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SSRN 2023年

作者： Ding, Ao Yi, Xiaojian Qin, Yong Wang, Biao School of Mechatronical Engineering Beijing Institute of Technology Beijing100081 China Yangtze Delta Region Academy of Beijing Institute of Technology Zhejiang Jiaxing China State Key Laboratory of Rail Traffic Control and Safety Beijing Jiaotong University Beijing100044 China

Continual learning enables intelligent motor fault diagnosis models to increase diagnosable fault classes without tedious retraining. However, the existing methods have the following limitations. (1) They lack a mechanism to deal with the over-fitting caused by the few samples of new faults during continual learning. (2) They adopt the conventional knowledge distillation which restricts the learning from new fault samples. A continual learning framework is designed to overcome the above limitations. In this framework, a representation sampling layer is developed and embedded before the classifier to achieve feature-level data augmentation, effectively mitigating the over-fitting. Meanwhile, a knowledge distillation based on sample proximity behavior in the representation space is proposed which can map samples into the representation space more flexibly and separably, thereby getting better diagnostic performance during continual learning. A study case of motor fault diagnosis proved that the proposed method is effective for few-shot class-added diagnostic tasks. © 2023, The Authors. All rights reserved.

关键词： Failure analysis

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Development of a 3-RRS Micromanipulator Based on Origami-Inspired Spherical Joint

Development of a 3-RRS Micromanipulator Based on Origami-Ins...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Haoqi Han Xiaoming Liu Yan Chen Hao Pang Xiaoqing Tang Dan Liu Qiang Huang Tatsuo Arai Beijing Advanced Innovation Center for Intelligent Robots and Systems and School of Mechatronical Engineering Key Laboratory of Biomimetic Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing China Department of Micro-Nano Electronics Shanghai Jiao Tong University China Center for Neuroscience and Biomedical Engineering The University of Electro-Communications Tokyo Japan

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

In recent years, micromanipulation technology has achieved extensive applications in industry and life science. Improving the precision and bandwidth of the micromanipulator and simultaneously reducing size, weight, and cost pose significant challenges to the existing micromanipulator design and fabrication methods. Here, we propose a 3-RRS micromanipulator with an origami-inspired spherical joint based on the PC-MEMS process, aiming for miniaturization and cost-effectiveness. The spherical joint allows rotations of 140° around the x-axis approximately, 140° around the y-axis approximately, and 20° around the z-axis approximately. The micromanipulator has weights of 0.8 g, dimensions of 16 mm × 16 mm × 22 mm, and workspace of 0.7 mm 3 . The end platform of the micromanipulator can be equipped with various effectors to accomplish different kinds of tasks. Experimental results validated its high precision and bandwidth, exhibiting its potential to perform intricate micromanipulation tasks.

关键词： Industries Fabrication Costs Micromanipulators Design methodology Bandwidth Life sciences

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Automated Assembly by Two-Fingered Microhand for Fabrication of Soft Magnetic Microrobots

Automated Assembly by Two-Fingered Microhand for Fabrication...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Yue Zhao Xiaoming Liu Ruixi Wang Dan Liu Masaru Kojima Qiang Huang Tatsuo Arai Key Laboratory of Biomimetic Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex System Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing China School of Mechatronical Engineering Beijing Institute of Technology Beijing China Department of Intelligent Manufacturing Shenzhen International Graduate School Tsinghua University Shenzhen China Department of Materials Engineering Science Osaka University Osaka Japan Center for Neuroscience and Biomedical Engineering The University of Electro-Communications Tokyo Japan

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Micro-assembly is an emerging method to fabricate microrobots with multiple modules or particles. However, there is always a lack of a flexible and efficient method to freely create the desired magnetic soft microrobots. In this paper, an automated assembly system based on a two-fingered microhand is presented for fabricating magnetic soft microrobots. Our proposed system can automatically pick and place components to assemble microrobots with a two-fingered micromanipulator, and orient these components through an external magnetic field. The automated assembly has the advantages of high accuracy, high speed, and high success rate. It can endow magnetic microrobots with flexible material selection, arbitrary geometry design, and programable magnetization profile. We can make full use of this system to fabricate multiple magnetic soft microrobots. The experiment results demonstrate that this system can efficiently fabricate microrobots with excellent mechanical properties, which have application potential in robotics, biomedical engineering, and environmental governance.

关键词： Three-dimensional displays Shape Micromanipulators Magnetization Manuals Three-dimensional printing Soft magnetic materials

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Cross-Membrane Penetration to Nucleus of Adherent Cells Using Micropipettes Made by Borosilicate Glass and Quartz 17

Cross-Membrane Penetration to Nucleus of Adherent Cells Usin...

