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A Novel Gait Pattern Recognition Method Based on LSTM-CNN for Lower Limb Exoskeleton

Journal of Bionic Engineering 2021年第5期18卷 1059-1072页

作者： Chao-feng Chen Zhi-jiang Du Long He Yong-jun Shi Jia-qi Wang Wei Dong State Key Laboratory of Robotics and System Harbin Institute of Technology(HIT)Harbin 150001China China South Industries Group Corporation Weapon Equipment Research InstituteBeijing 102202China

This paper describes a novel gait pattern recognition method based on Long Short-Term Memory(LSTM)and Convolutional Neural Network(CNN)for lower limb *** Inertial Measurement Unit(IMU)installed on the exoskeleton to collect motion information,which is used for LSTM-CNN *** article considers five common gait patterns,including walking,going up stairs,going down stairs,sitting down,and standing *** the LSTM-CNN model,the LSTM layer is used to process temporal sequences and the CNN layer is used to extract *** optimize the deep neural network structure proposed in this paper,some hyperparameter selection experiments were carried *** addition,to verify the superiority of the proposed recognition method,the method is compared with several common methods such as LSTM,CNN and *** results show that the average recognition accuracy can reach 97.78%,which has a good recognition eff ***,according to the experimental results of gait pattern switching,the proposed method can identify the switching gait pattern in time,which shows that it has good real-time performance.

关键词： Lower limb exoskeleton Gait pattern recognition LSTM-CNN Recognition accuracy Real-time performance

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A self-powered piezoelectret sensor based on foamed plastic garbage for monitoring human motions

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Nano Research 2023年第1期16卷 1269-1276页

作者： Yujun Shi Kaijun Zhang Sen Ding Zhaoyang Li Yuhao Huang Yucong Pi Dazhe Zhao Yaowen Zhang Renkun Wang Binpu Zhou Zhi-Xin Yang Junwen Zhong Department of Electromechanical Engineering and Centre for Artificial Intelligence and Robotics University of MacaoMacao 999078China Joint Key Laboratory of the Ministry of Education Institute of Applied Physics and Materials EngineeringUniversity of MacaoAvenida da UniversidadeMacao 999078China State Key Laboratory of Internet of Things for Smart City and Department of Electromechanical Engineering University of MacaoMacao 999078China

Constructing piezoelectret based on foamed plastic garbage is an advisable strategy for obtaining self-powered flexible electromechanical sensors with good ***,a self-powered piezoelectret sensor with basic material of low density polyethylene(LDPE)foamed plastic garbage is proposed,with characteristics of easy fabrication,excellent flexibility,and high equivalent piezoelectric coefficient d33 value up to~1,100 pC/*** output stability is verified by continuously stimulating a sensor for~180,000 cycles under low and high applied pressure,and the variations of peak outputs are less than 5.5%.Applications for measuring low-and high-pressure signals from human body are *** with a wristband,a sensor is demonstrated for detecting the human pulse ***,real time human sitting information is wirelessly monitored with a smart chair based on 4 pixels sensors array.

关键词： wearable electronics piezoelectret self-powered pressure sensor mobile health

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Research on Force Control Strategy for Spinal Surgery Robots Based on Adaptive Impedance and Virtual Stiffness 4

Research on Force Control Strategy for Spinal Surgery Robots...

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4th IEEE International Conference on Power, Electronics and Computer Applications, ICPECA 2024

作者： Yang, Rui Liu, Zhaoming Zhu, Yue Cong, Lin Cui, Long State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110016 China The First Hospital of China Medical University Department of Orthopedic Surgery Shenyang110016 China

ISBN: (纸本)9798350359589

Spinal stenosis is one of the leading causes of lower back and leg pain, and effective treatment often involves the removal of lamina and ligamentum flavum. However, the surgical procedures are characterized by prolonged durations and demand a high level of precision from the operating surgeon. Therefore, this paper proposes a direct force control method for robotic grinding of lamina. This method involves an analysis of the force variations during bone grinding, leading to the development of force control strategies suitable for two different lamina grinding scenarios. For the lamina leveling operation, a constant force control strategy is introduced. For the drilling operation, a strategy involving the implementation of virtual gradient stiffness during grinding is proposed. The expression for virtual gradient stiffness is derived, considering the end-effector force smooth control. A compliance controller is employed to regulate the end-effector force. Finally, the proposed control algorithms are subjected to numerical simulations using MATLAB software. The simulation results demonstrate the efficacy of the control algorithms in addressing the challenges of maintaining constant force on complex surfaces and handling force discontinuities during grinding of objects with different stiffness. © 2024 IEEE.

关键词： force control spinal canal stenosis spine robot

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Gradient-Based Online Trajectory Planning for Quadrotor Transportation systems 13

Gradient-Based Online Trajectory Planning for Quadrotor Tran...

