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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Li, Shanshan Wang, Hongbo Li, Dong Li, Minghao Li, Lianqing Tian, Yu Niu, Jianye Yanshan University Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Qinhuangdao066004 China Fudan University Academy for Engineering & Technology Shanghai200433 China Yanshan University Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Key Lab. of Advanced Forging Stamping Technology and Science of Ministry of Education of China Qinhuangdao066004 China

ISBN: (纸本)9798350325706

In this paper, a bionic-based design of a series-parallel hybrid wheel-legged quadruped robot that can realize wheel-foot transformations is presented to achieve footed stable walking, and a method of measuring the static stability of the robot by the evaluation of the torque of the supporting leg rotor axis is proposed with the consideration of the robot's leg mass. Firstly, the whole robot position is solved;Secondly, the force on the robot during static walking is analyzed, and the stability of its static walking is also analyzed from the moment perspective;Finally, the stabilizing support region for static walking is solved, and the stabilizing support region for the robot in such a motion state is calculated. This paper provides high reference significance and value for the mechanism design and walking stability research of series-parallel hybrid wheel-legged quadruped robots. © 2023 IEEE.

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Configuration Synthesis and Lightweight Networking of Deployable Mechanism Based on a Novel Pyramid Module

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Chinese Journal of Mechanical Engineering 2023年第4期36卷 294-310页

作者： Jinwei Guo Jianliang He Guoxing Zhang Yongsheng Zhao Yundou Xu School of Mechanical Engineering Jiangsu University of Science and TechnologyZhenjiang 212100China Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan UniversityQinhuangdao 066004China Key Laboratory of Advanced Forging and Stamping Technology and Science of Ministry of National Education Yanshan UniversityQinhuangdao 066004China

Deployable mechanism with preferable deployable performance,strong expansibility,and lightweight has attracted much attention because of their potential in aerospace.A basic deployable pyramid unit with good deployability and expandability is proposed to construct a sizeable deployable ***,the basic unit folding principle and expansion method is *** configuration synthesis method of adding constraint chains of spatial closed-loop mechanism is used to synthesize the basic ***,the degree of freedom of the basic unit is analyzed using the screw theory and the link dismantling ***,the three-dimensional models of the pyramid unit,expansion unit,and array unit are established,and the folding motion simulation analysis is carried *** on the number of components,weight reduction rate,and deployable rate,the performance characteristics of the three types of mechanisms are described in ***,prototypes of the pyramid unit,combination unit,and expansion unit are developed to verify further the correctness of the configuration synthesis based on the *** proposed deployable mechanism provides aference for the design and application of antennas with a large aperture,high deployable rate,and *** has a good application prospect in the aerospace field.

关键词： Pyramid unit Deployable mechanism Configuration synthesis Structural design Lightweight networking

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Underwater image clarifying based on human visual colour constancy using double-opponency

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CAAI Transactions on Intelligence technology 2024年第3期9卷 632-648页

作者： Bin Kong Jing Qian Pinhao Song Jing Yang Amir Hussain Institute of Intelligent Machines Chinese Academy of SciencesHefeiChina Peng Cheng Laboratory ShenzhenChina Anhui Key Laboratory of Biomimetic Sensing and Advanced Robot Technology HefeiChina University of Science and Technology of China HefeiChina Peking University Shenzhen Graduate School ShenzhenChina Edinburgh Napier University EdinburghScotland

Underwater images are often with biased colours and reduced contrast because of the absorption and scattering effects when light propagates in *** images with degradation cannot meet the needs of underwater *** main problem in classic underwater image restoration or enhancement methods is that they consume long calcu-lation time,and often,the colour or contrast of the result images is still *** of using the complicated physical model of underwater imaging degradation,we propose a new method to deal with underwater images by imitating the colour constancy mechanism of human vision using ***,the original image is converted to the LMS *** the signals are linearly combined,and Gaussian convolutions are per-formed to imitate the function of receptive fields(RFs).Next,two RFs with different sizes work together to constitute the double-opponency ***,the underwater light is estimated to correct the colours in the *** contrast stretching on the luminance is *** show that the proposed method can obtain clarified underwater images with higher quality than before,and it spends significantly less time cost compared to other previously published typical methods.

