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IEEE International Conference on Mechatronics and Automation

作者： Qiang Fu Xinrui Wang Jian Guo Shuxiang Guo Zhuocong Cai Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems and Biomedical Robot Laboratory Tianjin University of Technology Binshui Xidao 391 Tianjin China Dpartment of Intelligent Mechanical Systems Engineering Kagawa University Takamatsu Kagawa Japan

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

Compared with traditional endoscopes, endoscopic capsule robots have been widely used in the medical field due to their small size, wireless transmission of internal images of digestive tract, and non-invasive and minimally invasive diagnosis and treatment. Therefore, when the capsule robot enters the human body, positioning it outside the human body becomes a key technology. Magnetic positioning technology has become the best method to realize capsule robot positioning with its high efficiency and high precision. In this paper, a magnetic positioning method is proposed, which measures the magnetic induction intensity through the magnetic sensor array platform built, and calculates the relative position of the capsule robot according to the magnetic dipole model derivation equation. In addition, this paper also carries out curve fitting for this method. The fitting results show that this method has higher positioning accuracy and shorter calculation time.

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A Novel Trajectory Predicting Method of Catheter for the Vascular Interventional Surgical Robot

A Novel Trajectory Predicting Method of Catheter for the Vas...

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IEEE International Conference on Mechatronics and Automation

作者： Jian Guo Yue Sun 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

In the process of vascular interventional surgery, there are many factors that affect the movement of the catheter in the complex vascular environment. In order to avoid the collision between the catheter and the vascular wall, the real-time requirements for the path planning of the catheter are higher and higher. The trajectory prediction of the catheter can better solve the real-time problem. In this paper, a trajectory prediction algorithm based on Kalman filter is proposed. The optimal state value of the next time is predicted by the state value of the previous time. In this paper, the real-time trajectory of the catheter in the virtual environment is extracted by the vascular interventional surgery doctor training system. Then the predicted value is calculated by Kalman filter, and analysis the error between the predicted trajectory and the actual trajectory. The experimental results show that the trajectory predicted by Kalman filter is close to the real trajectory.

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Design and Analysis of a Lower Limb Exoskeleton Robot

Design and Analysis of a Lower Limb Exoskeleton Robot

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IEEE International Conference on Mechatronics and Automation

作者： Shuxiang Guo Yibin Ding Jian Guo Tianjin Key Laboratory for Control Theory & Applications In Complicated systems and Intelligent Robot Laboratory Tianjin University of Technology No.391 Binshui Xidao Xiqing District Tianjin China Faculty of Engineering Kagawa University Takamatsu Kagawa Japan

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

In order to help patients with hemiplegia or mobility disability recover their normal walking ability. This paper designs a lower limb exoskeleton robot. This robot can not only provide to patients with walking force to drive the movement of both legs, but also can provide patients with rehabilitation training with high repeatability and good accuracy. The use of this robot will greatly save labor costs and reduce the pressure on medical resources. More importantly, machine training has the advantages of high repetition rate and accuracy. This makes the recovery period of patients shorter. This robot brings hope for patients to recover. In this article, introduce the structure of each part of the lower limb exoskeleton robot firstly. And then, make the gait analysis of human walking. Finally, make the static stress analysis of some structures with soildworks software and gait simulation experiment with adams software. In order to provide patients with a more comfortable rehabilitation experience, a control system based on electromyography signals needs to be designed in the future. An angle prediction model is obtained through neural network training, which can predict the patient's motion intention and thus control the robot's motion. This control method improves the human-computer interaction ability and enables patients to have more initiative.

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Tool Path Generation Method for Three-dimensional Vibration-assisted Machining 16

Tool Path Generation Method for Three-dimensional Vibration-...

