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2024 IEEE International Conference on Unmanned Systems, ICUS 2024

作者： Zhang, Shaojie Ni, Fenglei Li, Xueai Li, Xu Ji, Yi Shao, Xiangyu State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China Key Laboratory of Autonomous Intelligent Unmanned Systems Harbin Institute of Technology Harbin China

ISBN: (纸本)9798350384185

Robustness walking and recovery ability in uneven terrains and unexpected collisions are crucial for the practical application of humanoid ***, existing methods struggle to effectively balance stability, motion safety and walking *** paper proposes a hybrid control strategy combing Nonlinear Model Predictive Control (NMPC) and Whole-Body Control (WBC) to improve the robot's walking stability and reaction safety in collisions *** NMPC generates long-term and macroscopic movements, with capture point theory being utilized for foot placements determination under external *** this foundation, the WBC regulates the robot refinedly in real-time based on task priorities and *** verify the effectiveness of the proposed method, involving uneven terrain walking and external impacts rejection. © 2024 IEEE.

关键词： Anthropomorphic robots

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Adaptive Closed-Loop Functional Electrical Stimulation System With Visual Feedback for Enhanced Grasping in Neurological Impairments

IEEE Transactions on Medical Robotics and Bionics

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IEEE Transactions on Medical robotics and Bionics 2025年第2期7卷 678-686页

作者： Lin, Chengyu Cheng, Kong Hoi Pan, Wei Sun, Jinxin Gou, Guotao Fu, Junyun Leng, Yuquan Fu, Chenglong Southern University of Science and Technology Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Guangdong Provincial Key Laboratory of Human-Augmentation Rehabilitation Robotics in Universities Department of Mechanical and Energy Engineering Shenzhen518055 China Guilin University of Electronic Technology Guangxi Human Physiological Information Non Invasive Detection Engineering Technology Research Center School of Life and Environmental Sciences Guilin541004 China

Grasping is a critical motor skill essential for daily activities, but it is often compromised in individuals with neural impairments. Functional Electrical Stimulation (FES) has emerged as a promising intervention, utilizing electrical pulses to stimulate muscles and thereby restore impaired motor functions. However, existing closed-loop FES systems depend on pre-calibrated angles or forces specific to individual objects, which limits their practicality in dynamic, real-world environments with varying object properties. This paper presents a novel closed-loop FES (CLFES) system with visual feedback, designed to dynamically adjust stimulation parameters based on real-time interaction states without requiring object-specific calibration. The system employs a finite state machine to manage sequential grasp-release tasks and integrates a visual perception module for slip detection and intent recognition. The system was tested with two individuals with disabilities on five common household objects. Experimental results demonstrate significant improvements, including a 42.6% increase in success rate and a 45.9% reduction in task completion time compared to tasks performed without the system. These results underscore the system's potential to improve daily task performance for individuals with neural impairments. © 2018 IEEE.

关键词： Visual servoing

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An effective nonlinear dynamic formulation to analyze grasping capability of soft pneumatic robotic gripper

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International Journal of Smart and Nano Materials 2024年第3期15卷 405-431页

作者： Qiping Xu Chenhang Ying Kehang Zhang Huiyu Xie Shiju E Department of Robotics Engineering Key Laboratory of Urban Rail Transit Intelligent Operation and Maintenance Technology&Equipment of Zhejiang ProvinceCollege of EngineeringZhejiang Normal UniversityJinhuaP.R.China

Soft pneumatic robotic grippers have found extensive applica-tions across various engineering domains,which prompts active research due to their splendid compliance,high flex-ibility,and safe human-robot interaction over conventional stiff *** simplified rod-based models prin-cipally focused on clarifying overall large deformation and bending postures of soft grippers from static or quasi-static perspectives,whereas it is challenging to elaborate grasping characteristics of soft grippers without considering contact interaction and nonlinear large deformation *** address this,based on absolute nodal coordinate formulation(ANCF),comprehensively allowing for structural complexity,geometric,material and boundary nonlinearities,and incorpor-ating Coulomb’friction law with a multiple-point contact method,we put forward an effective nonlinear dynamic mod-eling approach for exploring grasping capability of soft ***,we solved the established dynamic equations using Generalized-αscheme,and conducted thorough numer-ical simulation analysis on a three-jaw soft pneumatic gripper(SPG)in terms of grasping configurations,displacements and contact *** proposed dynamic approach can accurately both describe complicated deformed configurations along with stress distribution and provide a feasible solution to simulate grasping targets,whose effectiveness and precision were analyzed theoretically and verified experimentally,which may shed new light on devising and optimizing other multi-functional SPGs.