关键词： computers computer vision image processing image reconstruction

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Stereo Matching Algorithm Based on Improved Census Transform and Adaptive Window Optimization 4

Stereo Matching Algorithm Based on Improved Census Transform...

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4th International Conference on Computer Science and Blockchain, CCSB 2024

作者： Li, Tongle Huang, Zucheng He, Lile Wang, Weijun Yuan, Hai Wang, Jian Guangzhou Institute of Advanced Technology Robot and Intelligent Equipment Center Guangdong Guangzhou511458 China School of Mechanical and Electrical Engineering Xi'an University of Architecture and Technology Shaanxi Xi'an710311 China

ISBN: (纸本)9798350356502

To address the issue of insufficient accuracy in local stereo matching algorithms, this paper proposes an improved stereo matching algorithm that integrates an enhanced Census transform with adaptive window optimization. Initially, by utilizing interpolated information from the mean of the central pixel along with the maximum and minimum pixel values, the encoding of the Census transform is augmented, thereby increasing the utilization of neighboring pixels and reducing the impact of noise. Subsequently, a region-based partitioning method, grounded in color similarity, is introduced. This method sets thresholds according to different region characteristics to define appropriate arm length conditions, thereby optimizing the aggregation process in low-texture and enhancing matching accuracy in such areas. Finally, disparity maps are computed and optimized using the derived disparity values. On the standard image set of the Middlebury evaluation platform, the proposed algorithm achieved an average error rate of 3.95%, demonstrating a significant improvement in matching accuracy compared to existing high-performing local stereo matching algorithms. © 2024 IEEE.

关键词： Stereo image processing

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RRT Autonomous Detection Algorithm Based on Multiple Pilot Point Bias Strategy and Karto SLAM Algorithm

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Computers, Materials & Continua 2024年第2期78卷 2111-2136页

作者： Lieping Zhang Xiaoxu Shi Liu Tang Yilin Wang Jiansheng Peng Jianchu Zou Key Laboratory of Advanced Manufacturing and Automation Technology(Guilin University of Technology) Education Department of Guangxi Zhuang Autonomous RegionGuilin541006China College of Mechanical and Control Engineering Guilin University of TechnologyGuilin541006China Guilin Mingfu Robot Technology Company Limited Guilin541199China Key Laboratory of AI and Information Processing(Hechi University) Education Department of Guangxi Zhuang Autonomous RegionYizhou546300China

A Rapid-exploration Random Tree(RRT)autonomous detection algorithm based on the multi-guide-node deflection strategy and Karto Simultaneous Localization and Mapping(SLAM)algorithm was proposed to solve the problems of low efficiency of detecting frontier boundary points and drift distortion in the process of map building in the traditional RRT algorithm in the autonomous detection strategy of mobile ***,an RRT global frontier boundary point detection algorithm based on the multi-guide-node deflection strategy was put forward,which introduces the reference value of guide nodes’deflection probability into the random sampling function so that the global search tree can detect frontier boundary points towards the guide nodes according to random *** that,a new autonomous detection algorithm for mobile robots was proposed by combining the graph optimization-based Karto SLAM algorithm with the previously improved RRT *** algorithm simulation platform based on the Gazebo platform was *** simulation results show that compared with the traditional RRT algorithm,the proposed RRT autonomous detection algorithm can effectively reduce the time of autonomous detection,plan the length of detection trajectory under the condition of high average detection coverage,and complete the task of autonomous detection mapping more ***,with the help of the ROS-based mobile robot experimental platform,the performance of the proposed algorithm was verified in the real environment of different *** experimental results show that in the actual environment of simple and complex obstacles,the proposed RRT autonomous detection algorithm was superior to the traditional RRT autonomous detection algorithm in the time of detection,length of detection trajectory,and average coverage,thus improving the efficiency and accuracy of autonomous detection.