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17th IEEE International Conference on Mechatronics and Automation, ICMA 2020

作者： Xu, Xinyue Liu, Xiaoming Lin, Yuqing Li, Pengyun Liu, Fengyu Tang, Xiaoqing Huang, Qiang Arai, Tatsuo Beijing Institute of Technology Key Laboratory of Biomimetic Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex System Beijing Advanced Innovation Center for Intelligent Robots and Systems School of Mechatronical Engineering Beijing100081 China

ISBN: (纸本)9781728164151

In the biomicromanipulation field, single-cell manipulation is receiving attention due to its potential applications in many aspects of biomedicine. Cell injection, as a typical cell micromanipulation technique, is devoted to introducing foreign substances into living cells by penetrating a fine micropipette into cell membranes. Direct access to the intracellular environment, especially the nucleus, provides an ideal way to gain insight into the dynamic processes of living cells. This paper presents the comparison of controlled penetrations of two types of adherent cells and their nuclei by two types of micropipettes, made of borosilicate glass and quartz respectively. Due to the differences in the cell properties (e.g., height, adhesion strength), two corresponding penetration strategies optimizing the puncture angle and puncture height, are proposed to improve the success rate of the puncture process and the survival rate of cells after the puncture. Real nucleus puncture experiments adopting the optimal puncture strategy for each type of cells and carried out by a semi-automatic system, indicated a better puncture effect by quartz pipettes. Through this method, functional materials such as peptides and nanoparticles can be potentially introduced to perturb the cell activities and then realize its full automation. © 2020 IEEE.

关键词： Quartz

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A Bioinspired retinal neural network for accurately extracting small-target motion information in cluttered backgrounds

arXiv

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arXiv 2021年

作者： Huang, Xiao Qiao, Hong Li, Hui Jiang, Zhihong School of Mechatronical Engineering Advanced Innovation Center for Intelligent Robots and Systems Key Laboratory of Biomimetic Robots and Systems of Chinese Ministry of Education Beijing Institute of Technology Beijing100081 China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China Beijing Key Laboratory of Research and Application for Robotic Intelligence of’Hand-Eye-Brain’ Interaction Beijing100190 China University of Chinese Academy of Sciences Beijing100049 China

—Robust and accurate detection of small moving targets in cluttered moving backgrounds is a significant and challenging problem for robotic visual systems to perform search and tracking tasks. Inspired by the neural circuitry of elementary motion vision in the mammalian retina, this paper proposes a bioinspired retinal neural network based on a new neurodynamics-based temporal filtering and multiform 2-D spatial Gabor filtering. This model can estimate motion direction accurately via only two perpendicular spatiotemporal filtering signals, and respond to small targets of different sizes and velocities through adjusting the dendrite field size of spatial filter. Meanwhile, an algorithm of directionally selective inhibition is proposed to suppress the target-like features in the moving background, which can reduce the influence of background motion effectively. Extensive synthetic and real-data experiments show that the proposed model works stably for small targets of a wider size and velocity range, and has better detection performance than other bioinspired models. Additionally, it can also extract the information of motion direction and motion energy accurately and rapidly. Copyright © 2021, The Authors. All rights reserved.

关键词： Ophthalmology

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A Bioinspired approach-sensitive neural network for collision detection in cluttered and dynamic backgrounds

arXiv

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arXiv 2021年

—Rapid, accurate and robust detection of looming objects in cluttered moving backgrounds is a significant and challenging problem for robotic visual systems to perform collision detection and avoidance tasks. Inspired by the neural circuit of elementary motion vision in the mammalian retina, this paper proposes a bioinspired approach-sensitive neural network (ASNN) that contains three main contributions. Firstly, a direction-selective visual processing module is built based on the spatiotemporal energy framework, which can estimate motion direction accurately via only two mutually perpendicular spatiotemporal filtering channels. Secondly, a novel approach-sensitive neural network is modeled as a push-pull structure formed by ON and OFF pathways, which responds strongly to approaching motion while insensitivity to lateral motion. Finally, a method of directionally selective inhibition is introduced, which is able to suppress the translational backgrounds effectively. Extensive synthetic and real robotic experiments show that the proposed model is able to not only detect collision accurately and robustly in cluttered and dynamic backgrounds but also extract more collision information like position and direction, for guiding rapid decision making. © 2021, CC BY.

关键词： Mammals

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Research of Gait Recognition Based on Human Electrostatic Signal 2

Research of Gait Recognition Based on Human Electrostatic Si...

