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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Xiong, Dezhen Zhang, Daohui Zhao, Xingang Chu, Yaqi Zhao, Yiwen Shenyang Institute of Automation Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China University of Chinese Academy of Sciences Beijing100049 China

ISBN: (纸本)9781665481090

Breathing plays an important part for human beings in our daily life. Besides physical parameters like tidal volume or respiratory rate, biomedical signals like electromyography (EMG) signals can be a potential candidate for breathing activity monitoring. In this work, we propose a novel scheme for breathing activity pattern recognition by fusing features extracted from both EMG and acceleration signals. The EMG signals and acceleration signals during four breathing activities usually used in our daily life, including normal breathing, fast breathing, coughing, and deep breathing, are captured. The raw data is preprocessed, feature extracted by several hand-crafted features, and pattern classified. The performance of five EMG feature sets, five acceleration feature sets, and two machine learning algorithms are evaluated. The best result achieves an accuracy of 82.20% using an EMG feature and an acceleration feature with a support vector machine (SVM) classifier. It shows that fusing EMG and acceleration data is better than EMG signals alone or acceleration signals alone, and it also raises the problem of finding the best features to reach higher performance. To the best of our knowledge, this is the first time that EMG signals are combined with acceleration signals for human breathing activity classification. The proposed approach is effective and explores a new way of human breathing monitoring. © 2022 IEEE.

关键词： Acceleration

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PS-Loc: Robust LiDAR Localization with Prior Structural Reference

PS-Loc: Robust LiDAR Localization with Prior Structural Refe...

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IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Rui Li Wentao Zhao Tianchen Deng Yanbo Wang Jingchuan Wang Institute of Medical Robotics Department of Automation Shanghai Jiao Tong University Ministry of Education Key Laboratory of System Control and Information Processing Shanghai China

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Prior structural reference like floor plan is readily accessible in indoor scene, which exhibits the potential of improving localization quality without the requirements of a previously-built high-precision map. This paper introduces a novel optimal transport-based framework for prior structural reference-based localization, aiming to improve the robustness for the robot localization. Leveraging the spacial relations of structures, a matching method based on optimal transport theory is proposed and it improves the robustness of matching results in dynamic scene and rapid rotation conditions. Additionally, this paper handles metric inaccuracies in the known structural reference by implementing an prior guided plane adjustment-based updating strategy. This strategy combines prior and observational information to jointly optimize the structural information within a sliding window. The performance of the framework is validated through real-world experiments, demonstrating superior accuracy and robustness to disturbances from dynamic occlusion and rapid rotation compared to common state-of-the-art SLAM and localization methods.

关键词： Location awareness Measurement Laser radar Simultaneous localization and mapping Accuracy Robustness Robot localization Intelligent robots Floors

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Prescribed Performance Formation Control Method of Multiple Autonomous Underwater Vehicles Based on Leader-follower

Prescribed Performance Formation Control Method of Multiple ...

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2022 International Conference on Innovations and Development of Information Technologies and robotics, IDITR 2022

作者： Yuliang, Wang Yiping, Li State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Shenyang110169 China University of Chinese Academy of Sciences Beijing100049 China

ISBN: (纸本)9781665409322

Aiming at the issue of multiple autonomous underwater vehicles (MAUVs) for formation control based on leader-follower, a formation control method with double closed-loop control structure and using prescribed performance control (PPC) is proposed. In the body coordinate frame, the formation kinematics error model of MAUVs is established. According to the dynamic performance and steady-state accuracy of expected effect, the prescribed performance function is designed to limit the formation position error within the prescribed range, so that the collision between leader AUV and follower AUV can be avoided in the process of formation. Constructing double closed-loop structure using Backstepping method and sliding mode control (SMC) method ensures MAUVs can form formation quickly and stably. Using Lyapunov method to prove asymptotic stabilization of system. Finally, combining with simulation and comparison with linear feedback method shows that the method is effective. © 2022 IEEE.

关键词： Sliding mode control

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Visible-Infrared Cross-Modal Person Re-Identification Based on Modality Alignment and Fine-Grained Mining 14

Visible-Infrared Cross-Modal Person Re-Identification Based ...

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14th IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent systems, CYBER 2024

作者： Zhao, Yingchang Yu, Hang Cheng, Zhuxuan Fan, Huijie Lin, Sen School of Automation and Electrical Engineering Shenyang Ligong University Shenyang110159 China Shenyang Institute of Automation Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang110016 China School of Information Engineering Shenyang University of Chemical Technology Shenyang110142 China

ISBN: (纸本)9798331506056

In the current field of computer vision, visible-infrared cross-modal person re-identification has become a research topic of great interest. This task aims to identify and match images of the same pedestrian from different modalities and is widely applied in scenarios like night-time surveillance and multi-camera tracking. However, due to significant visual differences between modalities, this task faces many challenges. To overcome these challenges, in this paper we propose a cross-modal person re-identification method based on modality alignment and fine-grained local feature mining. First, we introduce the Modality Alignment Module, which aims to reduce visual differences between modalities, thereby providing a more consistent foundation for feature extraction and matching. Then, through the Fine-grained Mining Module, we delve into the local details in pedestrian images to enhance the distinctiveness of features and the accuracy of identification. Moreover, by incorporating advanced deep learning architectures and optimization algorithms, our method shows exceptional results on both SYSU-MM01 and RegDB datasets. © 2024 IEEE.

