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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Mao, Yuchen Guo, Jian Guo, Shuxiang Fu, Qiang Tianjin University of Technology Tianjin Key Laboratory for Control Theory & Application Complicated Systems Intelligent Robot Laboratory School of Electrical Engineering and Automation Binshui Xidao Extension 391 Tianjin300384 China Shenzhen Institute of Advanced Biomedical Robot Co. Ltd No.12 Ganli Sixth Road Jihua Street Longgang District Shenzhen518100 China Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology No.5 Zhongguancun South Street Beijing100081 China

ISBN: (纸本)9798350320831

Gastric hemorrhage in upper gastrointestinal bleeding is an obvious indicator of deteriorating gastric disease. This paper proposes a capsule robot system for detecting bleeding in the stomach. The patient ingests a capsule robot containing luminol reagent, which detects bleeding in the stomach via chemiluminescence. The MCU receives the optical sensor signal, and the data is transmitted via radio frequency. The external lower computer receives and forwards the data to the upper computer for processing and display. The data is used to determine the presence and amount of stomach bleeding. Chemiluminescence is an excellent sensor, requiring no external energy supply, and demonstrating excellent sensitivity and selectivity. Combining chemical and electronic sensors presents opportunities for further development. Capsule robot detection reduces the discomfort and risk of secondary injury associated with traditional endoscopy. This paper establishes an experimental platform using porcine blood to simulate human blood, demonstrating the feasibility of the system. © 2023 IEEE.

关键词： Chemiluminescence

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Azimuth Ambiguity Suppression for Sparse SAR Imaging Based on Unfolded Deep Network 15

Azimuth Ambiguity Suppression for Sparse SAR Imaging Based o...

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15th European Conference on Synthetic Aperture Radar, EUSAR 2024

作者： Wu, Yuwei Zhang, Zhe Song, Ruizhen Qiu, Xiaolan Yu, Weidong Department of Space Microwave Remote Sensing System Beijing100090 China Aerospace Information Research Institute Chinese Academy of Sciences Beijing100094 China Key Laboratory of Intelligent Aerospace Big Data Application Technology Suzhou215123 China Suzhou Aerospace Information Research Institute Suzhou215123 China School of Electronic Electrical and Communication Engineering University of Chinese Academy of Sciences Beijing100049 China

ISBN: (纸本)9783800762873

Sparse synthetic aperture radar (SAR) imaging allows for a reduction in the azimuth sampling rate based on compressive sensing theory. However, it relies on the sparsity of scenes, which can lead to significant azimuth ambiguity. To address this issue, we introduce a novel network designed to suppress azimuth ambiguity for sparse SAR imaging. Our proposed deep unfolded network is based on the Iterative Thresholding Algorithm Learned (LISTA). We replace the observation matrix with Matched Filter (MF) operators to reduce computational complexity. Experiments with real SAR scene data demonstrate the effectiveness and superiority of our approach in suppressing azimuth ambiguity. © VDE VERLAG GMBH ∙ Berlin ∙ Offenbach.

关键词： Matched filters

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A New Recursive Composite Adaptive Controller for robot Manipulators

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space(Science & technology) 2021年第1期2021卷 77-83页

作者： Jianfei Li Yaobing Wang Zhiyong Liu Xin Jing Chengwei Hu The State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China Beijing Key Laboratory of Intelligent Space Robotic System Technology and Applications Beijing Institute of Spacecraft System EngineeringBeijing 100094China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

In this paper,a new recursive implementation of composite adaptive control for robot manipulators is *** investigate the recursive composite adaptive algorithm and prove the stability directly based on the Newton-Euler equations in matrix form,which,to our knowledge,is the first result on this point in the *** proposed algorithm has an amount of computation O(n),which is less than any existing similar algorithms and can satisfy the computation need of the complicated multidegree *** manipulator of the Chinese space Station is employed as a simulation example,and the results verify the effectiveness of this proposed recursive algorithm.

关键词： robot manipulators robot

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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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A MPC-based Planner Applied on a Parallel Wheel-legged robot for Obstacle Avoidance 25

A MPC-based Planner Applied on a Parallel Wheel-legged Robot...

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Proceedings of the 4th International Conference on Computer, Artificial Intelligence and Control Engineering

作者： Fei Guo Huan Yu Wanhong Lin Shoukun Wang National Key Laboratory of Human Factors Engineering China Astronaut Research and Training Center Beijing China Institute of Spacecraft System Engineering China Academy of Space Technology Beijing China Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing China

ISBN: (纸本)9798400712647

A wheel-legged robot is equipped with Stewart parallel mechanism, constituting a reconfigurable robot which can change its wheelbase, robot body height, and achieve omnidirectional steering. The legged character effectively improves the terrain adaptability, which concerns our planning concentration. We introduced an optimization-based whole-body trajectory planning algorithm to navigate robot in rugged terrain. The planner combines terrain data and stability, allowing lower-level motion generator and controller to operate more efficiently. The Model Predictive Control(MPC)-based method updates the footholds and CoG trajectories, which builds upon the support polygon constraints on optimization. The simulations of methodology working in several structure-obstacle scene demonstrated and compared the availability of approach.

