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2021 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2021

作者： Zeng, Detian Sun, Lei Chen, Xin Li, Yunfei Zhu, Mu Gong, Xinxiang Tianjin University of Technology Tianjin300384 China Tianjin University of Technology Tianjin Key Laboratory for Control Theory and Complicated Industry Systems Tianjin300384 China

ISBN: (纸本)9781665436786

Wearable flexible walking assist robot can be used to improve the walking state of the senior citizens. This paper proposes to develop an intelligent wearable flexible walking assist robot. It is a human mechanical and electrical system which is worn by subjects and provides walking assistance for users through computer control, perception system, information collection, human-computer interface and other technologies. The device can understand the movement intention of the subjects according to the hip joint angle collected by the gyroscope, which improves the universality of the device for different groups of people. With good human-computer coordination ability, it can effectively assist the senior citizens to walk and play an important role in rehabilitation training, maintain and restore the ability of the elderly to walk out independently, and improve the quality of life of the elderly. © 2021 IEEE.

关键词： Computer control systems

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Path Planning of Mobile Robot Based on Improved Artificial Potential Field Method

Path Planning of Mobile Robot Based on Improved Artificial P...

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第35届中国控制与决策会议

作者： Jianyun Ni Helei Du Tie Wang Hao Li Chenyang Xue Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems School of Electronic Engineering and Automation Tianjin University of Technology Tianjin Climate Center Tianjin University of Technology

An improved artificial potential field method is proposed to address the problems of target unreachability and falling into local minima in the path planning process of the traditional artificial potential field ***,the distance factor between the robot and the target point is introduced to solve the target unreachability problem;secondly,the robot is guided out of the local minima point by setting the virtual target point through the double-circle strategy;finally,in order to satisfy the continuity of robot velocity and acceleration,the resulting path is smoothed by using three uniform B-sample *** experimental results show that the improved algorithm can effectively solve the problems of target unreachability and falling into local minima in the traditional algorithm,and the smoothness of the path after the spline treatment is better compared with the original path.

关键词： artificial potential field method target unreachable local minimum point bicircular strategy virtual target point B-sample curve

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Medical Image Fusion in the NSST Domain with AR-Improved PA-PCNN 2022

Medical Image Fusion in the NSST Domain with AR-Improved PA-...

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4th International Conference on Intelligent Medicine and Image Processing, IMIP 2022

作者： Pei, Gaole Shi, T.A.O. Li, Shixing College of Electrical Engineering North China University of Science and Technology China Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems School of Electrical and Electronic Engineering Tianjin University of Technology China Department of Radiology Tianjin Beichen Hospital China

ISBN: (纸本)9781450396202

To present a medical image fusion method based on the non-subsampled shearlet transform (NSST) and improved parametric adaptive pulse-coupled neural network (PA-PCNN) for CT and MRI, which makes the fused images clearer and contains more information. The matched brain CT and MR-T2 are multi-scale decomposed by NSST, and the two source images are decomposed into low-frequency sub-bands and high-frequency sub-bands. The low-frequency fusion coefficients are obtained by fusing the low-frequency sub-band coefficients using the weighted sum-modified-Laplacian (WSML) low-frequency fusion rule. Meanwhile, the high-frequency sub-band coefficients are fused using the PA-PCNN model modified by the area ratio (AR) principle to obtain the high-frequency fusion coefficients. Finally, the low-frequency fusion coefficients and the high-frequency fusion coefficients are inverse transformed by NSST to obtain the final fused image. Compared to viewing CT or MR images alone, the fused images obviously display the relationship between soft mass and hard tissues. The fused image contains both the information of CT and MR. After fusion by the NSST-PA-AR-PCNN algorithm proposed in this paper, the details of the fused images are richer and the image quality is better than that of the previous fusion algorithms. This improved medical image fusion method of CT and MR could result that the final fused images are of higher quality to help detect anatomical structures and associated lesions in the brain. © 2022 ACM.

关键词： Magnetic resonance imaging

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Research on Measuring Method of Self-Mixing Interference Magnetic Field Based on Faraday Effect

SSRN

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SSRN 2024年

作者： Zhao, Yan Sun, Wenqiang Wang, Haipeng Ma, Shihui School of Electrical Engineering and Automation Tianjin University of Technology Tianjin300384 China Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems Tianjin300384 China Institute of Functional Crystals and Tianjin Key Laboratory of Functional Crystal Materials Tianjin University of Technology Tianjin300384 China

In this paper, the magnetic field measurement method of laser self-mixing interference based on the Faraday effect is proposed. The polarization plane of the linearly polarized light is changed by the terbium gallium garnet crystal with the influence of the magnetic field. The light modulated by the magnetic field reentered into the laser cavity through the Brewster window and formed the self-mixing effect. The theoretical analysis of the self-mixing interference model based on the Faraday effect is conducted, which explains essential features of the experimental results. The magnetic field is measured by the peak-to-peak value of self-mixing interference signal. The experimental results show that the relative error of the magnetic field measurement is within ±1.6%. The measurement method has the advantage of simple and compact structure with strong anti-interference ability. © 2024, The Authors. All rights reserved.

