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arXiv 2024年

作者： Liu, Huajian Dong, Wei Fan, Kunpeng Wang, Chao Gao, Yongzhuo State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Analyzing and forecasting trajectories of agents like pedestrians plays a pivotal role for embodied intelligent applications. The inherent indeterminacy of human behavior and complex social interaction among a rich variety of agents make this task more challenging than common time-series forecasting. In this letter, we aim to explore a distinct formulation for multi-agent trajectory prediction framework. Specifically, we proposed a patching-based temporal feature extraction module and a graph-based social feature extraction module, enabling effective feature extraction and cross-scenario generalization. Moreover, we reassess the role of social interaction and present a novel method based on explicit modality modulation to integrate temporal and social features, thereby constructing an efficient single-stage inference pipeline. Results on public benchmark datasets demonstrate the superior performance of our model compared with the state-of-the-art methods. The code is available at: ***/TIB-K330/pmm-net. Copyright © 2024, The Authors. All rights reserved.

关键词： Economic and social effects

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Development of a Cable-Driven Upper Limb Exosuit for Both Pulling and Lifting

Development of a Cable-Driven Upper Limb Exosuit for Both Pu...

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Mechatronics and robotics Engineering (ICMRE), International Conference on

作者： Songhao Guo Tianjiao Zheng Haotian Ju Jie Zhao Yanhe Zhu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (数字)9798350394276

ISBN: (纸本)9798350394283

This paper presents an upper limb exosuit for human augmentation. The exosuit utilizes a low-cost air pressure sensing glove based on the principle of air pressure to detect hand grasping states. It achieves assistance in upper limb elbow flexion movements during activities such as pulling and lifting through a driving module and wire rope for power transmission. To verify the effectiveness of the upper limb exosuit, pull-ups and lifting experiments were performed on five healthy participants with and without the exosuit. The surface electromyographic (sEMG) signals were recorded from selected muscles (Brachioradialis (BR), biceps brachii (BB) and latissimus dorsi (LD)) to assess how well the exosuit is helping the body. The results indicate a significant decrease in both the mean and peak value of the average normalized sEMG signals of the selected muscles during the pullup and load-lifting experiments. The finding indicates that the designed upper limb exosuit system can reduce muscle activation during pulling up and lifting tasks, effectively providing assistance. Future research directions include further optimizing the exosuit’s mechanical structure, improving the air pressure sensing glove’s state recognition accuracy and validating the application effectiveness of the exoskeleton suit in specific scenarios such as rock climbing and rope climbing.

关键词： Mechatronics Wires Power transmission Grasping Muscles Robot sensing systems Rocks

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Design and Analysis of Cellular Multidimensional Morphing Linkage of Aircraft Fuselage

Design and Analysis of Cellular Multidimensional Morphing Li...

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Mechatronics and robotics Engineering (ICMRE), International Conference on

作者： Hualiang Liu Hong Xiao Guang Yang Hongwei Guo Rongqiang Liu Zongquan Deng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (数字)9798350394276

ISBN: (纸本)9798350394283

Firstly, this paper proposes two types of variable cross-section morphing for the aircraft fuselage: upper convex and below convex morphing. Secondly, an innovative design of a cellular multidimensional morphing linkage combining planar six-bar linkages and a 6-UPS parallel linkage is proposed. The DOF of the linkage is analyzed, and kinematic simulation analysis of the morphing linkage is carried out. Finally, a prototype of the morphing fuselage is developed, and through morphing capacity test, it is verified that the morphing fuselage can achieve reversible upper convex and below convex morphing, with maximum radial morphing rates of 11.9% and 11.4%, verifying the feasibility of the linkage design.

关键词： Couplings Mechatronics Simulation Prototypes Kinematics Aircraft Robots

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Development of an Integrated Grapple Chain for a Simultaneous Three-Fingered End-Effector 16th

Development of an Integrated Grapple Chain for a Simultaneou...

