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2020 4th International Conference on Electrical, Mechanical and Computer Engineering, ICEMCE 2020

作者： Zheng, Yixiao Yan, Bixi Ma, Chao Wang, Xinyu Xue, Haoyang School of Instrument Science and Optoelectronic Engineering Beijing Information Science and Technology University Beijing China Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System Engineering Beijing China

Both obstacle and path planning are of significance for autonomous visual navigation of a mobile robot which is able to realize free movement and obstacle avoidance. In this paper, a scheme of obstacle detection which is based on binocular vision to identify obstacles is constructed and it is combined with improved A* algorithm for obstacle avoidance motion for mobile robot platform. First, a binocular vision system to detect the robot's perception of the environment is used and the visual information is obtained. Then a Gaussian filter is used to reduce the noise in the image, and the grayscale image is obtained through the binocular vision system. The gray scale map is matched with SAD (Sum of Absolute Differences) in order to obtain the disparity image with comparison. Second, the location information of the obstacle is extracted through the environmental depth information contained in the disparity image, and the improved A* algorithm is used as the path planning algorithm in this paper, which can modify the path of the planning error. Furthermore, the detection experiment of the robot visual obstacle avoidance system was established and the optimal path was obtained. The examples show that, the obstacle avoidance system can complete the task of obstacle detection and give a better path for the mobile robot. © 2020 Journal of Physics: Conference Series.

关键词： Mobile robots

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Combine Neural Radiance Fields in Different Reference Coordinates

Combine Neural Radiance Fields in Different Reference Coordi...

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2023 China Automation Congress, CAC 2023

作者： Zhang, Weili Li, Zhongheng Guo, Yu Wang, Fei Institute of Artificial Intelligence and Robotics Xi'An Jiaotong University Xi'an China Beijing Institute of Spacecraft System Engineering Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing China

ISBN: (纸本)9798350303759

Neural Radiance Fields (NeRF) leverage deep learning networks to restore high-quality implicit representations of 3D scenes from 2D images, surpassing traditional texture mapping in rendering quality. Typically, reconstructed images by NeRF exist in a reference coordinate system, necessitating consideration of each surface's information in a single shot. Overlapping parts in adjacent images are addressed by obtaining the camera pose through sparse COLMAP reconstruction. However, occluded regions, caused by contact with support surfaces, pose challenges for complete reconstruction. To address this, we propose a scene fusion algorithm based on NeRF, facilitating the amalgamation of neural radiance fields under different reference coordinate systems. This reduces data requirements and shooting conditions, enhancing the implicit 3D reconstruction of real objects. By estimating the translation and rotation relationship between image capture angles and the NeRF model, we fuse neural radiance fields in distinct reference coordinate systems, completing object surface information. Evaluation is conducted on both NeRF synthetic dataset and real objects. © 2023 IEEE.

关键词： Cameras

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Design and analysis of a flying-crawling spherical robot for multi-mode movement

Design and analysis of a flying-crawling spherical robot for...

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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Lu, Pengfei Xu, Kun Ding, Xilun Jiang, Shuiqing Tang, Zixin Wang, Yaobing Beihang University Robotics Institute of School of Mechanical Engineering and Automation Beijing China Beijing Institute of Spacecraft System Engineering Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing China

ISBN: (纸本)9781728163215

A novel spherical robot named flying-crawling spherical robot is designed in this paper. It can fly or roll on ground with its single rotor and eight tail fins. When its limbs stretch out it can crawl on the supporting surface. Besides, with its limbs the robot can realize carrying objects, landing on uneven ground and walking on the supporting surface. Dynamic model of the robot in flight mode is established and the motion characteristics are analyzed. A PID control system is designed to enable the robot to achieve stable flight. Trot gait planning of the robot is given and a PID controller is designed for tail fins assistant in crawling mode. Corresponding simulations are carried out and the simulation results verify the proposed methods. © 2019 IEEE.

