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A Versatile Continuum Gripping Robot with a Concealable Gripper

Cyborg and Bionic Systems 2023年第1期4卷 494-504页

作者： Shuailong Zhang Fenggang Li Rongxin Fu Hang Li Suli Zou Nan Ma Shengyuan Qu Jian Li School of Mechatronical Engineering Beijing Institute of TechnologyBeijing 100081China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of TechnologyBeijing 100081China School of Medical Technology Beijing Institute of TechnologyBeijing 100081China School of Automation Beijing Institute of TechnologyBeijing 100081China Department of Mechanical Materialsand Manufacturing EngineeringUniversity of NottinghamNottinghamNG72QLUK

Continuum robots with their inherent compliance provide the potential for crossing narrow unstructured workspace and safely grasping various ***,the display gripper increases the size of the robots,and therefore,it tends to get stuck in constrained *** paper proposes a versatile continuum grasping robot(CGR)with a concealable *** CGR can capture large objects with respect to the robot’s scale using the continuum manipulator and can grasp various objects using the end concealable gripper especially in narrow and unstructured *** perform the cooperative operation of the concealable gripper and the continuum manipulator,a global kinematic model based on screw theory and a motion planning approach referred to as“multi-node synergy method”for the CGR are *** simulation and experimental results show that objects of different shapes and sizes can be captured by the same CGR even in complex and narrow ***,in the future,the CGR is expected to serve for satellite capture in harsh space environments such as high vacuum,strong radiation,and extreme temperatures.

关键词： robot Robot narrow

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Frequency shift-based 3D shape measurement in the presence of strong inter-reflection

Frequency shift-based 3D shape measurement in the presence o...

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2024 International Conference on Optical and Photonic Engineering, icOPEN 2024

作者： Miao, Huisi Liu, Wan Yan, Ziyu Xu, Weidong Zhang, Dongbo Zhang, Hui School of Automation and Electronic Information Xiangtan University Xiangtan411105 China Xiangtan Electric Manufacturing Co..Ltd. Xiangtan411105 China National Engineering Research Center of Robot Visual Perception and Control Technology School of Robotics Hunan University Changsha410082 China

ISBN: (数字)9781510688117

ISBN: (纸本)9781510688100

Traditional fringe projection profilometry (FPP) struggles with robust imaging and high-precision three-dimensional (3D) reconstruction in complex lighting environments with strong inter-reflection. This paper proposes a method combining frequency-shifted fringe projection and epipolar constraint to achieve high-precision 3D profilometry in such scenarios. First, environmental light interference is mitigated and the maximum fringe frequency is reduced through window function analysis (WFA) and a four-step phase-shifting (PS). Then, direct and indirect illumination are separated in the Fourier domain. Direct illumination positions are identified using threshold segmentation and epipolar geometry constraint, enhancing imaging robustness in strong inter-reflection contexts. Experimental results demonstrate that the method constructs direct and indirect illumination feature models, accurately obtaining direct illumination information and eliminating multi-path interference. Additionally, in tests with complex geometrical surfaces, imaging efficiency and robustness significantly improve, with effective point cloud data increasing by over 30% and planar accuracy improving by 50%. © 2025 SPIE.

关键词： Light interference

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An improved memetic algorithm for multi-objective resource-constrained flexible job shop inverse scheduling problem: An application for machining workshop

An improved memetic algorithm for multi-objective resource-c...

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作者： Wei, Shupeng Tang, Hongtao Li, Xixing Lei, Deming Wang, Xi Vincent School of Mechanical and Electronic Engineering Wuhan University of Technology Wuhan China Hubei Provincial Engineering Research Center of Robotics and Intelligent Manufacturing Wuhan China School of Mechanical Engineering Hubei University of Technology Wuhan China School of Automation Wuhan University of Technology Wuhan China Department of Production Engineering KTH Royal Institute of Technology Sweden