关键词： Nonlinear dynamic formulation soft pneumatic robotic grippers contact interaction grasping capability configuration variations

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Recent advances on monolithic perovskite-organic tandem solar cells

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Interdisciplinary Materials 2024年第1期3卷 113-132页

作者： Guanshui Xie Huan Li Longbin Qiu Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems Department of Mechanical and Energy EngineeringSUSTech Energy Institute for Carbon NeutralitySouthern University of Science and TechnologyShenzhenChina

Perovskite-organic tandem solar cells(TSCs)have emerged as a groundbreaking technology in the realm of photovoltaics,showcasing remarkable enhancements in efficiency and significant potential for practical ***-organic TSCs also exhibit facile fabrication surpassing that of all-perovskite or all-organic TSCs,attributing to the advantageous utilization of orthogonal solvents enabling sequential solution process for each *** perovskite-organic TSCs capitalize on the complementary light absorption characteristics of perovskite and organic *** is a promising prospect of achieving further enhanced power conversion efficiencies by covering a broad range of the solar spectrum with optimized perovskite absorber,organic semiconductors as well as the interconnecting layer's optical and electrical *** review comprehensively analyzes the recent advancements in perovskite-organic TSCs,highlighting the synergistic effects of combining perovskite with a low open-circuit voltage deficit,organic materials with broader light absorption,and interconnecting layers with reduced optical and electrical ***,the underlying device architecture design,regulation strategies,and key challenges facing the high performance of the perovskite-organic TSCs are also discussed.

关键词： interconnecting layer narrow‐bandgap organic solar cells recombination layer tandem solar cells wide‐bandgap perovskite solar cells

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EDSD: efficient driving scenes detection based on Swin Transformer

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Multimedia Tools and Applications 2024年第39期83卷 87179-87198页

作者： Chen, Wei Zheng, Ruihan Jiang, Jiade Tian, Zijian Zhang, Fan Liu, Yi Beijing100083 China Key Laboratory of Intelligent Mining and Robotics Ministry of Emergency Management Beijing100083 China School of Computer Science & amp Technology China University of Mining and Technology Xuzhou221116 China

In the field of autonomous driving, the detection of targets such as vehicles, bicycles, and pedestrians in complex road conditions is of great importance. Through extensive experimentation, we have found that various vehicle targets generally occupy large sizes in the image but are easily occluded, while small targets such as pedestrians usually appear densely. The detection of targets of different sizes is an important challenge for the performance of current detectors. To address this issue, we proposed a novel hierarchical feature pyramid network structure. This structure comprises a series of CNN-Transformer variant layers, each of which is a superposition of CST neural network modules and Swin Transformer modules. In addition, considering that the huge computation of the global self-attention mechanism is difficult to be applied in the field of autonomous driving, we adopted the shifted window method in SwinFM, which effectively accelerates the inference process by replacing the traditional method by using the self-attention mechanism within the window. This study uses the Swin Transformer as a baseline. Compared to the baseline, our EDSD model improves the average accuracy by 1.8% and 3.1% on the BDD100K dataset and the KITTI dataset, respectively. © The Author(s), under exclusive licence to Springer Science+Business Media, LLC, part of Springer Nature 2024.

关键词： Object detection

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GAN-Based Unsupervised Day to Night Image Translation for Nighttime Vehicle Detection 5

GAN-Based Unsupervised Day to Night Image Translation for Ni...

