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2023 IEEE International Conference on Real-Time Computing and robotics, RCAR 2023

作者： Guo, Siyu Wang, Maolin Wang, Huaping Zhong, Shihao Qiu, Yukang Hou, Yaozhen Shi, Qing Fukuda, Toshio Beijing Institute of Technology Intelligent Robotics Institute School of Mechatronical Engineering Beijing100081 China Ministry of Education Key Laboratory of Biomimetic Robots and Systems Beijing Institute of Technology Beijing100081 China Beijing Institute of Technology School of Medical Technology Beijing100081 China Beijing Institute of Technology Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing100081 China

ISBN: (纸本)9798350327182

Magnetic helical microrobots have great potential in biomedical applications. However, improving their motion performance in the complex and variable in vivo fluid environment remains challenging. Previous researches mainly focus on optimizing the geometric parameter, the evolutionary structure design, and chemical modifications of the robots, with limited attention given to the impact of physical surface modifications on propulsion performance. To address this issue, we design the helical microrobot with different surface physical modifications, including dimpled and raised surfaces, to evaluate their effects on swimming performance. With ANSYS Fluent, we simulated their swimming process in water and found that microrobots with physically modified surfaces experience less resistance and exhibit a larger step-out frequency while swimming. Moreover, our findings suggest that helical microrobots with dimpled surfaces demonstrate superior swimming performance due to their larger gas-liquid interface area compared to those with raised surfaces. © 2023 IEEE.

关键词： Chemical modification

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Three-Dimensional Force Sensor Based on Deep Learning 1st

Three-Dimensional Force Sensor Based on Deep Learning

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1st International Conference on Cognitive Computation and systems, ICCCS 2022

作者： Duan, Qingling Zhang, Qi Luo, Dong Yang, Ruofan Zhu, Chi Liu, Zhiyuan Ou, Yongsheng Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Shenzhen518055 China Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen China Shenzhen College of Advanced Technology University of Chinese Academy of Sciences Shenzhen China Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen China Shenzhen China

ISBN: (纸本)9789819927883

Human skin can accurately sense subtle changes of both normal and shear forces. However, tactile sensors applied to robots are challenging in decoupling 3D forces due to the inability to develop adaptive models for complex soft materials. Therefore, a new soft tactile sensor has been designed in this paper to detect shear and normal forces, including a soft probe and image acquisition device. First, to capture the deformation of the sensor, colored silicone squares were embedded in the soft probe. Capcamera movement of the colored squares under external forces. The image dataset collected at different 3D forces is then input into a deep learning model. Finally, a custom miniature image device is acquired and embedded in the soft probe to miniaturize the sensor. Computing results obtained from experimental datasets show that the proposed method can accurately decouple the 3D forces. Robots can grap vulnerable objects with sensors prepared at the robot’s tip. The tactile sensors studied in this paper are expected to be applied in robotics fields such as adaptive grasping, dexterous manipulation and human-computer interaction. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Probes

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A Compliant Traction Method of Manipulator Based on Online Calibration of Force Sensor Zero-Point 6

A Compliant Traction Method of Manipulator Based on Online C...

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6th International Conference on Automation, Control and Robots, ICACR 2022

作者： Xu, Zhilu Wang, Weijun Feng, Wei Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Shenzhen China Shenzhen Institute of Advanced Technology Cas Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen China

ISBN: (数字)9781665498739

ISBN: (纸本)9781665498739

With the increasing number of cooperative robots, it is becoming increasingly important to improve the safety and operability of human-robot interaction. Installing a six-dimensional force sensor at the end of the manipulator can realize the drag of the manipulator in Cartesian space. A compliant traction method of manipulator based on online calibration of force sensor zero-point is proposed in this paper. Aiming at the problem of "zero drift"of force sensor, after calculating the gravity of the end tool, the zero-point of the force sensor is calibrated online by means of mean processing, so as to obtain more accurate external force. Then, the relationship between the end position of the manipulator and the external force, the end moving speed of the manipulator and the external force is established, and the change of the position and speed of the manipulator is controlled by the external force at the same time. Finally, experiments show the effectiveness of this method and ensure the safety and reliability in the traction process. © 2022 IEEE.