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16th IEEE International Conference on Mechatronics and Automation, ICMA 2019

作者： Wang, Guilian Lv, Bingrui Liu, Bin Mu, Haozhi Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology China Tianjin Laboratory of Control Theory and Applications in Complicated System Tianjin300384 China School of Electrical and Electronic Engineering Tianjin University of Technology Tianjin300384 China

ISBN: (纸本)9781728116983

In this paper, a new tool path generation method is proposed for the 3D (three-dimensional) vibration-assisted 6-DOF (six degree of freedom) machine tool machining system. The tool feed path is generated by the tangent point method and the coordinate transformation theory. It is worth noting that this method needle is only used when the tool and workpiece surface topography can be mathematically described. Finally, a numeric simulation method is used to simulate the tool path which is required when machining workpiece surfaces with different topography tools. The results show that the tool path generation method is widely applicable to tools and workpieces of various shapes, and it is of great significance to reveal the influences of different tool shapes on the tool path. © 2019 IEEE.

关键词： Machine tools

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A Novel Target Recognition system for the Amphibious Robot based on Edge Computing and Neural Network

A Novel Target Recognition System for the Amphibious Robot b...

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IEEE International Conference on Mechatronics and Automation

作者： Shuxiang Guo Handong Cheng Jian Guo Jigang Xu Tianjin Key Laboratory for Control Theory & Applications In Complicated systems and Intelligent Robot Laboratory Tianjin University of Technology Binshui Xidao Extension 391 Tianjin China Kagawa University Takamatsu Kagawa Japan Unit68709 Haidong China

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

In the past, the accuracy of target recognition was low and the transmission efficiency was low, in this paper, a target recognition system based on Edge calculation is proposed for the platform of Amphibious robot, which is mainly used for sea rescue and marine garbage search. Because of the flexible application of Amphibious robot to sea, land and air, the platform of Amphibious robot is equipped with camera to collect image information. We train neural networks on computers, We store the weight file on the edge calculation chip. The method of Edge calculation is used to run the Convolutional neural network to rescue the victims at sea, We have carried out many experiments to verify the accuracy of target recognition. Because the judgment of Edge nodes can greatly reduce the time of communication with terminals, thus improving the efficiency of rescue.

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A Document Processing Scheme for Journal Submissions Based on Locality Sensitive Hashing and Scale-invariant Feature Transform

A Document Processing Scheme for Journal Submissions Based o...

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International Symposium on Computational Intelligence and Design, ISCID

作者： Dezhi Wu Peng Shi Liang Xu Hao Wang Tianjin University of Technology Tianjin China Luoyang Institute of Electro-Optical Equipment AVIC Beijing China Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems and School of Electrical and Electronic Engineering Tianjin University of Technology Tianjin China

ISBN: (数字)9781728184463

ISBN: (纸本)9781728184470

This paper proposes a blockchain-based document processing scheme that can be used in the journal submission system. The Hash algorithm and Merkle tree are used to realize the immutability of information; the interplanetary file system (IPFS) and asymmetric encryption are used to realize document storage and sharing. Through the Local Sensitive Hash Algorithm (LSH) and SIFT algorithm to achieve multiple submission recognition. The solution has the characteristics of decentralization, security and credibility, and cannot be tampered with at will. It can realize multi-platform data sharing and decentralized processing without revealing the original text, and can realize the identification of multiple submissions of the same paper in different journals.

关键词： Handheld computers Hafnium Computational intelligence

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Prediction Model of User Purchase Behavior Based on Machine Learning

Prediction Model of User Purchase Behavior Based on Machine ...

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IEEE International Conference on Mechatronics and Automation

作者： Xiang Zhai Peng Shi Liang Xu Yalong Wang Xi Chen Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems and School of Electrical and Electronic Engineering Tianjin University of Technology Binshui Xidao 391 Tianjin China AVIC Luoyang Institute of Electro-Optical Equipment Luoyang China

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

In recent years, with the continuous popularity of the Internet, the number of online shopping users in my country has reached 639 million, which contains huge commercial value. In order to maintain the prosperity, diversity and order of merchants, and fully meet consumers' one-stop shopping needs, it is necessary to analyze and predict user purchase behaviors more accurately. This article uses the interaction between users and products within a certain period of time provided by *** to predict whether users will place orders in designated categories and shops in the next week. First of all, we aim at the problem that the original features are not strongly related, and use feature fusion to construct strong features. For high-dimensional systems that are slow to calculate and prone to overfitting, we use random forests to filter features, reducing the complexity of the model. Finally, a fusion algorithm based on XGBoost and LightGBM is proposed to predict the purchase behavior of users, and the prediction effects of random forest and GBDT algorithm are compared at the same time. The results show that the fusion model has the best prediction effect, and can help merchants more accurately conduct marketing activities to potential customers based on the prediction results.

