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IEEE International Conference on Mechatronics and Automation

作者： Jingyu Wang Daming Li Zhijun Zhao Wang Jie Yaobing Wang Junkai Sun Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System Engineering Beijing China

ISBN: (数字)9798350388077

ISBN: (纸本)9798350388084

This paper focuses on the application of wheeledlegged robots for extraterrestrial exploration. To address the stability and terrain adaptability issues during planetary surface exploration, a novel motion control strategy integrating body attitude control and support force control is proposed based on kinematic inverse solution. This strategy adjusts the body posture by dynamically regulating the length of each leg to ensure sufficient wheel-ground contact force while traversing rough terrains. The paper also conducts simulation and tests of the wheeled-legged robot in typical terrains. Results demonstrate that the proposed algorithm effectively overcomes terrain variations and enhances stability during the robot's movement.

关键词： Legged locomotion Attitude control Force Wheels Kinematics Stability analysis Surface roughness

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An Approach on Visual Detecting Multi-Targets in the Unstructured and Complex Scenes Based on RGB-D Images 5

An Approach on Visual Detecting Multi-Targets in the Unstruc...

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5th International Conference on Automation, Control and robotics Engineering, CACRE 2020

作者： Tan, Qimeng Sun, Yikun Xin, Pengfei Lin, Yimin Ma, Chao Wang, Xinyu Beijing Institute of Spacecraft System Engineering Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing China Beijing Special Engineering Design and Research Institute Propellant Injection Laboratory Beijing China Beijing University of Posts Telecommunications Institute of Optical Communication Optoelectronics Beijing China Beijing Information Science and Technology University School of Instrument Science and Optoelectronic Engineering Beijing China

ISBN: (纸本)9781728198880

The technology of detecting and identifying multitarget is of significance for robotic visual navigation within the unknown, unstructured, complex scenes, whose result could be considered as important references of 3D map building and path planning for mobile robot. Traditional algorithms of target detection can be applied to 2D images without depth information generally, which is disturbed by few factors such as illumination, view and scale easily. Therefore, an approach on visual detecting multi-target of unstructured and complex scenes based on RGBD images is proposed in this article to solve the above problem, which is composed of extracting descriptor of rotation and scale invariance feature, local encoding of targets, random ferns classifier training, Hough map generation, Hough voting theoretical model and local maximum search. Experimental results have shown that the proposed approach reduce the calculation of extracting and matching local feature, improve the accuracy of object recognition and detection in unknown complex environments, be capable of well robust against few disturbing factors i.e. rotation, scale, illumination, occlusion and non-rigid body deformation. © 2020 IEEE.

关键词： Motion planning

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Distributed Force Synchronization for Networked robotic Manipulators with Transmission Delays

Distributed Force Synchronization for Networked Robotic Mani...

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IEEE International Conference on robotics and Biomimetics

作者： Xiaodong Zhang Chao Ma Tao Xiao Liziyi Hao Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Application Beijing Institute of Spacecraft System Engineering CAST China School of Mechanical Engineering University of Science and Technology Beijing Beijing China

ISBN: (纸本)9781665405362

This paper investigates the force synchronization problem for multiple robotic manipulators with network-induced transmission delays. More specifically, the synchronization control strategy is proposed under distributed framework to deal with interaction forces. Based on the developed control and information exchange strategy, sufficient synchronization criterion under directed topology is established by means of Lyapunov-Krasovskii method. Finally, an illustrate example is provided with simulation results to validate the effectiveness of the theoretical results.

关键词： Network topology Control design Simulation Force Decentralized control Manipulators Delays

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Single-Dimensional Intuitive teaching Control for Constrained space robotic Manipulation

Single-Dimensional Intuitive teaching Control for Constraine...

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IEEE International Conference on robotics and Biomimetics

作者： Hang Gao Xiaodong Zhang Huanbin Xu Tao Xiao Chao Ma School of Mechanical Engineering University of Science and Technology Beijing Beijing China Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Application Beijing Institute of Spacecraft System Engineering Cast China

ISBN: (纸本)9781665405362

In this paper, a single-dimensional intuitive teaching algorithm for space robots is proposed to solve the motion control problem when the operating space is limited or the moving direction is relatively special under complex space environments. More precisely, the developed method can specify the direction and reaches the specified position under the drag motion of the hand. The realization algorithm of single-dimension intuitive teaching is derived according to the structure of the robot. In the end, an experiment example is given, which proves the feasibility of the proposed algorithm.

