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2024 IEEE International Conference on Unmanned Systems, ICUS 2024

作者： Zhang, Liheng Yu, Siquan Gao, Lei State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China

ISBN: (纸本)9798350384185

Underwater object detection is a typical problem in underwater exploration, widely used in fields such as underwater archaeology, underwater rescue, and underwater facility maintenance. Due to the particularity of water media, underwater object detection has brought challenges compared to land object detection. In order to overcome the limitations of water media, sonar is a commonly used tool. Ships are equipped with side scan sonar (SSS) to conduct large-scale surveys of underwater topography. Object detection is achieved by observing terrain changes. With the development of machine learning technology, the use of autonomous underwater vehicles (AUVs) equipped with side scan sonar for autonomous underwater object detection has become a trend. Usually, training machine learning algorithms requires extensive training samples. For situations where the object shape is unknown in advance, general autonomous object detection methods are difficult to be effective. It needs to develop unsupervised object detection algorithms to solve this problem, and we attempt to apply image change detection algorithms to SSS images. Therefore, in this paper, we investigate the alignment problem of SSS images. Specifically, we adopt three alignment algorithms, including RANSAC, GLU-Net and UDIS++, for underwater object detection in SSS images. To verify the feasibility and timeliness of these algorithms, we conduct extensive experiments on common multi beam SSS images and synthetic aperture sonar images. © 2024 IEEE.

关键词： Synthetic aperture sonar

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Research on Optimization of Multi-Camera Placement Based on Environment Model 23

Research on Optimization of Multi-Camera Placement Based on ...

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7th International Conference on Computing and Data Analysis, ICCDA 2023

作者： Tao, Liming Xia, Renbo Zhao, Jibin Wang, Fangyuan Fu, Shengpeng State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences China

ISBN: (纸本)9798400700576

Aiming at the model distortion, constraint redundancy, and lack of occlusion detection, an optimization algorithm for multi-camera placement based on environment model is proposed to minimize escape rate and measurement error. First, the measurement error model is established by the reverse modeling method, which reveals the relationship between the pixel quantization error and the measurement error. Second, the environment model is split into camera candidate position model, feature model and obstacle model. Based on the division of field of view and the signedness of tetrahedron volume, a method for judging the relationship between the point and the field of view is proposed by calculating the determinant. Thirdly, the Bresenham algorithm is extended to three-dimensional space for occlusion detection. Finally, a fitness function is built to minimize the escape rate and measurement error. The particle swarm optimization algorithm is used to optimize the multi-camera placement. Extensive experiments demonstrate that the proposed method is effective and robust. © 2023 ACM.

关键词： Cameras

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An Untethered Miniature Soft Jumping Robot Inspired by Quadrupeds

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Journal of Bionic Engineering 2023年第4期20卷 1467-1480页

作者： Tianliang Zhong Fanan Wei Zhushan Zhai Wenguang Yang School of Mechanical Engineering and Automation Fuzhou UniversityFuzhou350108China School of Electromechanical and Automotive Engineering Yantai UniversityYantai264005ShandongChina State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang110016LiaoningChina

In recent years,designing a soft robot that can jump continuously and quickly explore in a narrow space has been a hot research *** the continuous efforts of researchers,many types of actuators have been developed and successfully employed to actuate the rapid locomotion of soft *** these mechanisms have enabled soft robots with excellent movement capabilities,they largely rely on external energy supply cables,which greatly limits their ***,it is still a big challenge to realize the unconstrained movement of the soft robot and the flexible adjustment of the movement direction in a narrow ***,a wireless magnetically controlled soft jumping robot with single-leg is proposed,which can achieve continuous and rapid jumping ***'s more interesting is that by changing the frequency and waveform of the control signal,this soft robot can easily switch between forward and backward *** motion direction switching function enables the magnetically controlled soft robot to return to the initial position without adjusting the direction when it completes the operation in a narrow pipe or takes the wrong path,which greatly improves the motion efficiency of the soft jumping robot and broadens its application field.

关键词： Wireless Magnetically controlled Soft robot Jumping Bidirectional motion

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Submarine Cable Detection Based on LSR and Image Clustering 5

Submarine Cable Detection Based on LSR and Image Clustering

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5th International Conference on Computer Vision, Image and Deep Learning, CVIDL 2024

作者： Yu, Siquan Li, Wentao Zhang, Liheng Shenyang Institute of Automation Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China

ISBN: (纸本)9798350373820

Submarine cable is an important carrier for intercontinental communication. Due to the unique nature of the usage environment, submarine cables require regular inspections to ensure normal operation. Usually, there are three methods used for underwater cable detection, including divers, fish towing, and cable robots. The drawbacks of these inspection methods include the need for a large amount of manpower, material resources, and financial resources. Because the depth of the operation is limited, with potential personnel risks. The limited detection range is not suitable for large-scale inspections and other issues. In order to solve the problems, autonomous underwater vehicles (AUVs) become popular tools to detect submarine cable. AUVs carry various detection equipment to achieve rough and precise exploration of submarine cables. Due to the weak impact of sea conditions on underwater operations, AUVs inspection of submarine cable can be suitable for the vast majority of scenarios. They can not only discover submarine cable on a large scale, but also can closely track and detect submarine cable. This paper proposes a method for AUV to autonomously identify submarine cable. Specifically, the proposed method uses Gabor filter to filter side scan sonar (SSS) images, and designs a scoring mechanism to select the corresponding largest image block as a suspected submarine cable. The submarine cable is determined using image clustering and position prior. In this paper, we conduct extemsive experiments to verify the effectiveness of the proposed algorithm. © 2024 IEEE.