关键词： Image enhancement

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Dynamic models for Planar Peristaltic Locomotion of a Metameric Earthworm-like Robot

arXiv

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arXiv 2023年

作者： Zhou, Qinyan Fang, Hongbin Bi, Zhihai Xu, Jian Institute of AI and Robotics MOE Engineering Research Center of AI & Robotics State Key Laboratory of Medical Neurobiology Fudan University Shanghai20043 China

The development of versatile robots capable of traversing challenging and irregular environments is of increasing interest in the field of robotics, and metameric robots have been identified as a promising solution due to their slender, deformable bodies. Inspired by the effective locomotion of earthworms, earthworm-like robots capable of both rectilinear and planar locomotion have been designed and prototyped. While much research has focused on developing kinematic models to describe the planar locomotion of earthworm-like robots, the authors argue that the development of dynamic models is critical to improving the accuracy and efficiency of these robots. A comprehensive analysis of the dynamics of a metemeric earthworm-like robot capable of planar motion is presented in this work. The model takes into account the complex interactions between the robot's deformable body and the forces acting on it, and draws on the methods previously used to develop mathematical models of snake-like robots. The proposed model represents a significant advancement in the field of metameric robotics and has the potential to enhance the performance of earthworm-like robots in a variety of challenging environments, such as underground pipes and tunnels, and serves as a foundation for future research into the dynamics of soft-bodied robots. Copyright © 2023, The Authors. All rights reserved.

关键词： Robots

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Construction of Fe/Ag galvanic couple by mechanochemical in-situ reduced Ag to accelerate the degradation of Fe-based implant

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Science China(Technological Sciences) 2023年第10期66卷 2824-2836页

作者： YANG WenJing SONG Hao ZHAO ZhengYu SHUAI CiJun PAN Hao Institute of Bioadditive Manufacturing Jiangxi University of Science and TechnologyNanchang 330013China Shenzhen Institute of Information Technology School of Sino-German RoboticsShenzhen 518172China State Key Laboratory of Precision Manufacturing for Extreme Service Performance College of Mechanical and Electrical EngineeringCentral South UniversityChangsha 410083China Department of Periodontics&Oral Mucosal Section Xiangya Stomatological HospitalCentral South UniversityChangsha 410013China

Orthopedic applications of Fe have been hindered by the insufficient degradation *** with noble elements(such as Ag,Au,and Pt)to generate galvanic couples is a feasible ***,the direct preparation of homogenous alloys by mechanical alloying or metallurgy is difficult because of the differences in strength,density,and *** this study,Ag_(2)O was selected as the precursor phase for incorporation into Fe to achieve a homogeneous distribution of Ag,which was then reduced in situ to Ag via a mechanochemical reduction reaction during mechanical *** composite powders were printed as implants by selective laser melting,where a fast cooling rate contributed to the retention of the phase distribution of the obtained *** electrochemical tests showed that the Fe-Ag_(2)O implant had a high corrosion current density(21.88±0.12μA/cm^(2))and instantaneous corrosion rate(0.23±0.05 mm/year).Moreover,the implant exhibited a faster degradation rate(0.22 mm/year)than Fe(0.15 mm/year)and Fe-Ag(0.21 mm/year)after immersion for 28 *** acceleration mechanism of the implant could be attributed to the uniformly distributed Ag particles triggering many galvanic couples with the Fe grains,which was confirmed by the observation of the corrosion *** addition,the composite implants exhibited good biocompatibility and antibacterial properties.

关键词： biodegradable implant mechanochemical reduction uniform dispersion galvanic corrosion

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Observer-based control for fractional-order singular systems with orderα(0<α<1)and input delay

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Frontiers of Information Technology & Electronic Engineering 2022年第12期23卷 1862-1870页

作者： Bingxin LI Xiangfei ZHAO Xuefeng ZHANG Xin ZHAO Institute of Robotics and Automatic Information System Nankai UniversityTianjin 300071China Tianjin Key Laboratory of Intelligent Robotics Nankai UniversityTianjin 300071China College of Sciences Northeastern UniversityShenyang 110819China Shenzhen Research Institute of Nankai University Shenzhen 518083China

In this paper,observer-based control for fractional-order singular systems with orderα(0<α<1)and input delay is *** the basis of the Smith predictor and approximation error,the system with input delay is approximately equivalent to the system without input ***,based on the linear matrix inequality(LMI)technique,the necessary and sufficient condition of observer-based control is *** the condition is a nonstrict LMI,including the equality constraint,it will lead to some trouble when solving problems using ***,the strict LMI-based condition is improved in the ***,a numerical example and a direct current motor example are given to illustrate the effectiveness of the strict LMI-based condition.

