检索结果-内蒙古大学图书馆

IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Zhipeng Xiong Lingqi Tang Longlong Hu Songlin Yang Xiaojun Yang Yao Li Bing Li School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen China Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Harbin Institute of Technology Shenzhen China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

A small-scale jumping robot can reach obstacles much larger than its size. It is important for a jumping robot to perform intermittent jumps to cross through rough terrains. However, the limitations of conventional structures hinder the further integration of functions to a miniature (sub-50 g) jumping robot. No sub-50 g jumpers could perform intermittent jumps with adjustable jumping trajectories. In this work, we proposed an origami-based miniature jumper, which performed intermittent jumps with adjustable omni-directional trajectories. The intermittent jumps were achieved by the jumping and self-righting mechanisms, which were actuated by a single motor. The clockwise and counterclockwise rotation of the motor actuated the loading, self-righting and triggering process, respectively. The jumping height was adjustable by adjusting the rotation angle of the motor. Meanwhile, the take-off pitch & yaw angle adjustment methods were integrated into the robot. Therefore, we demonstrated a 9 cm, 13.5 g prototype with functions of re-loading, self-righting, jumping height adjustment and take-off pitch & yaw angle adjustment. The robot could adjust jumping height from 16 to 34 cm and self-right for the next jump. The results revealed that our robot could jump across different obstacles with different scales and directions. The mobility was greatly increased compared with other miniature jumping robots.

关键词：

来源：评论

学校读者我要写书评

暂无评论

A Trajectory Planning Framework for Experimental Module Manipulator On-Orbit Servicing

A Trajectory Planning Framework for Experimental Module Mani...

引用

IEEE International Conference on robotics and Biomimetics

作者： Boyu Ma Baoshi Cao Yang Liu Yuteng Xie Xiaohang Yang Wei Wang Handong Hu Xiaokai Zhou Yiming Ji Zhengpu Wang Mengfei Li Haoran Sun Wandong Sun Zongwu Xie State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China School of Resources and Environment Northeast Agricultural University Harbin China

This article proposes a novel trajectory planning framework for the Experimental Module Manipulator (EMM) on-orbit servicing (OOS). For a start, the simulation system of the EMM based on Open Inventor is developed, and the trajectory planning technical route of the EMM for OOS missions is illustrated, including two main phases: large-scale transfer and small-scale approach. Before trajectory planning, the Gilbert–Johnson–Keerthi convex bounding boxes of the CSS and the EMM are modeled. Moreover, we present a Cartesian-space collision-free planning scheme. For the different task requirements in the above two phases, two corresponding collision-free trajectory planning schemes in joint space are proposed. Finally, simulations of the EMM supporting an astronaut extra-vehicular activity verify the effectiveness of our trajectory planning framework and all of the schemes presented in this article.

关键词：

来源：评论

学校读者我要写书评

暂无评论

An Optimized-Punching Approach to Achieve Parabolic Shape by Simply Bending Flat Elastic Sheet—Fabricating Flexible and Precision Solar Parabolic Trough Concentrator

SSRN

引用

SSRN 2023年

作者： Li, Lifang Chen, He Zhang, Yanlong Li, Heng Wang, Juncai Guo, Pengzhen Liu, Rongqiang Laboratory for Space Environment and Physical Sciences Harbin Institute of Technology Harbin150001 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China National Key Laboratory of Science and Technology on Tunable Laser Harbin150001 China

Fabricating solar parabolic trough concentrators by bending flat elastic sheets into precise parabolic shapes is a simple and cost-effective approach. In this paper, we propose an optimized-punching approach that leverages elastic buckling to manufacture high-precision solar parabolic trough concentrators. Our approach involves punching optimized holes in the flat sheet to finely tailor its stiffness using an improved Particle Swarm Optimization-Genetic Algorithm. This allows us to produce a perfect parabolic shape by controlling the chord length with a position rod or cable. To validate our approach, we used interactive Finite Element Analysis and ray tracing software-LightTools, as well as sunlight concentrating experiments, and achieved a concentration ratio of up to 145.16. This concept enables easy fabrication and shipping of flat mirror elements to field sites, which can be assembled into parabolic trough concentrators, offering potentially attractive cost reductions and highly efficient solar energy solutions © 2023, The Authors. All rights reserved.

关键词： Cost reduction

来源：评论

学校读者我要写书评

暂无评论

YOWOv2: A Stronger yet Efficient Multi-level Detection Framework for Real-time Spatio-temporal Action Detection

arXiv

引用

arXiv 2023年

作者： Yang, Jianhua Dai, Kun The State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Wuhu Robot Industry Technology Research Institute Harbin Institute of Technology Wuhu241000 China