关键词： Three term control systems

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Resonance frequency prediction approach of lattice structure fabricated by selective laser melting

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Advances in Astronautics Science and technology 2022年第4期5卷 309-316页

作者： Zhou, Hao Jia, Heran Zeng, Huizhong Tu, Yonggang Li, Linli Zhang, Xiaoyu Lei, Hongshuai Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System Engineering China Academy of Space Technology No. 104 Youyi Road Beijing 100094 China Beijing Key Laboratory of Lightweight Multi-Functional Composite Materials and Structures Beijing Institute of Technology No. 5 Zhongguancun South Street Beijing 100081 China

Lightweight structures composed of a closed shell and internal lattice infill are highly desirable in satellites on account of their superior specific stiffness and buckling strength, which are brought about by the sandwich effect. These lattice structures can be fabricated by various additive manufacturing techniques, such as selective laser melting (SLM). However, the sub-millimeter-scale shell thickness and lattice strut diameter of the fabricated structure often deviate from the designed dimensions and lead to noteworthy discrepancies between the resonance frequencies of the fabricated structure and those of the initial design model. In this work, a bracket structure for a satellite is designed via topology optimization-based lattice infill approach and fabricated using SLM. A resonance frequency prediction approach based on X-ray micro-computed tomography and the stiffness equivalence is then proposed. Vibration tests are conducted to obtain the resonance frequencies of the fabricated structure. The prediction errors of resonance frequencies for the first three modes are less than 1%, whereas that of the traditional approach based on finite element analysis is as large as 14%. © 2022, Chinese Society of Astronautics.

关键词： Additive manufacturing Geometric reconstruction Lattice structure Prediction approach Resonance frequency

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Post-capture angular momentum management of space robot with controllable damping joints 2

Post-capture angular momentum management of space robot with...

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2nd IEEE International Conference on Automation, Electronics and Electrical Engineering, AUTEEE 2019

作者： Jia, Chen Xia, Yongjian Chu, Ming Zhang, Xiaodong Space Robot Laboratory Automation School Beijing University of Posts and Telecommunications Beijing China Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Application Beijing Institute of Spacecraft System Engineering CAST Beijing China

ISBN: (数字)9781728150307

ISBN: (纸本)9781728150291

Aiming at the problems of combination instability and momentum wheel overrun caused by angular momentum transfer after capturing the target in orbit, a method of combination angular momentum management based on controllable electromagnetic damper at joint is proposed. Firstly, based on the Kane method, the combination dynamics equations of space robot base, manipulators with controllable damping joints and target spacecraft are established. Then the structural model of the electromagnetic damper is modeled and the output characteristics and parameters of the damper are studied by analytical calculation. Finally, the simulation of ADAMS verifies the effectiveness of this method in reducing the spin-axis angular momentum of the space combination. © 2019 IEEE.

关键词： Angular momentum

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Reliability Design of Manipulator Joint for China space Station 2

Reliability Design of Manipulator Joint for China Space Stat...

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2nd International Conference on Artificial Intelligence, Automation, and High-Performance Computing, AIAHPC 2022

作者： Li, Delun Zhu, Chao Zhang, Yun Bai, Mei Huang, Zhipeng Xie, Zongwu Liu, Teng Fu, Hao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System Engineering CAST Beijing100094 China Beijing Satellite Manufacturing Co. Ltd. Beijing100094 China Beijing Institute of Space Environment Engineering Beijing100094 China

ISBN: (纸本)9781510657717

The TianHe manipulator is responsible for major tasks such as China space Station construction, operation, and supporting astronaut's extravehicular operations. The joint is the direct execution part of the manipulator to realize flexible movement, and it is the key component to ensure the core functions and performance of the China space Station manipulator, The composition of the joint is complex, and the experience of its reliability design is very poor. So the research of reliability design method for the joint is of great significance. Starting from the joint reliability design method, this paper uses various methods such as redundant design, margin design, and environmental adaptability design to complete the joint reliability design comprehensively. The ideas and methods for reliability design for the joint of the China space Station manipulator introduced in this paper have important reference value for the reliability design for the space complicated electromechanical products. © 2022 SPIE. All rights reserved.

关键词： space stations

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Discrete Element Simulation of Durability for Bionic Wheels of Mars Rover 2

Discrete Element Simulation of Durability for Bionic Wheels ...

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2nd Spring International Conference on Defence technology, ICDT 2020

作者： Lin, Y.C. Yan, Y.P. Yuan, B.F. Liu, Y.F. Zou, M. Beijing Key Laboratory of Intelligent Space Robotic System Technology and Application Institute of Spacecraft System Engineering CAST Beijing100094 China Key Laboratory for Bionics Engineering of Education Ministry Jilin University Changchun130022 China

Four kinds of bionic surfaces (convex, scale-like, ribbed and concave shape) for Mars rover wheels were designed to improve wheel durability. A discrete element wheel-soil simulation system was developed, and three-dimensional discrete element analysis and soil bin tests were conducted. The results show that the masses of the convex and scale-like forms increased by 5.4% and 17%, respectively, and that the tangential cumulative forces decreased by about 40% and 70%, respectively. The wear mass decreased by 53% and 47%, respectively, compared with a prototypical wheel. The simulation shows that the durability increased significantly. The average tangential cumulative forces of the concave and ribbed shapes increased by more than 50%, and the wear mass decreased by 35% and 32%, respectively, compared with a prototypical wheel. The simulation shows that the results were not definitive. The analysis shows that the durability of the wheels can be improved via bionic optimization method. These results therefore provide a basis and reference for the design and optimization of the Mars rover's wheel surface. © Published under licence by IOP Publishing Ltd.