关键词： Manipulators

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Temperature Rising Model of Tubular Permanent Magnet Linear Synchronous Motor Based on Transfer Learning-Deep Neural Network

Temperature Rising Model of Tubular Permanent Magnet Linear ...

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第42届中国控制会议

作者： YiFei Wang Tao Wu School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems System Integration and Industrial Robotics Laboratory

High temperature rise of permanent magnet linear synchronous motor can lead to irreversible demagnetization of the motor permanent magnet, which can negatively affect the motor performance. To address this problem, a thermal modeling analysis method based on Transfer learning-Deep neural network(TL-DNN) was proposed in this paper. Its specific implementation steps include(1) corresponding to different heat source inputs, the equivalent thermal circuit method and the finite element analysis was adopted based on the structure and main parameters of PMLSM including overall average temperature rise, coil temperature rise and permanent magnet temperature rise from the data sets of the motor;(2) TL-DNN was used to fit the functional relationship between the input source features and the output targets based on the characteristics of the sample data sets. In order to verify the accuracy of the prediction model with small sample data sets, this paper divided the proportion of the data set and compared the results with other classic nonparametric models(random forest, support vector machine, and deep neural network). The results show that the TL-DNN model outperforms other machine learning models and has better robustness and generalization ability when the training datasets are insufficient, and achieves an organic combination of physical field path model and data-driven model, which provides a feasible solution for PMLSM modeling in the case of small samples.

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A Weighting Factors Autotuning Strategy for Model Predictive Torque Control of Permanent Magnet Synchronous Motor Based on Adaptive Multi-objective Black Hole Algorithm

A Weighting Factors Autotuning Strategy for Model Predictive...

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第42届中国控制会议

作者： Zixiang Zhou Tao Wu School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems System Integration and Industrial Robotics Laboratory

The rational design of weighting factors in the cost function for finite control set model predictive torque control(FCS-MPTC) has been a matter of great interest in power electronics and electrical drives. In order to solve this problem, a weighting factors autotuning strategy for FCS-MPTC of permanent magnet synchronous motor(PMSM) based on the adaptive multi-objective black hole algorithm(AMOBH) is proposed. In this paper, the design process of the FCS-MPTC algorithm is first analyzed in detail. Then, an AMOBH algorithm that can take into account both population convergence and population diversity is introduced, and based on this algorithm, the design problem of the weighting factors is successfully transformed into a multiobjective optimization problem by means of reconstructing the cost function and designing the motor operation information collected in real time as the objective functions of the multi-objective optimization algorithm. Simulation results show that the proposed method can find a set of weighting factor combinations suitable for different working condition requirements, and these weighting factors can effectively improve the operation performance of the PMSM system.

关键词： Model Predictive Torque Control Weighting Factors Multi-objective Optimization Algorithm Permanent Magnet Synchronous Motor

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A Magnetically Steerable and Automatically Propulsion Guidewire Robot System for Vascular Interventional Surgery

A Magnetically Steerable and Automatically Propulsion Guidew...

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2022 IEEE International Conference on Real-Time Computing and robotics, RCAR 2022

作者： Fu, Shixiong Zhang, Shanxiu Yin, Meng Wang, Shu Li, Dong Wu, Xinyu Du, Shiwei Xu, Tiantian Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China SIAT Branch Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen518055 China SIAT-CUHK Joint Laboratory of Robotics and Intelligent Systems Shenzhen Institute of Advanced Technology Shenzhen518055 China Shenzhen Key Laboratory of Minimally Invasive Surgical Robotics and System Shenzhen Institute of Advanced Technology CAS Shenzhen518055 China University of Chinese Academy of Sciences Beijing100049 China South China Hospital of Shenzhen University Department of Neurosurgery Shenzhen518111 China