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Multi-functional Smart Car Based on Wireless Communication Technology

Multi-functional Smart Car Based on Wireless Communication T...

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IEEE International Conference on Mechatronics and Automation

作者： Junchao Zhu Huifeng Cao Baofeng Zhang Yunlong Xing Chang Jia Engineering Research Center of Optoelectronic Devices & Communication Technology Ministry of Education China Binshui Xidao 391 Tianjin China Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems Tianjin University of Technology Binshui Xidao 391 Tianjin China

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

In view of the high risk of working in the complex unknown environment, the intelligent car is used to monitor the concentration, temperature and humidity of harmful gases in the environment, collect the actual geographical information of the unknown environment and other functions. In this paper, through upper and lower computer control scheme, the smart car based on wireless communication technology is researched, components including main-control chip based on ATmega328P single-chip microcomputer (SCM), AR9331 wireless transmission chip, and various sensors are selected to construct the whole system, functions like screen image acquisition and passing back, and monitoring environmental gas concentration and humiture are realized. The result indicates, the system of multi-functional smart car based on wireless communication technology is stable enough to meet practical demand.

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Topological horseshoe analysis and field-programmable gate array implementation of a fractional-order four-wing chaotic attractor

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Chinese Physics B 2018年第1期27卷 300-306页

作者：董恩增王震于晓陈增强王增会 Tianjin Key Laboratory For Control Theory & Applications in Complicated Systems Tianjin University of Technology Department of Automation Nankai University Department of Electrical and Mining Engineering University of South Africa

We present a fractional-order three-dimensional chaotic system, which can generate four-wing chaotic attractor. Dy- namics of the fractional-order system is investigated by numerical simulations. To rigorously verify the chaos properties of this system, the existence of horseshoe in the four-wing attractor is presented. Firstly, a Poincar6 section is selected properly, and a first-return Poincar6 map is established. Then, a one-dimensional tensile horseshoe is discovered, which verifies the chaos existence of the system in mathematical view. Finally, the fractional-order chaotic attractor is imple- mented physically with a field-programmable gate array （FPGA） chip, which is useful in further engineering applications of information encryption and secure communications.

关键词： fractional-order chaotic system Poincar6 map topological horseshoe field-programmable gatearray （FPGA）

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EEG-Based Emotion Classification with Wavelet Entropy Feature

EEG-Based Emotion Classification with Wavelet Entropy Featur...

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Chinese Automation Congress (CAC)

作者： Xiaolin Song Qiaoju Kang Zekun Tian Yi Yang Sihao Yang Qiang Gao Yu Song Engineering Training Center Tianjin University of Technology Tianjin China Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems Tianjin University of Technology Tianjin China National Demonstration Center for Experimental Mechanical an Electrical Engineering Education Tianjin University of Technology Tianjin China

ISBN: (数字)9781728176871

ISBN: (纸本)9781728176888

Traditional emotion recognition methods are mainly based on voice, expression and body movement. These physiological signals or facial expressions may hardly reveal inner emotions. In this paper, the wavelet entropy (WE) was utilized to represent the characteristics associated with emotional states. The average classification accuracies of positive, neutral and negative emotions are 70.65%, 70.53% and 70.28%, respectively. In order to demonstrate the effectiveness of the proposed method, the comparison experiments were carried out by the power spectrum density (PSD) feature and approximate entropy (ApEn) feature. The average classification accuracies are 70.49% (WE), 66.93% (PSD) and 64.44% (ApEn), respectively. The results indicate that the wavelet entropy feature performs better than the other two features for Electroencephalogram (EEG) based emotion recognition.

关键词： Electroencephalography Feature extraction Entropy Fourier transforms Emotion recognition Wavelet coefficients Wavelet analysis

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