Resource-constrained flexible job shop scheduling problems are commonly encountered in some manufacturing industries, and have been widely studied in recent years. However, traditional resource constrained flexible job shop scheduling problem rarely consider the uncertainties in actual manufacturing systems, which may make the original schedule become suboptimal or even unfeasible. Therefore, a resource constrained flexible job shop inverse scheduling problem (RCFJISP) is proposed in this paper, which aims to cope with uncertain events by simultaneously adjusting the machine, worker and process parameters of the original schedule. A multi-objective optimization model is constructed to minimize the makespan, worker cost, machine energy consumption and deviation index. Furthermore, an improved memetic algorithm (IMA) is developed for solving the proposed problem. In IMA, a novel double-layer encoding mechanism is designed to enhance the capacity in exploring new solution's domains. Three initialization strategies utilizing original scheduling information are designed to improve the quality of initial solutions. An adaptive mutation strategy and a local search mechanism are designed to enhance exploration and exploitation ability of the algorithm. And a crowding operator is proposed to reflect the diversity of the population effectively. In computational experiments, 28 extended benchmarks are constructed, and the effectiveness of the proposed strategy and algorithm is verified by comparing IMA with its 4 variants and other 4 widely used algorithms. Finally, two inverse scheduling problems of a real-world hydraulic cylinder machining workshop under two uncertain situations are studied. The results demonstrate that IMA can effectively solve the actual inverse scheduling problem. With a slight adjustment to the original scheduling, it can reduce the makespan by 11.5%, the worker cost by 8.1% and the machine energy consumption by 27.9% on average. © 2024 The Society of Ma

关键词： Multiobjective optimization

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Effect of Tine Shaped Furrow Opener on Dry Soil Using Discrete Element Modelling

Effect of Tine Shaped Furrow Opener on Dry Soil Using Discre...

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International Conference on robotics and Artificial Intelligence (ICRAI)

作者： Abdul Mohiz Fazal E Nasir Kamran Shah Department of Mechatronics Engineering University of Engineering & Technology Peshawar Pakistan Advanced Robotics & Automation Lab National Center of Robotics & Automation Peshawar Pakistan

Tillage of the soil is the most important consideration when it comes to the implementation of agricultural practices. Increases in crop yield has been achieved through a variety of agricultural practices thanks to the discoveries of various agricultural experts. The planting process is the one that has the greatest impact on the crop's overall health. The hull can be more precisely prepared for the seed-planting trench with the assistance of furrows. A variety of furrow openers are currently undergoing the implantation process. Studying dynamic systems that are discontinuous in nature can be done with the help of discrete element modelling. The simulation of a tine-shaped furrow opener using the EDEM package software was carried out for three different speeds. When the speed of an object increases, so does the force it exerts on it. Additionally, the length of an object has an effect on the force it exerts. Additionally, taken into consideration were the profiles that were generated in the soil. To carry out statistical validation of the results analysis of variation (ANOVA) was done. The results provided a basis for calculating a confidence level of 95%. For the furrow openers, it was suggested that a speed of 0.495 meters per second, which is equivalent to 1.76 kilometers per hour, be used.

关键词： Meters Industries automation Force Crops Soil Software

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Adaptive Adjustment of Factor's Weight for a Multi-Sensor SLAM 2

Adaptive Adjustment of Factor's Weight for a Multi-Sensor SL...

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2022 2nd International Conference on Computer, Internet of Things and Control Engineering, CITCE 2022

作者： Zhu, Zihan Zhang, Yi Wang, Weijun Feng, Wei Luo, Haowen Zhang, Yaojie Shenzhen Institute of Advanced Technology Chinese Academy of Sciences 518055 China University of Chinese Academy of Sciences Beijing100049 China Guangdong Provincial Key Lab of Construction Robotics and Intelligent Manufacturing Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China Guangdong Provincial International Joint Research Center for Robotics and Intelligent Construction Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China

A multi-sensor fusion simultaneous localization and mapping(SLAM) method based on factor graph optimization that can adaptively modify the weight of the graph factor is proposed in this study, to enhance the localization and mapping capability of autonomous robots in tough situations. Firstly, the algorithm fuses multi-lines lidar, monocular camera, and inertial measurement unit(IMU) in the odometry. Second, the factor graph is constructed using lidar and visual odometry as the unary edge and binary edge constraints, respectively, with the motion determined by IMU odometry serving as the primary odometry in the system. Finally, different increments of IMU odometry, lidar odometry and visual odometry are computed as favor factors to realize the adaptive adjustment of the factor's weight. The suggested method has greater location accuracy and a better mapping effect in complex situations when compared to previous algorithms. © Published under licence by IOP Publishing Ltd.