关键词： Autonomous underwater vehicles

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A practical PID variable stiffness control and its enhancement for compliant force-tracking interactions with unknown environments

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Science China(Technological Sciences) 2023年第10期66卷 2882-2896页

作者： ZHANG Xin ZHOU Hao LIU JinGuo JU ZhaoJie LENG YuQuan YANG ChenGuang State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China School of Computing University of PortsmouthPortsmouth PO13HEUK Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy EngineeringSouthern University of Science and TechnologyShenzhen 518055China Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and EngineeringSouth China University of TechnologyGuangzhou 510640China

Compliant interaction control is a key technology for robots performing contact-rich manipulation *** design of the compliant controller needs to consider the robot hardware because complex control algorithms may not be compatible with the hardware performance,especially for some industrial robots with low bandwidth *** paper focuses on effective and easy-to-use compliant control algorithms for position/velocity-controlled *** by human arm stiffness adaptation behavior,a novel variable target stiffness(NVTS)admittance control strategy is proposed for adaptive force tracking,in which a proportional integral derivative(PID)variable stiffness law is designed to update the stiffness coefficient of the admittance function by the force and position ***,its stability and force-tracking capability are theoretically *** addition,an impact compensator(Impc)is integrated into the NVTS controller to enhance its disturbance-suppression capability when the robot is subjected to strong vibration disturbances in complicated surface polishing *** proposed controllers are validated through four groups of experimental tests using different robots and the corresponding results demonstrate that they have high-accuracy tracking capability and strong adaptability in unknown environments.

关键词： compliant interaction control force tracking PID variable stiffness impact compensator unknown environments

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A surface defect detection method for steel pipe based on improved YOLO

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Mathematical Biosciences and Engineering 2024年第2期21卷 3016-3036页

作者： Wang, Lili Song, Chunhe Wan, Guangxi Cui, Shijie State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China College of Information Liaoning University Shenyang110036 China

Surface defect detection is of great significance as a tool to ensure the quality of steel pipes. The surface defects of steel pipes are charactered by insufficient texture, high similarity between different types of defects, large size differences, and high proportions of small targets, posing great challenges to defect detection algorithms. To overcome the above issues, we propose a novel steel pipe surface defect detection method based on the YOLO framework. First, for the problem of a low detection rate caused by insufficient texture and high similarity among different types of defects of steel pipes, a new backbone block is proposed. By increasing high-order spatial interaction and enhancing the capture of internal correlations of data features, different feature information for similar defects is extracted, thereby alleviating the false detection rate. Second, to enhance the detection performance for small defects, a new neck block is proposed. By fusing multiple features, the accuracy of steel pipe defect detection is improved. Third, for the problem of a low detection rate causing large size differences in steel pipe surface defects, a novel regression loss function that considers the aspect ratio and scale is proposed, and the focal loss is introduced to further solve the sample imbalance problem in steel pipe defect datasets. The experimental results show that the proposed method can effectively improve the accuracy of steel pipe surface defect detection. © 2024 American Institute of Mathematical Sciences. All rights reserved.

关键词： Aspect ratio

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Fabricating AC/DC nanogenerators based on single ZnO nanowires by using a nanomanipulator in a scanning electron microscope

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Nanotechnology and Precision Engineering 2024年第2期7卷 25-31页

作者： Mei Liu Mengfan He Aristide Djoulde Lingdi Kong Weilin Su Xin Bai Jinbo Chen Jinjun Rao Zhiming Wang Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and AutomationShanghai UniversityShanghai 200444China Guangdong Provincial Key Laboratory of Fuel Cell Technology School of Chemistry and Chemical EngineeringSouth China University of TechnologyGuangzhou 510641China

Single zinc oxide nanowires(ZnO NWs)are promising for nanogenerators because of their excellent semiconducting and piezoelectric properties,but characterizing the latter efficiently is *** reported here,an electrical breakdown strategy was used to construct single ZnO NWs with a specific *** the high operability of a nanomanipulator in a scanning electron microscope,ZnO-NW-based twoprobe and three-probe structures were constructed for fabricating AC/DC nanogenerators,*** a ZnO NW,an AC output of between−15.31 mV and 5.82 mV was achieved,while for a DC nanogenerator,an output of24.3 mV was ***,the three-probe structure’s output method was changed to verify the distribution of piezoelectric charges when a single ZnO NW is bent by a probe,and DC outputs of different amplitudes were *** study provides a low-cost,highly convenient,and operational method for studying the AC/DC output characteristics of single NWs,which is beneficial for the further development of nanogenerators.