关键词： Reconfigurable robot

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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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Ultra-wideband High Gain Circularly Polarized All Dielectric Lens Antenna

Ultra-wideband High Gain Circularly Polarized All Dielectric...

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International Conference on Microwave and Millimeter Wave technology Proceedings

作者： Chen Wang Jing Ma Bin Shi Zhong-bo Zhu Lin Peng The Key Laboratory of Microwave and Optical Wave Application Technology Guilin University of Electronic Technology Guilin Guangxi China The Science and Technology on Special System Simulation Laboratory Beijing Simulation Center Beijing China The National Key Laboratory of Science and Technology on Space Microwave Xi'an China

ISBN: (数字)9798350389968

ISBN: (纸本)9798350389975

In this paper, An ultra-wideband high gain circularly polarized all dielectric lens antenna is proposed. The lens antenna consists a linearly polarized horn and a dielectric lens with a gap. The impedance bandwidth, axial ratio and gain of the antenna can be improved by changing the shape of the lens. The PSO-GA is used to improve the design optimization efficiency of lens antenna, and the modeling time is shortened through the integrated modeling technology. The impedance bandwidth of the lens antenna is 40%, the maximum axial ratio is 2.8dB, and the maximum gain is 21.5dBic at 65GHz. In the 60-90GHz frequency band, the gain is greater than 20.5dBic.

关键词： Microwave antennas Polarization Shape Horn antennas Simulation Bandwidth Ultra wideband antennas

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A Compact Antenna Test Range Designed by All-Dielectric Transmitarray

A Compact Antenna Test Range Designed by All-Dielectric Tran...

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International Conference on Microwave and Millimeter Wave technology Proceedings

作者： Fan Liu Jing Ma Bin Shi Zhong-bo Zhu Lin Peng The Key Laboratory of Microwave and Optical Wave Application Technology Guilin University of Electronic Technology Guilin Guangxi China The Science and Technology on Special System Simulation Laboratory Beijing Simulation Center Beijing China The National Key Laboratory of Science and Technology on Space Microwave Xi'an China

ISBN: (数字)9798350389968

ISBN: (纸本)9798350389975

In this paper, an all-dielectric transmitarray compact antenna test range (TACATR) is proposed. The TACATR can be used as a low-cost alternative to traditional reflector compact antenna test range. The aperture perturbation mechanisms of the TACATR have been investigated, including aperture scattering interference and edge diffraction. Two optimization strategies are proposed to enhance the performance of the quiet zone (QZ). On the one hand, the unwanted edge diffraction is suppressed by employing suitable feeding sources and optimizing the focal aperture ratio (F/D). On the other hand, the interference of aperture scattering in QZ was further suppressed by optimizing the additional phase shift (APS). As an example, a Circular transmitarray (TA) with the dimension of 91mm was designed, which verifies the mechanism of interferences suppressing.

关键词： Microwave antennas Diffraction Horn antennas Perturbation methods Transmitting antennas Millimeter wave technology Scattering

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

Hierarchical Knowledge Representation of Complex Tasks Based...

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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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Design and Analysis of a Novel Reconfigurable Integrated Leg-Arm robot

Design and Analysis of a Novel Reconfigurable Integrated Leg...

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ASME/IFToMM International Conference on Reconfigurable Mechanisms and robots, ReMAR

作者： Xinghan Zhuang Jinyu Ma Zhijun Zhao Yaobing Wang Peijin Zi Jiawen Chen Yaobin Tian Kun Xu XiLun Ding The School of Mechanical Engineering and Automation Beihang University Beijing Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System Engineering Beijing China

ISBN: (数字)9798350395969

ISBN: (纸本)9798350395976

The 4-limbed integrated leg-arm robot, which combines the manipulation capabilities of dual-arm manipulators and the stable mobility of 4-limbed climbing robots, has gained attention in various application fields. However, existing robots typically rely on increasing actuators or independent-driven reconfigurable mechanisms to meet diverse workspace requirements, resulting in increased payload and energy consumption. To tackle this challenge, this paper proposes a novel reconfigurable robot with an underactuated chassis mechanism. The chassis mechanism is established through configuration synthesis and analysis, while its underactuated behavior is revealed through degree of freedom (DOF) analysis and kinematic modeling. Finally, the feasibility of underactuation is verified by simulation.

关键词： Analytical models Energy consumption Mechanism design Kinematics Manipulators Climbing robots Task analysis

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