检索结果-内蒙古大学图书馆

SSRN 2022年

作者： Min, Zhaowei Hou, Chengwei Sui, Guangdong Shan, Xiaobiao Xie, Tao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

As one of the most important modes of transportation, the safety of running vehicles and railway track is significant. It is essential to power sensors that detect and track health in remote areas. The vibration energy of the track structure is enormous and stable, which is not limited by weather factors such as solar and wind power. A new type of arch beam piezoelectric stack energy harvester for railway systems is studied in this paper. Through simulation analysis and experimental verification of the energy harvester, the influences of external resistance, load, pre-pressure, and load frequency on the energy harvesting performance of the piezoelectric energy harvester are discussed. When the frequency is less than 6Hz, the energy capture efficiency is greatly affected by the frequency. When the frequency exceeds 6Hz, the frequency has little effect, and the load dramatically affects the energy capture efficiency. The pre-pressure is not the more significant, the better, but there is an optimal value at 4.5kN. The energy capture circuit can be combined with the supercapacitor to power the sensor, forming a self-power device for real-time monitoring of track health and driving safety. © 2022, The Authors. All rights reserved.

关键词： Arches

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YOWO-Plus: An Incremental Improvement

arXiv

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arXiv 2022年

作者： Yang, Jianhua State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

In this technical report, we would like to introduce our updates to YOWO, a real-time method for spatio-temporal action detection. We make a bunch of little design changes to make it better. For network structure, we use the same ones of official implemented YOWO, including 3D-ResNext-101 and YOLOv2, but we use a better pretrained weight of our reimplemented YOLOv2, which is better than the official YOLOv2. We also optimize the label assignment used in YOWO. To accurately detection action instances, we deploy GIoU loss for box regression. After our incremental improvement, YOWO achieves 84.9% frame mAP and 50.5% video mAP on the UCF101-24, significantly higher than the official YOWO. On the AVA, our optimized YOWO achieves 20.6% frame mAP with 16 frames, also exceeding the official YOWO. With 32 frames, our YOWO achieves 21.6 frame mAP with 25 FPS on an RTX 3090 GPU. We name the optimized YOWO as YOWO-Plus. Moreover, we replace the 3D-ResNext-101 with the efficient 3D-ShuffleNet-v2 to design a lightweight action detector, YOWO-Nano. YOWO-Nano achieves 81.0 % frame mAP and 49.7% video frame mAP with over 90 FPS on the UCF101-24. It also achieves 18.4 % frame mAP with about 90 FPS on the AVA. As far as we know, YOWO-Nano is the fastest state-of-the-art action detector. Our code is available on https://***/yjh0410/PyTorch_YOWO. © 2022, CC BY.

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Prototype Design and Efficiency Analysis of a Novel Robot Drive Based on 3K-H-V Topology

arXiv

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arXiv 2022年

作者： Qi, Le Yang, Dapeng Cao, Baoshi Li, Zhiqi Gu, Yikun Xie, Zongwu Liu, Hong The State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China

Robot actuators directly affect the performance of robots, and robot drives directly affect the performance of robot actuators. With the development of robotics, robots have put higher requirements on robot drives, such as high stiffness, high accuracy, high loading, high efficiency, low backlash, compact size, and hollow structure. In order to meet the demand development of robot actuators, this research base proposes a new robot drive based on 3K-H-V topology using involute and cycloidal gear shapes, planetary cycloidal drive, from the perspective of drive topology and through the design idea of decoupling. In this study, the reduction ratio and the efficiency model of the 3K-H-V topology were analyzed, and a prototype planetary cycloidal actuator was designed. The feasibility of the drive is initially verified by experimentally concluding that the PCA has a hollow structure, compact size, and high torque density (69 Nm/kg). Copyright © 2022, The Authors. All rights reserved.

关键词： Topology

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OAMatcher: An Overlapping Areas-based Network for Accurate Local Feature Matching

arXiv

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arXiv 2023年

作者： Dai, Kun Xie, Tao Wang, Ke Jiang, Zhiqiang Li, Ruifeng Zhao, Lijun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150006 China SenseTime Group Inc. Beijing100080 China