Designing a real-time framework for the spatiotemporal action detection task is still a challenge. In this paper, we propose a novel real-time action detection framework, YOWOv2. In this new framework, YOWOv2 takes advantage of both the 3D backbone and 2D backbone for accurate action detection. A multi-level detection pipeline is designed to detect action instances of different scales. To achieve this goal, we carefully build a simple and efficient 2D backbone with a feature pyramid network to extract different levels of classification features and regression features. For the 3D backbone, we adopt the existing efficient 3D CNN to save development time. By combining 3D backbones and 2D backbones of different sizes, we design a YOWOv2 family including YOWOv2-Tiny, YOWOv2-Medium, and YOWOv2-Large. We also introduce the popular dynamic label assignment strategy and anchor-free mechanism to make the YOWOv2 consistent with the advanced model architecture design. With our improvement, YOWOv2 is significantly superior to YOWO, and can still keep real-time detection. Without any bells and whistles, YOWOv2 achieves 87.0% frame mAP and 52.8% video mAP with over 20 FPS on the UCF101-24. On the AVA, YOWOv2 achieves 21.7% frame mAP with over 20 FPS. Our code is available on https://***/yjh0410/YOWOv2. Copyright © 2023, The Authors. All rights reserved.

关键词： Signal encoding

来源：评论

学校读者我要写书评

暂无评论

Simulation study of a spider-like robot based on leg reorganization

Simulation study of a spider-like robot based on leg reorgan...

引用

2021 IEEE International Conference on Real-Time Computing and robotics, RCAR 2021

作者： Wang, Shu Qi Fan, Ji Zhuang Zhang, Kuan Zhang, Wei Liu, Gang Feng Zhao, Jie Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China Harbin University of Science and Technology College of Mechanical and Power Engineering Harbin China

ISBN: (纸本)9781665436786

This paper presents a four-legged bionic robot based on leg reorganization with the hunter spider as the bionic research object. By studying the biological structure of the hunter spider, its movement mode, and the characteristics of limb movement during the conversion process is analyzed and the principle of wheel and foot conversion of the robot is obtained. The three-dimensional model of the bionic robot is designed, and the overall assembly of the bionic structure model is completed. The rationality of the design of the bionic structure is initially verified by the leg reorganization. The virtual prototype is built by adding constraints to realize the bionic motion simulation, including in-situ rotary motion, foot-wheel conversion motion, wheel motion, wheel-foot conversion motion, foot motion, which provides a theoretical basis for the development of the physical prototype and the selection of hardware. © 2021 IEEE.

关键词： Wheels

来源：评论

学校读者我要写书评

暂无评论

Flapping-Wing Robot Achieves Multi-Domain Locomotion Using Transformable Wheel Mechanism

Flapping-Wing Robot Achieves Multi-Domain Locomotion Using T...

引用

IEEE International Conference on robotics and Biomimetics

作者： Xiangxiao Chai Shihua Wang Erzhen Pan Wenfu Xu School of Mechanical Engineering and Automation Harbin Institute of Technology (Shenzhen) Shenzhen China Key University Laboratory of Mechanism & Machine Theory and Intelligent Unmanned Systems of Guangdong Shenzhen China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

The difficulty of moving from aquatic to aerial environment is one of the major challenges limiting the development of trans-medium multi-domain locomotion vehicles. In this paper, the concept of the transformable wheel, a feature commonly found in autonomous land vehicles (AL V s), is introduced into the design. Additionally, a flapping-wing robot equipped with multi-domain locomotion capability, which can not only realize aerial flight and surface navigation on water, but also ascend from water to land for subsequent takeoff is presented. The paper first introduces the system design of the robot and proposes the corresponding multi-domain locomotion strategy. Subsequently, the design of the transformable wheel mechanism is described in detail and the force analysis for the water-exit is conducted. The feasibility of the proposed strategy is experimentally validated, confirming the prototype's multi-domain locomotion performance finally. This research explores the feasibility of introducing the transformable wheel mechanism into trans-medium multi-domain vehicle platforms and provides a design example.

关键词： Legged locomotion Torque Limiting Navigation Propellers Roads Wheels Prototypes Motors system analysis and design

来源：评论

学校读者我要写书评

暂无评论

AEROENGINE remaining life prediction based on grey similarity multiscale matching 20

AEROENGINE remaining life prediction based on grey similarit...

引用

20th International Conference on Condition Monitoring and Asset Management, CM 2024

作者： Sun, Shilong Huang, Haodong Ding, Jian Lu, Wenjie Wang, Dong School of Mechanical Engineering and Automation Harbin Institute of Technology Guangdong Shenzhen518055 China Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Shanghai Jiao Tong University Shanghai200240 China State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai200240 China

ISBN: (纸本)9780903132848

In this paper, we address the challenge of predicting the remaining useful life (RUL) of aero-engines, which are critical components of aircraft that operate under increasingly extreme conditions as engine performance enhances. Ensuring the safety and reliability of these engines is paramount. To this end, we introduce a novel RUL prediction methodology that leverages grey similarity multiscale matching. This approach employs the robust capabilities of Long Short-Term Memory (LSTM) networks for processing time-series data. Specifically, an LSTM Stacked AutoEncoder (L-SAE) is designed to extract pivotal operational features of the engine, thereby delineating its degradation trajectory. Furthermore, the grey correlation analysis is utilized to assess the similarity between these degradation trajectories, which is complemented by a multi-time scale sliding window technique for enhanced similarity matching. Subsequently, kernel density estimation is applied to gauge the uncertainty associated with the prediction outcomes. The efficacy and superiority of our proposed method are demonstrated through the validation of the experiment study. Comparative analysis reveals that our method outperforms existing techniques in key evaluation metrics, underscoring its potential applicability to large-scale datasets. This validation not only confirms the method’s effectiveness but also its advantage in predicting the RUL of aero-engines with greater accuracy and reliability. © 2024 20th International Conference on Condition Monitoring and Asset Management, CM 2024. All rights reserved.