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2nd IEEE Advanced Information Management, Communicates, Electronic and Automation control Conference, IMCEC 2018

作者： Li, Mengxuan Chen, Xi Tian, Shanshan Wang, Yifei Li, Pengfei Beijing Institute of Technology State Key Laboratory of Mechatronical Engineering and Control China Research Institute of BIT in ZHONGSHAN China

ISBN: (纸本)9781538618035

The electrostatic induction signal could be sensed when charged human body was walking, and discrepancy of walking habits such as gait frequency, stride of different individuals will be reflected in the signal. This paper proposed a method to recognize human gait by measuring electrostatic signal. A modified dynamic time warping algorithm was utilized to recognize human gait after de-noising the electrostatic signal which was acquired by a non-contact induction electrode. In order to verify the performance of this method, we collected 25 gait signal segments from 5 subjects, 5 signal segments for each subject. The result demonstrates that our method has a correct rate over 85%, and greatly shortens the operative time compared with the traditional DTW algorithm. © 2018 IEEE.

关键词： Electrostatics

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Research of Gait Recognition Based on Human Electrostatic Signal

Research of Gait Recognition Based on Human Electrostatic Si...

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IEEE Advanced Information Management,Communicates,Electronic and Automation control Conference (IMCEC)

作者： Mengxuan Li Xi Chen Shanshan Tian Yifei Wang Pengfei Li State Key Laboratory of Mechatronical Engineering and Control Beijing Institute of Technology

关键词： Electrostatics Legged locomotion Foot Electrodes Gait recognition Capacitance Heuristic algorithms

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Stability analysis of virtual passive actuator with time delay and parameter uncertainties

Stability analysis of virtual passive actuator with time del...

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作者： Cao, Xiaoxu Gu, Linyi Wang, Yaoyao Xu, Yihong Di, Qingxun Cheng, Cunxin Wang, Liangchun College of Mechanical Engineering State Key Laboratory of Fluid Power Transmission and Control Zhejiang University Hangzhou310027 China Hangzhou Universal Control Mechatronical Engineering LLC Hangzhou China East China Tianhuangping Pumped Storage Co. Ltd. Anji China

The purpose of this paper is to present a virtual passive actuator which enables the manipulator joint to behave as a desired spring-damper system. When the manipulator interacts with an unknown environment or human operator, huge contact force will be generated with a high-stiffness trajectory tracking controller: to avoid violent collisions, the virtual passive actuator is proposed to diminish the interaction force, and adjust the system stiffness to adapt to the environment. With the mathematical model of the virtual passive actuator, the system's stable region is determined based on the Routh-Hurwitz criterion. The influence of operation time delay, filter and model uncertainty is taken into consideration. Finally, the virtual passive actuator is incorporated into a manipulator, and validity is verified through a set of experiments. Experiment results show that, with the proposed controller, virtual passive actuator joint deformation is proportional to the external torque, and the proportional ratio is close to the stiffness setting: it can perform dynamic behavior just like a spring-damper system when subject to step external torque. © Institution of Mechanical Engineers.

关键词： Stiffness

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A Programmable Interactive Approach for QualNet-based Network Model Evaluation and Testing

A Programmable Interactive Approach for QualNet-based Networ...

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International Conference on Advanced Communication Technology

作者： Haiqiao Wu Lining Han Li Huang Meng Song Duk Kyung Kim Peng Gong National Key Laboratory of Mechatronic Engineering and Control School of Mechatronical Engineering Beijing Institute of Technology State Grid Global Energy Interconnection Research Institute Department of Information and Communication Engineering Inha University

ISBN: (纸本)9781509048922

In the previous work, an interactive real-time user interface (RTUI), which is a reliable human-in-the-loop framework that allows human users to dynamically modify the parameters of network model during the simulation process, is investigated. However, the delay overhead of parameter re-configuration commands transmission is unavoidable, especially for a great amount of parameters in a large scale network model. In this paper, a programmable dynamic simulation interface (PDSI) is further proposed. With the proposed PDSI, each of the pre-programmed re-configuration commands is marked with a time label, and then all the commands are encapsulated as packets and sent to the simulator in advance. Depending on the time label, the re-configuration command is pre-cached in the event queue and precisely implemented according to the pre-programmed order, which eliminates the delay overhead of command transmission for the parameter changing of network model. Simulation results demonstrate the efficiency of the proposed PDSI compared to the RTUI.

关键词： PDSI RTUI Pre-cache Programmable QualNet

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