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16th International Conference on Intelligent robotics and Applications, ICIRA 2023

作者： Wu, Jun He, Yu Wang, He Fan, Shaowei School of Mechanical and Electrical Engineering University of Electronic Science and Technology of China Chengdu611731 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

ISBN: (纸本)9789819965007

This paper presents the development of an integrated grapple chain for a simultaneous three-fingered end-effector. The geometrical constraint with four stages is firstly defined. Then, a grapple finger is presented to fulfill the proposed four stages with an approximately straight line actuation. Then, the actuation chain of linkage is designed by modification, optimization and combination. At last, Simulation indicates that the grapple finger can conduct planar and linear motion, which contributed to restrain the target gradually. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： End effectors

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Design and Testing of Bio-inspired Flexible Skin Variable Sweep and Flip Wing

Design and Testing of Bio-inspired Flexible Skin Variable Sw...

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Mechatronics and robotics Engineering (ICMRE), International Conference on

作者： Yue Bai Guang Yang Hong Xiao Hongwei Guo Rongqiang Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (数字)9798350394276

ISBN: (纸本)9798350394283

Fixed-wing aircraft cannot accommodate different flight conditions. Numerous studies have demonstrated the potential of Bio-inspired morphing wings as a viable solution to tackle this issue. In this paper, a Bio-inspired Flexible Skin Variable Sweep and Flip wing is proposed through the analysis of the deformation and structural forms of seagulls and albatrosses. The bio-inspired morphing wing consists of mechanisms, composite skins, and actuators, which can achieve a sweep angle of 20-70 degrees, a wingtip flip of ± 20 degrees, and a wing area change of $31.4 \%$. The aerodynamic performance and deformation capability of the wing at multiple sweep angles were analyzed. Finally, a prototype was developed, and effectiveness of the design were verified through deformation capability test.

关键词： Actuators Mechatronics Deformation Biomimetics Prototypes Aerodynamics Skin

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A Collision Detection Algorithm of Inspection Robot for Steam Generator Heat Transfer Tubes

A Collision Detection Algorithm of Inspection Robot for Stea...

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IEEE International Conference on Mechatronics and Automation

作者： Xuan Yu Biying Xu Jinghan Lin Kuan Zhang Jizhuang Fan Jie Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (数字)9798350388077

ISBN: (纸本)9798350388084

Ensuring the operational safety of inspection robot for steam generator heat transfer tubes necessitates continuous internal collision detection to prevent self-collision and external collision detection to avoid contact with the surrounding environment. However, current collision detection algorithms struggle to balance accuracy with computational efficiency and are not fully applicable to the unique conditions of a nuclear power plant. This paper introduces a novel collision detection algorithm specifically tailored for a crawler-type inspection robot for steam generator heat transfer tubes. By translating three-dimensional collision issues into two-dimensional intersection problems, the algorithm simplifies the complexity of collision detection while ensuring accuracy. Simulation results indicate that the algorithm achieves an average computation speed of 0.02 seconds per instance, which is sufficient to meet real-time planning requirements during autonomous operations. Furthermore, even in the presence of motion errors, the algorithm maintains a 100% safety rate, guaranteeing absolute safety of the robot's movement. These findings further validate the feasibility and practicality of the proposed algorithm for use within the nuclear power plant environment.

关键词： Accuracy Inspection Generators Real-time systems Safety Electron tubes Planning

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Active Complaint Control for Smooth and Quick Connector Assembly

Active Complaint Control for Smooth and Quick Connector Asse...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Wu, Jun He, Yu Wang, He Wang, Qiyu Fan, Shaowei University of Electronic Science and Technology of China School of Mechanical and Electrical Engineering Chengdu611731 China Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150001 China

ISBN: (纸本)9798350325706

This paper presents an active complaint control for smooth and quick connector assembly. The application requirement of an end-effector with simultaneous connecters is firstly defined. Then, the hybrid impedance control provides the foundation for active search and passive assembly. After that, a resolution-variant Lissajous search is proposed for smooth motion and earlier connection. At last, simulations and experiments indicate that the proposed controller can guarantee smooth and quick search for connector assembly. © 2023 IEEE.

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WSC-Trans: A CNN-Transformer Structure-Based 3D Multi-Structural Automatic Segmentation Model for Temporal Bone CT

WSC-Trans: A CNN-Transformer Structure-Based 3D Multi-Struct...