Local feature matching is an essential component in many visual applications. In this work, we propose OAMatcher, a Tranformer-based detector-free method that imitates humans behavior to generate dense and accurate matches. Firstly, OAMatcher predicts overlapping areas to promote effective and clean global context aggregation, with the key insight that humans focus on the overlapping areas instead of the entire images after multiple observations when matching keypoints in image pairs. Technically, we first perform global information integration across all keypoints to imitate the humans behavior of observing the entire images at the beginning of feature matching. Then, we propose Overlapping Areas Prediction Module (OAPM) to capture the keypoints in co-visible regions and conduct feature enhancement among them to simulate that humans transit the focus regions from the entire images to overlapping regions, hence realizeing effective information exchange without the interference coming from the keypoints in non-overlapping areas. Besides, since humans tend to leverage probability to determine whether the match labels are correct or not, we propose a Match Labels Weight Strategy (MLWS) to generate the coefficients used to appraise the reliability of the ground-truth match labels, while alleviating the influence of measurement noise coming from the data. Moreover, we integrate depth-wise convolution into Tranformer encoder layers to ensure OAMatcher extracts local and global feature representation concurrently. Comprehensive experiments demonstrate that OAMatcher outperforms the state-of-the-art methods on several benchmarks, while exhibiting excellent robustness to extreme appearance variants. The source code is available at https://***/DK-HU/OAMatcher. © 2023, CC BY.

关键词： Image enhancement

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On Networked Dynamical systems with Heterogeneous Constraints:Equilibrium Points and Stability 41

On Networked Dynamical Systems with Heterogeneous Constraint...

引用

第41届中国控制会议

作者： Qichao Ma Jiahu Qin Yu Kang Huijun Gao Department of Automation University of Science and Technology of China Institute of Artificial Intelligence Hefei Comprehensive National Science Center Institute of Advanced Technology University of Science and Technology of China Research Institute of Intelligent Control and Systems and the State Key Laboratory of Robotics and System Harbin Institute of Technology

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In this paper,we investigate multi-agent systems with heterogeneous constraints,which can represent the heuristic beliefs of the agents towards an issue or the physical constraints of the *** typical example is a group of interacting unmanned aerial vehicles in a complex environment with multiple physical *** a result of the heterogeneity of the constraints,an equilibrium point may not exist and is presumably to be a dissensus point when it *** investigate the existence of equilibrium points from the perspective of Kakutani's fixed point theory for a set-valued *** also prove the local/global stability of certain equilibrium ***,a special case that the constraints are homogeneous is taken into *** constrains are assumed to take interval forms with nonempty *** is proved that consensus can be achieved globally and asymptotically for this *** examples are designed to illustrate our theoretical findings.

关键词： Multi-agent systems heterogeneous constraints equilibrium point and its stability constrained consensus

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Feature Extraction and Matching of Humanoid-Eye Binocular Images Based on Susan-Sift Algorithm

SSRN

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SSRN 2023年

作者： Xia, Xiaohua Xiang, Haoming Cao, Yusong Ge, Zhaokai Jiang, Zainan Key Laboratory of Road Construction Technology and Equipment MOE Chang’an University Xi’an710064 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

Imitating the visual characteristics of human eyes is one of the important tasks of digital image processing and computer vision. Feature correspondence of humanoid-eye binocular images is a fundamental step. However, in some scenes, due to a lack of edge features and mismatching problems, the performance of humanoid-eye binocular images in feature matching is greatly limited. To address the aforementioned challenges, a method of feature extraction and matching based on SUSAN-SIFT algorithm is proposed in this paper. The SUSAN detector is utilized in the feature detection stage for its outstanding edge feature extraction capability like human eyes. Then we build a multi-scale SIFT descriptor, to provide the neighborhood information at different resolutions for each feature and guide feature points to generate the corresponding pairs. Compared with state-of-the-art algorithms, the method can improve matching accuracy while retaining more edge features, and its resulting feature pairs are more evenly distributed. © 2023, The Authors. All rights reserved.

关键词： Binoculars

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The Occluded Prosthetic Hand can be Perceived based on Augmented Reality technology

The Occluded Prosthetic Hand can be Perceived based on Augme...

引用

IEEE International Conference on robotics and Biomimetics

作者： Chunyuan Shi Zixin Wang Dapeng Yang Jingdong Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Artificial Intelligence Laboratory Harbin Institute of Technology Harbin China

ISBN: (纸本)9781665481106

In this paper, an augmented reality-based perceptual feedback method of dexterous prosthesis has been proposed, which can establish an intuitive and convenient feedback pathway and reduce the use load of prosthetic hands. The proprioception and force feedback strategy was proposed and established based on augmented reality technology. Finally, the effectiveness and feasibility of the above strategies are verified by experiments. First, the feasibility of the proprioception feedback strategy is tested, and then the force feedback strategy is tested. The experimental results show that the proposed method establishes an effective perceptual feedback closed-loop control, improving patients' cognition of the prosthesis, including force, grasping gestures and other information, and improving users' perception ability.