关键词： Observer-based control Singular systems Fractional order Input delay Linear matrix inequality

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Equivalent Dynamic Model of Large-Span Flexible Truss Beam Structure 1

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24th IFToMM China International Conference on Mechanism and Machine Science and Engineering, IFToMM CCMMS 2024

作者： Feng, Jian Li, Bo Yang, Hui Tao, Jianguo Deng, Zongquan Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao066004 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Laboratory of Test and Measurement Technology Tianjin Institute of Aerospace Mechanical and Electrical Equipment Tianjin300301 China

ISBN: (数字)9789819614677

ISBN: (纸本)9789819614660

The complex structural dynamics model of large-span truss beam structures and the flexibility issues brought about by large spans make the analysis of system dynamics and vibration control relatively challenging. The establishment of an equivalent dynamic model is a key technology for conducting semi-physical simulation experiment platform system dynamic model analysis. A large-span flexible truss beam structure is designed from three aspects: the cross-sectional shape, cross-sectional uniformity, and cross-sectional connecting rods. For the large-span flexible truss girder structure, based on the principle of energy equivalence, the relationship between the kinetic energy and strain energy of periodic structures and the kinetic energy and strain energy of the equivalent continuous beam is established. The equivalent mass and stiffness matrices are solved based on the principle of equivalence between strain energy and kinetic energy and the theory of continuum mechanics to establish the equivalent dynamic model. The correctness of the theoretical model was verified through theoretical analysis of natural vibration frequencies and modes, and compared with finite element simulation results. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Vibration analysis

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High-Precision Tracking Control of Modular Dielectric Elastomer Actuators Through Kalman Filter Base Self-Adaptive Direct Inverse Hysteresis Compensation

High-Precision Tracking Control of Modular Dielectric Elasto...

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International Conference on Control and Automation (ICCA)

作者： Bohao Xiao Guoying Gu Jiang Zou State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai China Robotics Institute School of Mechanical Engineering Shanghai Jiao Tong University Shanghai China

ISBN: (数字)9798350354409

ISBN: (纸本)9798350354416

This work proposes a Kalman filter based direct inverse hysteresis compensation approach for modularized dielectric elastomer actuators (DEAs) with rate-dependent viscoelasticity, mechanical vibration, and individual variation. To this end, we firstly investigate the dynamics of three modularized DEAs, including viscoelasticity, mechanical vibration, and their individual variation. Then, based on a rate-independent phenomenological hysteresis model, a direct inverse hysteresis compensation (DIHC) is established to eliminate the hysteresis effect. Further, a feedback controller is adopted to remove the creep and model uncertainty. Lastly, a Kalman filter is employed to automatically adjust the parameter of the DIHC, capable of achieving high-precision tracking control of modular DEAs within a wide frequency range. To verify the effectiveness of our control strategy, three modularized DEAs are employed to track periodical trajectories with different frequencies (in a range of 0.1Hz to 10Hz). The experimental results demonstrate that the Kalman filter based controller can fully eliminate the rate-dependent viscoelasticity, mechanical vibration, and individual difference, achieving high-precision tracking control of modular DEAs in a wide frequency range. The maximum error and root mean square error are reduced from 20.16% and 11.44% to 9.87% and 5.22%, respectively.

关键词： Vibrations Uncertainty Creep Soft robotics Trajectory Kalman filters Root mean square

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High-density Baropodometry Platform Based on Vision Based Tactile Sensing 46

High-density Baropodometry Platform Based on Vision Based Ta...

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46th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2024

作者： Dong, Yueshi Ren, Jieji Zhang, Ningbin Zhao, Weijing Zhou, Jian Gu, Guoying Shanghai Jiao Tong University School of Mechanical Engineering The State Key Laboratory of Mechanical System and Vibration Shanghai200240 China Department of Endocrinology and Metabolism Sixth People's Hospital Affiliated Shanghai Jiao Tong University School of Medicine Shanghai200240 China The Robotics Institute School of Mechanical Engineering Shanghai Jiao Tong University Shanghai200240 China

ISBN: (纸本)9798350371499

Plantar pressure distribution measurement is significant for healthy monitoring and disease diagnosis. However, existing equipment lack of high-density resolution and may lead under-diagnosed of small abnormal regions. To address problem, we propose a special high resolution and low cost Baropodometry based on vision based tactile sensing (VBTS). Specially, we design a measurement platform with larger-scale sensing range (280 mm x 150 mm) and high-density resolution (440 ppi). To achieve the homogeneous illumination for the measure area, we also propose normally distributed light sources around the platform, and delicately adjust the incident angle to optimize the reconstruction performance. Besides, we design a example-based method to calibrate the platform and build a look-up table to reconstruct the plantar geometry from observed image. Experiments show the high lateral resolution that can discriminate the details ( © 2024 IEEE.

关键词： Barometers

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