Rigid body orientation determined by IMU (Inertial Measurement Unit) is widely applied in robotics, navigation, rehabilitation, and human-computer interaction. In this paper, aiming at dynamically fusing quaternions computed from angular rate integration FQA algorithm, a quaternion-based complementary filter algorithm proposed to support computationally efficient, wearable motion-tracking system. Firstly, gradient descent method used determine function several sample points. Secondly,...

The fast-growing techniques of measuring and fusing multi-modal biomedical signals enable advanced motor intent decoding schemes lower-limb exoskeletons, meeting the increasing demand for rehabilitative or assistive applications take-home healthcare. Challenges exoskeletons' remain in making a continuous prediction to compensate hysteretic response caused by mechanical transmission. In this paper, we solve problem proposing an ahead-of-time kinematics, with knee angles during level walking...

Multiple sensors system has been adopted in most existing gait phase research. In this paper, we present a novel method to detect and discriminate based on single Inertial Measurement Unit (IMU). At first, built data acquisition consisting of IMU measuring the kinematic shank foot switches labeling collect samples. And then developed recognition algorithm long short-term memory (LSTM) trained it with phase-labeled data. The experimental results show that 91.4% accuracy testing set. Compared...

Estimating human joint angles is a crucial task in motion analysis, gesture recognition, and intention prediction. This paper presents novel model-based approach for generating reliable accurate angle estimation using dual-branch network. The proposed network leverages combined features derived from encoded sEMG signals RGB-D image data. To ensure the accuracy reliability of algorithm, employs convolutional autoencoder to generate high-level compression aimed at Considering variability...

In this article, a hybrid visual-ranging servoing method is proposed to realize high-precision positioning tasks with 6-degree of freedom (DOF) manipulator. This utilizes the image and measurement features directly in control loop. Without need complex feature design attitude estimation, realizes 6-DOF robot. A vital challenge traditional vision-based systems avoiding local minima singularity problems. To tackle issue, full-rank interaction matrix visual servo (FRHVS) criterion proposed,...

Both the discrete motion states and continuous joint kinematics are essential for controlling assistive robots under changeable environmental conditions. However, few studies investigate both intents. This article is first work to propose an end-to-end intent decoding method that integrates recognition of locomotion modes prediction gait events. First, we a data-driven approach segment transitional periods adjacent determine their boundaries. Second, build convolutional neural network...

The extraction of tungsten from scheelite was carried out using a sulfuric acid solution with oxalic as the chelating agent. Tungsten obtained in form highly soluble hydrogen aqua oxalato tungstate (H2[WO3(C2O4)·H2O]) during leaching process, while calcium remained residue sulfate dihydrate (CaSO4·2H2O). About 99.2% leached at 70 °C, 1.5 mol/L acid, 1 liquid/solid ratio 25:1 (mL/g), an to molar 1:1, stirring speed 300 r/min and time 2 h. H2[WO3(C2O4)·H2O] thermally decomposed into tungstic...

The interaction between human and exoskeletons increasingly relies on the precise decoding of motion. One main issue current motion algorithms is that seldom provide both discrete patterns (e.g., gait phases) continuous parameters kinematics). In this paper, we propose a novel algorithm uses surface electromyography (sEMG) signals are generated prior to their corresponding motions perform phase recognition lower-limb kinematics prediction. Particularly, first an end-to-end architecture EMG...

The advantages of exoskeletons based on the Bowden cable include being lightweight and flexible, thus convenient in assisting humans. However, performance an exoskeleton is limited by structure human-exoskeleton interaction, which analyzed from established mathematical model system. In order to improve auxiliary accuracy, corresponding control methods are proposed. disturbance observer designed compensate for disturbances parameter perturbations inner loop. interaction feedforward integrated...

The spare aeroengine demand prediction is a crucial issue in fleet management. For more accurate predictions, model proposed based on the deep Croston method. framework adopted to deal with intermittent characteristic. interval and amount were developed by long short-term memory learning network. Accompanied model, comprehensive evaluation method of proposed. actual data an airline company validate model. traditional was regarded as benchmark comparison Under framework, machine methods,...

