All Outputs (123)

A survey on underactuated robotic systems: Bio-inspiration, trajectory planning and control (2020)
Journal Article
Liu, P., Huda, M. N., Sun, L., & Yu, H. (2020). A survey on underactuated robotic systems: Bio-inspiration, trajectory planning and control. Mechatronics, 72, 102443. https://doi.org/10.1016/j.mechatronics.2020.102443

Underactuated robotic systems have become an important research topic aiming at significant improvement of the behavioural performance and energy efficiency. Adopting some bio-inspired ideas and properties, the self-organisation and main tasks of the... Read More about A survey on underactuated robotic systems: Bio-inspiration, trajectory planning and control.

An Improved Adaptive Genetic Algorithm for Mobile Robot Path Planning Analogous to the Ordered Clustered TSP (2020)
Presentation / Conference Contribution
Jiang, J., Yao, X., Yang, E., Mehnen, J., & Yu, H. (2020). An Improved Adaptive Genetic Algorithm for Mobile Robot Path Planning Analogous to the Ordered Clustered TSP. In 2020 IEEE Congress on Evolutionary Computation (CEC). https://doi.org/10.1109/cec4

The material transportation planning with a mobile robot can be regarded as the ordered clustered traveling salesman problem. To solve such problems with different priorities at stations, an improved adaptive genetic simulated annealing algorithm is... Read More about An Improved Adaptive Genetic Algorithm for Mobile Robot Path Planning Analogous to the Ordered Clustered TSP.

Validity and Consistency of Concurrent Extraction of Gait Features Using Inertial Measurement Units and Motion Capture System (2020)
Journal Article
Anwary, A. R., Yu, H., Callaway, A., & Vassallo, M. (2021). Validity and Consistency of Concurrent Extraction of Gait Features Using Inertial Measurement Units and Motion Capture System. IEEE Sensors Journal, 21(2), 1625-1634. https://doi.org/10.1109/jsen

Conditions causing gait abnormalities are very common and their treatment requires the detailed assessment of gait. Currently such assessments are carried out in gait laboratories and require the use of complex and expensive equipment. To increase av... Read More about Validity and Consistency of Concurrent Extraction of Gait Features Using Inertial Measurement Units and Motion Capture System.

Data Driven Distributed Bipartite Consensus Tracking for Nonlinear Multiagent Systems via Iterative Learning Control (2020)
Journal Article
Zhao, H., Peng, L., & Yu, H. (2020). Data Driven Distributed Bipartite Consensus Tracking for Nonlinear Multiagent Systems via Iterative Learning Control. IEEE Access, 8, 144718-144729. https://doi.org/10.1109/access.2020.3014496

This article explores a data-driven distributed bipartite consensus tracking (DBCT) problem for discrete-time multi-agent systems (MASs) with coopetition networks under repeatable operations. To solve this problem, a time-varying linearization model... Read More about Data Driven Distributed Bipartite Consensus Tracking for Nonlinear Multiagent Systems via Iterative Learning Control.

Distributed Model-Free Bipartite Consensus Tracking for Unknown Heterogeneous Multi-Agent Systems with Switching Topology (2020)
Journal Article
Zhao, H., Peng, L., & Yu, H. (2020). Distributed Model-Free Bipartite Consensus Tracking for Unknown Heterogeneous Multi-Agent Systems with Switching Topology. Sensors, 20(15), Article 4164. https://doi.org/10.3390/s20154164

This paper proposes a distributed model-free adaptive bipartite consensus tracking (DMFABCT) scheme. The proposed scheme is independent of a precise mathematical model, but can achieve both bipartite time-invariant and time-varying trajectory trackin... Read More about Distributed Model-Free Bipartite Consensus Tracking for Unknown Heterogeneous Multi-Agent Systems with Switching Topology.

Analysis of a novel six-degree of freedom foldable parallel mechanism with optimized under-balance springs (2020)
Journal Article
Wang, C., Zhao, T., Yu, H., Li, E., Tian, X., & Ding, S. (2021). Analysis of a novel six-degree of freedom foldable parallel mechanism with optimized under-balance springs. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechani

The capacities of parallel mechanisms are limited by their height for the narrow space applications, such as the shipboard stability platforms, household simulators, aerospace mechanisms, etc. This paper proposes a novel foldable six-DOF parallel man... Read More about Analysis of a novel six-degree of freedom foldable parallel mechanism with optimized under-balance springs.

