The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
Magnetically actuated microswimmers have shown great potentials in multiple application scenarios, attracting researchers to investigate their swimming characteristics and controlling methods. However, among those studies, only a small number of closed-loop control schemes have been applied, which is crucial for the accuracy and repeatability in applications. In this paper, we proposed an Image-Based...
Microrobots show great potential to realize a wide range of medical applications especially in a hard-to-reach region within human body. Among a diversity of medical applications, the microrobots are expected to efficiently perform tasks within the human body, but the existing electromagnetic coil systems such as Helmholtz coil, Maxwell coil, etc. do not compromise on the insertion of such a large...
Compact behavioral models for silicon photonic Mach-Zehnder modulators (MZM) are developed for SPICE compatible electro-optical co-simulation. The model captures electro-optical interactions and dynamics, optical insertion loss and thermo-optical effect. Behavioral model simulation results and measurement results are shown to be a highly match. The model will be an indispensable part of the optical...
The paper proposed a robust optimum thresholding method based on local intensity mapping(LIM), class uncertainty and region stability theories to segment fuzzy and noisy images. First of all, the intensities of an image would be mapped into another intensity space by LIM which could decrease the influence of noise and uneven intensity distribution. Then, the intensity-based class uncertainty is applied...
In this paper, we present an approach to simultaneous localization and mapping (SLAM) for RGB-D cameras like the Microsoft Kinectv2 that is capable of reconstructing volumetric 3D map without the aid of a graphics processing unit (GPU). For many robots, including flying robots and ground mobile robots, most of them build 3D maps, such as sparse or dense point cloud. However, these maps can not give...
Due to the low weight of monocular camera, monocular Simultaneous Localization and Mapping (SLAM) is an area of popular research and promotes countless applications of micro Unmanned Aerial Vehicles (UAVs), especially in some GPS-denied indoor environments. Nevertheless, the motion of UAVs is often faster and more complex than that of ground-based robots. It would also lead to error accumulation if...
This research introduces a low-power, light-weight wearable powered waist exoskeleton with mechanical clutch. By processing the signals from multiple sensors, the human movement intention can be precisely identified and estimated. The exoskeleton can help reduce the work done by human muscle and has a loading capacity up to 20kg. Through the mechanical clutches applied, the exoskeleton can lock the...
In this paper, we have developed an asynchronous brain-computer interface (BCI)-based lower limb exoskeleton control system based on motor imagery (MI). By decoding electroencephalography (EEG) signals in real-time, users were able to walk forward, sit down, and stand up while wearing the exoskeleton. EEG feature vectors associated with the motor imagery were extracted from the filtered EEG signals...
In this paper, we design a novel knee exoskeleton. The designed exoskeleton has a 1 DOF with knee joint actuated in the sagittal plane. The exoskeleton is actuated base on Series Elastic Actuator (SEA) instead of traditonal stiff actuator. SEA is a compliant actuator, having the advantages of low output impedance, low friction, high quality force control and backdrivability. Thanks to these nice characteristics,...
A systematic design method is applied to perform the loop stability and noise analyses for a type-II 3rd-order charge pump PLL. The measured phase noise has shown that the phase noise breakdown simulation can accurately evaluate the PLL performance. The designed PLL outputs a clock at more than 10 GHz for an on-chip SerDes system. The design consideration and trade-off are detailed. The PLL is designed...
Large-scale integration of emerging nanoscale non-volatile memory devices, e.g. resistive random-access memory (RRAM), can enable a new generation of neuromorphic computers that can solve a wide range of machine learning problems. Such hybrid CMOS-RRAM neuromorphic architectures will result in several orders of magnitude reduction in energy consumption at a very small form factor, and herald autonomous...
Unmanned Automatic Guided Vehicle (AGV) is a critical part of advanced manufacturing system. The navigation and localization technology are the key components of AGV design. In this paper, we propose a navigation method based on Kalman Filter and a magnetic nail localization. By the method, the state equation can be obtained by carrying out the kinematics analysis. Heading angle and position can be...
Lower-limb exoskeleton is widely used for assisting walk in rehabilitation field. One key problem for exoskeleton control is to model and predict the suitable gait trajectories of wearer. In this paper, we propose a Deep Rehabilitation Gait Learning (DRGL) for modeling the knee joints of lower-limb exoskeleton, which firstly leverage Long-Short Term Memory (LSTM) to learn the inherent spatial-temporal...
Low-cost optical interconnects are playing an important role in sustaining the exponential growth in data center demand and to support the future internet-of-things cloud infrastructure. These chip-scale optical transceiver systems are integrated using two-chip bonding solution of CMOS electronic die with a silicon photonic die. In this work, modeling of the critical bond-wire is performed with electromagnetic...
Robust gait phase prediction is crucial to exoskeleton robots, as it detects the intention of users and improves the lag of motion signals. Therefore, this paper predicts gait phases from two perspectives, including one perspective of spatial features and the other of spatio-temporal features. We employ two machine learning models from the two perspectives to predict. One is support vector machine...
This paper describes a 2 DOF (Degrees of Freedom) massaging robot prototype: Massagebot, which is equipped with two kinds of massage structure and can realize two kinds of massage by scratching and shaking on user's back. Massagebot has two-wheel gripper, and two-triangular structure of body with good stability. In terms of path planning, we proposed a location algorithm based on simplified acupuncture...
In this paper, a running person detection method is proposed for the community patrol robot. The challenges include the diversity of movement direction and the ego-motion of camera. The diversity of movement direction means that it is difficult to gain high accuracy detection by only using appearance information. The ego-motion of camera means that the motion information contains high noise. To address...
In this paper, we present a control method that combines Brain-computer interface based on Steady-State Visual Evoked Potentials and traditional force/angle sensors to control a lower-limb rehabilitation exoskeleton. Through visual stimulation experiments, the subjects will produce raw electroencephalogram signals including commands information. After acquiring such information, the control system...
In order to help spinal cord injury (SCI) patients to walk again, a medical robot exoskeleton have been developed to assist these patients to walk independently in SIAT, Shenzhen. The research of this article is exoskeleton robot single joint load adaptive servo control. Considering the volunteers, wearing an exoskeleton robot, joints have significant changes in load torque and the moment of inertia,...
In some GPS-denied indoor environment, micro Unmanned Aerial Vehicle (UAV) is a good choice to execute special tasks. However, self-positioning of UAV becomes difficult without the help of GPS. In this paper, we develop the self-positioning method for UAV indoor navigation, which integrates the information of 3D laser scanner, ultra-wideband (UWB) and Inertial navigation system (INS). The positioning...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.