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IEEE International Conference on robotics and Biomimetics

作者： Biao Hu Shibo Shao Zhengcai Cao Qing Xiao Qunzhi Li Chao Ma College of Information Science and Technology Beijing University of Chemical Technology Beijing China Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System Engineering Beijing China

Quadruped robots have great agility, flexibility and stability, which enables them to walk through uneven terrain. Motion control of legged robots is always a difficult problem. Previous approaches mostly either use a predefined gait that results in clumsy and unnatural behavior, or use reinforcement learning approach to generate a gait strategy that needs longtime computation and elegant network design. In this paper, we present an effective approach that uses deep reinforcement learning with prior knowledge to optimize the gait of quadruped robot. By using a specific quadruped robot walking gait as a priori knowledge, this approach adopts the technique of distributed proximal policy optimization to optimize the search for better gait. The proposed approach does not require modelling of complex robots, and has good network convergence speed and learning effect. Simulation results demonstrate that our proposed approach converges faster than other deep reinforcement learning methods without prior knowledge. Besides, our achieved gait has higher speed that is 50% faster than the trot gait without optimization.

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Discrete Element Simulation of Durability for Bionic Wheels of Mars Rover

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Journal of Physics: Conference Series 2020年第5期1507卷

作者： Y C Lin Y P Yan B F Yuan Y F Liu M Zou Beijing Key Laboratory of Intelligent Space Robotic System Technology and application Institute of Spacecraft System Engineering CAST Beijing 100094 China Key Laboratory for Bionics Engineering of Education Ministry Jilin University Changchun 130022 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.

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A fundamental theorem for eco-environmental surface modelling and its applications

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Science China Earth Sciences 2020年第8期63卷 1092-1112页

作者： Tianxiang YUE Na ZHAO Yu LIU Yifu WANG Bin ZHANG Zhengping DU Zemeng FAN Wenjiao SHI Chuanfa CHEN Mingwei ZHAO Dunjiang SONG Shihai WANG Yinjun SONG Changqing YAN Qiquan LI Xiaofang SUN Lili ZHANG Yongzhong TIAN Wei WANG Ying’an WANG Shengnan MA Hongsheng HUANG Yimin LU Qing WANG Chenliang WANG Yuzhu WANG Ming LU Wei ZHOU Yi LIU Xiaozhe YIN Zong WANG Zhengyi BAO Miaomiao ZHAO Yapeng ZHAO Yimeng JIAO Ufra NASEER Bin FAN Saibo LI Yang YANG John PWILSON State Key L aboratory of Resources and Environment Information System Institute of Geographical Sciences and Natural Resources ResearchChinese Academy of SciencesBeijing 100101China College of Resources and Environment University of Chinese Academy of SciencesBeijing 100049China College of Land Resources and Environment Jiangxi Agricultural UniversityNanchang 330045China College of Geomatics Shandong University of Science and TechnologyQingdao 266590China College of Forestry Beijing Forestry UniversityBeijing 100083China School of Land and Resources China West Normal UniversityNanchong 637002China College of Geographical Information and Tourism Chuzhou UniversityChuzhou 239000China Institutes of Science and Development Chinese Academy of SciencesBeijing 100190China Department of Information Engineering Shandong University of Science and TechnologyTai'an 271019China College of Resources Sichuan Agricultural UniversityChengdu 611130China College of Geography and Tourism Qufu Normal UniversityRizhao 276828China Aerospace Information Research Institute Chinese Academy of SciencesBeijing 100101China School of Geographical Science Southwest UniversityChongqing 400715China National Disaster Reduction Center of China Ministry of Emergency ManagementBeijing 100721China Department for Population Data China Population and Development Research CenterBeijing 100081China Department for Industrial Standard China Standardization AdministrationBeijing 100088China The Academy of Digital China Fuzhou UniversityFuzhou 350002China National Institute of Environmental Health Chinese Center for Disease Control and PreventionBeijing 100021China School of Information Engineering China University of GeoscienceBeijing 100083China Qian Xuesen Laboratory of Space Technology Beijing 100094China College of Architecture and Urban Planning Chongqing Jiaotong UniversityChongqing 400074China Jiangsu Center for Collaborative Innovation in Geographical Information Resource Development and Application Nanjing

