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Walking aids for elderly people： a systematic overview

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仪器仪表学报 2008年第1期29卷 216-224页

作者： Zhou huiyu hu huosheng Fei Minrui School of Engineering and Design Brunel University Uxbridge UB8 3 PH U. K. Department of Computing and Electronic Systems University of Essex Colchester CO4 3SQ U.K. School of Mechatronics Engineering and Automation Shanghai University Shanghai 20072 China

Reduction of falls of elderly people has been an active research area for many *** of older people can be signicantly reduced through the smart use of *** technologies can help older people to regain mobility and reduce their reliance on community care ***,mobility aids,as one of the main components of these assistive technologies,are mainly discussed in this *** obstacle detection systems and mobility aids will be reviewed in this paper,where different features are explicitly addressed.

关键词：障碍绕射中老年人传感器行走辅助工具跌倒伤

A Single-legged Robot Inspired by the Jumping Mechanism of Click Beetles and Its Hopping Dynamics Analysis

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Journal of Bionic Engineering 2020年第6期17卷 1109-1125页

作者： Gang Chen Jiajun Tu Xiaocong Ti huosheng hu Faculty of Mechanical Engineering and Automation Zhejiang Sci-Tech UniversityHangzhou 310018China School of Computer Science and Electronic Engineering University of EssexColchester C043SQUK

The click beetle can jump up with a hinge when it is on the dorsal *** jumping mechanism is simple and suitable as an inspiration for designing a simple,small,and reliable hopping *** report a single-legged robot inspired by the jumping mechanism of click *** is 85 mm high,60 mm long,and 41 mm wide,and weighs about 49 *** robot has good hopping performance that the hopping height is about 4 times-4.3 times of its body *** is capable for rescue missions that require to enter enclosed spaces through cracks and narrow *** addition,hopping dynamics of the robot is important to understand its jumping mechanism and improve the robot’s hopping *** existing dynamic study does not complete the analysis including all stages in the hopping which are pre-hopping,take-off,and *** propose the decomposition method to study dynamics of the three stages separately,and synthesize them with related *** dynamic synthesis of multi-motion states in a hopping cycle of the single-legged hopping robot is *** hopping performance and dynamic synthesis theory of the robot are verified by simulations and *** study helps lay the foundation for design and hopping control of simple hopping robot systems.

关键词： single-legged hopping robots hopping cycle dynamics synthesis multi-motion states jumping mechanism imitaion of click beetles

Using Echo Ultrasound from Schooling Fish to Detect and Classify Fish Types

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Journal of Bionic Engineering 2009年第3期6卷 264-269页

作者： Yeffry Handoko Yul.Y.Nazaruddin huosheng hu Department of Engineering Physics Bandung Institute of Technology School of Computer Science and Electronic Engineering University of Essex

Fish finders have already been widely available in the fishing market for a number of ***,the sizes of these fish finders are too big and their prices are expensive to suit for the research of robotic fish or *** goal of this research is to propose a low-cost fish detector and classifier which suits for underwater robot or submarine as a proximity sensor. With some pre-condition in hardware and algorithms,the experimental results show that the proposed design has good per- formance,with a detection rate of 100 % and a classification rate of 94 %.Both the existing type of fish and the group behavior can be revealed by statistical interpretations such as hovering passion and sparse swimming mode.

关键词： fish detection classincation artificial neural network ultrasound sensor

Linear perspective shape-from-shading method with two images

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Journal of Systems Engineering and Electronics 2015年第5期26卷 1080-1087页

作者： Lei Yang Ning Zhang Yanyun Ren huosheng hu Shanghai Key Laboratory of Power Station Automation Technology School of Mechatronics Engineering and AutomationShanghai University School of Computer Science and Electrical Engineering University of Essex

Shape-from-shading(SFS) is one of the important approaches of 3-D surface reconstruction in computer vision. Since reflectance map equation in SFS is a nonlinear partial differential equation(PDE) with two unknown variables, SFS with one image is ill-posed in mathematical sense. A linear perspective SFS method with two images is proposed to deal with the problem. We assume that two images with different light source directions are captured firstly. Orthogonal projection is not as accurate as perspective one to simulate imaging processes. Two reflectance map equations are established based on the Lambertian model under perspective projection, and the equations are further transformed into one linear PDE. Then the iterative semi-Lagrangian algorithm is used to approximate the solution. Finally, 3-D height values of pixel points in imaging planes are solved by the numerical interpolation method. Experimental results of both hemisphere and complex surfaces show that the proposed method can reconstruct surfaces accurately.

关键词： shape-from-shading(SFS) perspective projection semi-Lagrangian algorithm numerical interpolation method

Two-layer networked learning control using self-learning fuzzy control algorithms

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仪器仪表学报 2007年第12期28卷 2124-2131页

作者： Du Dajun Fei Minrui hu huosheng Li Lixiong School of Mechatronical Engineering and Automation Shanghai University Shanghai 200072 China Department of Computing ＆ Electronic Systems University of Essex Colchester C04 3SQU. K.

