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SICE Annual Conference

作者： Jong-hwan Kim Robot Intelligence Technology Lab Department of Electrical Engineering and Computer Science Korea Advanced Institute of Science and Technology South Korea

Summary form only for tutorial. This paper provides an overview on the recent progress and developments in the development of the ubiquitous robot. First the concepts of the ubiquitous robot, which incorporates the software robot (Sobot), embedded robot (Embot) and mobile robot (Mobot), are presented. The Ubiquitous robot, Ubibot, comprising of a core intelligence of a Sobot Rity, perceptive abilities through a variety of Embots, and a personal robot type Mobot called Mybot is presented. Rity, an artificial creature testing robot genome is described in detail including the technique for creating the chromosome which dictates its personality and traits. The technique for evolving a new personality, thus creating a Genetic robot, is also briefed upon. The nearly limitless possibilities evident in this new paradigm in robotics can be obviously seen.

关键词： Intelligent robots Mobile robots Service robots robot sensing systems Competitive intelligence Orbital robotics Embedded software Context awareness Artificial intelligence Genomics

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A Visual Based robot Trajectory Teaching Method for Traditional Chinese Medical Moxibustion Therapy

A Visual Based Robot Trajectory Teaching Method for Traditio...

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International Conference on Computer and Communications (ICCC)

作者： Jiaxun Liu Qujiang Lei Yukai Qiao Guangchao Gui Xiuhao Li Jintao Jin Weijun Wang Intelligent Robot & Equipment Center Guangzhou Institute of Advanced Technology Chinese Academy of Sciences Guangzhou China

ISBN: (数字)9781728186351

ISBN: (纸本)9781728186368

At present, Chinese traditional physiotherapy is more and more trusted and valued by people, among which moxibustion is a very effective treatment. In order to improve the efficiency of human-computer interaction and help physiotherapists to use robots to replace human power, this paper proposes a visual based robot arm trajectory teaching method. The physiotherapy staff only needs to use an optical marker to demonstrate the therapeutic trajectory on the patient's back, and the robotic arm can pick up the expected trajectory and repeat the same work. We use LK optical flow algorithm to obtain marker's motion trajectory, and then smoothen the trajectory through SG filter, which is more executable for robot arm. Finally, we design an experiment and simulate it on MATLAB to obtain the accuracy of the trajectory and the results is impressive.

关键词： Optical filters Integrated optics Visualization Biomedical optical imaging Education Manipulators Trajectory

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Development of a novel H2S gas sensor based on CuO-doped SnO2 hollow nanospheres

Development of a novel H2S gas sensor based on CuO-doped SnO...

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IEEE Sensors 2009 Conference - SENSORS 2009

作者： Liu, Jinhuai He, Lifang Chen, Xing Meng, Fanli Li, Minqiang Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Hefei Institute of IntelligMachines CAS Hefei China

ISBN: (纸本)9781424445486

An effort has been made to develop a kind of CuO-doped SnO2 gas sensors for detecting trace amount of H2S gas at relative low temperature. The CuO-doped SnO2 hollow nanospheres are prepared from SnO2 hollow spheres (employing carbon nanospheres as temples) and Cu precursor by dipping method. The sensitivity and selectivity of the sensors based on the as-prepared CuO-doped SnO2 hollow nanospheres have been studied in details. It had been found that trace amount of H2S gas can be detected by the sensors at a relative low temperature of 35°C. The good sensing performances might be attributed to two factors. Firstly, using SnO2 hollow nanospheres might increase the chances of formation of p-n junctions between CuO nanoparticles and SnO2 nanoparticles. Secondly, the existence of porous structure would improve the active sensing surface area and enhance the efficient gas diffusion. In one word, CuO-doped SnO2 hollow nanospheres might be one of the most promising materials for detecting trace amount of H2S gas. ©2009 IEEE.

关键词： Copper oxides

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Control of a redundantly actuated power line inspection robot based on a singular perturbation model

Control of a redundantly actuated power line inspection robo...

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IEEE International Conference on robotics and Biomimetics

作者： Ludan Wang Sheng Cheng Jianwei Zhang Ying Hu Center of Robot Engineering and Cognitive Technology Laboratory Shenzhen Institute of Advanced Technology China TAMS University of Hamburg Germany China

This paper focuses on the controller design of the walking system of a power transmission line inspection robot that is redundantly actuated by two wheels. After an analysis the kinematics and dynamic model of the driven system, the controller is designed as a master-slave model to avoid the ldquoconflictrdquo between the two wheels. To effectively damp the elastic vibration caused by the flexible manipulator, the control system was decomposed into two subsystems, a slowly-changing subsystem and a fast-changing subsystem based on a singular perturbation model. A hybrid control method, consisting of a RBF adaptive PD control which was applied to slow-changing subsystem and optimal control which was applied to fast-changing subsystem was presented. The RBF adaptive algorithm can estimate the unknown resistance on-line and keep the controller stable. Simulation results prove this method to be reasonable and effective.

