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2024 IEEE International Conference on Robotics and Biomimetics, ROBIO 2024

作者： Ju, Haotian Guan, Zihang Guo, Songhao Liu, Zedong Zhang, Qinghua Zheng, Tianjiao Zhao, Jie Zhu, Yanhe Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150001 China

ISBN: (纸本)9781665481090

Stroke often leads to foot inversion, seriously affecting the patients' walking ability. In this paper, a lightweight, soft exosuit, JHT-EXO, is proposed for correcting foot inversion to help patients' gait rehabilitation. JHT-EXO mainly consists of two cable driving modules, two foot feedback modules, and a control module, with a total weight of no more than 2.5 kg. The cable driving module can pre-tighten the cable with a designed constant torque spring to prevent the cable from falling off. When the motor is not energized, it can still assist the person in stabilizing the walking gait and reducing power consumption. Customized foot pressure sensors recognize human gait, and IMUs on the feet measure the ankle angle used by the controller to change the output force of the exosuit. The constant torque spring was calibrated and tested, and the experimental results showed that the average output force of the constant torque spring was 20.0 N, with a maximum error of 5.6% compared to the theoretically calculated results. The ground walking test of the exosuit was performed by three subjects in three conditions: wearing the exosuit powered up, wearing the exosuit unpowered, and not wearing the exosuit. The test results showed that JHT-EXO could effectively reduce the ankle inversion angle by 22.11° compared to not wearing the exosuit. JHT-EXO is feasible in preventing foot drop and stabilizing flip, and its high mobility and portability show potential for gait rehabilitation of foot inversion patients. © 2024 IEEE.

关键词： Patient rehabilitation

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Dual Transducers Co-Focusing Method for Ultrasound Stimulation in Calf Peripheral Nervous system: A Feasibility Study

Dual Transducers Co-Focusing Method for Ultrasound Stimulati...

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2024 IEEE International Conference on systems, Man, and Cybernetics, SMC 2024

作者： Zheng, Haoran Wang, Xiaoxin Zhang, Hongwei Liu, Honghai Harbin Institute of Technology Shenzhen State Key Laboratory of Robotics and System Shenzhen China

ISBN: (纸本)9781665410205

As a neuromodulation technology, ultrasound stimulation exhibits great potential due to its non-invasive and targeted nature. Low-Intensity Focused Ultrasound (LIFU) allows for precise targeting of the peripheral nervous system, enabling the elicitation of diverse sensations in the human body, including tactile, cold, heat, and pain. Current research efforts predominantly focus on ultrasound stimulation of the upper limbs, specifically the fingers. However, there is a paucity of investigation pertaining to the stimulation of the peripheral nervous system in the lower limb of the human body. Furthermore, the utilization of a singularly focused transducer for stimulation introduces anisotropy, thereby rendering it challenging to enhance the axial resolution. This study aims to explore an innovative approach using dual transducers that synergistically focus ultrasound to achieve highly precise stimulation and reduce the disparity between axial and lateral resolution. The primary objective is to investigate the feasibility of utilizing this approach for deep muscle stimulation in the human calf muscles, thus delving into the realm of lower limb neuromodulation. © 2024 IEEE.

关键词： Ultrasonics

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Rigid-Flexible Coupling Dynamics Analysis of Multi-output Transient Deployment Mechanism Based on ANCF

Rigid-Flexible Coupling Dynamics Analysis of Multi-output Tr...

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International Conference on Mechanical Design, ICMD 2023

作者： Zhai, Guangqing Xiao, Hong Yang, Guang Guo, Hongwei Tao, Jianguo Liu, Rongqiang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

ISBN: (纸本)9789819709212

Firstly, based on Absolute Nodal Coordinate Formulation (ANCF), the generalized coordinates, generalized stiffness, and generalized mass matrices of the rigid and flexible components in the multi-output deployment mechanism are established. Considering the inconsistency in the dimensions of the system’s generalized coordinate matrix and the generalized coordinate matrix of each single-output deployment mechanism, a coordinate coordination matrix is introduced. Composing the rigid-flexible coupling dynamics model of the multi-output transient deployment mechanism in the global coordinate system using each single-output deployment mechanism. The dynamic model is solved using the Newmark and BFD quasi-Newton methods, incorporating the system constraint equation matrix based on the Lagrange multiplier method. The calculated results are compared with the ABAQUS-ADAMS unified simulation. The two dynamic response change trends are basically consistent, with slight differences in oscillation amplitude, but similar overall, which verifies the accuracy of the constructed dynamic model. Compared to the rotational speed and acceleration of various outputs of the ideal rigid body simulation, the rigid-flexible coupling mechanism produces continuous oscillations above and below the output curve of the ideal rigid body. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Dynamic models

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An Approach to Measure Slips in Friction Contacts Using a Self-Powered Sensor 2

An Approach to Measure Slips in Friction Contacts Using a Se...

