2023 International Conference on Advanced Robotics and Mechatronics (ICARM)最新文献

{"title":"Non-rigid Registration Technique for Large Deformation Medical Image","authors":"Yang Yang, Yunou Ji, Mingxu Fan, Qianqian Li","doi":"10.1109/ICARM58088.2023.10218903","DOIUrl":"https://doi.org/10.1109/ICARM58088.2023.10218903","url":null,"abstract":"Medical image registration faces significant challenges in dealing with non-rigid deformations. The problem such as folding of deformation displacement field and model degradation, all can lead to loss of registration accuracy. To address these problems, a deep learning-based unsupervised method(MulSc-Net) is proposed. On one hand, the MulSc-Net adopt a novel multi-scale registration strategy which can capture deformations at different scales with a larger receptive field via a fusion model of convolution and dilated convolution. On the other hand, an anti-folding constraint is introduced to ensure the continuity of displacement field, and a residual method is employed to prevent model degradation during training. In this work, the MulSc-Net model is evaluated on a lung CT dataset. The experimental results show that MulSc-Net can achieve better registration accuracy compared to current related methods.","PeriodicalId":220013,"journal":{"name":"2023 International Conference on Advanced Robotics and Mechatronics (ICARM)","volume":"75 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114678583","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Linear Framework on PID Control of Continuous-Time Positive Systems","authors":"Lishuo Dong, Jianwei Ye, Xiaoyue Zhou, Yuanyuan Wu, Junfeng Zhang","doi":"10.1109/ICARM58088.2023.10218752","DOIUrl":"https://doi.org/10.1109/ICARM58088.2023.10218752","url":null,"abstract":"This paper establishes a linear framework on the proportional-integral-differentiation (PID) control of continuous-time positive systems (CTPSs). An improved PID controller is proposed for CTPSs by introducing a small parameter. A matrix decomposition approach is presented to describe the PID controller gains. A dependent derivative part design of PID controller is used to reduce the effect of inverse matrix on the systems. Using copositive Lyapunov function (CLF), the positivity and stability of the resulting closed-loop systems is achieved under the designed PID controller. The obtained approach is developed for the systems with reference signal. All conditions are solvable via linear programming (LP). The novelties of the paper lie in that: (i) An LP-based PID framework is constructed for CTPSs, (ii) A matrix decomposition approach is presented to design the derivative part dependently, and (iii) The PID design framework can be developed for other issues of CTPSs.","PeriodicalId":220013,"journal":{"name":"2023 International Conference on Advanced Robotics and Mechatronics (ICARM)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115819765","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Design and Control of a Spherical Robot Using Pendulum and Momentum Wheels","authors":"Zhicheng Yuan, Xuechao Chen, Jiahao Wu, Siyu Ren, Zhangguo Yu","doi":"10.1109/ICARM58088.2023.10218907","DOIUrl":"https://doi.org/10.1109/ICARM58088.2023.10218907","url":null,"abstract":"Spherical robot has good potential for complex environment adaptation, but the single internal driving principle limits its multifaceted performance. In this paper, we present a composite driving principle which uses pendulum and momentum wheels. The abilities to change motion state and surmount obstacles have been improved. This article also contains the dynamic analysis and a controller of this driving principle. Finally, we implement necessary simulations and experiments to prove the performance of this driving principle in both aspects.","PeriodicalId":220013,"journal":{"name":"2023 International Conference on Advanced Robotics and Mechatronics (ICARM)","volume":"54 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127488901","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Review of Robotics Technologies and Its Applications","authors":"Guotao Yang, Shaolin Hu","doi":"10.1109/ICARM58088.2023.10218815","DOIUrl":"https://doi.org/10.1109/ICARM58088.2023.10218815","url":null,"abstract":"Robots are automatic equipment integrating advanced technologies in multiple disciplines such as mechanics, electronics, control, sensors, and artificial intelligence. Based on a brief introduction of the development history of robotics, this paper reviews the classification of the type of robots, the key technologies involved, and the applications in various fields, analyze the development trend of robotics and recent research hotspots, and provides an outlook on the future development of robotics and its applications.","PeriodicalId":220013,"journal":{"name":"2023 International Conference on Advanced Robotics and Mechatronics (ICARM)","volume":"56 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123416560","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Design, Optimization and Analysis of a Novel Compliant Guiding Mechanism for Piezo-Driven Vibration Microinjection","authors":"Yitong Li, Tingting Ye, Jie Ling, Xiaohui Xiao, Zhao