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Personalizing a Service Robot by Learning human habits from Behavioral Footprints

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Engineering 2015年第1期1卷 79-84页

作者： Kun Li max q.-h.meng California Institute of Technology The Chinese University of hong Kong

For a domestic personal robot, personalized services are as important as predesigned tasks, because the robot needs to adjust the home state based on the operator's habits. An operator's habits are composed of cues, behaviors, and rewards. This article introduces behavioral footprints to describe the operator's behaviors in a house, and applies the inverse reinforcement learning techniq.e to extract the operator's habits, represented by a reward function. We implemented the proposed approach with a mobile robot on indoor temperature adjustment, and compared this approach with a baseline method that recorded all the cues and behaviors of the operator. The result shows that the proposed approach allows the robot to reveal the operator's habits accurately and adjust the environment state accordingly.

关键词： personalized robot habit learning behavioralfootprints

Dynamic wheeled motion control of wheel-biped transformable robots

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Biomimetic Intelligence & Robotics 2022年第2期2卷 1-8页

作者： Chao Zhang Tangyou Liu Shuang Song Jiaole Wang max q.h.meng The School of Mechanical Engineering and Automation Harbin Institute of TechnologyShenzhen 518055China Department of Electronic and Electrical Engineering Southern University of Science and TechnologyShenzhen 518055China

Most existing biped robots can only walk with their feet or move by *** combine the best of both worlds,this paper introduces the dynamic wheeled control including wheeled locomotion and in-situ wheel-to-foot(WtF)transformation of a full-sized wheel-biped transformable robot *** can traverse on flat surfaces by wheels and transform to footed stance through its switching modules when facing *** wheeled locomotion,the kinematics considering upper-body lumped center-of-mass(CoM)constraint is first ***,the dynamics of wheeled locomotion is modeled as a wheeled inverted pendulum(WIP)with variables related to the pose of upper *** that,a parameter-varying linear q.adratic regulator(Lq.)controller is utilized to enable dynamic wheeled *** WtF transformation,the WtF balance constraints are first ***,a WtF transformation strategy is proposed to tackle the problem when robot transforms from wheeled balance state to in-situ biped stance *** enables the robot to pass by the transition stages in which both wheels and feet touch the ground and to maintain its balance at the same *** and experiments on the SR600-II prototype have validated the efficacy of proposed dynamic wheeled control strategies for both wheeled locomotion and in-situ WtF transformation.

关键词： Wheel-biped transformable robot Dynamic control Wheeled locomotion Parameter-varying Lq. control Wheel-to-foot transformation

A survey of learning-based robot motion planning

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IET Cyber-Systems and Robotics 2021年第4期3卷 302-314页

作者： Jiankun Wang Tianyi Zhang Nachuan Ma Zhaoting Li han Ma Fei meng max q.-h.meng Department of Electronic and Electrical Engineering Southern University of Science and TechnologyShenzhenChina Department of Electronic Engineering The Chinese University of Hong KongHong KongChina Shenzhen Research Institute of the Chinese University of hong Kong ShenzhenChina

A fundamental task in robotics is to plan collision-free motions among a set of ***,learning-based motion-planning methods have shown significant advantages in solving different planning problems in high-dimensional spaces and complex *** article serves as a survey of various different learning-based methods that have been applied to robot motion-planning problems,including supervised,unsupervised learning,and reinforcement *** learning-based methods either rely on a human-crafted reward function for specific tasks or learn from successful planning *** classical definition and learning-related definition of motion-planning problem are provided in this *** learning-based motion-planning algorithms are introduced,and the combination of classical motion-planning and learning techniq.es is discussed in detail.

关键词： robot learning motion

Design and evaluation of a novel biopsy needle with hemostatic function

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机械工程前沿:英文版 2023年第2期18卷 319-331页

作者： Xiaolong ZhU Yichi MA Xiao XIAO Liang LU Wei XIAO Ziq. ZhAO hongliang REN max q.-h.meng Department of Electronic and Electrical Engineering Southern University of Science and TechnologyShenzhen 518055China Department of Mechanical Engineering University of CaliforniaBerkeleyBerkeleyCA 48072USA Department of Electronic Engineering The Chinese University of Hong KongHong KongChina

Biopsy is a method commonly used for early cancer ***,bleeding complications of widely available biopsy are risky for *** biopsy will result in a more accurate cancer diagnosis and a decrease in the risk of *** this article,we propose a novel biopsy needle that can reduce bleeding during biopsy procedures and achieve stable *** proposed biopsy needle features a compact structure and can be operated easily by left and right hands.A predictive model for puncture force and tip deflection based on coupled Eulerian–Lagrangian(CEL)method is *** results show that the biopsy needle can smoothly deliver the gelatin sponge hemostatic plug into the *** the hemostatic plug bends,the overall delivery process is stable,and the hemostatic plug retains in the tissue without being affected by the withdrawal of the *** experiments indicate that the specimens are well obtained and evenly distributed in the groove of the outer needle without *** proposed design of biopsy needle possesses strong ability of hemostasis,tissue cutting,and tissue *** CEL model accurately predicts the peak of puncture force and produces close estimation of the insertion force at the postpuncture stage and tip position.