关键词： Autonomous detection RRT algorithm mobile robot ROS Karto SLAM algorithm

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Study on the wear resistance of 2024-T351 aluminum alloy strengthened by ultrasonic-assisted laser shock peening

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Journal of Materials Science 2025年第13期60卷 5954-5976页

作者： Meng, Xiankai Cheng, Zilong Zhou, Jianzhong Song, Fuyang Zhao, Xianhua Wu, Wei Gao, Fei Cai, Jie Xue, Wei Liu, Yang Institute of Advanced Manufacturing and Modern Equipment Technology Jiangsu University Zhenjiang212013 China School of Mechanical Engineering Jiangsu University Zhenjiang212013 China Department of Research and Development Shandong Huawin Electrica and Mechanical Technology Co. Ltd Jinan250098 China International Science & Technology Cooperation Base for Laser Processing Robot Wenzhou University Wenzhou325035 China

The ultrasonic-assisted laser shock peening (ULP) technique, through the combined strengthening effects of laser shock peening and ultrasonic peening, can enhance the wear resistance and fatigue resistance of metal materials. This paper uses the 2024-T351 aluminum alloy as the subject for ULP enhancement experiments. Comprehensive tests including microstructure, phase structure, surface morphology, microhardness, residual stress, and wear resistance were conducted. Furthermore, coefficient of friction (COF), wear volume loss, and wear morphology were analyzed to reveal the improvements in wear resistance and the transformations in wear mechanisms induced by ULP treatment. Significant grain refinement and high-density dislocations are induced by ULP treatment, which results in pronounced work hardening effects, achieving a surface microhardness of 191.9 HV and a hardened layer depth of 850 µm. Compared to the untreated samples, the high-hardened surface induced by ULP reduces the possibility of material peeling from the surface, leading to a decrease in average COF and wear volume loss by up to 37.9% and 40.8%, respectively. Additionally, the ULP treatment effectively suppress adhesive wear, significantly improving the wear morphology and enhancing the wear resistance of the aluminum alloy. © The Author(s), under exclusive licence to Springer Science+Business Media, LLC, part of Springer Nature 2025.

关键词： Grain refinement

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An End-Traction Lower Extremity Rehabilitation robot: Structural Design, Motion Analysis, and Experimental Validation 23rd

An End-Traction Lower Extremity Rehabilitation Robot: Struct...

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

作者： Bian, Hui Yang, Fan Sun, Zhaoliang Li, Jiachen Ding, Jiebin Li, Shuai Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Hebei Qinhuangdao066004 China Key Laboratory of Advanced Forging & Stamping Technology and Science Yanshan University Ministry of Education of China Hebei Qinhuangdao066004 China

ISBN: (纸本)9789811993978

An end-traction lower extremity rehabilitation robot named ETLER is designed to meet the rehabilitation needs of patients with lower extremity dysfunction at all stages of recovery, while taking into account the ease of operation for the patient. A single robot can meet the needs of a hemiplegic patient on either side for the designed end-change structure. The robots can also be used in pairs for patients with spinal cord injuries. Meanwhile, the adjustable ankle joint limit design provides customized training programs for the ankle joint. To carry out the trajectory planning of the rehabilitation robot, kinematic analysis and control strategy modeling of the robot and human–machine system are carried out. The functionality and universality of the rehabilitation robot are verified through comparative tests. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Machine design

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Regulation and control of wet friction of soft materials using surface texturing:A review

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Friction 2023年第3期11卷 333-353页

作者： Meng LI Wenbin SHI Jun SHI Tao WANG Liping SHI Xiaolei WANG Key Laboratory of Green Fabrication and Surface Technology of Advanced Metal Materials Anhui University of TechnologyMa'anshan 243002China Anhui Province Key Laboratory of Special and Heay Load Robot Anhui University of TechnologyMa'anshan 243032China School of Mechanical Engineering Anhui University of TechnologyMa'anshan 243032China College of Mechanical&Electrical Engineering Nanjing University of Aeronautics and AstronauticsNanjing 210016China

