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基于柔性光波导的水下本体感知软体执行器

机器人 2024年第2期46卷 129-138页

作者：莫礼燕张道辉傅昕赵新刚中国科学院沈阳自动化研究所机器人学国家重点实验室辽宁沈阳110016 中国科学院机器人与智能制造创新研究院辽宁沈阳100169 中国科学院大学北京100049

水下软体执行器在水下生物采样、文物打捞等作业任务中发挥着重要作用,但其本体感知能力不足。传统的水下感知模块存在易受环境温度影响、抗干扰能力弱、体积大和硬度大等缺点,不适用于软体执行器。为了解决这个问题,本文基于一种对温... 详细信息

水下软体执行器在水下生物采样、文物打捞等作业任务中发挥着重要作用,但其本体感知能力不足。传统的水下感知模块存在易受环境温度影响、抗干扰能力弱、体积大和硬度大等缺点,不适用于软体执行器。为了解决这个问题,本文基于一种对温度和电磁干扰不敏感、响应速度较快、线性度较高的柔性光波导传感器来实现一种波纹管结构软体执行器的本体感知功能。首先,在实验室浅水环境中测试了软体执行器检测物体基本物理属性(表面纹理和硬度)的能力;其次,在实验室模拟静水高压环境中(0~30MPa)初步验证该软体执行器在水下3000m典型作业场景应用的可行性。实验结果证明:在浅水环境中,软体执行器可在驱动压力40kPa下感知幅值为1mm的锯齿波纹表面;当驱动压力大于30kPa时,软体执行器可以明显辨别出本体弯曲状态以及3种不同硬度的物体;在静水压0~30MPa下,柔性光波导传感器可以很好地表征软体执行器的不同弯曲状态;当水压增大时,传感器的迟滞性增大,灵敏度降低。以上实验结果表明基于柔性光波导的本体感知软体执行器具备水下原位感知的功能,且在等效水下3000m作业范围内仍具有较好的感知性能。

关键词：柔性光波导传感器柔性传感器本体感知软体执行器水下软体机器人原位感知

基于TiCNN-DRSN模型的sEMG手势识别算法的研究

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电子测量技术 2024年第6期47卷 190-196页

作者：周国良张道辉郭小萍沈阳化工大学沈阳110000

基于表面肌电信号和模式识别的手势识别方法在康复手领域中具有广阔的应用前景。提出一种基于表面肌电信号的手部姿势识别方法,以预测手部的52种动作。为解决表面肌电信号易受干扰的问题,提高对表面肌电信号的分类效果,提出了TiCNN-DRS... 详细信息

基于表面肌电信号和模式识别的手势识别方法在康复手领域中具有广阔的应用前景。提出一种基于表面肌电信号的手部姿势识别方法,以预测手部的52种动作。为解决表面肌电信号易受干扰的问题,提高对表面肌电信号的分类效果,提出了TiCNN-DRSN网络,主要作用是在拥有噪声的情况下能够更好的识别率,减少滤除噪声的时间。TiCNN网络使用卷积核Dropout和极小批量训练,为卷积神经网络引入训练干扰并且增加了模型的泛化性;DRSN网络可以有效的剔除sEMG信号中的冗余信号,减少信号噪声干扰。TiCNN-DRSN网络在不需要任何降噪预处理的前提下,取得了很高的抗噪与自适应性能。本模型在Ninapro数据库上的识别率达到97.43%±0.8%。

关键词：表面肌电信号抗噪声 TiCNN-DRSN网络

Deep Learning for EMG-based Human-Machine Interaction:A Review

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IEEE/CAA Journal of Automatica Sinica 2021年第3期8卷 512-533页

作者： Dezhen Xiong daohui zhang Xingang Zhao Yiwen Zhao State Key Laboratory of Robotics Shenyang Institute of AutomationInstitutes for Robotics and Intelligent ManufacturingChinese Academy of SciencesShenyang 110016 University of Chinese Academy of Sciences Beijing 100049China State Key Laboratory of Robotics Shenyang Institute of AutomationInstitutes for Robotics and Intelligent ManufacturingChinese Academy of SciencesShenyang 110016China