ISBN: (数字)9781665469838

ISBN: (纸本)9781665469838

Magnetically soft continuum robot with automatic navigation capability has great potential to improve the treatment conventional vascular interventional surgery, which exists many problems such as long procedure time and high radiation for doctors to manipulate the passive guidewire. This paper proposes a novel guidewire robot system with magnetically steering and automatically propulsion ability. Actuated by an external magnetic field, the system is able to greatly increase the autonomy of conventional guidewires through the efficient coordination of steering and propulsion. We model the kinematics of autonomous propulsion and magnetically actuation steering separately. Then, the steering performance of the guidewire robot is validated under different magnetic field magnitudes and directions. Finally, two scenario application experiments are implemented to demonstrate the automatic navigation capability of the proposed guidewire robot in a simulated clinical environment. The proposed guidewire robot system provides an effective solution for advancing the automation of vascular interventional surgery. © 2022 IEEE.

关键词： Propulsion

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Centimeter-Scale Submarine Robot for Monitoring Coral Reef Ecosystem

Centimeter-Scale Submarine Robot for Monitoring Coral Reef E...

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IEEE International Conference on Mechatronics and Automation

作者： Zongze Li Yi Zhang Shujing He Xiyu Zhu Tanyong Wei Chengzhi Hu Key Laboratory of Biomimetic Robotics and Intelligent Systems Southern University of Science and Technology Shenzhen China Guangdong Provincial Key Laboratory of Advanced Biomaterials Southern University of Science and Technology Shenzhen China

ISBN: (数字)9798350388077

ISBN: (纸本)9798350388084

Monitoring coral reef ecosystem is of great importance for assessing their health and promoting conservation efforts to protect these valuable and vulnerable ecosystems. Underwater robots provide a feasible approach for long-term monitoring due to their compact size for navigating through narrow passages. However, existing underwater robots face limitations due to their large size, preventing them from entering narrow coral reef caves to gather information. To address this challenge, this paper proposes a highly integrated propeller- driven centimeter-scale submarine robot with a length of 4.4 cm for monitoring coral reef ecosystem. There are two propellers on two sides of the robot, facilitating lift motion, while an additional two propellers are mounted at the tail to enable forward propulsion and turning maneuvers. This robot can realize three degrees of freedom movement, such as circular motion at specific heights or cruising in a spiral paths under the control of external infrared signals. A kinematic and dynamic model is formulated to develop the control strategy. For object monitoring by the proposed submarine robot, distance and displacement measurement algorithms are developed based on a monocular camera. These algorithms have been experimentally evaluated, demonstrating a calculation error of less than 5%.

关键词： Spirals Propellers Heuristic algorithms Ecosystems Robot vision systems Marine vegetation Propulsion

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Variation of sEMG with Muscle Fatigue for Lower Limb Stroke Patient During Walking

Variation of sEMG with Muscle Fatigue for Lower Limb Stroke ...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Shang, Wenze Huang, Ruisen Liao, Wei-Hsin Wu, Xinyu Gao, Fei Southern University of Science and Technology Shenzhen518005 China Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen518055 China The Chinese University of Hong Kong Department of Mechanical and Automation Engineering Hong Kong999077 Hong Kong

ISBN: (纸本)9781665481090

SEMG signal is widely used and explored in control strategies of powered assistive human-robot interaction systems due to its non-invasive nature and ability to estimate motion intention well. However, prolonged use of the sEMG-based systems leads to muscle fatigue, contributing to unstable sEMG signals and regarding the performance of sEMG-based control strategies. In this study, three subjects, including two healthy subjects and one stroke subject, participated in our experiment, and the time domain, frequency domain, and complex features extracted from their sEMG signals were utilized to evaluate muscle fatigue. The results indicate that sEMG from the stroke side of the stroke subject contains more non-linear and chaotic parts, and the statistical differences between different trials are more significant, indicating that stroke has a more significant impact on the stroke side of the stroke subject. This study suggests that RMS in the stroke side of stroke subjects is less than that in others, whereas FuzzyEn in the stroke side of stroke subjects is greater than that in others, indicating that stroke leads to different motion patterns and more susceptibility to muscle fatigue. © 2024 IEEE.