We propose a fundamental theorem for eco-environmental surface modelling(FTEEM) in order to apply it into the fields of ecology and environmental science more easily after the fundamental theorem for Earth’s surface system modeling(FTESM). The beijing-Tianjin-Hebei(BTH) region is taken as a case area to conduct empirical studies of algorithms for spatial upscaling, spatial downscaling, spatial interpolation, data fusion and model-data assimilation, which are based on high accuracy surface modelling(HASM), corresponding with corollaries of FTEEM. The case studies demonstrate how eco-environmental surface modelling is substantially improved when both extrinsic and intrinsic information are used along with an appropriate method of HASM. Compared with classic algorithms, the HASM-based algorithm for spatial upscaling reduced the root-meansquare error of the BTH elevation surface by 9 m. The HASM-based algorithm for spatial downscaling reduced the relative error of future scenarios of annual mean temperature by 16%. The HASM-based algorithm for spatial interpolation reduced the relative error of change trend of annual mean precipitation by 0.2%. The HASM-based algorithm for data fusion reduced the relative error of change trend of annual mean temperature by 70%. The HASM-based algorithm for model-data assimilation reduced the relative error of carbon stocks by 40%. We propose five theoretical challenges and three application problems of HASM that need to be addressed to improve FTEEM.

关键词： HASM FTEEM Spatial upscaling Spatial downscaling Spatial interpolation Data fusion Model-data assimilation Model coupling

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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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IEEE International Conference on robotics and Biomimetics

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

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.

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Airborne Polarimetric and Repeat-Pass SAR Interferometry Campaign: L-Band Results

Airborne Polarimetric and Repeat-Pass SAR Interferometry Cam...

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IEEE International Symposium on Geoscience and Remote Sensing (IGARSS)

作者： Xuelian Zhong Li Tao Jiajia Zhang Xi Chen Mingxing Shen Rengli Liu Hong Hu Jianli Liu Key Laboratory of Aperture Array and Space Application No.38 Research Institute China Electronics Technology Group Corporation HeFei China State Key Laboratory of Resources and Environmental Information System Institute of Geographic Sciences and Natural Resources Research Beijing China

From September to November, 2018, a L-band SAR system developed by the No.38 Research Institute, China Electronics technology Group Corporation (CETC 38) took several flights for testing and validation. Polarimetric and repeat-pass interferometric SAR data were acquired in these flights. This paper mainly presents the polarimetric SAR images and repeat-pass interferometric SAR (InSAR) results in this campaign.

关键词： Synthetic aperture radar L-band Interferometry Azimuth Radar polarimetry Focusing Estimation

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A Biomimetic Planning Control Method to anthropomorphize a 7-DOF Redundant Manipulator in Unstructured Environments

A Biomimetic Planning Control Method to anthropomorphize a 7...

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IEEE International Conference on Cyber technology in Automation, Control, and intelligent systems

作者： Yang Mo Zhihong Jiang Hui Li Hong Yang Qiang Huang School of Mechatronic Engineering Advanced Innovation Center for Intelligent Robots and Systems Key Laboratory of Biomimetic Robots and Systems of Chinese Ministry of Education Beijing Institute of Technology Beijing China Institute of Manned Spacecraft System Engineering China Academy of Space Technology (CAST) Beijing China

ISBN: (数字)9781728107707

ISBN: (纸本)9781728107714

An increasingly important trend is to simulate a human arm using a 7-degrees-of-freedom (DOF) redundant manipulator and accomplish complex tasks in an unstructured environment by leveraging human experience. Human arm motion information acquired by a biomimetic motion capture system is mapped to planning information of the manipulator to leverage human experience in the control process and quickly improve the operational capability of the manipulator in complex environments. In this paper, extensive tests are performed for verification, and the test results prove the effectiveness of the proposed algorithm, which improve the operational performance of a redundant manipulator in a complex environment to accomplish humanoid tasks and is critical to robot-aided operations or the complete substitution of humans by robots in the future.