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2023 2nd International Conference on Materials Science and Engineering, CoMSE 2023

作者： Ba, Mingsen Qin, Wenjie Zhao, Zhenlong Sun, Yu Beijing Institute of Technology China State Key Laboratory of Engine and Powertrain System China

The accumulation of small tangential slip will occur on the contact surfaces of components in mechanical structures when subjected to cyclic loadings, which will lead to system failure. However, the small tangential slip is difficult to measure directly. In this paper, a method for measuring the contact slip by using a self-powered displacement sensor based on triboelectric nanogenerator (TENG) is proposed, and the accuracy is verified by the finite element analysis (FEA). The contact slips for a flat-on-flat contact configuration are measured by this method. When the test piece is subjected to a cyclic tangential load with a frequency of 10Hz, the average obtained slip displacement of the test piece under single load cycle is less than 10μm. Then the finite element simulation of the contact configuration is carried out using software Abaqus 6.14. The analysis results are close to the test results, which verifies the effectiveness of the measurement method. Moreover, the slips of the flat-on-flat contact configuration under different frequency and amplitude of cyclic tangential load are investigated. © 2024 Institute of Physics Publishing. All rights reserved.

关键词： Finite element method

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Multi-Level Robotic Pouring Using Offline Reinforcement Learning

Multi-Level Robotic Pouring Using Offline Reinforcement Lear...

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2024 IEEE International Conference on Robotics and Biomimetics, ROBIO 2024

作者： Zhang, Xiaoxiong Liu, Junwei Zhang, Wei School of System Design and Intelligent Manufacturing Southern University of Science and Technology Shenzhen Key Laboratory of Control Theory and Intelligent Systems Shenzhen518055 China

ISBN: (纸本)9781665481090

This paper presents a novel learning-based method for a robotic manipulator to achieve liquid pouring across different liquid levels using only visual sensors. Previous works have relied on either online reinforcement learning or imitation learning, which are limited by sim-to-real gaps or data efficiency. In this paper, we propose to combine supervised learning and offline reinforcement learning, utilizing a human demonstration dataset containing only successful pouring at the highest level. Specifically, our approach employs supervised learning for a visual classifier, transforming the visual input into a categorical distribution over liquid levels. The offline reinforcement learning method is applied to a binary-conditioned control policy, which takes a binary signal and the robot's proprioception as inputs to determine the action. The binary signal indicates whether the desired liquid level has been reached based on the target liquid level. Through experiments, our method demonstrates superior effectiveness compared to a state-of-the-art imitation learning algorithm. Moreover, tests in unseen scenarios and multiple liquid level commands verify the generalization and transferability of our approach. © 2024 IEEE.

关键词： Self-supervised learning

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Compensation mechanics application of NPR anchor cable to large deformation tunnel in soft rock

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International Journal of Coal Science & technology 2024年第5期11卷 177-191页

作者： Yong Li Shusen Huo Manchao He Zhigang Tao College of Geoscience and Surveying Engineering China University of Mining and Technology-BeijingBeijing 100083China State Key Labortaory for Fine Exploration and Intelligent Development of Coal Resources China University of Mining and Technology-BeijingBeijing 10083China State Key Laboratory for Tunnel Engineering China University of Mining and Technology-BeijingBeijing 100083China

NPR anchor cable is a new type of support material with negative Poisson's ratio effect,which is widely used in mine support because of its superb compensating mechanical *** order to study more deeply the support effect of NPR anchor cable in soft rock large deformation tunnel,indoor test,numerical simulation and field monitoring were used to study the strong weathering carbonaceous slate tunnel in Min *** study shows that NPR anchor cable has extraordinary compensating mechanical behavior for soft rock large deformation tunnel,which can control the deformation of tunnel surrounding rock below 300 mm and keep the constant resistance value around 350 kN,which has obvious effect on the control of broken *** provide a basis for other research on support for large deformation tunnels in soft rock.

关键词： Soft rock Large deformation NPR anchor cable Numerical simulation Compensation mechanics

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Building mm Wave on the Evolving C-V2X:mm Wave NR-V2X

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China Communications 2024年第1期21卷 88-101页

作者： Shanzhi Chen Xinxin He Rui Zhao Jinling Hu Xin Zhang China Information and Communication Technology Group Co. Ltd.(CICT)the State Key Laboratory of Wireless Mobile CommunicationsBeijing 100083China Beijing Laboratory of Advanced Information Networks Beijing Key Laboratory of Network System Architecture and ConvergenceBeijing University of Posts and TelecommunicationsBeijing 100876China CICT Connected and Intelligent Technologies Co. LtdChina Academy of Telecommunication TechnologyBeijing 100191China CICT Mobile Communications Technology Co.Ltd.

Since the evolving standardization of cellular V2X(C-V2X)technologies is continuously developed by 3GPP,research on new radio(NR-V2X)has been on schedule by academic and *** millimeter wave(mm Wave)frequency band is supposed to provide large transmission bandwidth,yet the development of mm Wave band in NR-V2X is still in preliminary *** this article,a comprehensive discussion of mm Wave NR-V2X is given covering trends,standardization landscape,and enabling technologies,aiming at tackling the challenge of channel modeling,directional channel access,beamforming and blockage *** vision of mm Wave NR-V2X is to fully support the development of automated driving,holographic control display and improved in-car infotainment for the future.