Learning from visual observation for efficient robotic manipulation is a hitherto significant challenge in Reinforcement (RL). Although the collocation of RL policies and convolution neural network (CNN) encoder achieves high efficiency success rate, method general performance multi-tasks still limited to efficacy encoder. Meanwhile, increasing cost optimization could debilitate advantage original policy. Building on attention mechanism, we design that significantly improves policy among...

Inertial measurement unit (IMU)-based 3-DoF angle estimation methods for lower limb joints have been studied decades, however the calibration motions and/or careful sensor placement are still necessary due to challenges of real-time application. This study proposes a novel sensormovement-robust method lower-limb joint without calibration. A realtime optimization process, which is based on feedback iteration progress identify three axes joint, has presented with reference frame algorithm, and...

Nowadays, a comfortable ankle prosthesis with natural walking gait for the amputee has become an important requisite. In this paper, new kind of active is presented, which can not only help amputees walk naturally, but also reduce energy consumption by recycling. Firstly, structure was proposed. And then, dynamic simulation and parameters optimization were carried out in Adams software environment. Finally, cycle calculated based on simulation. We conclude that our joint greatly consumption.

Most of the research on machine learning classification methods is based balanced data; imbalanced data needs improvement. Generative adversarial networks (GANs) are able to learn high-dimensional complex distribution without relying a prior hypothesis, which has become hot technology in artificial intelligence. In this letter, we propose new structure, classroom-like generative (CLGANs), construct model with multiple generators. Taking inspiration from fact that teachers arrange teaching...

Duchenne Muscular Dystrophy (DMD) is a progressive X-linked genetic neuromuscular disorder which could contribute to mobility reduction and joints deformation. Current treatment including drug delivery passive ankle-foot orthosis with elastic elements demonstrated either little effect or increasing frequency of falling. In this study, we proposed novel automatic diagnosis an active physical therapy for DMD children. An IMU suit based inertial motion capture system combining sEMG sensors...

In this study, we propose a method based on electromyography (EMG) for real time prediction of human joint angle, which can be used as upper layer control in assistive exoskeleton. Light exoskeleton provide help specific ways old people hold or get articles, however, due to4the restriction and the intrinsic shortage structure, many exoskeletons merely driven certain mode, sometimes may not appropriate to particular situation. Purpose work is figure out corresponding relationship between EMG...

The traditional motivation behind feature selection algorithms is to find the best subset of features for a task using one particular learning algorithm. However, it has been often found that no single classifier entirely satisfactory task. Therefore, how further improve performance these systems on basis previous optimal very important issue.We investigate notion and present practical approach based an CAD system, which referred as multilevel method (MOFS) in this paper. Through MOFS, we...

The welding technology is the core step of manufacturing process for underground engineering equipment, which determines quality key components. However, parameters that affect are diverse, and there correlations between them. It brings great difficulties to unified debugging parameters, further welded parts. In this paper, a knowledge-driven method extraction decision proposed. 4 have greater impact on extracted, 2 basic can determine other obtained according correlation analysis. Based...

In this paper a complete and improved mathematical framework of the geometric approach based on Scaled convex hull (SCH), which includes two parts, SCH-based algorithms for SVM fast novel method model selection in SVM, is developed to solve classification large data sets. On basis framework, these are more suitable task Results numerical experiments show that proposed can reduce kernel calculations display nice performances medical sets, such as computer assisted screening lung cancer.

The remarkable growth of 3D models on the Internet has posed a great challenge for model search. Many search engines are based tag matching, which is usually more accurate in identifying relevant by alleviating arising from semantic gap. However, performance matching highly dependent availability and quality tags. Recent studies have shown that tags specific to visual content often noisy unreliable real-world environment, leading limited autotagging. To address this challenge, we propose...

Currently, as the economic development level of Shenzhen International Low-carbon City is relatively low and industries are low-end, it belongs to areas with high energy consumption, pollution output. The construction path mainly covers four aspects, namely low-carbon industries, green buildings, transportation technology. can explore for realizing total carbon emission control through establishing regional forecasting monitoring system source sink accounting system.