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2024 International Convention on Rehabilitation Engineering and Assistive Technology and World Rehabilitation Robot Convention, i-CREATE and WRRC 2024

作者： Cao, Wujing Guo, Xinqiang Zou, Yupeng Zhang, Shuo Luo, Mingxiang Kobsiriphat, Worawarit Wu, Xinyu Yin, Meng Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen518005 China SIAT Branch Shenzhen Institute of Artificial Intelligence and Robotics for Society SIAT-CUHK Joint Laboratory of Robotics and Intelligent Systems China School of Mechanical Engineering China University of Petroleum China National Metal and Materials Technology Center Thailand

ISBN: (纸本)9798350355123

Stroke, as one of the leading causes of long-term disability globally, often results in motor impairments, particularly in the hands, significantly affecting patients' daily activities and causing profound psychological trauma. Rehabilitation gesture recognition, as one of the key means of active rehabilitation medicine, holds significant potential in stroke rehabilitation, providing real-time feedback on patient progress and enabling personalized interventions to meet individual needs. Traditional gesture recognition methods face numerous challenges when dealing with stroke patient data, such as noise, motion blur, and individual differences. To address these challenges, this paper proposes a novel approach for stroke patient gesture recognition using deep learning models. We adopt a strategy combining denoising autoencoder (DAE), convolutional neural network (CNN), and long short-term memory (LSTM) to enhance the accurate recognition of hand movements in stroke patients. Specifically, DAE is utilized for denoising EMG signals, extracting features, and reducing noise to improve the signal's noise resistance. CNN is employed for spatial feature extraction, while LSTM captures temporal dependencies in gesture sequences. By integrating these three deep learning models, our aim is to enhance the accuracy and robustness of rehabilitation gesture recognition. We validate the proposed method's effectiveness on an EMG dataset from seven subjects through experiments and compare it with traditional machine learning and individual CNN and LSTM algorithms. Experimental results demonstrate significant performance improvements of our hybrid model in rehabilitation gesture recognition tasks, indicating promising application prospects and practical significance. © 2024 IEEE.

关键词： Convolutional neural networks

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An Identification Algorithm of Visual Location Mark Under Ice Based on Parallel Computing 4th

An Identification Algorithm of Visual Location Mark Under Ic...

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4th International Conference on Autonomous Unmanned systems, ICAUS 2024

作者： Fan, Hu’ao Li, Zhigang Yan, Shuxue University of Chinese Academy of Sciences Beijing 100049 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China Key Laboratory of Marine Robotics Liaoning Province Shenyang 110169 China

ISBN: (纸本)9789819635597

The visual location system based on marker are mainly designed for land. There are few marker identification algorithms designed for the underwater environment, and there has been no identification algorithms for the under-ice environment. This paper proposes an identification algorithm of visual location Mark under ice based on parallel computing, which includes two parts: line detection and line combination. This algorithm has a more thoughtful line combination strategy for better adaption to under-ice environment. And it solve the problem of longer run time caused by complex strategy through parallel computing optimization. Due to the operations of identification can be divide into multiply sub-task, the algorithm can be accelerated by GPU. Besides, the image processing method of the algorithm is more efficient than deep neural network, which need lower computing power. The test of the algorithm in pools and under ice shows that the effective distance and speed are better than the existing mature algorithms. © Beijing HIWING Scientific and Technological Information institute 2025.

关键词： Mark Identification Under-Ice Underwater Visual Location

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Research on Integrated Measurement system of Unmanned Surface Vehicle for Above-Water and Underwater Nearshore Topography 4th

Research on Integrated Measurement System of Unmanned Surfac...

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4th International Conference on Autonomous Unmanned systems, ICAUS 2024

作者： Jiguang, Song Jingjing, Zhang Yang, Lin Haitao, Gu Lei, Gao Liang, Feng Yang, Liu Hao, Gao Zhe, Tang State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Liaoning Province Shenyang 110016 China

ISBN: (纸本)9789819635597

Aiming at the demand of integrated measurement of nearshore water and underwater topography, the measurement system of USV (Unmanned Surface Vehicle) is studied. Focus on solving the key technologies such as compatibility of integrated measurement system of USV for above-water and underwater nearshore topography, multi-source equipment integration, synchronous control of navigation measurement, multi-source data fusion and splicing, and complete the exploration of integrated measurement system design, the research of autonomous motion control technology and the technical realization of integrated measurement system. Based on the designed integrated measurement system, an integrated comprehensive measurement experiment was carried out in a certain area of Songhua Lake. After the calibration of multi-beam bathymeter and laser scanner, the experimental verification was completed based on the design guarantee of autonomous motion control technology of the integrated measurement system that met the constraints of measurement specifications. The experiment shows that the measurement system is feasible, and the test results show that the measurement data of the integrated measurement system designed meet the relevant measurement specifications, which can be popularized and applied. © Beijing HIWING Scientific and Technological Information institute 2025.

