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IEEE International Workshop on Safety, Security, and Rescue robotics (SSRR)

作者： Chenglong Yu Zhiqi Li Weixin Chou Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology China

ISBN: (纸本)9781665456814

Recently, with the robotic technique developing toward precision and intelligence, robots have been used more widely in human life and production. As a common feature in the foreseen applications, robots should be able to detect unexpected collisions while ensuring dynamic accuracy, so as to improve safety at work. In the previous model-based collision detection solution, most methods assume that the robot dynamic model is complete and accurate. Unfortunately, reliable robot dynamics is hard to obtain due to model uncertainties, assembly errors, and the lack of information provided by manufacturers. This paper proposed a novel low-gain control strategy based on sparse feature learning dynamics. Firstly, without considering the physical structure parameters, the dynamics was learned directly via the data-driven technique. Secondly, according to the learned accurate dynamics, a model-based low-gain controller was designed to ensure control performance while avoiding excessive unspecified force. Finally, using this control strategy, sensorless collision detection was realized in a 7-DOF manipulator and the performance of the proposed method was evaluated.

关键词： Representation learning Service robots Dynamics Force Robot sensing systems Safety Security

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Dynamics Analysis of a Symmetric 3-R(SRS)RP Multi-loop Mechanism 23rd

Dynamics Analysis of a Symmetric 3-R(SRS)RP Multi-loop Mecha...

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23rd IFToMM China International Conference on Mechanism and Machine Science and Engineering, IFToMM CCMMS 2022

作者： Li, Chuanyang Qin, Zhongbao Hu, Changhua Liu, Rongqiang Liu, Ruiwei Song, Xiaoke PLA Rocket Force University of Engineering Xi’an710025 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China College of Naval Architecture and Ocean Engineering Guangzhou Maritime University GuangZhou510725 China School of Mechatronics and Vehicle Engineering East China Jiaotong University Nanchang330013 China

ISBN: (纸本)9789811993978

The 3-R(SRS)RP multi-loop Mechanism is regarded as one module of a multi-stage manipulator for space manipulation operations, such as capturing free-flying objects. The mechanism has two rotational and one translational degrees of freedom, as well as includes coupled kinematic chains, which can be constructed to the modular system for space operation. The dynamics analysis of the mechanism is the basis of its structural design and actuation control. In this paper, the twist shaping matrix between the twists of links and the input rate array is derived by decoupling the mechanism and motion analysis. Based on the Newton–Euler equation, the dynamics model of the mechanism is established. the theoretical values of actuation power consumption on the certain motion modes is calculated via programming, then being compared with the simulation values obtained through ADAMS model. The results are basically consistent, which verifies the correctness of the dynamics analysis of the mechanical system. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Dynamics

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Yowov2: A Real-Time Multi-Level Detection Framework for Spatio-Temporal Action Detection

SSRN

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SSRN 2023年

作者： Yang, Jianhua Wang, Ke Zhao, Lijun Dai, Kun Li, Ruifeng 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 Zhengzhou Research Institute Harbin Institute of Technology Zhengzhou450000 China

Designing a real-time framework for the spatio-temporal 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. © 2023, The Authors. All rights reserved.

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Analysis of normal force of wheel-sand interaction for planetary rovers with active suspension*

Analysis of normal force of wheel-sand interaction for plane...

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IEEE International Conference on robotics and Biomimetics

作者： Zhengyin Wang Huaiguang Yang Liang Ding Qingning Lan Haibo Gao Zdravko Terze Zongquan Deng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Faculty of Mechanical Engineering and Naval Architecture University of Zagreb Zagreb Croatia

The planetary rover with active suspension can climb steeper slopes and cross bigger obstacles in a wheel-step motion mode, which enables the planetary rover to perform more complex exploration tasks. However, wheel-step motion requires coordinated movement of the suspension and the wheels: the suspension can determine the wheel's sinkage depth and translation speed. Matching up with the wheel rotation speed can actively construct the slip ratio. The forces exerted on the wheels by sand during this process are a key index for motion control. This poses new challenges to existing wheel-sand interaction models. In this paper, dynamic normal force tests are carried out. The dynamic variation of wheel normal force with slip ratio is investigated at different sinkage depths. It is found that the normal force exerted on the wheel increases firstly and then decreases with the slip ratio, and reaches the maximum value near s=0. The distributed stresses of the wheel were analysed by discrete element method (DEM) simulation, and the phenomenon of the distribution stress reconstruction of the wheel is found. Further, by analyzing the local particles in contact with the wheel, it is found that the particle movement direction and morphology vary with slip ratio. The analysis of the wheel’s normal force and the granular material variation with slip ratio provides the basis for establishing a physics-based wheel-sand interaction model.