关键词： cancer diagnosis biopsy needle hemostatic function predictive model coupled Eulerian−Lagrangian

A survey of the development of biomimetic intelligence and robotics

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Biomimetic Intelligence & Robotics 2021年第1期1卷 1-12页

作者： Jiankun Wang Weinan Chen Xiao Xiao Yangxin Xu Chenming Li Xiao Jia max q.h.meng Department of Electronic and Electrical Engineering Southern University of Science and TechnologyShenzhenChina Department of Electronic Engineering The Chinese University of Hong KongShatin N.T.Hong Kong SARChina Shenzhen Research Institute of the Chinese University of hong Kong ShenzhenChina

Biomimetics is the development of novel theories and technologies by emulating the models and systems of *** transfer of function from biological science into engineering promotes emerging research areas across many disparate ***,advances in biomimetic intelligence and robotics have gained great *** robotics are designed with biological characteristics and functions to be applied in different scenarios,such as humanoid robot in the home environment,q.adruped robot in the field,and bird-like flying robot in the *** intelligence aims to solve many complex problems by studying the principles of biological systems,resulting in a series of efficient algorithms,such as the genetic algorithm and neural *** intelligence further facilitates the performance of biomimetic robotics,making it possible to be deployed in more and more practical *** survey introduces the development of biomimetic intelligence and biomimetic *** survey different biomimetic robots,biomimetic sensors and sensing technologies,and popular biomimetic intelligence *** conclusion is drawn by discussing current challenges and future research directions.

关键词： Biomimetics Robotics Biomimetic intelligence Biomimetic robotics

Development of a Compact Photoacoustic Tomography Imaging System with Dual Single-Element Transducers for Image Enhancement

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Current Medical Science 2021年第6期41卷 1151-1157页

作者： Yong-jian ZhAO Xiao-long ZhU Pei-yu LUO Ang LI Wei XIAO Xiao XIAO Li LIU max q.-h.meng Department of Electronic and Electrical Engineering the Southern University of Science and TechnologyShenzhen 518055China Department of Electronic Engineering The Chinese University of Hong KongHong Kong 999077China Shenzhen Research Institute of The Chinese University of hong Kong in Shenzhen Shenzhen 518172China

Objective:This paper proposes a new photoacoustic computed tomography(PACT)imaging system employing dual ultrasonic transducers with different *** imaging complex biological tissues,photoacoustic(PA)signals with multiple freq.encies are produced simultaneously;however,due to the limited bandwidth of a single-freq.ency transducer,the received PA signals with specific freq.encies may be missing,leading to a low imaging ***:In contrast to our previous work,the proposed system has a compact volume as well as specific selection of the detection center freq.ency of the transducer,which can provide a comprehensive range for the detection of PA *** this study,a series of numerical simulation and phantom experiments were performed to validate the efficacy of the developed PACT ***:The images generated by our system combined the advantages of both high resolution and ideal brightness/***:The interchangeability of transducers with different freq.encies provides potential for clinical deployment under the circumstance where a single freq.ency transducer cannot perform well.

关键词： photoacoustic tomography dual transducers image enhancement signal responding range

EMD-based Adaptive Wavelet Threshold for Pulse Wave Denoising

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Chinese Journal of Biomedical Engineering(English Edition) 2015年第1期24卷 1-8页

作者： XU Li-shengl ShEN Yan-hua ZhONG Yue KANG Yan max q.-h.meng Sino -Dutch Biomedical and Information Engineering School Northeastern University Key Laboratory of Medical Image Computing (Northeastern University) Ministry of Education Department of Electronic Engineering The Chinese University of Hong Kong

It is inevitable that noises will be introduced during the acq.isition of pulse wave signal, which can result in morphology changes of the original pulse wave,and affect the hemodynamic analysis and diagnosis based on pulse wave signals. In order to remove these noises, an adaptive de-noising method based on empirical mode decomposition(EMD) and wavelet threshold is proposed in this paper. Compared with the wavelet threshold method for denoising pulse wave, the proposed approach is more effective, especially at low signal-to-noise ratio.

关键词： pulse wave de-noising EMD adaptive filter wavelet threshold

Bridging AI to Robotics via Biomimetics

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Biomimetic Intelligence & Robotics 2021年第1期1卷 42-42页

作者： max q.-h.meng 不详

Throughout human history,people have always fascinated about creating machines capable of mimicking human behaviors and *** in the ancient Chinese bestiary “Shan hai Jing(The Classic of Mountains and Seas)”,huang Di(The Yellow Emperor)built and used navigation mobile robots in the battle against an enemy deity named Chi You some 5000 years *** then,many robots,be they imaginative or actual,have been invented and recorded,such as the wooden flying birds of Lu Ban some 2500 years ago that can fly for three days without ***’s imagination,fantasy,and desire to invent,build,and use robots have never *** the q.ickening pace of technological development in the past few decades,research in robotics and AI has in particular reached a new level of attention and *** an intuitive approach,human beings draw their inspiration from the nature and biological systems when inventing,designing,and developing machines and algorithms in the effort to recreate and duplicate their functionalities.

关键词： designing intuitive machines

h∞ Fuzzy Filtering for Discrete-time Fuzzy Stochastic Systems with Time-varying Delay

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H∞ Fuzzy Filtering for Discrete-time Fuzzy Stochastic Syste...