Gait quantification and visualization for digital healthcare (2020)
Journal Article
Anwary, A. R., Yu, H., & Vassallo, M. (2020). Gait quantification and visualization for digital healthcare. Health Policy and Technology, 9(2), 204-212. https://doi.org/10.1016/j.hlpt.2019.12.004

Gait abnormalities are common in clinical practice and there is a global imperative to improve technologies that facilitate their detection, evaluation, monitoring and management. Real time evaluation using digital technology supports the development... Read More about Gait quantification and visualization for digital healthcare.

The Impact of Assistive Software Application to Facilitate People with Dementia through Participatory Research (2020)
Journal Article
Asghar, I., Cang, S., & Yu, H. (2020). The Impact of Assistive Software Application to Facilitate People with Dementia through Participatory Research. International Journal of Human-Computer Studies, 143, Article 102471. https://doi.org/10.1016/j.ijhcs.20

Due to the ever-increasing number of people with dementia (PWD), the researchers are challenged with finding innovative ways for their wellbeing. This study explores the development and usability of a software application named the assistive brotherh... Read More about The Impact of Assistive Software Application to Facilitate People with Dementia through Participatory Research.

Modeling and Experimental Study of a Novel Multi-DOF Parallel Soft Robot (2020)
Journal Article
Zhang, J., Wei, H., Shan, Y., Li, P., Zhao, Y., Qi, L., & Yu, H. (2020). Modeling and Experimental Study of a Novel Multi-DOF Parallel Soft Robot. IEEE Access, 8, 62932-62942. https://doi.org/10.1109/access.2020.2983260

In view of the demand for flexible drive and large load of the soft robot in the practical application, a novel type of flexible-actuated multi-degree-of-freedom (multi-DOF) parallel soft robot is designed. The proposed robot in parallel combination... Read More about Modeling and Experimental Study of a Novel Multi-DOF Parallel Soft Robot.

Modelling and Motion Analysis of a Pill-Sized Hybrid Capsule Robot (2020)
Journal Article
Huda, M. N., Liu, P., Saha, C., & Yu, H. (2020). Modelling and Motion Analysis of a Pill-Sized Hybrid Capsule Robot. Journal of Intelligent and Robotic Systems, 100, 753–764. https://doi.org/10.1007/s10846-020-01167-3

This paper presents a miniature hybrid capsule robot for minimally invasive in-vivo interventions such as capsule endoscopy within the GI (gastrointestinal) tract. It proposes new modes of operation for the hybrid robot namely hybrid mode and anchori... Read More about Modelling and Motion Analysis of a Pill-Sized Hybrid Capsule Robot.

Intelligent Control Interfaces Using Extenics Multidimensional Theory Applied on VIPRO Platforms for Developing the IT INDUSTRY 4.0 Concept (2019)
Journal Article
Vladareanu, L., Vladareanu, V., Yu, H., Mitroi, D., & Ciocîrlan, A. (2019). Intelligent Control Interfaces Using Extenics Multidimensional Theory Applied on VIPRO Platforms for Developing the IT INDUSTRY 4.0 Concept. IFAC-PapersOnLine, 52(13), 922-927. h

The paper presents new concepts and approaches to achieving intelligent control interfaces for solving contradictory problems using Extenics multidimensional theory applied on VIPRO Versatile Intelligent Portable Platforms. VIPRO platform enables dev... Read More about Intelligent Control Interfaces Using Extenics Multidimensional Theory Applied on VIPRO Platforms for Developing the IT INDUSTRY 4.0 Concept.

Design and Modelling of a Micro Swimming Robot (2019)
Presentation / Conference Contribution
Yuan, F., Hasan, M. S., & Yu, H. (2019). Design and Modelling of a Micro Swimming Robot. In 2019 International Conference on Advanced Mechatronic Systems (ICAMechS). https://doi.org/10.1109/icamechs.2019.8861606

Swimming micro-robots i.e., micro-swimmers have many applications in various areas e.g., investigation, repair, rescue etc. for industrial equipment, space exploration, human body etc. Fortunately, the micro-swimmers can be regarded as swimming in lo... Read More about Design and Modelling of a Micro Swimming Robot.

How firms in emerging economies can learn industry 4.0 by extracting knowledge from their foreign partners? A view point from strategic management perspective (2019)
Presentation / Conference Contribution
Shamim, S., Cang, S., Yu, H., Li, Y., Chen, L. Y., & Yao, X. (2019). How firms in emerging economies can learn industry 4.0 by extracting knowledge from their foreign partners? A view point from strategic management perspective. In 2019 International Con

This study offers a view point from a strategic management perspective which shows that firms in emerging economies can learn Industry 4.0 from their foreign partners operating from developed economies, by developing knowledge based dynamic capabilit... Read More about How firms in emerging economies can learn industry 4.0 by extracting knowledge from their foreign partners? A view point from strategic management perspective.