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5th International Conference on Big Data and Artificial Intelligence and Software Engineering, ICBASE 2024

作者： Xu, Yang Wang, Liantao Hohai University Key Laboratory of Maritime Intelligent Cyberspace Technology Ministry of Education Changzhou China Hohai University College of Information Science and Engineering Changzhou China

ISBN: (纸本)9798331506612

A reliable large amount of data is the foundation of deep learning-based target detection tasks. However, the current lack of road datasets in nighttime environments has been a significant hindrance to the development of nighttime vehicle detection. The emergence of adversarial generative networks has made it a promising research direction to translate the existing large amount of daytime images into nighttime images. However, the current translation models are either demanding of the existing data, requiring instance segmentation-level labels;or focused on the general domain. As a result, applying them directly to the day-to-night translation task will produce many unreasonable light spots in the generated images due to nighttime lights. In light of these considerations, this paper proposes a GAN-based unsupervised day-to-night image conversion model, UD2NGAN, which can translate daytime road images to nighttime images without needing segmentation labels. Furthermore, this approach mitigates the occurrence of anomalous light spots in the generated images. The contributions of this paper are threefold. First, we propose a highlight suppression module, which is used to preprocess nighttime images and reduce the number of unreasonable light spots in the generated images. Second, we employ an edge detection module to extract edge features from both the original and the generated images. This results in the retention of more information about the road targets in the generated images. Third, we demonstrate the superiority of our approach by applying the same detectors to multiple datasets. © 2024 IEEE.

关键词： Generative adversarial networks

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A Hierarchical Control Scheme for Active Power-assist Lower-limb Exoskeletons

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Journal of Bionic Engineering 2024年第5期21卷 2184-2198页

作者： Jing Deng Wenzheng Jiang Haibo Gao Yapeng Shi Mantian Li State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150001HeilongjiangChina Shenzhen Academy of Aerospace Technology Shenzhen518063China Faculty of Computing Harbin Institute of TechnologyHarbin150001HeilongjiangChina Institute of Intelligent Manufacturing Technology Shenzhen Polytechnic UniversityShenzhen518055China

Effectively controlling active power-assist lower-limb exoskeletons in a human-in-the-loop manner poses a substantial chal-lenge,demanding an approach that ensures wearer autonomy while seamlessly adapting to diverse wearer *** paper introduces a novel hierarchical control scheme comprising five integral components:intention recognition layer,dynamics feedforward layer,force distribution layer,feedback compensation layer,as well as sensors and *** intention rec-ognition layer predicts the wearer's movement and enables wearer-dominant movement through integrated force and position *** force distribution layer effectively resolves the statically indeterminate problem in the context of double-foot support,showcasing flexible control *** dynamics feedforward layer mitigates the effect of the exoskeleton itself on ***,the feedback compensation layer provides reliable closed-loop *** approach mitigates abrupt changes in joint torques during frequent transitions between swing and stance phases by decomposed *** this innovative hierarchical control scheme on a hydraulic exoskeleton platform through a series of experiments,the results demonstrate its capability to deliver assistance in various modes such as stepping,squatting,and jumping while adapting seamlessly to different terrains.

关键词： Hierarchical control Active power-assist Exoskeleton robots Dynamics feedforward Force distribution Feedback compensation

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Pick-up strategies for and electrical characterization of ZnO nanowires with a SEM-based nanomanipulator

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Nanotechnology and Precision Engineering 2023年第1期6卷 26-31页

作者： Mei Liu Lingdi Kong Weilin Su Aristide Djoulde Kai Cheng Jinbo Chen Jinjun Rao Zhiming Wang Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and AutomationShanghai UniversityShanghai 200444China Guangdong Key Laboratory of Fuel Cell Technology School of Chemistry and Chemical EngineeringSouth China University of TechnologyGuangzhou 510640China

Because of their unique mechanical and electrical properties,zinc oxide(ZnO)nanowires are used widely in microscopic and nanoscopic devices and structures,but characterizing them remains *** this paper,two pick-up strategies are proposed for characterizing the electrical properties of ZnO nanowires using SEM equipped with a *** pick up nanowires efficiently,direct sampling is compared with electrification fusing,and experiments show that direct sampling is more stable while electrification fusing is more *** nanowires have cut-off properties,and good Schottky contact with the tungsten probes was *** piezoelectric experiments,the maximum piezoelectric voltage generated by an individual ZnO nanowire was 0.07 V,and its impedance decreased with increasing input signal frequency until it became *** work offers a technical reference for the pick-up and construction of nanomaterials and nanogeneration technology.