Feng","doi":"10.1109/ICARM58088.2023.10218809","DOIUrl":"https://doi.org/10.1109/ICARM58088.2023.10218809","url":null,"abstract":"Cell microinjection, as a significant tool of biomedical research, calls for advanced equipment with high efficiency, high success rate, high reliability, and repeatability. With the intent of providing a useful manipulator for robotic cell microinjection, this paper presents a novel complaint guiding mechanism for piezo-driven vibration cell microinjection. Mechanism design, kinematic modeling, parametric optimization, and simulation of the designed guiding mechanism are introduced in detail. The compliant guiding mechanism has a symmetrical and parallel connection structure with lumped compliance at its double-notch right-circle flexure hinges. Aiming at avoiding the resonance of the mechanism at actuation frequency, the response surface algorithm is utilized to optimize the dominant structural parameters of the designed guiding mechanism based on kinematic modeling with the pseudo-rigid-body method. The finite element simulation results show that the optimized compliant mechanism has the advantages of high off-axis stiffness and ideal working performance at the actuation frequency of 15 kHz, where the output amplitude of in-plane and out-of-plane lateral vibrations are diminished to 40% and 25% of the input lateral vibration amplitude respectively.","PeriodicalId":220013,"journal":{"name":"2023 International Conference on Advanced Robotics and Mechatronics (ICARM)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125530063","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Vision-Based Reactive Planning and Control of Quadruped Robots in Unstructured Dynamic Environments","authors":"Tangyu Qian, Zhangli Zhou, Shaochen Wang, Zhijun Li, C. Su, Z. Kan","doi":"10.1109/ICARM58088.2023.10218811","DOIUrl":"https://doi.org/10.1109/ICARM58088.2023.10218811","url":null,"abstract":"Quadruped robots have received increasing attention for the past few years. However, existing works primarily focus on static environments or assume the robot has full observations of the environment. This limits their practical applications since real-world environments are often dynamic and partially observable. To tackle these issues, vision-based reactive planning and control (V-RPC) is developed in this work. The V-RPC comprises two modules: offline pre-planning and online reactive planning. The pre-planning phase generates a reference trajectory over continuous workspace via sampling-based methods using prior environmental knowledge, given an LTL specification. The online reactive module dynamically adjusts the reference trajectory and control based on the robot's real-time visual perception to adapt to environmental changes.","PeriodicalId":220013,"journal":{"name":"2023 International Conference on Advanced Robotics and Mechatronics (ICARM)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125547766","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Interaction Between Cortical Blood Flow and Muscle Activation during Isometric Contraction of Paretic Elbow Flexor and Extensor in Stroke Survivors: A Preliminary Study","authors":"Xiaohan Wang, Mingxia Zhang, Yunxia Huo, Huijing Hu, Le Li","doi":"10.1109/ICARM58088.2023.10218924","DOIUrl":"https://doi.org/10.1109/ICARM58088.2023.10218924","url":null,"abstract":"Upper limb motor dysfunction is common in stroke survivors but the mechanism behind the impairment is still poorly understand. The correlation between the performance of motor task and brain activity in patients after stroke is warrant to investigate. In this current study, functional Near-infrared Spectroscopy (fNIRS) and surface electromyography (sEMG) were used to study the relationship between brain region activation and peripheral muscle contraction in different motor control tasks, and to explore the changes of information transmission between cerebral cortex and peripheral muscle in stroke patients. Three stroke patients were recruited and asked to perform elbow isometric flexion and extension on the affected side and unaffected sides. Blood oxygen concentrations in brain from fNIRS and sEMG signals in the biceps brachii (BIC) and triceps brachii (TRI) muscles were recorded simultaneously during different isometric contraction levels. Cortical activation and functional connectivity were used to measure information interaction in brain activity and the variation of elbow contraction under different exercise tasks was analyzed by root mean square (RMS) and co-contraction index (CCI) from sEMG signals. It was found that the RMS of the BIC and TRI on the unaffected side was greater than that on the affected side during both elbow isometric flexion and extension tasks. Meanwhile, in the 30% MVC condition, the CCI of the unaffected side of elbow isometric flexion and extension was lower than that of the affected side. The results showed that the activation of brain regions on the ipsilateral side was higher than that on the contralateral side, especially the motor cortex and the prefrontal cortex. Meanwhile, the results of functional connectivity were lower from ipsilateral than those on the contralateral side. In this study, the changes of blood oxygen in the brain and the changes