关键词： Human robot interaction

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Mode-switching single-pixel imaging via a high-performance perovskite-Si dual-mode photodetector

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Photonics Research 2024年第12期12卷 2873-2880页

作者： YUJIN LIU DONGXU LIN JINGYANG XING HANYAN ZHAO HONGLING WAN HAO WANG ZHONG JI XUELI CHEN Innovation Center for Advanced Medical Imaging and Intelligent Medicine Guangzhou Institute of TechnologyXidian UniversityGuangzhou 510555China Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems Department of Mechanical and Energy EngineeringSUSTech Energy Institute for Carbon NeutralitySouthern University of Science and TechnologyShenzhen 518055China Center for Biomedical-Photonics and Molecular Imaging Advanced Diagnostic-Therapy Technology and Equipment Key Laboratory of Higher Education Institutions in Shaanxi ProvinceSchool of Life Science and TechnologyXidian UniversityXi’an 710126China

Visible–near-infrared(VIS-NIR)dual-mode imaging can expand the human perception ***,the development of dual-mode image sensors is still challenging due to complex fabrication processes and readout circuit ***,we design a simple-structured(perovskite-Au/Si/Ag)dual-mode *** unique asymmetric electrode design allows the device to support two operating modes at zero *** device exhibits a detection range covering 400–1100 nm under top illumination mode,with a peak specific detectivity of up to 5.56×1013 *** bottom illumination mode,the device demonstrates pronounced narrowband NIR response *** importantly,we develop a dual-mode single-pixel imaging system based on this device,bypassing the fabrication processes of high-density array image *** system exhibits excellent VISNIR dual-mode imaging results,effectively separating NIR and VIS information and enhancing infrared details in the fused ***,we discover that the system can effectively suppress ringing artifacts,achieving infrared information perception at a low sampling rate,which can accelerate the imaging speed by∼16 times(reduced from∼3.2 s to∼0.2 s).Our proposed dual-mode single-pixel imaging technology offers new means for material identification and intelligent perception.

关键词： mode illumination details

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A Prosthetic Hand System with Human-Like Grasping by Combining EMG and Visual Information

A Prosthetic Hand System with Human-Like Grasping by Combini...

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International Conference on Mechatronics and Machine Vision in Practice (M2VIP)

作者： Yue Zheng Xinxing Chen Lan Tian Xiangxin Li Haoshi Zhang Xugang Jiang Guanglin Li Chenglong Fu Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Shenzhen China Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen China CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institute of Advanced Technology Chinese Academy of Sciences (CAS) China

ISBN: (数字)9798350391916

ISBN: (纸本)9798350391923

This paper proposed a novel prosthetic hand system integrated with a designed hybrid control method for achieving human-like grasping. The system design has been elaborated, including the mechanism design of a humanoid prosthetic hand equipped with multimodal sensing capabilities, a multi-channel EMG collector, a sensory feedback device, and a real-time central processing unit. A hybrid control method that combines electromyogram (EMG) and visual information was proposed to recognize the control intention of the system user. Preliminary verification of grasping experiments had been conducted, which proved the effectiveness of the prosthetic hand system and the hybrid control method. The development of this system aims to enhance the control performance and perceptual interaction capabilities of prosthetic hands while addressing limitations encountered in traditional myoelectric prosthetic hands. Besides, it could serve as a validation platform for assessing the control performance of diverse algorithms applied in practical applications.

关键词： Visualization Mechatronics Multimodal sensors Machine vision Mechanism design Grasping Electromyography Real-time systems Prosthetic hand System analysis and design

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