关键词： Optical radar

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Semi-supervised multi-view clustering with dual hypergraph regularized partially shared non-negative matrix factorization

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Science China(Technological Sciences) 2022年第6期65卷 1349-1365页

作者： ZHANG DongPing LUO YiHao YU YuYuan ZHAO QiBin ZHOU GuoXu School of Automation Guangdong University of TechnologyGuangzhou 510006China Guangdong Key Laboratory of IoT Information Technology Guangzhou 510006China Guangdong-HongKong-Macao Joint Laboratory for Smart Discrete Manufacturing Guangzhou 510006China Center for Advanced Intelligence Project(AIP) RIKENTokyo 103-0027Japan

Real-world data can often be represented in multiple forms and views,and analyzing data from different perspectives allows for more comprehensive learning of the data,resulting in better data clustering ***-negative matrix factorization(NMF)is used to solve the clustering problem to extract uniform discriminative low-dimensional features from multi-view *** clustering methods based on graph regularization have been proposed and proven to be effective,but ordinary graphs only consider pairwise relationships between *** order to learn the higher-order relationships that exist in the sample manifold and feature manifold of multi-view data,we propose a new semi-supervised multi-view clustering method called dual hypergraph regularized partially shared non-negative matrix factorization(DHPS-NMF).The complex manifold structure of samples and features is learned by constructing samples and feature *** improve the discrimination power of the obtained lowdimensional features,semi-supervised regression terms are incorporated into the model to effectively use the label information when capturing the complex manifold structure of the ***,we conduct experiments on six real data sets and the results show that our algorithm achieves encouraging results in comparison with some methods.

关键词： multi-view clustering semi-supervised learning nonnegative matrix factorization(NMF) dual hypergraph

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Design and Implementation of a Wide-Swing CMOS Multiplier for AC Source Signal Tracking and Modulation

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Circuits, Systems, and Signal Processing 2024年第9期43卷 5377-5400页

作者： Wang, Wei Xu, Sendren Sheng-Dong Chen, Chi-Lin Chiu, Huang-Jen Department of Electronic and Computer Engineering National Taiwan University of Science and Technology Taipei 106335 Taiwan Graduate Institute of Automation and Control National Taiwan University of Science and Technology Taipei 106335 Taiwan Advanced Manufacturing Research Center National Taiwan University of Science and Technology Taipei 106335 Taiwan Himax Technologies Inc. Taipei 100507 Taiwan

The multiplier is a pervasive critical component today. However, most of them are difficult to be integrated into an integrated circuit. In this study, we proposed a novel analog multiplier for AC power application, using CMOS process to realize the analog voltage multiplication function of double-ended input and single-ended output. Under the working voltage of 3.3 V, the multiplier can operate with a wide input voltage range of 0–1.6 V (about 48.8% of the working voltage) and a wide output voltage range of 0–2.56 V (about 77.5% of the working voltage). The multiplier is implemented through the current difference between two NMOSs operating in the linear region and the saturation region, respectively. Compared with the existing technique, the proposed analog multiplier has a wider input and output range, and better linearity. It is suitable for AC power signal tracking and modulation. Finally, the United Microelectronics Corporation 0.18 μm 1P4M CMOS standard process was used for physical implementation. Moreover, there is not any BJT or special device used. It was measured that the analog multiplier circuit consumes about 0.56 mW at a working voltage of 3.3 V. © The Author(s), under exclusive licence to Springer Science+Business Media, LLC, part of Springer Nature 2024.

关键词： AC power signal modulation AC source signal tracking Analog integrated circuit (IC) design Analog multipliers Circuits and systems

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Integrated Communication and Topology Design for Cross-domain Collaboration between Space and Marine Robots 4

Integrated Communication and Topology Design for Cross-domai...