关键词： C-V2X enabling technologies mmWave NR-V2X

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Outage Analysis of Optimal UAV Cooperation with IRS via Energy Harvesting Enhancement Assisted Computational Offloading

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Computer Modeling in Engineering & Sciences 2024年第2期138卷 1885-1905页

作者： Baofeng Ji Ying Wang Weixing Wang Shahid Mumtaz Charalampos Tsimenidis School of Information Engineering Henan University of Science and TechnologyLuoyang471000China Research and Innovation Center of Intelligent System Longmen LaboratoryLuoyang471000China State Key Laboratory of Complex Electromagnetic Environment Effects on Electronics and Information System(CEMEE) Luoyang471000China Sustainable Digital Communications and Energy Systems(DIGCOM)Group Nottingham Trent UniversityNottinghamUK

The utilization of mobile edge computing(MEC)for unmanned aerial vehicle(UAV)communication presents a viable solution for achieving high reliability and low latency *** study explores the potential of employing intelligent reflective surfaces(IRS)andUAVs as relay nodes to efficiently offload user computing tasks to theMEC server system ***,the user node accesses the primary user spectrum,while adhering to the constraint of satisfying the primary user peak interference ***,the UAV acquires energy without interrupting the primary user’s regular communication by employing two energy harvesting schemes,namely time switching(TS)and power splitting(PS).The selection of the optimal UAV is based on the maximization of the instantaneous signal-to-noise ***,the analytical expression for the outage probability of the system in Rayleigh channels is derived and *** study investigates the impact of various system parameters,including the number of UAVs,peak interference power,TS,and PS factors,on the system’s outage performance through *** proposed system is also compared to two conventional benchmark schemes:the optimal UAV link transmission and the IRS link *** simulation results validate the theoretical derivation and demonstrate the superiority of the proposed scheme over the benchmark schemes.

关键词： Unmanned aerial vehicle(UAV) intelligent reflective surface(IRS) energy harvesting computational offloading outage probability

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Mechanical properties and damage evolution characteristics of waste tire steel fiber-modified cemented paste backfill

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International Journal of Mining Science and technology 2024年第7期34卷 909-924页

作者： Shenggen Cao Chiyuan Che Yun Zhang Changhao Shan Yang Liu Changzheng Zhao Shuyu Du State Key Laboratory for Fine Exploration and Intelligent Development of Coal Resources School of MinesChina University of Mining and TechnologyXuzhou 221116China College of Energy Engineering Xi’an University of Science&TechnologyXi’an 710054China

During the process of constructional backfill mining,the cemented paste backfill(CPB)typically exhibits a high degree of brittleness and limited resistance to *** this study,the mechanical and damage evolution characteristics of waste tire steel fiber(WTSF)-modified CPB were studied through uniaxial compression tests,acoustic emission(AE)tests,and scanning electron microscopy(SEM).The results showed that the uniaxial compressive strength(UCS)decreased when the WTSF content was 0.5%,1%,and 1.5%.When the WTSF content reached 1%,the UCS of the modified CPB exhibited a minimal decrease(0.37 MPa)compared to that without *** the WTSF content was 0.5%,1%,and 1.5%,peak strain of the WTSF-modified CPB increased by 18%,31.33%,and 81.33%,while the elastic modulus decreased by 21.31%,26.21%,and 45.42%,*** addition of WTSF enhances the activity of AE events in the modified CPB,resulting in a slower progression of the entire failure *** the failure,the modified CPB retained a certain level of load-bearing ***,the failure of the CPB was dominated by tensile *** the addition of WTSF,a gradual increase in the proportion of tensile cracks was observed upon loading the modified CPB sample to the pore compaction *** three-dimensional localization of AE events showed that the WTSF-modified CPB underwent progressive damage during the loading,and the samples still showed good integrity after ***,the response relationship between energy evolution and damage development of WTSF-modified CPB during uniaxial compression was analyzed,and the damage constitutive model of CPB samples with different WTSF contents was *** study provides a theoretical basis for the enhancement of CPB modified by adding WTSF,serving as a valuable reference for the design of CPB constructional backfill.

关键词： Constructional backfill Cemented paste backfill Waste tire steel fiber Acoustic emission Damage characteristics

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Level Curve Tracking via Robust RL-Guided Model Predictive Control

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IEEE/CAA Journal of Automatica Sinica 2024年第12期11卷 2512-2514页

作者： Zhuo Li Yunlong Guo Gang Wang Wei Chen the State Key Laboratory of Autonomous Intelligent Unmanned Systems School of AutomationBeijing Institute of TechnologyBeijing 100081China the Beijing Institute of Technology Chongqing Innovation Center Chongqing 401120China

Dear Editor,This letter investigates the level curve tracking problem of unknown scalar fields using an unmanned aerial vehicle(UAV)and presents a robust reinforcement learning(RL)-guided model predictive control(MPC)scheme for the ***,we formulate the MPC trajectory tracking problem,wherein an RL-based trajectory planning algorithm provides the reference trajectory to guide the UAV towards the desired concentration.

关键词： letter desired scheme

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