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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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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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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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