关键词： Faraday effect

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A Review of UAV Power Line Inspection

A Review of UAV Power Line Inspection

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International Conference on Guidance, Navigation and control, ICGNC 2020

作者： Wang, Zhaoyang Gao, Qiang Xu, Jianbin Li, Dahua School of Electrical & Electronic Engineering and Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin300384 China Sanyuan Electric Equipment Manufacturing Co. Ltd Tianjin300409 China

ISBN: (纸本)9789811581540

In recent years, unmanned aerial vehicles (UAVs) have begun to enter human life as a new type of tool, they have played a large role in various industries, and the power industry is no exception. The normal operation of the power system requires prudential inspection. Traditional methods such as manual inspection have nonnegligible disadvantages, so more and more power companies have begun to use UAVs instead of manual inspection. In this paper we analyzed the development history and advantages of UAV power line inspection, and showed the composition and classification of UAV power line inspection system, as well as the current circumstances. Next, according to the type of UAV, the task of power line inspection is described. Then, based on the requirements of the power line inspection task, the inspection methods and key technologies of the UAV are described. Finally, challenges such as safety, endurance time, and automation that have emerged during the development of UAV power inspections are proposed. We analyze the prospects of UAV power inspection technology from how some companies are responding to these challenges. © 2022, The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Inspection

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Cooperative Game Optimization Scheduling of Multi-Region Integrated Energy System Based on Admm Algorithm

SSRN

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SSRN 2023年

作者： Wu, Yanjuan Wang, Caiwei Wang, Yunliang The School of Electrical Engineering and Automation Tianjin University of Technology Tianjin Key Laboratory for Control Theory And Applications in Complicated Industry Systems Tianjin Key Laboratory of New Energy Power Conversion Transmission and Intelligent Control Tianjin300382 China

In order to further optimize the energy utilization rate and operation cost of the integrated energy system, and consider the randomness of the renewable energy output to improve the flexibility of the system operation, a cooperative game based IES optimization operation model was proposed. Firstly, the IES framework is constructed, and the models are modeled for the equipment such as power to gas, carbon capture, gas unit, electricity and gas storage. Secondly, the collaborative cooperation between IES in multiple regions is considered to build a cooperative alliance, and the principle of energy complementarity to improve the overall income is expounded. Finally, the IES cooperative optimal scheduling model based on cooperative game is established. The asymmetric Nash bargaining method is used to allocate cooperative earnings according to contribution. The ADMM algorithm is used to solve the bargaining model. Further simulation analysis verifies that the proposed strategy can effectively reduce the operating cost of each cooperative entity and the total operating cost of the cooperative alliance, promote the multi-regional IES cooperation in the alliance, and effectively improve the energy consumption rate in the system, which can provide a theoretical reference for the economic dispatching of the power system. © 2023, The Authors. All rights reserved.

关键词： Operating costs

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GIB-RRT: a gamma interpolation bidirectional RRT algorithm

GIB-RRT: a gamma interpolation bidirectional RRT algorithm

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Chinese control and Decision Conference, CCDC

作者： Jianyun Ni Hao Li Tie Wang Helei Du Jie Wu Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems Tianjin China School of Electronic Engineering and Automation Tianjin University of Technology Tianjin China Tianjin Climate Center Tianjin China

In a complex environment, when B-RRT and RRT* algorithms are used for path planning, there will be problems such as long planned paths, large number of iterations, low sampling efficiency and long search time. To solve these problems, this paper proposes a gamma interpolation bidirectional RRT algorithm––GIB-RRT. First, the algorithm uses a bidirectional search strategy to expand two random trees simultaneously to speed up the convergence speed. In the expansion process, an adaptive goal biasing strategy is introduced to improve the sampling efficiency, and the probability of expansion to the respective target point is continuously changed according to the number of collision detection failures. After the initial path is obtained, a greedy pruning algorithm is used to simplify the path points and reduce the path cost. An optimisation method of Gamma interpolation is then devised for the simplified path and combined with cubic uniform B-spline curve to generate shorter and smoothly executable path. The proposed algorithm is compared with B-RRT*, IB-RRT* and B-RRT in different complex environments in simulation experiment, and the results show that the proposed algorithm has better search efficiency and is able to obtain optimal path in the least time and with the most stable efficiency.

