Luige Vladareanu

As population aging intensifies, older adults who are bedridden or have limited mobility often experience strong restraint and poor comfort during defecation nursing; therefore, an unrestrained defecation-assisting device is urgently required. This study aims to design a novel unrestrained defecation-assisting posture transformation mechanism and defecation-receiving protective cover mechanism to improve the defecation experience of older adults. Firstly, a posture adjustment mechanism composed of a translation module and a back-elevation, leg-flexion, and leg-abduction module is proposed. The degrees of freedom of the system are calculated to ensure proper and coordinated motion. Furthermore, the human body slip displacement during the posture transformation process is analyzed. Secondly, a defecation-assisting coordinated docking mechanism is developed. Inspired by the pangolin model, a protective cover mechanism is designed. Through kinematic and workspace analyses, the driving lengths of the four-section keel are determined as 34 mm, 19 mm, 38 mm, and 40 mm, respectively. Thirdly, the control system for the entire nursing device is established, the control method of human body translation motion based on visual sensing is analyzed, and the control method of the protective cover mechanism based on the fuzzy adaptive control algorithm is conducted. Lastly, experiments are conducted and the results show that the motion error of the translation module is ≤7.6 mm. The posture transformation mechanism demonstrates excellent operational performance, the back-slip compensation effect is significant, the working trajectory of the mechanism meets human body requirements, and the protective cover accurately conforms to the human body with a reasonable contact pressure distribution. The results indicate that the proposed device effectively alleviates the sense of restraint associated with a conventional wearable excretion-care device, and provides a feasible solution for the application of intelligent nursing device.

In multi-agent robotic systems, communication plays a key role in achieving coordinated behavior. This paper studies a consensus-based framework for networked multiagent system where communication topology is described by using adjacency and Laplacian matrices. The analysis investigates the importance of communication performance and how it can affect system performance and stability. We demonstrate that the introduction of discrete-time delays impairs system convergence and compromises the stability of Versatile Intelligent Portable Robot (VIPRO) interfaces. These findings are relevant for applications that require precise coordination and emphasize the importance of communication when designing multi-agent robot systems.

The transfer of patients, especially elderly or long-term bedridden individuals, has emerged as an important problem due to the growing aging population. The advancement of transfer nursing robots provides an intelligent solution to this problem. This paper presents a Parallel Master–Slave Cross-Coupled (PMSCC) cooperative control strategy based on adaptive fuzzy controllers to address the motion control challenges of a self-developed light Sensation Transfer Nursing Robot (LSTNR). First, the working principle of the LSTNR is introduced, followed by the establishment of its motion model. Next, the robot’s velocity is designed based on PMSCC cooperative control strategies, with an adaptive fuzzy controller performing motion control. Finally, the proposed cooperative control strategy is simulated and analyzed, and the robot is tested for patient transfer. The results show that the proposed control strategy reduces the velocity cooperation error between the robot’s motors. The average velocity error of the robot is reduced by 92.69%, 92.08%, 47.35%, and 87.78%, respectively, compared to the non-cooperatively controlled robot. This significantly addresses issues such as belt slack, tightness, and patient position deformation during operation, improving the transfer efficiency and effectiveness of the LSTNR.

To improve the motion diversity of planar end-traction rehabilitationrobot, a variable height rotating mechanism for the end-tractionupper limb rehabilitation robot (ULRR) is proposed based onthe serial–parallel mechanism.

The lower limb rehabilitation robot is a typical man-machine coupling system. Aiming at the problems of insufficient physiological information and unsatisfactory safety performance in the compliance control strategy for the lower limb rehabilitation robot during passive training, this study developed a surface electromyography-based gain-tuned compliance control (EGCC) strategy for the lower limb rehabilitation robot. First, the mapping function relationship between the normalized surface electromyography (sEMG) signal and the gain parameter was established and an overall EGCC strategy proposed. Next, the EGCC strategy without sEMG information was simulated and analyzed. The effects of the impedance control parameters on the position correction amount were studied, and the change rules of the robot end trajectory, man-machine contact force, and position correction amount analyzed in different training modes. Then, the sEMG signal acquisition and feature analysis of target muscle groups under different training modes were carried out. Finally, based on the lower limb rehabilitation robot control system, the influence of normalized sEMG threshold on the robot end trajectory and gain parameters under different training modes was experimentally studied. The simulation and experimental results show that the adoption of the EGCC strategy can significantly enhance the compliance of the robot end-effector by detecting the sEMG signal and improve the safety of the robot in different training modes, indicating the EGCC strategy has good application prospects in the rehabilitation robot field.

Interest in the synthesis and fabrication of gallium oxide (Ga₂O₃) nanostructures as wide bandgap semiconductor-based ultraviolet (UV) photodetectors has recently increased due to their importance in cases of deep-UV photodetectors operating in high power/temperature conditions. Due to their unique properties, i.e., higher surface-to-volume ratio and quantum effects, these nanostructures can significantly enhance the sensitivity of detection. In this work, two Ga₂O₃ nanostructured films with different nanowire densities and sizes obtained by thermal oxidation of Ga on quartz, in the presence and absence of Ag catalyst, were investigated. The electrical properties influenced by the density of Ga₂O₃ nanowires (NWs) were analyzed to define the configuration of UV detection. The electrical measurements were performed on two different electric contacts and were located at distances of 1 and 3 mm. Factors affecting the detection performance of Ga₂O₃ NWs film, such as the distance between metal contacts (1 and 3 mm apart), voltages (5–20 V) and transient photocurrents were discussed in relation to the composition and nanostructure of the Ga₂O₃ NWs film.

Deep research and communicating new trends in the design, control and applications of the real time control of intelligent sensors systems using advanced intelligent control methods and techniques is the main purpose of this research. The innovative multi-sensor fusion techniques, integrated through the Versatile Intelligent Portable (VIP) platforms are developed, combined with computer vision, virtual and augmented reality (VR&AR) and intelligent communication, including remote control, adaptive sensor networks, human-robot (H2R) interaction systems and machine-to-machine (M2M) interfaces. Intelligent decision support systems (IDSS), including remote sensing, and their integration with DSS, GA-based DSS, fuzzy sets DSS, rough sets-based DSS, intelligent agent-assisted DSS, process mining integration into decision support, adaptive DSS, computer vision based DSS, sensory and robotic DSS, are highlighted in the field of advanced intelligent control.