关键词： ZnO nanowires nanomanipulator picking up strategy piezoelectric properties electrical characterization

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Recent Developments in Metallic Degradable Micromotors for Biomedical and Environmental Remediation Applications

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Nano-Micro Letters 2024年第3期16卷 1-35页

作者： Sourav Dutta Seungmin Noh Roger Sanchis Gual Xiangzhong Chen Salvador Pané Bradley J.Nelson Hongsoo Choi Department of Robotics and Mechatronics Engineering Daegu Gyeongbuk Institute of Science and Technology(DGIST)Daegu 42988Republic of Korea DGIST‑ETH Microrobotics Research Center DGISTDaegu 42988Republic of Korea Multi‑Scale Robotics Lab Institute of Robotics and Intelligent SystemsETH Zurich8092 ZurichSwitzerland Institute of Optoelectronics State Key Laboratory of Photovoltaic Science and TechnologyShanghai Frontiers Science Research Base of Intelligent Optoelectronics and PerceptionFudan UniversityShanghai 200433People’s Republic of China

Synthetic micromotor has gained substantial attention in biomedicine and environmental ***-based degradable micromotor composed of magnesium(Mg),zinc(Zn),and iron(Fe)have promise due to their nontoxic fuel-free propulsion,favorable biocompatibility,and safe excretion of degradation products Recent advances in degradable metallic micromotor have shown their fast movement in complex biological media,efficient cargo delivery and favorable biocompatibility.A noteworthy number of degradable metal-based micromotors employ bubble propulsion,utilizing water as fuel to generate hydrogen *** novel feature has projected degradable metallic micromotors for active in vivo drug delivery *** addition,understanding the degradation mechanism of these micromotors is also a key parameter for their design and *** propulsion efficiency and life span govern the overall performance of a degradable metallic *** we review the design and recent advancements of metallic degradable ***,we describe the controlled degradation,efficient in vivo drug delivery,and built-in acid neutralization capabilities of degradable micromotors with versatile biomedical ***,we discuss micromotors’efficacy in detecting and destroying environmental ***,we address the limitations and future research directions of degradable metallic micromotors.

关键词： Magnesium Zinc Iron Biodegradable microrobot Biomedical Environmental

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A practical PID variable stiffness control and its enhancement for compliant force-tracking interactions with unknown environments

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Science China(Technological Sciences) 2023年第10期66卷 2882-2896页

作者： ZHANG Xin ZHOU Hao LIU JinGuo JU ZhaoJie LENG YuQuan YANG ChenGuang State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China School of Computing University of PortsmouthPortsmouth PO13HEUK Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy EngineeringSouthern University of Science and TechnologyShenzhen 518055China Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and EngineeringSouth China University of TechnologyGuangzhou 510640China

Compliant interaction control is a key technology for robots performing contact-rich manipulation *** design of the compliant controller needs to consider the robot hardware because complex control algorithms may not be compatible with the hardware performance,especially for some industrial robots with low bandwidth *** paper focuses on effective and easy-to-use compliant control algorithms for position/velocity-controlled *** by human arm stiffness adaptation behavior,a novel variable target stiffness(NVTS)admittance control strategy is proposed for adaptive force tracking,in which a proportional integral derivative(PID)variable stiffness law is designed to update the stiffness coefficient of the admittance function by the force and position ***,its stability and force-tracking capability are theoretically *** addition,an impact compensator(Impc)is integrated into the NVTS controller to enhance its disturbance-suppression capability when the robot is subjected to strong vibration disturbances in complicated surface polishing *** proposed controllers are validated through four groups of experimental tests using different robots and the corresponding results demonstrate that they have high-accuracy tracking capability and strong adaptability in unknown environments.

关键词： compliant interaction control force tracking PID variable stiffness impact compensator unknown environments

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