关键词： Inspection Power system modeling Mobile robots Legged locomotion Wheels Control system synthesis Optimal control Control systems Power transmission lines Kinematics

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The role of mental model and shared grounds in human-robot interaction

The role of mental model and shared grounds in human-robot i...

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IEEE International Workshop on robot and Human Communication (ROMAN)

作者： Jung-Hoon Hwang KangWoo Lee Dong-Soo Kwon Human-Robot Interaction Research Center Korea Advanced Institute of Science and Technology Daejeon South Korea

This paper investigates the role of mental model and shared grounds in human-robot interaction and the relation between them for efficient communication as well as collaboration between human and robot. We tried to conceptualize 3 way relationship among human, robot and world, and to link them in terms of the construction of shared grounds. Based on our conceptual framework of shared grounds, we developed a mediate interface that allows human users to communicate and coordinate with a robot using multimodal icon symbols. A pilot experiment was carried out to examine how people acquire a mental model about 'what' and 'how' a robot can do, and what it knows. The experimental results show that, for the efficient and cooperative human-robot interaction (HRI), a proper linkage between human and robot is required to share perceptual experience, object or procedural knowledge on a task.

关键词： Cognitive science robot kinematics Human robot interaction Intelligent robots Collaboration robot vision systems Research and development Couplings Medical services Cleaning

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Design and dynamic analysis of a scissors hoop-rib truss deployable antenna mechanism

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Defence technology（防务技术） 2023年第6期24卷 399-413页

作者： Bo Han Xiangkun Li Jian Sun Yundou Xu Jiantao Yao Yongsheng Zhao Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan UniversityQinhuangdao066004China Key Laboratory of Advanced Forging&Stamping Technology and Science Ministry of Education of ChinaYanshan UniversityQinhuangdao066004China

As the support mechanism of space-borne antennas,space deployable antenna mechanism belongs to complex multi-closed-loop coupling mechanism,configuration design and dynamic analysis are more difficult than general parallel *** this paper,an unequal-length scissors mechanism(ULSM)is proposed by changing the position of the internal rotational joint through a basic scissors mechanism.A scissors hoop-rib truss deployable antenna mechanism(SHRTDAM)is constructed by replacing the parabolic rib with the *** analysis of SHRTDAM is conducted,and the degree of freedom(DOF)of the whole antenna mechanism is analyzed based on screw theory,the result showed that it has only one *** and acceleration characteristics of SHRTDAM are obtained by the screw derivative and rotation *** on Lagrange equation,dynamic model of this mechanism is established,the torque required to drive the mechanism is simulated and verified by Adams and MATLAB *** addition,a ground experiment prototype of 1.5-m diameter was fabricated and a deployment test is conducted,which demonstrated the mobility and deployment performance of the whole *** mechanism proposed in this paper can provide a good reference for the design and analysis of large aperture space deployable antennas.

关键词： Scissors mechanism Deployable antenna Screw theory Kinematic analysis Dynamic analysis

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Type synthesis of deployable mechanisms for ring truss antenna based on constraint-synthesis method

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Chinese Journal of Aeronautics 2020年第9期33卷 2445-2460页

作者： Bo HAN Yundou XU Jiantao YAO Dong ZHENG Luyao GUO Yongsheng ZHAO Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan UniversityQinhuangdao 066004China Key Laboratory of Advanced Forging&Stamping Technology and Science of Ministry of National Education Yanshan UniversityQinhuangdao 066004China

Space deployable antenna is the key equipment in realizing the communication and data transmission between the spacecraft and the *** order to enrich the configurations of deployable antennas,the type synthesis of deployable mechanisms for ring truss antenna is conducted in this ***,the principle of the constraint-synthesis method based on screw theory is briefly described,the structure of the ring truss deployable antenna and its folding principle are analyzed,and the ring truss mechanism is divided into upper edges,lower edges and ***,based on the constraint-synthesis method,the type synthesis of the basic unit edges is carried out,a series of basic unit mechanisms are obtained from combining the basic unit edge mechanisms,and five mechanism units with fewer joints and simple structures are ***,simulation models of the five ring truss deployable mechanisms are built in Solidworks and Matlab software,and the deploying process is verified by the movement ***,mechanism characteristics of the five mechanisms are analyzed and discussed,and a prototype is manufactured,verifying the analysis in this *** research provides a new way for the type synthesis of spatial deployable mechanisms,and the ring truss deployable mechanisms obtained in this study can be well applied in the field of aerospace.