Since the existing single-layer networked control systems have some inherent limitations and cannot effectively handle the problems associated with unreliable networks, a novel two-layer networked learning control system (NLCS) is proposed in this paper. Its lower layer has a number of local controllers that are operated independently, and its upper layer has a learning agent that communicates with the independent local controllers in the lower layer. To implement such a system, a packet-discard strategy is firstly developed to deal with network-induced delay and data packet loss. A cubic spline interpolator is then employed to compensate the lost data. Finally, the output of the learning agent based on a novel radial basis function neural network (RBFNN) is used to update the parameters of fuzzy controllers. A nonlinear heating, ventilation and air-conditioning (HVAC) system is used to demonstrate the feasibility and effectiveness of the proposed system.

关键词：自学习模糊控制算法双层网络学习控制系统径向基函数神经网络三次样条校对机

A School of Robotic Fish for Mariculture Monitoring in the Sea Coast

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Journal of Bionic Engineering 2015年第1期12卷 37-46页

作者： Young-Sun Ryuh Gi-hun Yang Jindong Liu huosheng hu Korea Institute of lndustrial Technology Ansan 426-910 Korea The Hamlyn Centre hnperial College London London SW72AZ United Kingdom School of Computer Science and Electronic Engineering University of Essex Colchester C043SQ United Kingdom

This paper presents a multi-agent robotic fish system used for mariculture monitoring. Autonomous robotic fish is designed to swim underwater to collect marine information such as water temperature and pollution level. Each robotic fish has 5 degrees of freedom for controlling its depth and speed by milnicking a sea carp. Its bionic body design enables it to have high swimming efficiency and less disturbance to the surrounding sea lives. Several onboard sensors are equipped for autonomous 3D naviga- tion tasks such as path planning, obstacle avoidance and depth maintenance. A robotic buoy floating on the water surface is deployed as a control hub to communicate with individual robots, which in turn form a multi-agent system to monitor and cover a large scale sea coast cooperatively. Both laboratory experiments and field testing have been conducted to verify the feasibility and performance of the proposed multi-agent system.

关键词： robotic fish maricnlturc monitoring multi-agent system pollution detection sea coast

Cooperative Localization of AUVs Using Moving Horizon Estimation

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IEEE/CAA Journal of Automatica Sinica 2014年第1期1卷 68-76页

作者： Sen Wang Ling Chen Dongbing Gu huosheng hu the School of Computer Science and Electronic Engineering University of Essex

This paper studies the localization problem of autonomous underwater vehicles(AUVs) constrained by limited size, power and payload. Such AUVs cannot be equipped with heavy sensors which makes their underwater localization problem difficult. The proposed cooperative localization algorithm is performed by using a single surface mobile beacon which provides range measurement to bound the localization error. The main contribution of this paper is twofold: 1) The observability of single beacon based localization is first analyzed in the context of nonlinear discrete time system, deriving a sufficient condition on observability. It is further compared with observability of linearized system to verify that a nonlinear state estimation is necessary. 2) Moving horizon estimation is integrated with extended Kalman filter(EKF) for three dimensional localization using single beacon, which can alleviate the computational complexity,impose various constraints and make use of several previous range measurements for each estimation. The observability and improved localization accuracy of the localization algorithm are verified by extensive numerical simulation compared with EKF.

关键词： Cooperative localization autonomous underwa-ter vehicles(AUVs) moving horizon estimation extended Kalman filter (EKF)

Extended model predictive control scheme for smooth path following of autonomous vehicles

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Frontiers of Mechanical Engineering 2022年第1期17卷 34-49页

作者： Qianjie LIU Shuang SONG huosheng hu Tengchao huANG Chenyang LI Qingyuan Zhu Department of Mechanical and Electrical Engineering Xiamen UniversityXiamen 361102China School of Computer Science and Electronic Engineering University of EssexColchester CO43SQUK

This paper presents an extended model predictive control(MPC)scheme for implementing optimal path following of autonomous vehicles,which has multiple constraints and an integrated model of vehicle and road *** curvature and inclination factors are used in the construction of the vehicle dynamic model to describe its lateral and roll dynamics ***,rollover,and vehicle envelopes are used as multiple constraints in the MPC controller ***,an extended MPC method solved by differential evolution optimization algorithm is proposed to realize optimal smooth path following based on driving path ***,simulation and real experiments are carried out to evaluate the feasibility and the effectiveness of the extended MPC *** indicate that the proposed method can obtain the smooth transition to follow the optimal drivable path and satisfy the lateral dynamic stability and environmental constraints,which can improve the path following quality for better ride comfort and road availability of autonomous vehicles.

关键词： autonomous vehicles vehicle dynamic modeling model predictive control path following optimization algorithm

A dual working mode mobile robot system based on visual guiding and visual servoing

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High Technology Letters 2007年第4期13卷 337-342页

作者：彭一准 Yuan Kui Zou Wei hu huosheng Institute of Automation Chinese Academy of Sciences Beijing 100080 P.R. China Department of Computer Science University of Essex UK

A dual operational modes mobile robot system based on visual guiding and visual servo control is presented. This system consists of a mobile robot with a two-axis manipulator and a tele-operation station. In the visual guiding mode, for the robot works in an open loop visual servo control mode, the manipulating burden of the operator is reduced largely. In the visual servo mode the robot can locate the position of the target assigned by the operator and pick it up by its manipulator. With the help of the operator, the diffieuh problems of finding and handling a target in a complicated environment by the robot can be solved easily.

关键词： tele-operation mobile robot visual guiding visual servo control