Humanoid Robot Cooperative Motion Control Based on Optimal Parameterization

The implementation of low-energy cooperative movements is one of the key technologies for the complex control of the movements of humanoid robots. A control method based on optimal parameters is adopted to optimize the energy consumption of the cooperative movements of two humanoid robots. A dynamic model that satisfies the cooperative movements is established, and the motion trajectory of two humanoid robots in the process of cooperative manipulation of objects is planned. By adopting the control method with optimal parameters, the parameters optimization of the energy consumption index function is performed and the stability judgment index of the robot in the movement process is satisfied. Finally, the effectiveness of the method is verified by simulations and experimentations

hand gesture modeling and recognition for human and robot interactive assembly using hidden markov models

Gesture recognition is essential for human and robot collaboration. Within an industrial hybrid assembly cell, the performance of such a system significantly affects the safety of human workers. This work presents an approach to recognizing hand gestures accurately during an assembly task while in collaboration with a robot co-worker. We have designed and developed a sensor system for measuring natural human-robot interactions. The position and rotation information of a human worker's hands and fingertips are tracked in 3D space while completing a task. A modified chain-code method is proposed to describe the motion trajectory of the measured hands and fingertips. The Hidden Markov Model (HMM) method is adopted to recognize patterns via data streams and identify workers' gesture patterns and assembly intentions. The effectiveness of the proposed system is verified by experimental results. The outcome demonstrates that the proposed system is able to automatically segment the data streams and recognize the gesture patterns thus represented with a reasonable accuracy ratio

Research on Discriminative Skeleton-Based Action Recognition in Spatiotemporal Fusion and Human-Robot Interaction

A novel posture motion-based spatiotemporal fused graph convolutional network (PM-STGCN) is presented for skeleton-based action recognition. Existing methods on skeleton-based action recognition focus on independently calculating the joint information in single frame and motion information of joints between adjacent frames from the human body skeleton structure and then combine the classification results. However, that does not take into consideration of the complicated temporal and spatial relationship of the human body action sequence, so they are not very efficient in distinguishing similar actions. In this work, we enhance the ability of distinguishing similar actions by focusing on spatiotemporal fusion and adaptive feature extraction for high discrimination information. Firstly, the local posture motion-based attention (LPM-TAM) module is proposed for the purpose of suppressing the skeleton sequence data with a low amount of motion in the temporal domain, and the representation of motion posture features is concentrated. Besides, the local posture motion-based channel attention module (LPM-CAM) is introduced to make use of the strongly discriminative representation between different action classes of similarity. Finally, the posture motion-based spatiotemporal fusion (PM-STF) module is constructed which fuses the spatiotemporal skeleton data by filtering out the low-information sequence and enhances the posture motion features adaptively with high discrimination. Extensive experiments have been conducted, and the results demonstrate that the proposed model is superior to the commonly used action recognition methods. The designed human-robot interaction system based on action recognition has competitive performance compared with the speech interaction system

Target Localization in Wireless Sensor Networks Based on Received Signal Strength and Convex Relaxation

A new positioning algorithm based on RSS measurement is proposed. The algorithm adopts maximum likelihood estimation and semi-definite programming. The received signal strength model is transformed to a non-convex estimator for the positioning of the target using the maximum likelihood estimation. The non-convex estimator is then transformed into a convex estimator by semi-definite programming, and the global minimum of the target location estimation is obtained. This algorithm aims at the L0 known problem and then extends its application to the case of L0 unknown. The simulations and experimental results show that the proposed algorithm has better accuracy than the existing positioning algorithms

Research on Multirobot Pursuit Task Allocation Algorithm Based on Emotional Cooperation Factor

Multirobot task allocation is a hot issue in the field of robot research. A new emotional model is used with the self-interested robot, which gives a new way to measure self-interested robots’ individual cooperative willingness in the problem of multirobot task allocation. Emotional cooperation factor is introduced into self-interested robot; it is updated based on emotional attenuation and external stimuli. Then a multirobot pursuit task allocation algorithm is proposed, which is based on emotional cooperation factor. Combined with the two-step auction algorithm recruiting team leaders and team collaborators, set up pursuit teams, and finally use certain strategies to complete the pursuit task. In order to verify the effectiveness of this algorithm, some comparing experiments have been done with the instantaneous greedy optimal auction algorithm; the results of experiments show that the total pursuit time and total team revenue can be optimized by using this algorithm

Identification of RAC1 in promoting brain metastasis of lung adenocarcinoma using single-cell transcriptome sequencing

Abstract This study aims to give a new perspective to the biomarkers in the lung adenocarcinoma (LUAD) brain metastasis, pathways involved and potential therapeutics. We performed a comprehensive single-cell level transcriptomic analysis on one LUAD patient with circulating tumor cells (CTCs), primary tumor tissue and metastatic tumor tissue using scRNA-seq approach to identify metastasis related biomarkers. Further scRNA-seq were performed on 7 patients to validate the cancer metastatic hallmark. with single cells collected from either metastatic or primary LUAD tissues. Pathological and functional studies were also performed to evidence the critical role of RAC1 in the LUAD metastasis. Hallmark gene was verified based on immunohistochemistry staining, cytological experiment, survival information from The Cancer Genome Atlas (TCGA), and staining results from Human Protein Atlas (HPA) databases. PCA analysis revealed that CTCs were in the intermediate place between the metastatic group and primary group. In the unsupervised clustering analysis CTCs were closer to one of the metastatic tumor cells, implying heterogeneity of the metastatic tumor and origin of the CTCs were from metastatic site. Transitional phase related gene analysis identified RAC1 was enriched in metastatic tumor tissue (MTT) preferred gene set functioning as regulated cell death and apoptosis as well as promoted macromolecule organization. Compared with normal tissue, expression levels of RAC1 increased significantly in LUAD tissue based on HPA database. High expression of RAC1 predicts worse prognosis and higher-risk. EMT analysis identified the propensity of mesenchymal state in primary cells while epithelial signals were higher in the metastatic site. Functional clustering and pathway analyses suggested genes in RAC1 highly expressed cells played critical roles in adhesion, ECM and VEGF signaling pathways. Inhibition of RAC1 attenuates the proliferation, invasiveness and migration ability of lung cancer cells. Besides, through MRI T2WI results, we proved that RAC1 can promote brain metastasis in the RAC1-overexpressed H1975 cell burden nude mouse model. RAC1 and its mechanisms might promote drug design against LUAD brain metastasis