关键词： Robot kinematics Education Aerospace electronics Robot sensing systems Sensor systems Sensors Reliability

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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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IEEE International Conference on robotics and Biomimetics

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

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.

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Regulation effect of planted forests on land surface temperature in China

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Agricultural and Forest Meteorology 2025年 372卷

作者： Zhijiang Zhang Kai Yang Lunche Wang Kai Cheng Chao Chen Chao Ding School of Geography Science and Geomatics Engineering Suzhou University of Science and Technology Suzhou 215009 China SuZhou Key Laboratory of Spatial Information Intelligent Technology and Application Suzhou University of Science and Technology Suzhou 215009 China School of Geography and Information Engineering China University of Geosciences Wuhan 430074 China Institute of Remote Sensing and Geographic Information System School of Earth and Space Sciences Peking University Beijing 100871 China Institute of Ecology College of Urban and Environmental Sciences Peking University Beijing 100871 China Department of Geographic Science Faculty of Arts and Sciences Beijing Normal University Zhuhai 519087 China

Afforestation has been regarded as a potentially effective strategy for the mitigation of climate warming. China has the largest planted forest area worldwide benefited by a series of large-scale afforestation and reforestation project since the 1970s. The planted forests (PF) have been widely reported as an enduring carbon sink. However, the climatic regulation effect of PF on climate through biophysical process remains unclear. To this end, we utilized satellite observations to quantify the impact of the conversion of grasslands (GRA), croplands (CRO) and natural forests (NF) to PF on land surface temperature (LST) between 2003 and 2012 and illustrated the underlying biophysical mechanisms based on a revised Intrinsic Biophysical Mechanism (IBM) method. The results indicated that afforestation of PF caused negligible daily cooling effect (−0.005 ± 0.002 K) compared with NF while induced obvious daily cooling effect compared with GRA (−0.253 ± 0.004 K) and CRO (−0.162 ± 0.002 K). We also demonstrated that the revised IBM attribution method is applicable in interpreting the biophysical mechanism of PF on LST. Attribution analysis revealed that the surface roughness and Bowen ratio dominated the cooling effect as the surface became rougher and more evaporative cooling after converting NF, GRA, or CRO to PF. The contributions of albedo were less stark compared with other components and presented a weak warming effect. Furthermore, the atmospheric feedback was proved that have a pronounced impact on LST and should be included in the attribution of LST change. This study focuses on the potential of PF afforestation to provide local climate adaptation benefits, filling the gaps of previous studies involved to biophysical effect failure in distinguishing NF and PF, and provides new guidance for local climate impact evaluation when implementing forestry projects.

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Formulation and verification to invalidation of the error evaluation for coordinate transformation by euclidean distance between markers

Formulation and verification to invalidation of the error ev...

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2015 IEEE 12th International Conference on Electronic Measurement & Instruments

作者： Tan Qimeng Sun Yikun Gao Sheng Chen Lei Wei Qingqing Bai Mei Beijing Key Laboratory of Intelligent Space Robotic System Technology and Applications Beijing Institute of Spacecraft System Engineering Beijing Special Engineering Design and Research Institute

Spatial markers can be used to not only complete coordinate transformation between two or more different Cartesian coordinate systems, but also to provide the error evaluation of the above transformation. On the one hand, a group of transforming markers is responsible for accurate parameters i.e. rotation matrix and translation vector;on the other hand, a group of checking markers can be used to quantify the accuracy of the results between coordinate transformation by Euclidean distance between markers. In this article, an invalidation of the error evaluation for coordinate transformation by relative Euclidean distance has been concluded and proven that the indexes are always constant because of an invariant group of checking markers, independent of the other group checking markers.

关键词： error evaluation coordinate transformation Euclidean distance between markers formulation

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Improved S2ANet based on attention mechanism for small target detection in remote sensing images

Improved S2ANet based on attention mechanism for small targe...