of sEMG signal have a same trend of synchronization during motor tasks. This finding provides a basis for further exploration of the mapping relationship between brain activity and motor task performance in stroke patients, and can guide the rehabilitation intervention of motor function in stroke survivors.","PeriodicalId":220013,"journal":{"name":"2023 International Conference on Advanced Robotics and Mechatronics (ICARM)","volume":"73 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114190759","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Motion Prediction Based on sEMG- Transformer for Lower Limb Exoskeleton Robot Control","authors":"Min Zeng, J. Gu, Ying Feng","doi":"10.1109/ICARM58088.2023.10218920","DOIUrl":"https://doi.org/10.1109/ICARM58088.2023.10218920","url":null,"abstract":"While lower limb exoskeleton robots can realize assisted walking by extracting the user's motion intention, it is difficult to effectively obtain the motion intention of the human body and convert it into information for the robot. In this paper, a novel model based on sEMG-Transformer is proposed for continuous motion prediction of multiple joint angles of lower limbs and applied to the developed lower limb exoskeleton robot. The sEMG-Transformer model can be used to extract the time series features from the sEMG sequences and establish the mapping between input data and multi-joint angle. Then, the predicted multi-joint angles are inputted into the developed lower limb exoskeleton robot. Experimental studies are performed with able-bodied human wearers and compared to existing methods, such as convolutional neural network (CNN), back propagation (BP), and long short-term memory (LSTM) networks. The motion intention estimation based on the sEMG-Transformer network has better estimation performance, which can effectively enable users to walk synchronously with the lower limb exoskeleton robot.","PeriodicalId":220013,"journal":{"name":"2023 International Conference on Advanced Robotics and Mechatronics (ICARM)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122192375","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Decoupling Control for Heavy Quadruped Robot: A Hip-Based Optimal Virtual Force Distribution and Control Framework","authors":"Shaoxun Liu, Shiyu Zhou, Mohamed M. Abdullah, Zhengyu Pan, Jiliang Wang, Zhihua Niu, Rongrong Wang","doi":"10.1109/ICARM58088.2023.10218962","DOIUrl":"https://doi.org/10.1109/ICARM58088.2023.10218962","url":null,"abstract":"The high self-weight and complex operating environment make implementing force sensor-based motion control of Heavy Quadruped Robots (HQR) challenging. In addition, for such robots, the mass of the heavy leg significantly impacts the ground reaction force (GRF) distribution and observation in the traditional control framework. This paper presents a GRF-Iess locomotion control framework for HQR based on five individual floating-base dynamics, fully considering the mass of legs and the coupled influence between the body and legs. We disassemble the full dynamics of the HQR into five spatially rigid parts with floating bases. The interaction effect between the body and legs is assumed to be a virtual spatial force (VSF), performing as the body's driving force and the loading force of the legs, which is obtained through the Nonlinear Disturbances Observer (NDOB). To realize the spatial trajectory control of the body, we utilize Quadratic Programming (QP) to solve the optimal VSF distribution on the body's hip joints. Furthermore, we employ Position-based Impedance Controllers (PIC) to build a VSF control loop to ensure that each grounded leg provides sufficient VSF to drive the body without slippage. Verification results show the promising locomotion control ability of the proposed framework for HQR.","PeriodicalId":220013,"journal":{"name":"2023 International Conference on Advanced Robotics and Mechatronics (ICARM)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128535739","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Adaptive Robust Control of an Uncertain Robotic Manipulator with Guaranteed Transient and Steady State Performance","authors":"Yifan Liu, Dejie Yu, Zilu Wang, Zheshuo Zhang, Hui Yin","doi":"10.1109/ICARM58088.2023.10218936","DOIUrl":"https://doi.org/10.1109/ICARM58088.2023.10218936","url":null,"abstract":"Guaranteeing human-specified performance in robot control subject to complex uncertainties is challenging. This study takes time-varying (possibly fast), bounded with unknown bounds uncertainties into consideration in controlling an uncertain robotic manipulator system (URMS). We employ an adaptive law to on-line estimate the unknown bounds for uncertainty compensation, and prescribed transient and steady state performance (TSSP) are guaranteed by using a state transformation technique. As a result, a class of adaptive robust control with prescribed TSSP is proposed. Simulation results are provided to validate the effectiveness of the proposed approach.","PeriodicalId":220013,"journal":{"name":"2023 International Conference on Advanced Robotics and Mechatronics (ICARM)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128366785","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}