Electromyography(EMG)has already been broadly used in human-machine interaction(HMI)*** how to decode the information inside EMG signals robustly and accurately is a key problem for which we urgently need a ***,many EMG pattern recognition tasks have been addressed using deep learning *** this paper,we analyze recent papers and present a literature review describing the role that deep learning plays in EMG-based *** overview of typical network structures and processing schemes will be *** progress in typical tasks such as movement classification,joint angle prediction,and force/torque estimation will be *** issues,including multimodal sensing,inter-subject/inter-session,and robustness toward disturbances will be *** attempt to provide a comprehensive analysis of current research by discussing the advantages,challenges,and opportunities brought by deep *** hope that deep learning can aid in eliminating factors that hinder the development of EMG-based HMI ***,possible future directions will be presented to pave the way for future research.

关键词： Accuracy deep learning electromyography(EMG) human-machine interaction(HMI) robustness

Telemetering system and its application for fruit cultivation in greenhouses

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International Journal of Agricultural and Biological Engineering 2013年第2期6卷 13-18页

作者： zhang daohui Wang Jiawei Zong Xiaojuan Wei Hairong Zhu Dongzi Liu Qingzhong Key Laboratory of Fruit Tree Biotechnology Breeding Shandong Institute of PomologyTaianShandong 271000China

Circuit of the temperature measurement equipment was improved in order to develop temperature telemetering system for cultivating fruit *** traditional temperature measuring equipments used in monitoring temperature changes in greenhouse include mercury column,merbromine column,kerosene column glass rod thermometer and mechanical inductive *** with the traditional method of temperature measurement the new system reduces the labor requirement and promotes precision monitoring and control of the *** addition,the temperature in the greenhouse was very accurate especially at night or in rainy and snowy *** new temperature telemetering system will promote the development of the fruit protection cultivation.

关键词： sweet cherry temperature wire telemetering universal instrument temperature measurement and control system

Intuitive Human-Robot-Environment Interaction With EMG Signals:A Review

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Modeling and Control of Shape Memory Alloy Actuator Using Feedback Linearization

自动化学报（英文版） 2024年第5期 1075页

作者： Dezhen Xiong daohui zhang Yaqi Chu Yiwen Zhao Xingang Zhao

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Modeling and Control of Shape Memory Alloy Actuator Using Fe...

Automatic Monitoring of Chilling Requirement for Sweet Cherry and Its Application in Protected Cultivation

第36届中国控制会议

作者： Li Xiaoguang zhang daohui Zhao Xingang Jianda Han State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of Sciences University of Chinese Academy of Sciences Shenyang University of Technology

ISBN: (纸本)9781538629185

The paper presents the modeling and linear control of shape memory alloy（SMA） actuator. A complete system mathematical model of SMA actuator is constructed, all uncertain parameters are evaluated through nonlinear least squares method from matlab parameter estimation tool. The feedback linearization（FBL） theory is applied, The SMA actuator system is transformed from nonlinear system to linear system so that all mature linear control theory can be used. In this paper, a simple gain matrix is utilized to establish Hurwitz, achieves the output position tracking, and ensures the system stability. Two control schemes, FBL and PID, are compared in dynamic response and response error.

关键词： SMA FBL Modeling

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Agricultural Biotechnology 2016年第3期5卷 16-20,34页

作者： daohui zhang Hongjun ZHAO Hechun GAO Yue TAN Jiawei WANG Xin CHEN Hairong WEI Qing-zhong LIU Shandong Institute of Pomology/Key Laboratory for Fruit Biotechnology Breeding of Shandong Province Taian 271000China Scientific Research Office Shandong Academy of Agricultural ScienceJinan 250100China Breeder Seed Farm of Ninghe County Ninghe 301500China

