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检索条件"机构=Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Application"

共 88 条记录，以下是31-40 订阅

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Comparative Analysis on Few Typical Algorithms of Gesture Recognition for Human-robot Interaction 20

Comparative Analysis on Few Typical Algorithms of Gesture Re...

引用

4th International Conference on Computer Science and application Engineering, CSAE 2020

作者： Ma, Chao Tan, Qimeng Xu, Chaofan Zhao, Jingyi Wang, Xinyu Sun, Jing Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System Engineering Beijing China School of Instrument Science and Optoelectronic Engineering Beijing Information Science and Technology University Beijing China

ISBN: (纸本)9781450377720

Human-robot interaction (HRI) is considered as one of the key techniques of space intelligence robots. Few typical features of complicated human actions need to be captured and understood accurately by intelligent robot to ensure free communication and interaction between both above in real-time, especially for identifying and tracking hand state. There are four approaches for gesture recognition, including algorithm based on Kinect V2 SDK, model-based particle swarm optimization algorithm (PSO), deep learning algorithm and gesture module based on Baidu AI platform. These have been selected to compare in the form of principle, calculating time, robustness, range, environmental adaptability and correct rate respectively. The comparative results have generalized that both the second and the third algorithm have better performance than other algorithms in the above aspects such as calculating efficiency, robustness, detecting range, external disturbance and correct ratio. Particularly, the second algorithm is not only suitable for close range, but also suitable for multi-view cases. However, the third algorithm can have better performance, but depends on precise network model and weights by introducing lots of positive and negative gesture samples. © 2020 ACM.

关键词： Human robot interaction

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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...

引用

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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Study on Buffering and Motion Control of Quadruped Explorer

Study on Buffering and Motion Control of Quadruped Explorer

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IEEE Advanced Information technology, Electronic and Automation Control Conference (IAEAC)

作者： Pei Zhang Xiangyu Gao Qingqing Wei Chu Wang Xin Liu Beijing Key Laboratory of Intelligent Space Robotic System Technology and Application Beijing China

To address the problem of insufficient driving capacity of wheel explorer in rugged terrain, a quadruped explorer with 12 DOF was proposed. The dynamic model of quadruped explorer was established in gazebo, the integrated method of buffering and motion control was verified through simulation which showed that the landing impact upon explorer landing leg was significantly reduced and the explorer gait motion was both stable and flexible.

关键词： Jacobian matrices Information technology Automation Conferences Wheels Dynamics Motion control

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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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Research on autonomous navigation of mobile robot based on multi ultrasonic sensor fusion

Research on autonomous navigation of mobile robot based on m...

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IEEE Information technology and Mechatronics Engineering Conference (ITOEC)

作者： Rui Wang Lei Chen Jie Wang Pei Zhang Qimeng Tan Dong Pan Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing China

ISBN: (纸本)9781538653746

Based on the mobile robot platform with multi-ultrasonic ranging sensors, a method is proposed to obtain local maps by ultrasonic ranging, and to obtain global maps through detection in the process of motion, so as to complete path planning and navigation. This method effectively fuses multi-sensor to detect obstacles around the mobile robot. The global map is constructed by local map, which overcomes the shortcoming of ultrasonic ranging. The method is easy to implement. The validity of this method is verified by a certain type of mobile robot platform.

关键词： Distance measurement Acoustics Mobile robots Robot sensing systems Navigation Path planning

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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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Figure-ground image segmentation via semantic information

Figure-ground image segmentation via semantic information

引用

2019 IEEE International Conference on Real-Time Computing and robotics, RCAR 2019

作者： Yuan, Ding Qiang, Jingjing Li, Jianfei Zhang, Hong Luo, Xiaoyan school of Astronautics Beihang University Beijing China Institute of Shanghai Academy of Space Flight Technology China Beijing Key Laboratory of Intelligent Space Robotic System Technology and Applications Institute of Spacecraft System Engineering CAST China

ISBN: (纸本)9781728137261

—Image segmentation is a technique to segment the image into particular regions which are consistent in some specific characteristics. It is still a non-trivial task to segment the foreground from the background completely, as these regions are seldom uniform in color or texture which are defined as commonly-used low-level features adopted in the traditional techniques. In this work we present a new segmentation framework by employing the semantic information, which is classified as the high-level visual features and holds important clue to indicate the foreground from the background. Firstly, the image is segmented hierarchically by using the semantic edge constraint, and the result is represented as an Ultrametric Contour Map (UCM). Then the UCM is employed in the segmentation energy function as the data term and smoothness term. Finally, the optimal segmentation labels are obtained via the Graph-cut. Experiments achieve good performance testing on the MSRC 21 dataset. © 2018 IEEE

关键词： Textures

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Trajectory Planning Simulation of 3-DoF Parallel Wrist Mechanisms Based on SimMechanics 9

Trajectory Planning Simulation of 3-DoF Parallel Wrist Mecha...