关键词： Integrated measurement of nearshore water and underwater topography Integrated measurement system multi-source data fusion and splicing Multi-source equipment integration Synchronous control of navigation measuremen

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RA Loss: Relation-Aware Loss for Robust Person Re-identification 1

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16th Asian Conference on Computer Vision, ACCV 2022

作者： Wang, Kan Hu, Shuping Cheng, Jun Cheng, Jun Pang, Jianxin Tan, Huan Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China Guangdong Provincial Key Laboratory of Robot Localization and Navigation Technology UBTech Robotics Corp Ltd. Shenzhen China Institute for Infocomm Research A*STAR Singapore Singapore

ISBN: (数字)9783031262845

ISBN: (纸本)9783031262838

Previous relation-based losses in person re-identification (ReID) typically comprise two sequential steps: they firstly sample both positive pair and negative pair and then deploy constraints to simultaneously improve intra-identity compactness and inter-identity separability. However, existing relation-based losses usually place emphasis on exploring the relation between images and therefore consider only several pairs during each optimization. This inevitably leads to different convergence status for pairs of the same kind and brings about the intra-pair variance problem. Accordingly, we propose a novel Relation-Aware (RA) loss to address the intra-pair variance via exploring the informative relation across pairs. In brief, we introduce a macro-constraint and a micro-constraint. The macro-constraint encourages the separation of positive pair and negative pair via pushing far apart the two "centers" of the positive pair and the negative pair. The "center" of each kind of pair are obtained via averaging all the pairs of the same kind. The micro-constraint further enhances the compactness by minimizing the discrepancies among pairs of the same kind. The two constraints work cooperatively to relieve the intra-pair variance and improve the quality of pedestriansąŕ representation. Results of extensive experiments on three widely used ReID benchmarks, i.e., Market-1501, DukeMTMC-ReID and CUHK03, demonstrate that the RA loss brings improvements over existing relation-based losses. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Deep learning

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Assistive robots for Beijing Winter Paralympic torch relay: Accessible technologies to restore human functionality

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The Innovation 2024年第1期5卷 19-20页

作者： Bi Zhang Mei Shuai Bicheng Han Shuo Li Lianqing Liu Xingang Zhao State Key Laboratory of Robotics Shenyang Institute of AutomationCASShenyang 110016China Institutes for Robotics and Intelligent Manufacturing CASShenyang 110169China Department of Biomedical Engineering Beihang UniversityBeijing 100191China Beijing AI-Robotics Technology Co. Ltd.Beijing 100176China Zhejiang BrainCo Technology Co. Ltd.Hangzhou 311121China

The success of the Beijing Winter Olympics and Paralympics epitomized the vision of a community with a shared future for *** robots and artificial intelligence technologies were used in various games and events,such as assisting in parades,logistics,and security *** integration of unmanned robotic systems into torch relays was one of the highlights of the Winter Olympics.

关键词： Winter Access artificial

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Design and manufacturing of micro/nanorobots

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International Journal of Extreme Manufacturing 2024年第6期6卷 169-202页

作者： Junmin Liu Rencheng Zhuang Dekai Zhou Xiaocong Chang Longqiu Li State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbinPeople's Republic of China Key Laboratory of Micro-systems and Micro-structures Manufacturing HarbinPeople's Republic of China Zhengzhou Research Institute of Harbin Institute of Technology ZhengzhouPeople's Republic of China

Micro/nanorobots(MNRs)capable of performing tasks at the micro-and nanoscale hold great promise for applications in cutting-edge fields such as biomedical engineering,environmental engineering,and *** cope with the intricate and dynamic environments encountered in practical applications,the development of high performance MNRs is *** have evolved from single-material,single-function,and simple structure to multi-material,multi-function,and complex ***,the design and manufacturing of high performance MNRs with complex multi-material three-dimensional structures at the micro-and nanoscale pose significant challenges that cannot be addressed by conventional serial design strategies and single-process manufacturing *** material-interface-structure-function/performance coupled design methods and the additive/formative/subtractive composite manufacturing methods offer the opportunity to design and manufacture MNRs with multimaterials and complex structures under multi-factor coupling,thus paving the way for the development of high performance *** this paper,we take the three core capabilities of MNRs—mobility,controllability,and load capability—as the focal point,emphasizing the coupled design methods oriented towards their function/performance and the composite manufacturing methods for their functional *** limitations of current investigation are also discussed,and our envisioned future directions for design and manufacture of MNRs are *** hope that this review will provide a framework template for the design and manufacture of high performance MNRs,serving as a roadmap for researchers interested in this area.

关键词： micro/nanorobots functional structure design manufacturing

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Fixed-time consensus control for heterogeneous multi-agent systems without velocity measurements of neighbors 19th

Fixed-time consensus control for heterogeneous multi-agent s...