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4th International Conference on Electronic Information Engineering and Computer Communication, EIECC 2024

作者： Yu, Bo Zuo, Xiaozhong Gao, Sheng Shenyang Liming Aviation Parts Manufacturing Co. Ltd Shenyang110141 China Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang Institute of Automation Shenyang110016 China China-Portugal Belt and Road Joint Laboratory on Space & Sea Technology Advanced Research Shanghai200120 China

ISBN: (纸本)9798331534622

To address the challenge of achieving efficient and flexible communication between space robots and marine robots during cross-domain collaboration tasks, a hybrid communication integration architecture that combines self-organizing networks and satellite internet is proposed to overcome communication barriers. First, the fundamental technologies of self-organizing networks and satellite internet communication, along with their characteristics, are analyzed in detail. Next, the design of the hybrid communication integration architecture is elaborated, focusing on intra-cluster communication, inter-cluster communication, and cooperative communication technologies in conjunction with the ground command center. Simulation results validate the proposed architecture, demonstrating its capability to meet key performance metrics such as low communication delay, high throughput, and high reliability across various tasks. Finally, the potential optimizations and future research directions for this system are discussed, highlighting the need for improvements in real-world adaptability and scalability. © 2024 IEEE.

关键词： Marine communication

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Design and Development of IoT Based Weather and Air Quality Monitoring Station

Design and Development of IoT Based Weather and Air Quality ...

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International Conference on robotics and Artificial Intelligence (ICRAI)

作者： Muhammad Haris Bilal Ubaid Uzma Bibi Ameer Said Syed Najm us Saqib Shahbaz Khan Muhammad Tufail Advanced Robotics and Automation Lab National Center of Robotics and Automation Peshawar Pakistan Department of Mechatronics Engineering University of Engineering and Technology Peshawar Pakistan Institute of Manufacturing Engineering Management University of Engineering and Applied Sciences Swat Swat Pakistan

This paper presents the Design and Development of IoT Based Weather and Air Quality Monitoring stations that provide weather-related information for agriculture, and aviation climate forecasting purposes. The prototype is made up of an outdoor unit that consistently monitors numerous climatic variables such as temperature, humidity, barometric pressure, wind speed, wind direction, rainfall, and air quality using sensors with high accuracy. The air quality index(AQI) is also calculated using the sensors values which tell us whether the atmosphere is safe or polluted. ESP32(Microcontroller) which has a WiFi module is used to gather and send the sensor data through the Internet of things (IoT) to a ThingSpeak channel (IoT cloud), an internet platform where the data is saved, analyzed and read the data remotely. The weather station makes use of photovoltaic power and a rechargeable lead-acid battery to sustain the system. This paper also discusses the obvious strengths and shortcomings of the system and suggests plausible upgrades to assist the system in obtaining higher and long-term performance.

关键词： Temperature sensors Cloud computing Wind speed Transportation Air quality Sensors Internet of Things

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Kinematics Analysis and Singularity Avoidance of a Parallel Mechanism with Kinematic Redundancy

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Chinese Journal of Mechanical Engineering 2022年第5期35卷 244-261页

作者： Chaoyu Shen Haibo Qu Sheng Guo Xiao Li Robotics Research Center School of MechanicalElectronic and Control EngineeringBeijing Jiaotong UniversityBeijing 100044China China Waterborne Transport Research Institute Beijing 100088China Key Laboratory of Vehicle Advanced Manufacturing Measuring and Control TechnologyMinistry of EducationBeijing Jiaotong UniversityBeijing 100044China

The kinematic redundancy is considered as a way to improve the performance of the parallel *** this paper,the kinematics performance of a three degree-of-freedom parallel mechanism with kinematic redundancy(3-DOF PM-KR)and the influence of redundant parts on the PM-KR are ***,the kinematics model of the PM-KR is *** inverse solutions,the Jacobian matrix,and the workspace of the PM-KR are ***,the influence of redundancy on the PM-KR is *** there exists kinematic redundancy,the PM-KR possesses fault-tolerant *** locking one actuating joint or two actuating joints simultaneously,the fault-tolerant workspace is *** the position of the redundant part is changed,the workspace and singularity will be *** results show that kinematic redundancy can be used to avoid ***,the simulations are performed to prove the theoretical analysis.

关键词： Parallel mechanism Kinematic redundancy Singularity Simulation analysis

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