关键词： Wheels

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Hole-Peg Assembly Strategy Based on Deep Reinforcement Learning 5th

Hole-Peg Assembly Strategy Based on Deep Reinforcement Learn...

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5th International Conference on Cognitive systems and Signal Processing, ICCSIP 2020

作者： Zhang, Xiaodong Ding, Pengchao Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Application Beijing Institute of Spacecraft System Engineering CAST Beijing100086 China Institute of Technology Harbin Heilongjiang150001 China

ISBN: (纸本)9789811623356

Hole-peg assembly using robot is widely used to validate the abilities of autonomous assembly task. Currently, the autonomous assembly is mainly depended on the high precision of position, force measurement and the compliant control method. The assembly process is complicated and the ability in unknown situations is relatively low. In this paper, a kind of assembly strategy based on deep reinforcement learning is proposed using the TD3 reinforcement learning algorithm based on DDPG and an adaptive annealing guide is added into the exploration process which greatly accelerates the convergence rate of deep reinforcement learning. The assembly task can be finished by the intelligent agent based on the measurement information of force-moment and the pose. In this paper, the training and verification of assembly verification is realized on the V-rep simulation platform and the UR5 manipulator. © 2021, Springer Nature Singapore Pte Ltd.

关键词： Reinforcement learning

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Construction of the rat brain spatial cell firing model on a quadruped robot

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CAAI Transactions on Intelligence technology 2022年第4期7卷 732-743页

作者： Naigong Yu Yishen Liao Hejie Yu Ouattara Sie Faculty of Information Technology Beijing University of TechnologyBeijingChina Beijing Key Laboratory of Computational Intelligence and Intelligent System BeijingChina Engineering Research Center of Digital Community Ministry of EducationBeijingChina College of Robotic UniversitéFélix Houphouet-BoignyAbidjanCote d'Ivoire

Physiological studies have shown that rats in a dark environment rely on the limbs and vestibule for their self-motion information,which can maintain the specific firing patterns of grid cells and hippocampal CA3 place *** the development stage of rats,grid cells are considered to come from place cells,and place cells can be encoded by hippocampal theta *** on these,the quadruped robot is used as a platform in this ***,the sensing information of the robot's limbs and inertial measurement unit is obtained to solve its position in the *** the position information is encoded by theta cells and mapped to place cells through a neural *** obtaining the place cells with singlepeak firing fields,Hebb learning is used to adjust the connection weight of the neural network between place cells and grid *** order to verify the model,3-D simulation experiments are designed in this *** experiment results show that with the robot exploring in space,the spatial cells firing effects obtained by the model are consistent with the physiological research facts,which lay the foundation for the bionic environmental cognition model.

关键词： robot neural firing

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Combined active and passive adaptive variable admittance compliant control for space robotic manipulators

Combined active and passive adaptive variable admittance com...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Gao, Hang Zhang, Xiaodong Ma, Chao Zhou, Cheng University of Science and Technology Beijing School of Mechanical Engineering Beijing100083 China Beijing Institute of Spacecraft System Engineering Cast Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Application China

ISBN: (纸本)9798350325706

This paper develops a combined active and passive adaptive variable admittance compliant control algorithm for space robotic manipulators. In fact, the assembly task for space robots requires compliance and precision while ensuring avoidance of any occurrences of rigid collision throughout the process. Therefore, we design a new combined active and passive variable admittance control structure combined with the following three parts to meet these acquirements. Firstly, we develop an active variable admittance algorithm to facilitate the space robot rapid movement, enabling it to achieve higher speeds while maintaining compliance. Then, to mitigate the occurrence of unforeseen rigid collisions during the robot motion, we devise a passive variable admittance control algorithm, which aims to minimize the impact of collision events and ensure the robot safe operation. Furthermore, by employing the Lyapunov theory, a new active adaptive variable admittance control algorithm is presented for robot constant force output. Consequently, through contrast experiments, we demonstrate the effectiveness and enhanced performance of the proposed algorithm. © 2023 IEEE.

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