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2021 CIE International Conference on Radar, Radar 2021

作者： Lu, Dongdong Tie, Wenjie Lei, Songlin Qiu, Xiaolan Suzhou Aerospace Information Research Institute Laboratory of Spatial Information Intelligent Processing System Suzhou China Chinese Academy of Sciences Key Laboratory of Technology in Geo-spatial Information Processing and Application Systems Beijing China

ISBN: (纸本)9781665498142

Deep learning has achieved remarkable results in the field of target detection and recognition. For small targets in images, image pyramid can be used to fuse multi-scale features to improve detection performance. However, when test on remote sensing images, it is found that some important small goals will still be missed. Aiming at the problems of small target detection in remote sensing images, this paper proposes two S2ANet improved network variants based on the attention mechanism for synthetic aperture radar(SAR) payload and optical payload: for SAR images, CBAM(Convolutional Block Attention Module) attention is added to the backbone network to increase the attention of the feature extraction network for small targets in the channel and space dimensions;For optical images, firstly increase the CBAM channel attention and spatial attention in the backbone, secondly, the SE(Squeeze And Excitation) channel attention is added to the input features before the channel dimension fusion of the pyramid structure, then the attention-enhanced targets are fully integrated through up-sampling and horizontal splicing operations to improve the missed alarm rate and recall rate of small remote sensing targets. Finally, a comparative verification was carried out on the constructed airborne KU-band SAR data set and the optical remote sensing aircraft data set composed of some DOTA1.5 and FAIR1M data sets. The experimental results proved that the designed two variant networks can be used for small remote sensing. There have been certain improvements in the missed alarm rate, accuracy rate, and recall rate of the target. © 2021 IEEE.

关键词： Radar remote sensing Radar detection Object detection Radar imaging Optical imaging Feature extraction Adaptive optics

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2-Entity RANSAC for robust visual localization in changing environment

arXiv

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arXiv 2019年

作者： Jiao, Yanmei Wang, Yue Fu, Bo Ding, Xiaqing Tan, Qimeng Chen, Lei Xiong, Rong State Key Laboratory of Industrial Control and Technology Zhejiang University Hangzhou China Beijing Key Laboratory of Intelligent Space Robotic System Technology and Applications Beijing Institute of Spacecraft System Engineering Beijing China

Visual localization has attracted considerable attention due to its low-cost and stable sensor, which is desired in many applications, such as autonomous driving, inspection robots and unmanned aerial vehicles. However, current visual localization methods still struggle with environmental changes across weathers and seasons, as there is significant appearance variation between the map and the query image. The crucial challenge in this situation is that the percentage of outliers, i.e. incorrect feature matches, is high. In this paper, we derive minimal closed form solutions for 3D-2D localization with the aid of inertial measurements, using only 2 point matches or 1 point match and 1 line match. These solutions are further utilized in the proposed 2-entity RANSAC, which is more robust to outliers as both line and point features can be used simultaneously and the number of matches required for pose calculation is reduced. Furthermore, we introduce three feature sampling strategies with different advantages, enabling an automatic selection mechanism. With the mechanism, our 2-entity RANSAC can be adaptive to the environments with different distribution of feature types in different segments. Finally, we evaluate the method on both synthetic and real-world datasets, validating its performance and effectiveness in inter-session scenarios. Copyright © 2019, The Authors. All rights reserved.

关键词： Statistics

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Energy-Consumption Optimization Control for Lunar Rover's Travel with Torque-Distribution-strategy in Rear Wheels

Energy-Consumption Optimization Control for Lunar Rover's Tr...

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IEEE International Conference on Control Science and systems Engineering (CCSSE)

作者： Delun Li Jianfei Cao Yiliang Chen Zongwu Xie State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System Engineering Beijing China

ISBN: (数字)9798331517199

ISBN: (纸本)9798331517205

In anticipation of future extensive lunar surface operations, lunar rovers are required to advance towards higher speeds and improved energy conservation. When traveling at high speeds on the lunar surface, the vehicle's energy expenditure is greatly amplified by the influence of the terrain, particularly in conditions where driving and steering are coupled. This paper proposes an energy-saving control strategy for lunar rovers that employs dynamic rear-axle torque distribution, with the goal of optimizing transient energy consumption during travel. To tackle the challenge of non-differentiable functions within the optimization objectives, we suggest using a zeroth-order gradient optimization method for resolution, dynamically constraining the range of control parameters to fulfill the dynamic torque distribution objectives as needed for the task. The energy-saving control effectiveness of the algorithm has been confirmed through simulation, demonstrating a minimum energy-saving ratio of at least 4%, which increases to over 11% as the speed level rises, offering a valuable technical solution for the energy optimization of lunar rovers.

关键词： space vehicles Energy consumption Torque Distribution strategy Moon Wheels Optimization methods systems engineering and theory Vehicle dynamics Transient analysis

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