引用

9th IEEE International Conference on Cyber technology in Automation, Control and intelligent systems, CYBER 2019

作者： Yang, Chen Xin, Liu Shimin, Wei Ying, Zhang Qineng, Huang School of Automation Beijing University of Posts and Telecommunications Beijing100876 China Beijing Institute of Spacecraft System Engineering Beijing Key Laboratory of Intelligent Space Robotic System Technology and Applications Beijing100094 China

ISBN: (纸本)9781728107691

In this paper, the trajectory planning problem of a 3-DoF parallel wrist mechanism based on SimMechanics is proposed, which is a symmetric spherical 3-RRR parallel mechanism. The formulation of the inverse kinematics for the mechanism is firstly established by D-H matrix method, and the analytical solution is obtained. Then, the trajectory planning analysis of the mechanism is performed. Finally, the mechanism model is constructed based on the SimMechanics module of Matlab/Simulink, and the trajectory planning simulation of the mechanism is carried out. The simulation results agree well with the theoretical results, which indicate that the proposed method is feasible and convenient for the trajectory simulation of parallel mechanisms. © 2019 IEEE.

关键词： Inverse kinematics

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Hierarchical Knowledge Representation of Complex Tasks Based on Dynamic Motion Primitives 7th

Hierarchical Knowledge Representation of Complex Tasks Based...

引用

7th International Conference on Cognitive systems and Information Processing, ICCSIP 2022

作者： Miao, Shengyi Zhong, Daming Miao, Runqing Sun, Fuchun Wen, Zhenkun Huang, Haiming Zhang, Xiaodong Wang, Na College of Electronics and Information Engineering Shenzhen University Shenzhen518060 China College of Modern Post Beijing University of Posts and Telecommunications Beijing100083 China Department of Computer Science and Technology Tsinghua University Beijing100083 China College of Computer Science and Software Shenzhen University Shenzhen518060 China Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Application Beijing100083 China

ISBN: (纸本)9789819906161

Current service robots without learning ability are not qualified for many complex tasks. Therefore, it is very significant to decompose the complex task into repeatable execution unit. In this paper, we propose a complex task representation method based on dynamic motion primitives, and use hierarchical knowledge graph to represent the analytic results of complex tasks. To realize the execution of complex robot manipulation tasks, we decompose the semantic tasks into the minimum motion units that can be executed by the robot and combine the multi-modal information: posture, force and robot joint parameters, obtained by the sensors. We use the knowledge graph to record the end-effector required by the robot to perform different tasks and make appropriate selection of end-effector according to different needs. Finally, Taking the long sequence complex task of service scene as an example, we use UR5 robot to verify the effectiveness and feasibility of this design. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： End effectors

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Additive Manufacturing spacecraft Structure Made of Lattice Sandwichs

Additive Manufacturing Spacecraft Structure Made of Lattice ...

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第三届中国国际复合材料科技大会

作者： Hao Zhou Xiaoyu Zhang Fuming Zeng Wenhua Shi Huizhong Zeng Yaobing Wang Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System Engineering CAST

Lattice sandwich structures have great advantage in lightweight, multi-function and high stiffness, which provide wide application potential in spacecraft engineering. However, the report of applications of lattice sandwich structures in spacecraft mainstructure is not available due to the difficulties in the manufacturing dimensional precision and the complex connection between parts. In recent years, the development of additive manufacturing techniques, such as selective laser melting, make the high-precision lattice structures become reality. In this work, the design of the first additive manufacturing satellite structure based on lattice cells are achieved using macroscale topology optimization, microscale lattice substitution and design of connection region. The structure is manufactured with AlSi10Mg by direct metal laser melting. The dimensions of the satellite structure are 400×400×400 mm. The main structure plays the role of mechanical support of various equipments. The weight of structures made of lattice cells is much lighter than traditional structures made of solid materials or honey comb plates. The mass of the structure and its carrying capacity are 8 kg and 104 kg, respectively. The structure mass-tosatellite mass ratio is 7.7%, which is lighter than most traditional satellite made of honeycomb sandwich panels, about 15～25%. The weight reduction is extremely important for the achievement of the spacecraft system engineering. The vibration test verified that the satellite structure could endure the vibration loads resulted from the rocket launching.

关键词： spacecraft Structure Lattice Sandwich Selective Laser Melting

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