复层

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An Underwater Image Bubble Noise Removal Method Based on Optical Flow

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Journal of Harbin Institute of Technology(New Series) 2019年第1期26卷 11-16页

作者： Hao Li Jianguo Tao Yang Luo Liping Deng Zongquan Deng State Key Laboratory of Robotics and System Harbin Institute of Technology

It is very important for underwater robots to accurately detect and locate target objects. However,under many circumstances,it is difficult to clearly observe the target object due to the existence of bubble noise. In this paper,we proposed a method to solve this problem. First,we used the LK optical flow algorithm to calculate the motion vector of the image background and compensate for the background ***,the optical flow field of the bubbles was calculated by the HS optical flow algorithm,and the area where the bubble existed was obtained by binarizing the image. Finally,we used the adjacent frame image to repair the bubble area. We carried out a bubble noise removal experiment. The results show that this method can effectively remove the bubble noise in the image.

关键词： bubble noise optical flow background motion image repair

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A New Method of Fault Detection and Diagnosis for the Tennessee Eastman Process

A New Method of Fault Detection and Diagnosis for the Tennes...

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第32届中国过程控制会议(CPCC2021)

作者： Pengbin Zhang Tao Zou Jingyang Wang Zhijia Yang State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Key Laboratory of Networked Control System Chinese Academy of Sciences Shenyang China. Institutes for Robotics and Intelligent ManufacturingChinese Academy of Sciences University of Chinese Academy of Sciences College of Mechanical and Electrical Engineering Guangzhou University State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of Sciences Key Laboratory of Networked Control System Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences

This paper proposes a new fault detection and diagnosis(FDD) method for the Tennessee Eastman(TE) large-scale chemical *** method is built integrated with a curve-type recognizer and a dynamic Bayesian network(DBN).The fault detection is carried out utilizing the curve-type recognizer,while the diagnosis is completed using the ***,the recognizer extracts fault symptoms from different times by distinguishes the curves' ***,the DBN is constructed to handle these time-related fault symptoms *** DBN will give the probability of each fault more and more accurately as time goes *** whole procedure consists of 1) deciding monitoring variables using chemical and control engineering knowledge 2) extracting fault symptoms,3) building a *** advantage over other data-driven FDD methods in reasonability and interpretability is also *** last,the simulation results demonstrate the availability of the proposed method.

关键词： A New Method of Fault Detection and Diagnosis for the Tennessee Eastman Process

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