关键词： Manipulators robot kinematics Transforms Planning Task analysis Kinematics

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Research on obstacle detection and path planning based on visual navigation for mobile robot

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Journal of Physics: Conference Series 2020年第6期1601卷

作者： Yixiao Zheng Bixi Yan Chao Ma Xinyu Wang Haoyang Xue 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.

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Inchworm-inspired soft climbing robot using microspine arrays

Inchworm-inspired soft climbing robot using microspine array...

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2019 IEEE/RSJ International Conference on intelligent robots and systems (IROS)

作者： Qiqiang Hu Erbao Dong Gang Cheng Hu Jin Jie Yang Dong Sun CAS Key Laboratory of Mechanical Behavior and Design of Materials University of Science and Technology of China Hefei China CAS Key Laboratory of Mechanical Behavior and Design of Materials University of Science and Technology of China Hefei PRC Anhui Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System Engineering Beijing PRC Department of Biomedical Engineering City University of Hong Kong Hong Kong SAR

Animals in nature, such as geckos, inchworms, and felines can climb on various surfaces using different mechanisms and serve as references for the study of bio-inspired robots. This paper presents an inchworm-inspired climbing robot that consists of soft body and feet. The soft robot is actuated by shape memory alloy wires and utilizes microspine arrays to attach its feet to rough or soft surfaces. A series of experiments to test the functionality of the feet and torso of the designed robot have verified the theoretical feasibility of the robot. Results have shown that the designed bio-inspired robot can climb on inclined or vertical curved surfaces and flat surfaces. The robot can also adapt to the underwater environment. Thus, this robot has great potential for various applications such as pipeline inspection.

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Deep Sleep Detection Using Only Respiration

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Journal of beijing Institute of technology 2018年第3期27卷 459-467页

作者： Yanjun Li Xiaoying Tang Zhi Xu Key Laboratory of Convergence Medical Engineering System and Healthcare Technology the Ministry of Industry and Information TechnologySchool of Life ScienceBeijing Institute of Technology State Key Laboratory of Space Medicine Fundamentals and Application China Astronaut Research and Training Center

Although polysomnogram(PSG)is the gold standard method for the evaluation of sleep quality,it becomes very difficult to clean the residual conductive gel in the hair after collecting brain electricity in the space weightlessness *** paper explores the feasibility of detecting deep sleep by using respiratory signal *** signals of oronasal airflow and abdomen movements were analyzed on ten healthy subjects from an open-access sleep dataset,namely *** sleep segments were detected by linear support-vector machine(LSVM)with three indices,including the amplitude variability in the time domain,the energy ratio of main respiratory band in the frequency domain,and the information entropy in the time-frequency *** Cohen's Kappa coefficients were 0.43,0.41 and0.45 by general LSVM with feature vectors derived from oronasal airflow,abdomen movements and both respiration above,***,the corresponding Cohen's Kappa coefficients were0.48,0.41 and 0.49 by individual LSVM,***-based method can achieve a moderate accuracy for the detection of deep sleep,with individual LSVM a little better than the general *** this approach,detecting deep sleep automatically is attainable by respiratory signals from unconstrained and contact-free *** can be applied to the sleep monitoring for astronauts on orbit.