关键词： Constraint-synthesis method Deployable mechanism Ring truss antenna Screw theory Type synthesis

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Design and analysis of truss deployable antenna mechanism based on a novel symmetric hexagonal profile division method

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Chinese Journal of Aeronautics 2021年第8期34卷 87-100页

作者： Jinwei GUO Yongsheng ZHAO Yundou XU Yongjie LI Jiantao YAO Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan UniversityQinhuangdao 066004China Key Laboratory of Advanced Forging&Stamping Technology and Science of Ministry of National Education Yanshan UniversityQinhuangdao 066004China

As the deployment,supporting,and stability mechanisms of satellite antennas,space-deployable mechanisms play a key role in the field of *** order to design truss deployable antenna supporting mechanisms with large folding rate,high accuracy,easy deployment and strong stability,aiming at the geometric division of the parabolic reflector,a novel method based on symmetric hexagonal division and its corresponding modular truss deployable antenna mechanism is proposed,and the original method based on asymmetric triangular division and its corresponding mechanisms are presented for comparative ***,the screw theory is employed to analyze the mobility of different ***,the improved three-dimensional mesh method is used to divide the reflector surface of a large parabolic antenna designed by the two different methods,and the profile accuracy and the type of links are taken as the evaluation indexes to quantitatively analyze the division ***,a three-dimensional model of the modular deployable mechanism based on the symmetric hexagonal design is developed,and the deployable mechanisms with different configurations based on the two design methods are compared and analyzed from the mechanical *** research results provide a good theoretical reference for the design of deployable truss antenna mechanisms and their application in the aerospace field.

关键词： Mobility Modular mechanism Profile division Screw theory Truss deployable antenna

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Force Analysis of the Overconstrained Mechanisms Based on Equivalent Stiffness Considering Limb Axial Deformation

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Chinese Journal of Mechanical Engineering 2023年第1期36卷 292-304页

作者： Jinwei Guo Yongsheng Zhao Bo Chen Guoxing Zhang Yundou Xu Jiantao Yao Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan UniversityQinhuangdao066004China Key Laboratory of Advanced Forging&Stamping Technology and Science of Ministry of National Education Yanshan UniversityQinhuangdao066004China

Overconstrained mechanism has the advantages of large bearing capacity and high motion reliability,but its force analysis is complex and difficult because the mechanism system contains *** the limb axial deformation,taking typical 2SS+P and 7-SS passive overconstrained mechanisms,2SPS+P and 7-SPS active overconstrained mechanisms,and 2SPS+P and 7-SPS passive-input overconstrained mechanisms as examples,a new force analysis method based on the idea of equivalent stiffness is *** equivalent stiffness matrix of passive overconstrained mechanism is derived by combining the force balance and deformation compatibility equations with consideration of axial elastic limb *** relationship between the constraint wrench magnitudes and the external force,limb stiffness is *** equivalent stiffness matrix of active overconstrained mechanism is derived by combining the force balance and displacement compatibility ***,the relationship between the magnitudes of the actuated wrenches and the external force,limb stiffness is *** with the equivalent stiffness of the passive overconstrained mechanism,an analytical relationship between the actuated forces of passive-input overconstrained mechanism and the output displacement,limb stiffness is ***,adaptability of the equivalent stiffness to overconstrained mechanisms is discussed,and the effect of the limb stiffness on overconstrained mechanisms force distribution is *** research results provide a theoretical reference for the design,research and practical application of overconstrained mechanism.

关键词： Active overconstrained Passive overconstrained Passive-input overconstrained Equivalent stiffness Force distribution

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Diff9D: Diffusion-Based Domain-Generalized Category-Level 9-DoF Object Pose Estimation

arXiv

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arXiv 2025年

作者： Liu, Jian Sun, Wei Yang, Hui Deng, Pengchao Liu, Chongpei Sebe, Nicu Rahmani, Hossein Mian, Ajmal National Engineering Research Center for Robot Visual Perception and Control Technology College of Electrical and Information Engineering School of Robotics State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body Hunan University Changsha410082 China Institute of Artificial Intelligence and Robotics Xi’an Jiaotong University Xi’an710049 China Department of Information Engineering and Computer Science University of Trento Trento38123 Italy School of Computing and Communications Lancaster University LA1 4YW United Kingdom Department of Computer Science The University of Western Australia WA6009 Australia

Nine-degrees-of-freedom (9-DoF) object pose and size estimation is crucial for enabling augmented reality and robotic manipulation. Category-level methods have received extensive research attention due to their potential for generalization to intra-class unknown objects. However, these methods require manual collection and labeling of large-scale real-world training data. To address this problem, we introduce a diffusion-based paradigm for domain-generalized category-level 9-DoF object pose estimation. Our motivation is to leverage the latent generalization ability of the diffusion model to address the domain generalization challenge in object pose estimation. This entails training the model exclusively on rendered synthetic data to achieve generalization to real-world scenes. We propose an effective diffusion model to redefine 9-DoF object pose estimation from a generative perspective. Our model does not require any 3D shape priors during training or inference. By employing the Denoising Diffusion Implicit Model, we demonstrate that the reverse diffusion process can be executed in as few as 3 steps, achieving near real-time performance. Finally, we design a robotic grasping system comprising both hardware and software components. Through comprehensive experiments on two benchmark datasets and the real-world robotic system, we show that our method achieves state-of-the-art domain generalization performance. Our code will be made public at https://***/CNJianLiu/Diff9D. Copyright © 2025, The Authors. All rights reserved.

关键词： Augmented reality

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