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Simulation of Triboelectric Nanogenerator Output Characteristics of Different Resistance Loads

Simulation of Triboelectric Nanogenerator Output Characteris...

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System Simulation Technology and its application (CCSSTA), IEEE China Conference on

作者： Liang Xu Xiuzhe Zhang Xiuke Du Xiaolong Yue Xiande Zhao Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems Tianjin University of Technology Tianjin China Key Laboratory of Agricultural Sensors Ministry of Agriculture and Rural Affairs Research Center of Intelligent Equipment Beijing Academy of Agriculture and Forestry Sciences Beijing China

ISBN: (数字)9798350366600

ISBN: (纸本)9798350366617

With the increasing demand for green energy, triboelectric nanogenerators (TENG) have the potential to harvest energy from the environment in a small size range to power microelectronic devices. Still, its performance is affected by impedance matching problems. In this study, the effect of impedance matching on the performance of the TENG was investigated. The generator output power is simulated by Simulink software, and the theoretical usability of TENG was demonstrated by driving the load. Firstly, a mathematical model of the TENG was developed to consider its operating principle, and the transferred charge and voltage-current output under different impedance conditions were simulated. Then, the effect of impedance matching on the output of the TENG on its generator was analyzed by adjusting the impedance of the TENG with the external circuit. The results show that by adjusting the impedance value, the generator can be made to work in a more efficient operating region, which helps to promote the development of TENG technology.

关键词： Resistance Performance evaluation Impedance matching Nanogenerators Voltage Generators Mathematical models Impedance Triboelectricity Power generation

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Design of a Capsule Robot System for Gastric Hemorrhage Detection using Luminol 20

Design of a Capsule Robot System for Gastric Hemorrhage Dete...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Mao, Yuchen Guo, Jian Guo, Shuxiang Fu, Qiang Tianjin University of Technology Tianjin Key Laboratory for Control Theory & Application Complicated Systems Intelligent Robot Laboratory School of Electrical Engineering and Automation Binshui Xidao Extension 391 Tianjin300384 China Shenzhen Institute of Advanced Biomedical Robot Co. Ltd No.12 Ganli Sixth Road Jihua Street Longgang District Shenzhen518100 China Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology No.5 Zhongguancun South Street Beijing100081 China

ISBN: (纸本)9798350320831

Gastric hemorrhage in upper gastrointestinal bleeding is an obvious indicator of deteriorating gastric disease. This paper proposes a capsule robot system for detecting bleeding in the stomach. The patient ingests a capsule robot containing luminol reagent, which detects bleeding in the stomach via chemiluminescence. The MCU receives the optical sensor signal, and the data is transmitted via radio frequency. The external lower computer receives and forwards the data to the upper computer for processing and display. The data is used to determine the presence and amount of stomach bleeding. Chemiluminescence is an excellent sensor, requiring no external energy supply, and demonstrating excellent sensitivity and selectivity. Combining chemical and electronic sensors presents opportunities for further development. Capsule robot detection reduces the discomfort and risk of secondary injury associated with traditional endoscopy. This paper establishes an experimental platform using porcine blood to simulate human blood, demonstrating the feasibility of the system. © 2023 IEEE.

关键词： Chemiluminescence

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Tear location detection of meniscus MRI images based on YOLOv5

Tear location detection of meniscus MRI images based on YOLO...

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Data Driven control and Learning systems (DDCLS)

作者： Zhuxin Wang Juan Wang Chengyi Xia Tianjin Key Laboratory for Control Theory and Complicated Industry Systems School of Electrical and Electronic Engineering Tianjin University of Technology Tianjin China School of Artificial Intelligence Tiangong University Tianjin China

Knee meniscus tear is a common joint disorder that is usually diagnosed with the help of MRI imaging. However, the diagnosis of a meniscal tear places high technical demands on physicians, and the results of the diagnosis are also inconsistent. In this paper, a meniscal tear detection method based on YOLOv5 target detection network is developed to help physicians make more accurate diagnoses. To begin, a channel and space parallel attention module is designed and integrated into the feature fusion part of the network to improve the network's attention to the tear area. Then, ConvNeXt is used in the backbone network part to improve the C3 module to obtain the ConvC3 module, which strengthens the ability of the backbone network to extract the features of the meniscal tear lesion area. After labelling and creating the dataset, the improved YOLOv5 network is trained to obtain the target model. The experimental results show that compared with the original model, the improved YOLOv5 model has an increased mAP from 82.5% to 84.8%, a slight decrease in GFLOPs as well, and presents an overall considerable improvement. This model plays an important role in the diagnosis of meniscal tears.

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