关键词： sleep quality sleep scoring sleep stage classification deep sleep detection time-frequency analysis

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Mapping essential urban land use categories in China(EULUC-China):preliminary results for 2018

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Science Bulletin 2020年第3期65卷 182-187页

作者： Peng Gong Bin Chen Xuecao Li Han Liu Jie Wang Yuqi Bai Jingming Chen Xi Chen Lei Fang Shuailong Feng Yongjiu Feng Yali Gong Hao Gu Huabing Huang Xiaochun Huang Hongzan Jiao Yingdong Kang Guangbin Lei Ainong Li Xiaoting Li Xun Li Yuechen Li Zhilin Li Zhongde Li Chong Liu Chunxia Liu Maochou Liu Shuguang Liu Wanliu Mao Changhong Miao Hao Ni Qisheng Pan Shuhua Qi Zhehao Ren Zhuoran Shan Shaoqing Shen Minjun Shi Yimeng Song Mo Su Hoi Ping Suen Bo Sun Fangdi Sun Jian Sun Lin Sun Wenyao Sun Tian Tian Xiaohua Tong Yihsing Tseng Ying Tu Hong Wang Lan Wang Xi Wan Zongming Wang Tinghai Wu Yaowen Xie Jian Yang Jun Yang Man Yuan Wenze Yue Hongda Zeng Kuo Zhang Neng Zhang Tao Zhang Yu Zhang Feng Zhao Yichen Zheng Qiming Zhou Nicholas Clinton Zhiliang Zhu Bing Xu Ministry of Education Key Laboratory for Earth System Modeling Department of Earth System ScienceTsinghua UniversityBeijing 100084China Tsinghua Urban Institute Tsinghua UniversityBeijing 100084China Center for Healthy Cities Institute for China Sustainable UrbanizationTsinghua UniversityBeijing 100084China Department of Land Air and Water ResourcesUniversity of CaliforniaDavisCA 95616-8627USA Department of Geological and Atmospheric Sciences Iowa State UniversityAmesIA 50011USA State Key Laboratory of Remote Sensing Science Institute of Remote Sensing and Digital EarthChinese Academy of SciencesBeijing 100101China AI for Earth Laboratory Cross-Strait InstituteTsinghua UniversityBeijing 100084China International Institute for Earth System Sciences Nanjing UniversityNanjing 210093China Research Center for Ecology and Environment of Central Asia Chinese Academy of SciencesUrumchi 830011China Key Laboratory of Forest Ecology and Management Institute of Applied EcologyChinese Academy of SciencesShenyang 110016China National Engineering Laboratory for Applied Technology in Forestry&Ecology in South China College of Life Science and TechnologyCentral South University of Forestry and TechnologyChangsha 410004China College of Surveying&Geo-Informatics Tongji UniversityShanghai 200092China Department of Urban Planning College of Architecture and Urban PlanningTongji UniversityShanghai 200092China Beijing Institute of Urban Planning Beijing 100045China Department of Urban Planning School of Urban DesignWuhan UniversityWuhan 430072China College of Earth Sciences Jilin UniversityChangchun 130061China Research Center for Digital Mountain and Remote Sensing Application Institute of Mountain Hazards and EnvironmentChinese Academy of SciencesChengdu 610041China Institute of Remote Sensing and Geographic Information System School of Earth and Space SciencesPeking UniversityBeijing 100871China Department of Urban and Regional Planning School of Geography and PlanningSun Yat-sen Univ

Land use reflects human activities on *** land use is the highest level human alteration on Earth,and it is rapidly changing due to population increase and *** areas have widespread effects on local hydrology,climate,biodiversity,and food production[1,2].However,maps,that contain knowledge on the distribution,pattern and composition of various land use types in urban areas,are limited to city *** mapping standard on data sources,methods,land use classification schemes varies from city to city,due to differences in financial input and skills of mapping *** address various national and global environmental challenges caused by urbanization,it is important to have urban land uses at the national and global scales that are derived from the same or consistent data sources with the same or compatible classification systems and mapping *** is because,only with urban land use maps produced with similar criteria,consistent environmental policies can be made,and action efforts can be compared and assessed for large scale environmental ***,despite of the fact that a number of urban-extent maps exist at global scales[3,4],more detailed urban land use maps do not exist at the same *** at big country or regional levels such as for the United States,China and European Union,consistent land use mapping efforts are rare[5,6](e.g.,https://***/open_land_use/).

关键词： EULUC-China 土地利用类型

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