关键词： Long short-term memory

来源：评论

学校读者我要写书评

暂无评论

S2H-GNN: Learning Soft to Hard Feature Matching with Sparsified Graph Neural Network

S2H-GNN: Learning Soft to Hard Feature Matching with Sparsif...

引用

IEEE International Conference on Real-time Computing and robotics (RCAR)

作者： Tao Xie Ruifeng Li Zhiqiang Jiang Kun Dai Ke Wang Lijun Zhao Shuozhan Li State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Fujian (Quanzhou)-HIT Research Institute of Engineering and Technology Quanzhou China

In this work, we introduce a soft-to-hard network (S2H-GNN) for precise local feature matching between image pairs. The core of S2H-GNN is a weighted context aggregation algorithm that enables nodes to receive information from their neighbors in order to form a more global understanding. S2HGNN leverages a sparsified graph neural network to enhance the features, consisting of the following modules alternately: (1) Inducing Point Initial Module that uses cosine correlation to identify highly scored keypoints as Inducing points. (2) Message Passing Module that integrates the features of original keypoints into those of Inducing points, which are further leveraged to exchange messages through self attention and cross attention. (3) Attention Upsample Module that propagates the feature of Inducing points to that of original keypoints, obtaining discriminative feature representation. Additionally, we propose an assignment layer to obtain a soft assignment matrix, which views feature matching as a graphy matching problem. Finally, we introduce a novel gap loss to guide S2H-GNN in learning a discriminative cognition of matching and non-matching keypoints, ultimately obtaining the hard assignment matrix. Experimental results demonstrate that S2H-GNN achieves comparable or higher performance in image matching and homography estimation tasks.

关键词：

来源：评论

学校读者我要写书评

暂无评论

An Autonomous Obstacle Avoidance Path Planning Method Involving PSO for Dual-Arm Surgical Robot

An Autonomous Obstacle Avoidance Path Planning Method Involv...

引用

IEEE International Conference on Mechatronics, robotics and Automation (ICMRA)

作者： Qiao Chen Yiwei Liu Zhuo Chen Yangjunjian Zhou State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Currently, motion planning and reasonable obstacle avoidance of surgical robots are essential research directions. Most surgical robots adopt a simple master-slave control strategy and cannot avoid obstacles autonomously. To this end, we propose an autonomous obstacle avoidance method for the dual-arm surgical robot. Firstly, the obstacle avoidance path planning is based on the artificial potential field method. We propose the splicing algorithm to make the manipulator jump out of the local minimum and improve the planning efficiency. And using the adaptive step to stable motion. Secondly, for collision detection, we use the Gilbert-Johnson-Keerthi (GJK) algorithm to calculate the distance between the obstacle and the equivalent convex body of the manipulator. A warning appears when there is a collision. Because the artificial potential field method lacks time planning, we use the time-optimized 3-5-3 polynomial interpolation based on the Particle Swarm optimization (PSO) to the obtained path. And make manipulators perform the surgery without collision for a suitable period. Finally, we carry out the system simulation, physical experiments, and dual-arm obstacle avoidance experiments based on the above autonomous obstacle avoidance algorithm. Experiments show that this study can make the dual-arm surgical robot move quickly and smoothly on the premise of avoiding obstacles, which provides a reference for the automation of surgical robots.

关键词：

来源：评论

学校读者我要写书评

暂无评论

An Efficient and Robust Tightly Coupled Framework for Lidar-IMU Localization and Mapping

An Efficient and Robust Tightly Coupled Framework for Lidar-...

引用

IEEE International Conference on robotics and Biomimetics

作者： Yanwu Zhai Yili Fu Xu Li Intelligent Robot Research Center Zhejiang Laboratory Hangzhou China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

In this article, we propose a framework for tightly-coupled lidar inertial odometry, which can achieve highly accuracy in real-time ego-motion estimation and map building of the robot. The estimated motion from inertial measurement unit (IMU) preintegration de-skews point clouds. Then, an initialization method based on MAP estimation is used to align the Lidar frame with the world frame and provide reliable initial values for the system. In order to make the scan matching more accurate, we track the state of each frame, and transform the feature points to the reference frame to build a local map for matching with key frames. To ensure high performance in real-time, an efficient sliding window was used to optimize the keyframes we chose. After obtaining the optimized pose of the keyframe, we further optimize the pose of the normal frame by pose constraints. In addition, loop detection is integrated into our algorithm framework to eliminate accumulated errors, making our algorithm to obtain a globally consistent estimate. The experiment results demonstrate that our method can achieve high accuracy in a variety of indoor and outdoor environments even under fast motion conditions or with insufficient features.

关键词：

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：