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19th Chinese Intelligent systems Conference, CISC 2023

作者： Ao, Yichao Zhang, Qifeng Guangzhou511458 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China

ISBN: (纸本)9789819968817

This paper investigates fixed-time consensus control problems for heterogeneous multi-agent systems, which consist of single and double integrators, without using the measurements of neighbors’ velocities. Distributed control protocols are designed for single and double integrators, respectively, based on the ideas of backstepping approach and adding a power integrator method. The convergence performance of the closed-loop systems is analyzed by using Lyapunov theory and fixed-time stability theory. Moreover, numerical examples are provided to show the effectiveness of our results. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Multi agent systems

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Structures and Forming Processes of Composite Material Concave Fixed-Wings for Underwater Fan-Wing Thrusters 4th

Structures and Forming Processes of Composite Material Conca...

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4th International Conference on Autonomous Unmanned systems, ICAUS 2024

作者： Tianzhu, Gao State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang 110169 China

ISBN: (纸本)9789819635597

Underwater vehicles are effective tools for ocean explorations and developments. The underwater fan-wing thruster, which is an underwater thruster for underwater vehicles, can achieve vertical propulsion in all level of cruising speed. However, it is difficult to achieve high-strength, low-density, and low water absorption for fixed-wing to underwater fan-wing thrusters using a single material. In the paper, a composite material concave fixed-wing structure has been proposed to achieve high-strength, low-density, and low water absorption for fixed-wing to underwater fan-wing thrusters. Two forming processes for CMCFs, including modular and vacuum forming processes, have been proposed to meet the requirements of plasticization processes. Some CMCFs has been worked out and compared. The CMCFs can achieve average densities less than 0.36 g/cm³, with an average water absorption rate of 3.11%, by the forming process of vacuum. The structure and process of CMCFs are both feasible, and a high-strength, low-density, and low water absorption fixed-wing can be achieved. © Beijing HIWING Scientific and Technological Information institute 2025.

关键词： Composite Material Concave Fixed-wings Underwater Fan-wing Thrusters

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Point Cloud Map Construction Method Based on Ground Constraint and Loop Detection 8

Point Cloud Map Construction Method Based on Ground Constrai...

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8th International Conference on Electronic Technology and Information Science, ICETIS 2023

作者： Niu, Guochen Xiong, Yu Tian, Yibo Robotics Institute Civil Aviation University of China Tianjin300300 China Key Laboratory of Smart Airport Theory and System CAAC Tianjin300300 China

ISBN: (纸本)9781510666535

High-precision point cloud map is critical for Level 3 and above autonomous vehicles to operate effectively. When autonomous vehicles only use LiDAR to construct the point cloud map, drift deviation will occur in the horizontal and vertical directions, which affects the quality of the constructed map. To solve this issue, this paper proposed a Simultaneous Localization and Mapping (SLAM) framework for outdoor autonomous vehicles based on LiDAR. Firstly, the ground constraint was constructed by the extracted ground point cloud and the standard ground normal vector. Secondly, the preliminary pose was generated by the feature point cloud pose constraint and the ground constraint combined with the uniformly accelerated motion model. Finally, the preliminary pose and similar scene pose transformation detected in loop closure detection were added into the pose graph, and an optimized pose was obtained to construct the point cloud map. The proposed method was evaluated on the MulRan dataset and real scene. The results showed that the proposed method can achieve the positioning deviation within 0.86m and 3.1m respectively in the 3.3km and 7.7km motion range. It was superior to the comparison algorithm in local accuracy and global consistency. © 2023 SPIE.

关键词： Autonomous vehicles

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Piezoelectric inertial robot for operating in small pipelines based on stick-slip mechanism:modeling and experiment

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Frontiers of Mechanical Engineering 2022年第3期17卷 109-124页

作者： Jichun XING Chao NING Yingxiang LIU Ian HOWARD School of Mechanical Engineering Yanshan UniversityQinhuangdao066004China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150001China School of Civil and Mechanical Engineering Curtin UniversityPerth6001Australia

Small pipes exist in industrial and biomedical fields,and require microrobots with high operational precision and large load capacity to inspect or perform functional tasks.A piezoelectric inertial pipeline robot using a“stick-slip”mechanism was proposed to address this *** this study,the driving principle of the proposed robot was analyzed,and the strategy of the design scheme was presented.A dynamics model of the stick-slip system was established by combining the dynamics model of the driving foot system and the LuGre friction model,and the simulation analysis of the effect of system parameters on the operating trajectory was *** experimental system was established to examine the output characteristics of the proposed *** results show that the proposed pipeline robot with inertial stick-slip mechanism has a great load capacity of carrying 4.6 times(70 g)its own mass and high positioning *** speed of the pipeline robot can reach up to 3.5 mm/s(3 mm/s)in the forward(backward)direction,with a minimum step distance of 4µ*** potential application for fine operation in the pipe is exhibited by a demonstration of contactless transport.

关键词： pipeline robot piezoelectric inertial drive stick-slip large load capacity dynamics model small pipeline

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