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IEEE International Conference on Mechatronics and Automation

作者： Xi Chen Liang Xu Yalong Wang Xiang Zhai Xiang Guo Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems and School of Electrical and Electronic Engineering Tianjin University of Technology Tianjin China PICC Property and Casualty Limited Beijing China

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

In order to improve the prediction accuracy of automobile insurance customer's risk level, a prediction model of automobile insurance customer's risk level based on GSPSO - ELM is proposed. The premium, insurance amount, number of risks, gender, driving age and other indicators were used as the main criteria to predict the risk level. The simulation results show that the proposed GSPSO - ELM prediction model can not only overcome the local optimal, and has higher precision of prediction, forecasting results of the mean square error (mse), decision coefficient and mean absolute percentage error and dynamic inertia weight PSO algorithm to optimize extreme learning machine, linear decreasing inertia weight PSO algorithm to optimize extreme learning machine model are improved.

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Study on Delay and Accuracy of control system for the Vascular Interventional Surgical Robot based on Fuzzy PID and Improved Smith Algorithms

Study on Delay and Accuracy of Control System for the Vascul...

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IEEE International Conference on Mechatronics and Automation

作者： Jian Guo Zixiang Zhuang Shuxiang Guo Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems and Intelligent Robot Laboratory Tianjin University of Technology BinshuiXidao 391 Tianjin China Kagawa University 2217-20 Hayashi-cho Takamatsu Japan

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

In vascular interventional surgical robot, performance of displacement is one of the criteria for evaluating whether the robot's system can safely complete the operation. However, there is a pure time delay phenomenon which caused by motor of the slave side and also the data processing for the robot's system. These factors will reduce the control performance of the vascular interventional surgical robot and even cause the system is unstable, which makes the analysis of the system very complicated. In order to this situation, this paper proposed an algorithm combining fuzzy PID and improved smith estimation compensation, which reduces the error and time delay of vascular interventional surgical robot caused by time delay and improves the following ability of master and slave vascular interventional surgical robot. Finally, this paper verified the effectiveness of the algorithm through the tracking experiment of master-slave's tracking experiment. It showed the improved algorithms can improve the real-time and accuracy of the control system for the robot.

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Design of a portable toxic gas monitor

Design of a portable toxic gas monitor

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Advances in Electrical Engineering and Computer applications( AEECA), 2020 IEEE International Conference on

作者： Yu Cong Baofeng Zhang Yunlong Xing Junchao Zhu Engineering Research Center of Optoelectronic Devices & Communicatioon Technology Ministry of Education Tianjin China Tianjin Key Laboratory for Control Theory & Applicationss in Complicated System Tianjin University of Technology Tianjin China

ISBN: (数字)9781728165219

ISBN: (纸本)9781728165226

To solve the problem of real-time monitoring of the distribution of toxic gases in high-risk pollution areas and ensure the safety of field workers, a portable toxic gas monitoring system based on u/COS-II is designed by combining embedded system and Internet of things technology. The system can collect six kinds of toxic gases such as carbon monoxide and sulfur dioxide in the environment in real-time; display the gas concentration through the human-computer interface, set the gas alarm threshold; and use the wireless transmission unit to upload the data to the cloud server. The experimental data show that the system has stable performance and small error, which can meet the requirements of real-time, accurate and comprehensive monitoring of gas distribution in high-risk pollution sites, and remind the site staff to evacuate in time.

关键词： Monitoring Task analysis Touch sensitive screens Gases Standards Servers Wireless communication

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Design and Analysis of a Wearable Exoskeleton Upper Limb Rehabilitation Robot

Design and Analysis of a Wearable Exoskeleton Upper Limb Reh...

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IEEE International Conference on Mechatronics and Automation

作者： Jian Guo Pengyu Li Shuxiang Guo Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems and Biomedical Robot Laboratory Tianjin University of Technology Binshui Xidao Extension 391 Tianjin China Faculty of Engineering Kagawa University Takamatsu Kagawa Japan

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

In order to solve the disadvantages of the large size of the braced upper limb rehabilitation robot, a wearable upper limb exoskeleton robot was designed. Firstly, a 3D model of the robot was built using SOLIDWORKS based on the principle of modularity. According to the structural characteristics of the wearable upper exoskeleton robot, choose the driving mode of the robot and the installation position of the motor reasonably. Secondly, the kinematic analysis of the robot was performed using the D-H parameter method. Finally, the model was imported into ADAMS for motion simulation of shoulder joint flexion/extension, adduction/abduction and elbow joint flexion/extension. Simulation results prove that the rehabilitation robot has a well-designed shoulder and elbow joint structure, smooth motion curve, no sudden changes in speed and position, and good bionic properties. The conclusion is the wearable upper limb rehabilitation robot is well designed, can provide patients with effective rehabilitation training. A theoretical basis for future prototype production and subsequent research was laid.

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Design of A Novel Virtual Sensor for the Vascular Interventional Robotic system

Design of A Novel Virtual Sensor for the Vascular Interventi...

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IEEE International Conference on Mechatronics and Automation

作者： Jian Guo Han Zhao Shuxiang Guo Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems and Intelligent Robot Laboratory Tianjin University of Technology Binshui Xidao 391 Tianjin China Faculty of Engineering Kagawa University Hayashi-cho Takamatsu Japan

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

In order to solve existed problems in the force measurement part of vascular interventional surgical robots. In this paper, A new concept was proposed to obtain more accurate force information and solve the problems of traditional sensors in vascular interventional surgery. This sensorless measurement is based on kinematic equations in robotics. First of all, the virtual sensor mentioned in this paper firstly collects the pictures of the catheter in the blood vessel, extracts the deformation variables, then establishes the catheter kinematics model, and imports the extracted deformation variables into the catheter kinematics model. The final output force value. Finally, experimental results showed that force measurement in this way can avoid the problem of sterilization caused by the sensor entering the blood vessel and the problem of insufficient accuracy caused by indirect measurement.