Surface texturing is a smart strategy that is commonly used in nature or industry to improve the tribological properties of sliding ***,we focus on the recent research progress pertaining to the wet friction modification of soft elastomers via *** consider the pertinent physical mechanisms,we present and discuss the fundamentals of wet sliding on soft surfaces(including dewetting and wetting transitions in compliant contacts).Subsequently,we consider the methods in which the characteristic textures regulate and control wet sliding behaviors on soft surfaces;these textures range from conventional patterns of dimples to bioinspired architectures and can either positively or adversely impact the interfacial friction ***,we briefly address the perspectives,potential applications,and challenges of texture design for modifying the friction characteristics of soft materials.

关键词： soft material surface texture wet sliding friction

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Study on 6D Pose Estimation System of Occlusion Targets for the Spherical Amphibious robot based on Neural Network 20

Study on 6D Pose Estimation System of Occlusion Targets for ...

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

作者： Du, Chaofeng Guo, Jian Guo, Shuxiang Fu, Qiang Tianjin University of Technology Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems Intelligent Robot Laboratory BinshuiXidao Extension 391 Tianjin300384 China Shenzhen Institute of Advanced Biomedical Robot Co. Ltd. No.12 Ganli Sixth Road Jihua Street Longgang District Shenzhen518100 China School of Life Science Beijing Institute of Technology Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology No.5 Zhongguancun South Street Beijing100081 China

ISBN: (纸本)9798350320831

The amphibious robot needs to accurately estimate the 6D pose of the target in tasks such as target tracking, docking with the recovery module, and target grasping. The current research on target 6D pose estimation is mainly applied to unoccluded targets, but when the target is occluded, the target's pose cannot be accurately identified. Compared with other algorithms, the PVNet algorithm shows better robustness when target is occluded, but the accuracy is still low. To improve the accuracy of the PVNet algorithm, this paper adds the confidence score prediction of the prediction vector at the last layer of the PVNet network, and designs a vector confidence score loss function to train the network. Before generating the hypothetical keypoints, the pixels whose confidence score is lower than the set threshold are screened out, so that the generated hypothetical 2D keypoints are closer to the true 2D keypoints. Finally, the method in this paper is compared with the Tekin, PoseCNN, Oberweger and Pvnet algorithm, and demonstrate the superiority of the proposed method. © 2023 IEEE.

关键词： Semantics

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A Latent Diffusion Based Image Generation Method for Anomaly Detection 8th

A Latent Diffusion Based Image Generation Method for Anomaly...

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8th International Conference on Computing, Control and Industrial Engineering, CCIE 2024

作者： Wang, Liangliang Song, Lian Yang, Zhuo Li, Bingyao Liang, Peidong School of Computer Science and Artificial Intelligence Wuhan University of Technology Wuhan China Wuhan University of Technology Chongqing Research Institute Chongqing China Institute of Advanced Manufacturing Technology Quanzhou China Fujian Key Laboratory of Intelligent Operation and Maintenance Robot Technology Quanzhou China

ISBN: (纸本)9789819769360

The primary issue in visual anomaly detection is lack of sufficient samples, which makes it difficult for real-world applications unless an effective anomalous image generation algorithm is proposed. To this end, this paper formulates a latent diffusion model to generate a variety of anomalous images by adapting the initial latent tensors to the anomaly. Therefore, the diffusion process is speeded up via transferring the image synthesis in a low-dimensional space, with anomalous labels provided. The pseudo-anomaly images and pseudo-labels are then used for data augmentation for anomaly detection based on YOLO-v8, and quantitative and qualitative experiments on NEU-DET demonstrate the applicability and superiority of our approach on precision and diversity. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Anomaly detection Deep learning Diffusion model Image generation

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