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13th IEEE International Conference on CYBER Technology in Automation, Control, and Intelligent systems, CYBER 2023

作者： Pei, Tengfei Jin, Ying Yu, Hai Fang, Yongchun Han, Jianda Liang, Xiao Institute of Robotics and Automatic Information System Tianjin Key Laboratory of Intelligent Robotics College of Artificial Intelligence Nankai University Tianjin300350 China Nankai University Engineering Research Center of Trusted Behavior Intelligence Ministry of Education Tianjin300350 China

ISBN: (纸本)9798350315196

Trajectory planning has been an important research area for quadrotor transportation systems for a long time. However, generating feasible trajectories in real-time that allow quadrotor transportation systems to navigate safely in complex environments remains a challenging issue. This article proposes an efficient gradient-based safety constraint that helps keep the system away from obstacles. Furthermore, this paper combines safety constraint with a novel B-spline-based optimization method that utilizes an improved hybrid-state A* algorithm for path searching to generate desired trajectory. Strategies to speed up path searching and unconstrained optimization problem constructed in B-spline optimization guarantee the computational efficiency. The feasibility of the resulting trajectory has been verified through simulation. © 2023 IEEE.

关键词： Trajectories

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Robot Design of Frogs Jumping Based on Soft-Body Detonation Drive

SSRN

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SSRN 2023年

作者： Xu, Weibin Pan, Yitao Ma, Weiliang Gao, Feng Liu, Gangfeng Zhao, Jie Fan, Jizhuang Harbin China State Key Laboratory of Robotics and System China

To achieve a strong instantaneous burst jumping ability, a soft body detonation actuator is proposed by combining the advantages of silicone materials and the characteristics of hydrogen and oxygen mixed gas detonation, which can not only enable the robot to exert the superior movement characteristics of the hindlimbs of frogs during jumping but also make its hindlimb structure more dexterous, lightweight and simple. At the same time, a spring-based forelimb mechanism is also designed so that the robot has the function of jumping with multiple attitude angle changes and the function of smooth buffer landing when jumping. Then, the kinematics and jumping efficiency models are established by using the D-H parameter method and geometric method and verified to analyze the optimal jump-out efficiency. Finally, the experimental results prove that the robot can not only achieve 6 consecutive jumps with a single jump reaching a height of 0.6 m and a distance exceeding 1.2 m, but can also easily cross a rectangular obstacle that has a length of 40 cm, a width of 30 cm, and a height of 25 cm. © 2023, The Authors. All rights reserved.

关键词： Robots

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A Battery Control Strategy for Sequential Utilization of Energy Storage systems in Power Batteries 7

A Battery Control Strategy for Sequential Utilization of Ene...

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7th IEEE Advanced Information Technology, Electronic and Automation Control Conference, IAEAC 2024

作者： Li, Bowen Cui, Shijie Zhu, Lizhong Shenyang Ligong University College of Automation and Electrical Engineering Liaoning China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Liaoning China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China

ISBN: (纸本)9798350339161

With the widespread adoption of energy storage systems utilizing power batteries, battery lifespan degradation has become a primary constraint on system performance. To address this issue, this study proposes a lifespan-optimized battery control strategy. Firstly, a battery lifespan calculation model for the energy storage system is established, taking into detailed consideration key parameters such as battery state of Charge (SOC). Secondly, a control strategy based on SOC for charging and discharging is designed, aiming to minimize battery lifespan consumption to the greatest extent possible. Finally, experimental results demonstrate that the proposed control strategy significantly improves the lifespan of the energy storage system compared to existing strategies. This research provides an effective means of control for the long-term stable operation of power battery systems. © 2024 IEEE.

关键词： Charging (batteries)

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Design of Control Method for Pointing Control Mechanism of Large Space Flexible Antenna

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Journal of Harbin institute of Technology(New series) 2024年

作者： Fuchenglong Zhao Junlin Li Shenyang Institute of Automation Chinese Academy of Sciences State Key Laboratory of Robotics Chinese Academy of Sciences

An innovative design method is outlined in this paper for the pointing control mechanism of large space flexible antennas. This method focuses on enhancing the accuracy and stability that are crucial for large spacecraft applications,such as space solar power stations. Utilizing potential energy function analysis,the dynamics of the antenna are modeled,treating it as an equivalent n-joint robotic arm. This approach simulates the rigid-flexible coupling effect through joint angle manipulations. The proposed HJI(Hamilton-Jacobi-Inequality)sliding mode robust control integrates HJI principle,dissipative system theory,and sliding mode control,offering improved pointing accuracy and *** results underscore the superiority of HJI sliding mode robust control over traditional PD(proportionalderivative)control in initial response,precision,and control smoothness,albeit at the cost of higher control torque requirements. This research underscores the potential of HJI sliding mode robust control in facilitating precise pointing control for future large space structures,enabling efficient space missions and reliable energy transmission.