For sweet cherry, the economic benefit of protected cultivation is much higher than that of open field cultivation. However, problems such as nonuniform germination, aberrant flower, abortion, bad fruit setting and delayed maturation appear frequently due to the inaccurate regulation of chilling requirement. In order to solve the problems, an automatic system for monitoring, selecting and recording of chilling requirement in protected cultivation of sweet cherry was designed and developed. The system, which consisted of temperature detection, effective chilling temperature selection, signal conversion and output and chilling accumulation display, had been continuously used in protected cultivation of sweet cherry for 3 years and good effects had been achieved. The system monitored chilling accumu- lation accurately and made it more reasonable for the time selection of greenhouse covering, thus avoiding risks of nonuniform germination, bad fruit setting and de- layed maturation, etc. Under the coordinate application of this system with other modern measuring and controlling techniques such as automatic detection and alarming of temperature and humidity, the environment in greenhouses was regulated precisely that the uniform fruits were obtained and the expected yield, quality and harvest time were achieved.

关键词： Chilling requirement Sweet cherry Protected cultivation Automatic monitoring High quality and yield

适用不同Brunnstrom等级患者基于表面肌电信号的动作识别方法

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机器人 2020年第6期42卷 661-671,685页

作者：王丰焱张道辉李自由赵新刚中国科学院沈阳自动化研究所机器人学国家重点实验室辽宁沈阳110016 中国科学院机器人与智能制造创新研究院辽宁沈阳110169 中国科学院大学北京100049

针对不同患病程度的脑卒中患者运动意图识别率低的问题,提出了一种适用于不同Brunnstrom等级患者基于表面肌电信号(sEMG)的动作识别方法.首先将所有等级患者s EMG数据进行融合,使用tsfresh库提取特征,然后基于随机森林(random forest,RF... 详细信息

针对不同患病程度的脑卒中患者运动意图识别率低的问题,提出了一种适用于不同Brunnstrom等级患者基于表面肌电信号(sEMG)的动作识别方法.首先将所有等级患者s EMG数据进行融合,使用tsfresh库提取特征,然后基于随机森林(random forest,RF)模型筛选特征,并利用筛选的特征训练动作分类模型.进一步,通过研究动作和康复等级的关系,确定了康复评估动作并设计了康复等级自动评估算法.为了验证所提方法的有效性,在24例患者sEMG数据上进行了测试,实验结果表明所提方法能够将9种动作和6类康复等级的平均识别精度分别提升至89.81%和94%.基于所提方法构建的手部康复机器人系统能够实现康复等级自动评估.

关键词：脑卒中患者表面肌电信号(sEMG) Brunnstrom等级模式识别

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气动人工肌肉拮抗关节的力与刚度独立控制

机器人 2018年第5期40卷 587-596页

作者：张道辉赵新刚韩建达马红阳张弼中国科学院沈阳自动化研究所机器人学国家重点实验室辽宁沈阳110016 中国科学院大学北京100049 南开大学计算机与控制工程学院天津300350 东北大学信息科学与工程学院辽宁沈阳110004

针对柔性仿生关节难以实现力与刚度独立控制的问题,建立了一种新的气动人工肌肉等效弹簧模型及关节力和刚度模型,设计了一种双输入双输出滑模控制器,来实现对气动人工肌肉拮抗关节力与刚度的独立控制.最后,搭建了气动人工肌肉驱动的拮... 详细信息

针对柔性仿生关节难以实现力与刚度独立控制的问题,建立了一种新的气动人工肌肉等效弹簧模型及关节力和刚度模型,设计了一种双输入双输出滑模控制器,来实现对气动人工肌肉拮抗关节力与刚度的独立控制.最后,搭建了气动人工肌肉驱动的拮抗关节实验平台,在关节位置固定和开放两种状况下进行了实验研究,验证所提方法的有效性;在不同负载情况下进行了对比实验,验证所提方法的通用性.所提出的建模和控制方法综合考虑了仿生关节位置、力和刚度相对独立控制,在机器人与人或环境互相作用的场合有很好的应用前景.

关键词：气动人工肌肉拮抗关节刚度控制滑模控制