关键词： Zinc oxide nanowire Piezoelectric properties Nanomanipulator SEM AC/DC nanogenerators

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Study on the interactive deformation of bone needles and circum-pelvic soft tissue

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High Technology Letters 2024年第3期30卷 297-303页

作者： ZHANG Famin LEI Jingtao School of Mechatronic Engineering and Automation Shanghai UniversityShanghai 200444P.R.China Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai 200444 P.R.China

During the robot-assisted pelvic fracture reduction,the needle-tissue interactive deformation characteristic is not clear,which affects the accuracy of robotic *** this paper,a layered rig-id-flexible coupling model is proposed,and the needle-tissue interactive deformation under the load-ing is analyzed by the Rayleigh-Ritz method,in accordance with the principle of minimum potential *** pelvic musculoskeletal tissue is reversely reconstructed,and the structure of the bone is segmented into cancellous bone and cortical *** Mooney-Rivlin five-parameter hyperelastic model is used to simulate muscle,and the Ogden hyperelastic model is used to simulate adipose *** element simulation is performed by loading different magnitudes of *** accuracy of the rigid-flexible coupling model is 0.432 mm,which indicates the correctness of the needle-tis-sue interactive deformation theory analysis.

关键词： pelvic fracture reduction rigid-flexible coupling needle-tissue interactive de-formation

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Numerical simulation and experimental research on the wheel brush sampling process of an asteroid sampler

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Frontiers of Mechanical Engineering 2023年第2期18卷 205-226页

作者： Haitao LUO Qiming WEI Yuxin LI Junlin LI Wei ZHANG Weijia ZHOU State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China School of Mechanical Engineering Shenyang Ligong UniversityShenyang 110159China

To examine the environmental characteristics of the microgravity force and the weathered layer on an asteroid surface,a symmetric wheel brush asteroid sampler is proposed for the collection of particles on the asteroid *** study the influence of the wheel brush rotation speed on the sampling efficiency and the driving torque required for the wheel brush,the contact dynamics model between particles and sampling wheel brushes is established and a simulation and experimental verification of the sampling process are *** parameter calibration of the sampled particles is studied first,and the calibrated particle parameters are used in the numerical simulation of the sampling *** sampling results and the particle stream curves are obtained for the working conditions of different rotation speeds,and the effects of different parameter settings on the sampling efficiency are *** addition,a set of rotating symmetrical sampling wheel brush devices is built for the ground test,and the dynamic torque sensor is used to test the torque change of the wheel brush during the sampling *** relationship between the speed of the wheel brush and the driving torque of the wheel brush motor is determined by comparing the simulation results with the test *** indicate that when the rotating speed of the wheel brush is faster,the sampling efficiency is higher,and the driving torque required for the sampling wheel brush is ***,a numerical simulation analysis of the sampling process of the wheel brush sampler in a microgravity environment is conducted to determine the optimal speed condition,and the brushing test of the wheel brush sampler in the microgravity environment is verified with the drop tower *** research proposes the structural optimization design and motor selection of a wheel brush asteroid sampler,which provides important reference value and engineering significance.

关键词： asteroid sampling wheel brush sampler discrete element method parameter calibration experimental research

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Research on Active Disturbance Rejection Control of PMSM Based on Improved BOA 2

Research on Active Disturbance Rejection Control of PMSM Bas...

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2nd International Conference on Signal Processing and Intelligent Computing, SPIC 2024

作者： Chen, Tong Jiang, Qiang Jin, Bopi Yang, ShengXuan Shenyang Ligong University School of Automation and Electrical Engineering Shenyang China Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang Institute of Automation Shenyang China

ISBN: (纸本)9798350368888

In order to solve the problems of low control accuracy, poor anti-interference ability and poor robustness due to the interference and parameter changes of the servo system of permanent magnet synchronous motor (PMSM) under PI control, an improved active disturbance rejection control strategy is proposed. On the basis of linearisation and bandwidth of the extended state observer, the controller parameters are combined with the bandwidth in the project. Furthermore, to improve the parameter optimization tuning effect, the butterfly optimization algorithm is not high in convergence accuracy, speed and stationarity, and it is easy to avoid falling into the problem of local optimum, the reverse learning strategy, Cauchy variation and sine and cosine guidance mechanism are introduced to optimise the algorithm, and simulation experiments are carried out. The results show that compared with the traditional Proportion Integral(PI) control and active disturbance rejection control, the proposed method can quickly track a given speed, has higher control speed, and can be used to control the local optimum. The results show that compared with the traditional PI control and active disturbance rejection control, the proposed method can quickly track a given speed, has higher control accuracy and anti-interference ability, and effectively ensures the robustness of the PMSM servo system. © 2024 IEEE.

关键词： Permanent magnets

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