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An Air Floating Suspension Microgravity Simulator for Multi Specification of Spaceborne SAR 2

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2nd China International SAR Symposium, CISS 2021

作者： Sun, Zhiyao Sun, Xiangyu Zhou, Qihua Zou, Bo Liu, Gangfeng Dong, Huijuan Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China The Tenth Research Laboratory Shanghai Radio Equipment Research Institute Shanghai China

ISBN: (纸本)9787000000001

Microgravity Simulators are significant equipment for spaceborne synthetic aperture radar (SAR) on-ground test. Considering the diversity of spaceborne SAR specification as well as SAR's high working accuracy, this paper provides a novel air floating suspension microgravity simulator equipped with both active and passive gravity compensation mechanism, which realize the high-precision microgravity simulation of spaceborne SAR with different structures and kinematic characteristics. The simulator also provides adjustable frames to guarantee the simulation stability of the SAR in different poses. In addition, the simulator's corresponding horizontal tracking control system and vertical constant tension control system are also provided in this paper, which realize the tracking of the SAR movement. Finally, the simulation and experiment are provided to verify the effectiveness of the microgravity simulator. © 2021 SISE.

关键词： Synthetic aperture radar

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FMRT: Learning Accurate Feature Matching with Reconciliatory Transformer

arXiv

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arXiv 2023年

作者： Zhang, Xinyu Wang, Li Jiang, Zhiqiang Dai, Kun Xie, Tao Yang, Lei Yu, Wenhao Shen, Yang Li, Jun The School of Vehicle and Mobility Tsinghua University Beijing100084 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150006 China

Local Feature Matching, an essential component of several computer vision tasks (e.g., structure from motion and visual localization), has been effectively settled by Transformer-based methods. However, these methods only integrate long-range context information among keypoints with a fixed receptive field, which constrains the network from reconciling the importance of features with different receptive fields to realize complete image perception, hence limiting the matching accuracy. In addition, these methods utilize a conventional handcrafted encoding approach to integrate the positional information of keypoints into the visual descriptors, which limits the capability of the network to extract reliable positional encoding message. In this study, we propose Feature Matching with Reconciliatory Transformer (FMRT), a novel Transformer-based detector-free method that reconciles different features with multiple receptive fields adaptively and utilizes parallel networks to realize reliable positional encoding. Specifically, FMRT proposes a dedicated Reconciliatory Transformer (RecFormer) that consists of a Global Perception Attention Layer (GPAL) to extract visual descriptors with different receptive fields and integrate global context information under various scales, Perception Weight Layer (PWL) to measure the importance of various receptive fields adaptively, and Local Perception Feed-forward Network (LPFFN) to extract deep aggregated multi-scale local feature representation. Besides, we introduce a novel Axis-Wise Position Encoder (AWPE) that perceives positional encoding as two independent keypoints encoding tasks along the row and column dimensions and utilizes two parallel network branches to decouple the X- and Y -coordinate information of keypoints, so that boosting the capability of the network to model position information for different images. Extensive experiments demonstrate that FMRT yields extraordinary performance on multiple benchmarks, including pos

关键词： Encoding (symbols)

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PetLock:A Genderless and Standard Interface for the Future On-orbit Construction

arXiv

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arXiv 2022年

作者： Li, Yuntao Xu, Zichun Yang, Xiaohang Zhao, Zhiyuan Zhao, Jingdong Liu, Hong State Key Laboratory of Robotics and System Harbin Institute of Technology Heilong Jiang Harbin China

Modular design is the foundation of on orbit construction technology of large space facilities in the future. Standard interface is the key technology of modular design of the future space robotic systems and space facilities. This paper presents the designed and tested of PetLock, a standard and genderless interface which can transfer mechanical loads, power and data between the future modular space robotic manipulator and spacecraft. PetLock adopts a completely genderless design, including connection face, locking mechanism, data and power interface. The connection surface provides a large translation and rotation misalignment tolerance, due to its 120-degree symmetrical and 3D shape design. The locking mechanism features the three locking pins retraction structure design, which is simple and reliable. POGO pin connectors in the center of the interface provides the power and data transfer capabilities. Due to the advantages of high locking force, large tolerance, high reliability and low cost, PetLock has the very big application potential in future on orbit construction missions. Copyright © 2022, The Authors. All rights reserved.