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A Novel Fuzzy Neural Network-based Rehabilitation Stage Classifying Method for the Upper Limb Rehabilitation Robotic system

A Novel Fuzzy Neural Network-based Rehabilitation Stage Clas...

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IEEE International Conference on Mechatronics and Automation

作者： Shuxiang Guo Huimin Cai Jian Guo Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems and Intelligent Robot Laboratory Tianjin University of Technology Binshui Xidao Extension 391 Tianjin China Faculty of Engineering Kagawa University Takamatsu Kagawa Japan

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

According to the “brain plasticity” theory, the hemiplegia patients could improve the ability to keep balance through rehabilitation training. This paper proposes a method of collecting sEMG signals and interaction force signals during the rehabilitation training which is completed by continuously making specified actions driven by external forces. The signals are collected to classify the rehabilitation stage and evaluate the rehabilitation effect to solve the problem of stroke rehabilitation physician's shortage. This paper conducted an experiment of rehabilitation exercise based on the manual muscle testing (MMT) scale, fitted a fuzzy neural network and verified its predicted performance for the assessment of rehabilitation stage.

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Publisher's Note: "A new autonomous memristive megastable oscillator and its Hamiltonian-energy-dependent megastability" [Chaos 32, 013127 (2022)]

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Chaos (Woodbury, N.Y.) 2022年第3期32卷 039901页

作者： Ronghao Li Enzeng Dong Jigang Tong Shengzhi Du Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems Tianjin University of Technology Tianjin 300384 China. Department of Electrical Engineering Tshwane University of Technology Pretoria 0001 South Africa.

This article was originally published online on 25 January 2022 with the incorrect corresponding author email address, and without the deceased author footnote.

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Study on Force Feedback control of the Vascular Interventional Surgical Robot based on Fuzzy PID

Study on Force Feedback Control of the Vascular Intervention...

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IEEE International Conference on Mechatronics and Automation

作者： Jian Guo Lixin He Shuxiang Guo Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems and Intelligent Robot Laboratory Tianjin University of Technology Binshui Xidao 391 Tianjin China Faculty of Engineering Kagawa University 2217-20 Hayashi-cho Takamatsu Japan

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

At present, most vascular interventional surgical robot force feedback control systems use PID control. However, for the PID control system, once the system parameters are selected, they cannot be changed, and their adaptability to changes in external conditions is poor. In this paper, a fuzzy PID controller is proposed for the master slave force feedback control system of vascular interventional surgical robots. To solved the error problems with force feedback accuracy, we conducted a master slave force feedback experiment to compare the effects of using PID and fuzzy PID control on system performance. The experimental results showed that the use of fuzzy PID control can improve accuracy and stability of master slave force feedback, and provide a good theoretical basis for the control of a robotic force feedback system for vascular interventional catheters.

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Study on the Tremor Elimination Strategy for the Vascular Interventional Surgical Robot

Study on the Tremor Elimination Strategy for the Vascular In...

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IEEE International Conference on Mechatronics and Automation

作者： Jian Guo Shuai Yang Shuxiang Guo Tianjin Key Laboratory for Control Theory @ Applications in Complicated Systems and Intelligent Robot Laboratory Tianjin University of Technology Binshui Xidao 391 Tianjin China Faculty of Engineering Kagawa University 2217-20 Hayashi-cho Takamatsu Japan

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

For interventional vascular surgery, which requires a high degree of accuracy, any minor error could lead to the failure of the operation. High stressful operation environment leads to hands' tremor of doctors, which is fatal to patients. A recognition and elimination strategy for hands tremor was proposed. Hands' tremor was divided into two types, the first type is normal physiological tremors and the second type is stress tremor. First, we used the regularity of normal physiological tremor to identify and eliminate it. Secondly, according to the safe contact force index in vascular interventional surgery, the safe acceleration of the robot was obtained by using Newton's second law. Stress tremor was identified by comparing actual acceleration with safe acceleration. The effectiveness of the strategy was verified by experiments in which multiple operators simulated the operation of doctors. Experimental results show that the tremor elimination strategy has better performance.

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An Improved Visual Auxiliary Algorithm for the Vascular Interventional Surgical Robot based on Neural Network

An Improved Visual Auxiliary Algorithm for the Vascular Inte...

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IEEE International Conference on Mechatronics and Automation

作者： Jian Guo Suxiang Feng Shuxiang Guo Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems and Intelligent Robot Laboratory Tianjin University of Technology Binshui Xidao 391 Tianjin China Faculty of Engineering Kagawa University 2217-20 Hayashi-cho Takamatsu Japan

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

Given the various shortcomings of traditional interventional surgery, it has become a trend to develop vascular interventional robots to assist doctors in completing the surgery. However, the existing visual auxiliary for vascular interventional robots rely on doctors' experience to make judgments based on images. Therefore, our team proposed a method of transforming image coordinates and spatial coordinates based on the visual auxiliary of existing platforms. This paper shows the platform briefly at first. Then we introduce the traditional image coordinate transformation and use the neural network to simplify calculation and parameter preparation process based on the traditional way. Finally, the accuracy and practicability of the transformation between the vision-assisted image coordinates and the space coordinates of the vascular interventional surgical robot based on the neural network are proved through experiments. We can apply this algorithm to the visual assistant and give detailed numerical feedback to the doctor intuitively, greatly improving the accuracy of the operation.

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