Adaptive neural network tracking control for underactuated systems with matched and mismatched disturbances (2019)
Journal Article
Liu, P., Yu, H., & Cang, S. (2019). Adaptive neural network tracking control for underactuated systems with matched and mismatched disturbances. Nonlinear Dynamics, 98(2), 1447-1464. https://doi.org/10.1007/s11071-019-05170-8

This paper studies neural network-based tracking control of underactuated systems with unknown parameters and with matched and mismatched disturbances. Novel adaptive control schemes are proposed with the utilization of multi-layer neural networks, a... Read More about Adaptive neural network tracking control for underactuated systems with matched and mismatched disturbances.

An empirical study on assistive technology supported travel and tourism for the people with dementia (2019)
Journal Article
Asghar, I., Cang, S., & Yu, H. (2020). An empirical study on assistive technology supported travel and tourism for the people with dementia. Disability and Rehabilitation: Assistive Technology, 15(8), 933-944. https://doi.org/10.1080/17483107.2019.1629119

Purpose: Research shows that people with disabilities have same desire for travel and tourism as others, but many constraints prevent them from independent travelling. Although the disabled tourism market is expanding, still there is lack of empirica... Read More about An empirical study on assistive technology supported travel and tourism for the people with dementia.

A soft continuum robot, with a large variable-stiffness range, based on jamming (2019)
Journal Article
Zhao, Y., Shan, Y., Zhang, J., Guo, K., Qi, L., Han, L., & Yu, H. (2019). A soft continuum robot, with a large variable-stiffness range, based on jamming. Bioinspiration and Biomimetics, 14(6), Article 066007. https://doi.org/10.1088/1748-3190/ab3d1b

Inspired by the physiological structure of the hand capable of realizing the continuous change in finger stiffness when grasping objects of different masses, a self-locking soft continuum robot with a large variable-stiffness range based on particle... Read More about A soft continuum robot, with a large variable-stiffness range, based on jamming.

Single-Trial Classification of Different Movements on One Arm Based on ERD/ERS and Corticomuscular Coherence (2019)
Journal Article
Tang, Z., Yu, H., Lu, C., Liu, P., & Jin, X. (2019). Single-Trial Classification of Different Movements on One Arm Based on ERD/ERS and Corticomuscular Coherence. IEEE Access, 7, 128185-128197. https://doi.org/10.1109/ACCESS.2019.2940034

Electroencephalography (EEG)-based brain-machine interface (BMI) is widely applied to control external devices like a wheel chair or a robotic arm, to restore motor function. EEG is useful to distinguish between left arm and right arm movements, howe... Read More about Single-Trial Classification of Different Movements on One Arm Based on ERD/ERS and Corticomuscular Coherence.

Mutual information inspired feature selection using kernel canonical correlation analysis (2019)
Journal Article
Wang, Y., Cang, S., & Yu, H. (2019). Mutual information inspired feature selection using kernel canonical correlation analysis. Expert Systems with Applications, 4, Article 100014. https://doi.org/10.1016/j.eswax.2019.100014

This paper proposes a filter-based feature selection method by combining the measurement of kernel canonical correlation analysis (KCCA) with the mutual information (MI)-based feature selection method, named mRMJR-KCCA. The mRMJR-KCCA maximizes the r... Read More about Mutual information inspired feature selection using kernel canonical correlation analysis.

Design and Experimental Study of a New Flexible Driven Parallel Soft Massage Robot (2019)
Presentation / Conference Contribution
Zhao, Y., Wei, H., Li, P., Li, G., Qi, L., & Yu, H. (2019). Design and Experimental Study of a New Flexible Driven Parallel Soft Massage Robot. In Intelligent Robotics and Applications: 12th International Conference, ICIRA 2019, Shenyang, China, August 8

In recent years, the demand for massage robots has increased dramatically in the field of Medical care. Traditional massage robots are mostly rigid robots. Compared with rigid robots, soft robots are more suitable for massage because of their softnes... Read More about Design and Experimental Study of a New Flexible Driven Parallel Soft Massage Robot.

Leader-following consensus for high-order stochastic multi-agent systems via dynamic output feedback control (2019)
Journal Article
You, X., Hua, C., Yu, H., & Guan, X. (2019). Leader-following consensus for high-order stochastic multi-agent systems via dynamic output feedback control. Automatica, 107, 418-424. https://doi.org/10.1016/j.automatica.2019.06.006

This paper studies the leader-following consensus problem for high-order stochastic nonlinear multi-agent systems. Each agent is in the strict feedback form with nonlinear functions in drift and diffusion terms and admitting time-varying incremental... Read More about Leader-following consensus for high-order stochastic multi-agent systems via dynamic output feedback control.