关键词： Fits and tolerances

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Buckling-Inspired Triboelectric Sensor for Multifunctional Sensing of Soft robotics and Wearable Devices

SSRN

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SSRN 2024年

作者： Xu, Jinsui Pan, Xueting Xu, Boyi Yue, Honghao Lu, Yifan Ying, Kai Wang, Zheping Yang, Fei State Key Laboratory of Robotics and System School of Mechatronics Engineering Harbin Institute of Technology Harbin150001 China Wu Xianming School of Intelligent Engineering South China University of Technology Guangzhou510641 China

Amidst the rapid development of intelligent robotics and wearable health monitoring devices, there is an urgent demand for flexible sensor systems with high sensitivity and precise feedback. In this paper, a multifunctional triboelectric sensor inspired by the phenomenon of buckling is introduced, which integrates kirigami structures with triboelectric nanogenerator principles to accurately detect one-dimensional (1D) and two-dimensional (2D) deformations. The sensor employs a contact-separating structure, with its friction layers consisting of 2D laser-cut kirigami electrodes, which deform into three-dimensional (3D) structures through tensile or compressive buckling. The tensile buckling sensor (BS) developed is capable of sensing the bending angle of soft grippers, allowing the detection of the size of grasped objects with a high recognition rate of 93.75%. Additionally, in its 1D compressive buckling form, the sensor can be used to recognize various human motion patterns effectively, while the 2D compressive version can be used to measure the expansion of curved surfaces with a sensitivity of 1.3307 V/mm. By combining the unique properties of buckling structures, the innovative triboelectric multifunctional sensor proposed offers a new solution for high-precision motion feedback control with potential application in soft robotics and health monitoring. © 2024, The Authors. All rights reserved.

关键词： Buckling

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The long-acting walking control of a cockroach bio-bot for vision-aided pipeline navigation

The long-acting walking control of a cockroach bio-bot for v...

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Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

作者： Songsong Ma Shen Liu Songlin Yang Yuansheng Chen Yao Li Bing Li State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin P.R. China Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Harbin Institute of Technology Shenzhen P.R. China School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen P.R. China

Many small bionic crawling robots have been invented for search and rescue missions in narrow spaces. However, their locomotion capability is far from that of insects of the same size. Transforming a cockroach into a bio-bot has been a hot topic in the past decade. Herein, we modified this insect to perform surveillance work in dark confined environments. The synergistic electrical stimulation for turning control was proposed by alternating electrical stimulation of the cerci and antennae every 5 trials. The result showed that this method was able to control cockroaches turning steadily 117 times. An electronic backpack was designed, which was capable of transmitting images in real time, and a light emitting diode (LED) was installed on the backpack providing a light source for the camera. Thus, a vision-aided navigation system was formed for dark confined environments, e.g. pipelines. With a host computer software, the operator controlled the bio-bot to pass through a completely dark and closed pipeline. The electronic backpack and the host computer were connected via transmission control protocol (TCP), which allows the operator to manipulate the bio-robot remotely. This technology can be applied in pipeline surveillance in the future.

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4D printing of direct-driven deformable wheel with multiple programmable configurations

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International Journal of Extreme Manufacturing 2025年第03期 374-387页

作者： Huichun Tian Guanghao Chu Bin Zhou Dekai Zhou Jing Qiao Longqiu Li State Key Laboratory of Robotics and System Harbin Institute of Technology Zhengzhou Research Institute Harbin Institute of Technology Avic Shenyang Aircraft Corporation School of Materials Science and Engineering Harbin Institute of Technology

Conventional deformable wheel systems in robots and other mechatronic systems face significant challenges in achieving miniaturization, intelligence, and integration. To address these issues, we propose a novel integrated structural design method and four-dimensional printing strategy for deformable wheels capable of shaping among multiple programmable direct-driven deformation configurations. The load-bearing capacity of the printed wheel is strengthened by employing deformed components in various locations and actuated ***, a novel analytical design method is presented to determine the structure, actuation,and deformation parameters of each component under complex coupled deformation. Our findings reveal that the designed wheel can transform into three different configurations,exhibiting desired deformations of 12.5%in the radial direction and 19.6%in the axial direction. It also demonstrates robust deformation behavior and structural stability under multi-directional loads. By integrating a terrain sensing system, the designed wheel exhibits highly adaptive deformation capabilities on various terrains, showing great potential for exploring complex environments.

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