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Industrial Internet for intelligent manufacturing:past, present, and future

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Frontiers of Information Technology & Electronic Engineering 2024年第9期25卷 1173-1192页

作者： Chi XU Haibin YU Xi JIN Changqing XIA Dong LI Peng ZENG State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Key Laboratory of Networked Control Systems Chinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China

Industrial Internet, motivated by the deep integration of new-generation information and communication technology(ICT) and advanced manufacturing technology, will open up the production chain, value chain, and industry chain by establishing complete interconnections between humans, machines, and things. This will also help establish novel manufacturing and service modes, where personalized and customized production for differentiated services is a typical paradigm of future intelligent manufacturing. Thus, there is an urgent requirement to break through the existing chimney-like service mode provided by the hierarchical heterogeneous network architecture and establish a transparent channel for manufacturing and services using a flat network architecture. Starting from the basic concepts of process manufacturing and discrete manufacturing, we first analyze the basic requirements of typical manufacturing tasks. Then, with an overview on the developing process of industrial Internet, we systematically compare the current networking technologies and further analyze the problems of the present industrial *** this basis, we propose to establish a novel “thin waist” that integrates sensing, communication, computing, and control for the future industrial Internet. Furthermore, we perform a deep analysis and engage in a discussion on the key challenges and future research issues regarding the multi-dimensional collaborative sensing of task–resource, the end-to-end deterministic communication of heterogeneous networks, and virtual computing and operation control of industrial Internet.

关键词： Intelligent manufacturing Industrial Internet Thin waist Transparent service Manufacturing as a service

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Additive manufacturing of high-quality tritium breeding pebbles using ceramic precursors

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Journal of the European Ceramic Society 2024年第7期44卷 4719-4730页

作者： Su, Fang Li, Yuzeng Xing, Huanhuan Liu, Yu Liu, Zhiyuan Liu, Changyong Jiang, Cho-Pei Chen, Zhangwei Additive Manufacturing Institute Shenzhen University Shenzhen518060 China Guangdong Key Laboratory of Electromagnetic Control and Intelligent Robotics Shenzhen University Shenzhen518060 China College of Mechanical & Electrical Engineering National Taipei University of Technology Taipei10608 Taiwan State Key Laboratory for Manufacturing Systems Engineering Xi'an Jiaotong University Xi'an710049 China

In this study, the fabrication of advanced lithium orthosilicate (Li4SiO4) ceramic tritium breeding pebbles through photopolymerization using ceramic precursors (i.e., SiO2 and Li2CO3) is reported for the first time. The pebbles exhibit excellent mechanical and physical properties. Through optimization of manufacturing parameters and a geometrical correction model to compensate printing deviations, the printing accuracy of the pebbles was enhanced. The resulting pebbles had a diameter of approximately 1 mm, a sphericity of 1.01, a uniformly distributed pore structure, a phase purity > 95%, and a satisfying relative density reaching 91.39%. The average crush load 25.7 ± 0.3 N, surpassed that achieved by previously reported methods. Furthermore, the thermal conductivity was enhanced compared to that of solid-phase synthesized Li4SiO4 powder, facilitating the tritium release process for fusion applications. This study may serve as a guidance for designing appropriate ceramic breeders, providing a cost-effective approach applicable to produce other high-precision ceramic components with complex compositions. © 2024 Elsevier Ltd

关键词： Lithium compounds

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In-situ measurement and modeling of mechanical properties of porcine oocytes

In-situ measurement and modeling of mechanical properties of...

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第43届中国控制会议

作者： Yu Cai Yaowei Liu Qili Zhao Mingzhu Sun Mao Sheng Cui Xin Zhao Yue Du Institute of Robotics and Automatic Information System The Tianjin Key Laboratory of Intelligent RoboticsNankai University The Department of Information Technology Qinghai University

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

The quality of porcine oocytes determines the developmental potential of early porcine embryos, while the quality of porcine oocytes can be qualitatively described by their mechanical properties. In previous studies, porcine oocytes were often considered as a homogeneous spheroid, which was clearly contrary to its physiological structure consisting of multiple layers of components from the inside out. In this study, we first measured the mechanical properties of different subcellular components of porcine oocytes in situ using atomic force microscopy(AFM). The whole porcine oocyte and cytoplasm were subjected to multiple single-point indentations in situ under ramp mode, and the Young's modulus was obtained by fitting the force curve with the Sneddon model. In ramp mode, when the preset force was reached, the magnitude of the force was kept unchanged and the change of probe position was recorded to obtain the viscoelastic properties of each subcellular component. Then, a finite element model of porcine oocytes was established. Finally, we performed narrow-neck pipette pass-through experiments and suction penetration experiments of porcine oocytes to verify the accuracy of our model. The finite element model of porcine oocytes established by us is of great significance for further study of oocyte micromanipulation under different conditions.

关键词： Oocyte Mechanical Properties In-situ measurements Finite element model

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