关键词： Visualization Biomimetics Force feedback Force Grasping Cognition Prosthetic hand

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Research on Multi-sensor Fusion Localization of Wheel-Legged Robots in Dynamic Scenarios

Research on Multi-sensor Fusion Localization of Wheel-Legged...

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Automation, Control and Robots (ICACR), International Conference on

作者： Xu Li Yili Fu Zuolun Cheng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China Intelligent Robot Research Center Zhejiang Laboratory Hangzhou 311100 China

With the rapid development of human beings in motion control and localization perception, intelligent mobile robots are widely used in various scenarios, such as industrial production, medical care, logistics and distribution. Among them, wheel-legged robots have both the high mobility of wheeled robots and the high adaptability of legged robots, which can not only move fast on platform terrain, but also adapt to rugged and complex ground with the multiple degrees of freedom of their legs. Wheel-legged robots face the following main problems in high-precision robust localization in multiple scenarios: there are a lot of dynamic factors in daily indoor and outdoor scenarios, such as vehicles, pedestrians, etc., which require specific processing of dynamic environment in the visual front-end part to improve the effect of visual factor constraints; as ground mobile robots, the localization framework of visual inertial fusion (VIO) will show scale degeneration phenomenon, resulting in long-distance localization accuracy decline. In addition, as a two wheeled inverted pendulum robot, the ground constraint form will undergo corresponding changes. Aiming at the above problems, this paper takes the hydraulic-driven wheel-legged robot as the object and proposes a multi-sensor fusion localization method in dynamic scenarios.

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Equivalent Dynamic Model of Large-Span Flexible Truss Beam Structure 24th

Equivalent Dynamic Model of Large-Span Flexible Truss Beam S...

引用

24th IFToMM China International Conference on Mechanism and Machine Science and Engineering, IFToMM CCMMS 2024

作者： Feng, Jian Li, Bo Yang, Hui Tao, Jianguo Deng, Zongquan Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao066004 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Laboratory of Test and Measurement Technology Tianjin Institute of Aerospace Mechanical and Electrical Equipment Tianjin300301 China

ISBN: (纸本)9789819614660

The complex structural dynamics model of large-span truss beam structures and the flexibility issues brought about by large spans make the analysis of system dynamics and vibration control relatively challenging. The establishment of an equivalent dynamic model is a key technology for conducting semi-physical simulation experiment platform system dynamic model analysis. A large-span flexible truss beam structure is designed from three aspects: the cross-sectional shape, cross-sectional uniformity, and cross-sectional connecting rods. For the large-span flexible truss girder structure, based on the principle of energy equivalence, the relationship between the kinetic energy and strain energy of periodic structures and the kinetic energy and strain energy of the equivalent continuous beam is established. The equivalent mass and stiffness matrices are solved based on the principle of equivalence between strain energy and kinetic energy and the theory of continuum mechanics to establish the equivalent dynamic model. The correctness of the theoretical model was verified through theoretical analysis of natural vibration frequencies and modes, and compared with finite element simulation results. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Vibration analysis

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A simulation framework for ultrasound-guided minimally invasive robotic breast surgery

A simulation framework for ultrasound-guided minimally invas...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Zhang, Le Ye, Yanchen Niu, Baoshan Xiong, Genliang Yang, Dapeng State Key Laboratory of Robotics and System Harbin Institute of Technology Yikuang Street NanGang District HeilongJiang Harbin China School of Mechanical and Automotive Engineering Shanghai University of Engineering Science Longteng Rd 333 Shanghai201620 China

ISBN: (纸本)9781665481090

Surgical simulation plays an essential role for surgeons to familiarize themselves with surgical procedures and improve the success rate of surgery. In this paper, a flexible and easy-extendable intervention surgery simulation framework was presented, which can perform virtual simulation training and realize synchronous interaction between the real and virtual environment. In particular for breast surgery, the simulation framework was exemplified for an ultrasound-guided minimally invasive robotic breast surgery. The framework used Visual Studio®(Microsoft, USA) and Chai3D open graphics library to realize the virtual surgery environment, and integrated the anti-collision warning of the robotic arms and teleoperation communication support. A layered deformation model of breast was established based on the Mass-Spring Model to simulate the real-time deformation of breast during puncture surgery. In addition, due to the hyperelasticity and great deformation characteristics of breast soft tissue, we further used an improved meshless Radial Point Interpolation Method to improve the simulation accuracy of breast soft tissue deformation model. Finally, experiments on robot pressing a rectangular parallelepiped breast phantom were carried out to verify the simulation accuracy of the deformation model. © 2022 IEEE.

关键词： Tissue

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