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2024 IEEE International Conference on Bioinformatics and Biomedicine, BIBM 2024

作者： Hua, Xin Ma, Jixin Yu, Hongjian Du, Zhijiang Zheng, Fanjun Zhang, Chen Lu, Qiaohui Zhao, Hui Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China The 6th Medical Center Chinese Pla General Hospital Senior Department of Otolaryngology Head and Neck Surgery Beijing China

ISBN: (纸本)9798350386226

Cochlear implantation is the most effective treatment for severe deafness, which requires accurate localization of temporal bone anatomy. Preoperative CT image segmentation is an essential technique to determine the location of relevant tissues in the temporal bone. However, manual segmentation is usually time-consuming and suffers from low accuracy due to the complex and small structures of these tissues in temporal bone CT. To address this issue, we proposed a CNN-Transformer structure-based 3D multi-structured model for the automatic segmentation of fine and complex tissues such as the cochlea, facial nerve, ossicles, vestibule and semicircular canal in the temporal bone CT. Our model adopts a new Transformer deformation structure, which effectively utilizes the spatial attention mechanism to capture feature dependencies, and uses the channel attention mechanism to fuse different channel semantic representations to improve segmentation accuracy. Extensive experiments on a private temporal bone CT dataset show that our model achieves higher DSS and JSS scores, and lower HD95 and ASSD scores for all targets compared with other existing segmentation methods, demonstrating its superior performance. © 2024 IEEE.

关键词： Computerized tomography

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Welding splash and arc noise reduction imaging model based on computationally efficient pairwise response serving welding process library

Welding splash and arc noise reduction imaging model based o...

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作者： Qin, Zhonghao Wang, Ke Li, Ruifeng State Key Laboratory of Robotics and System Harbin Institute of Technology 92 Xidazhi Street Harbin150006 China

In the process of vision-assisted robot automatic welding, splash and arc noise will interfere with the useful information in the image, which has a serious impact on the subsequent vision-based weld seam recognition and tracking algorithm. Although various methods have been proposed to achieve noise reduction, those are implemented from a perspective of image processing or intelligent algorithm. In this paper, we propose a pairwise response noise reduction model (PRNM) from the imaging perspective of seam tracking camera, which provides an image processing-free method to suppress welding splash and arc. Inverse response law and the loss function is established and solved by using singular value decomposition, and then the irradiance of reference scene is restored. A tone mapping approach is proposed based on the advantages of full-range compression and joint estimator, followed by mapping the obtained irradiance distribution to a high dynamic range (HDR) image. The grayscale correspondences of two reference images and the HDR image are reflected in the form of a two-dimensional lookup table (LUT). For welding noise characteristics, an alignment strategy is proposed to further correct the LUT to form a PRNM, which responds to all pairwise inputs with high computational efficiency. A batch of PRNMs have potential to form imaging solutions serving a welding process library. Experimental results reveal that the proposed model has a good effect in noise reduction, and the real-time performance is suitable for weld seam tracking. © 2022, The Author(s), under exclusive licence to Springer-Verlag GmbH Germany, part of Springer Nature.

关键词： Noise abatement

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Dynamical Modeling and Numerical Simulation of Water Discharge Process of Spherical Objects 20

Dynamical Modeling and Numerical Simulation of Water Dischar...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Zhong, Lin Dong, Jiawei Liu, Jiabin Wang, Wei Wu, Riyue Wang, Shuqi Zhang, Tao Guangdong University of Technology State Key Laboratory of Precision Electronic Manufacturing Technology and Equipment Guangzhou China Guangdong University of Technology School of Electromechanical Engineering Guangzhou China Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9798350320831

The process of an object leaping out of the water is very similar to the jumping process of an aquatic animal during prey or avoid predators. The study of the process of an object leaping out of the water is beneficial to the design of robots jumping out of water. In this work, the free jump of a sphere out of the water is successfully simulated based on the Computational Fluid Dynamics (CFD) software Fluent, with User-Defined Functions to control the motion of the sphere, the volume of Fluid model, dynamic meshing, and Detached Eddy Simulation. The velocity of the sphere at the water-air interface and the height of the sphere leaping out from the water surface obtained from the numerical simulation are compared with experimental results. The maximum error between the experimental and the simulated results is 2.28% in the water-discharge velocity and 2.65% in the leaping height from the water surface. In addition, this paper model the dynamics of the sphere during the water discharge process. The paper also analyses the free deformation of water surface, the water film rupture process on the surface of the sphere, the variation of fluid drag on the sphere, and the variation of the fluid velocity field during the free ascent of the sphere after acquiring an initial velocity of 2.81 m/s. © 2023 IEEE.

关键词： Computer software

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