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2022 4th International Symposium on Robotics and intelligent Manufacturing technology, ISRIMT 2022

作者： Li, Zelin Xu, Linsen Liu, Jinfu Sui, Xiang Hefei Institutes of Physical Science Chinese Academy of Sciences Hefei China University of Science and Technology of China Hefei China College of Mechanical and Electrical Engineering Hohai University China Changzhou Key Laboratory of Intelligent Manufacturing Technology and Equipment China Suzhou Research Institute Hohai University Changzhou China Changzhou Vocational Institute of Industry Technology Changzhou China School of Intelligent Equipment Changzhou College of Information Technology Changzhou China

According to different terrain characteristics, combined with the motion characteristics of wheeled and tracked mobile mechanisms, a reconfigurable wheel-track hybrid deformable wheel with multiple motion forms is proposed and developed. It is composed of a track, wheel body, slewing bearing, and conductive slip ring. In the wheel body, the deformation mechanism, braking mechanism, and turnover locking mechanism can make it realize four kinds of motion forms, such as wheeled form and triangular-tracked form. Based on the corresponding parameter model, the static and dynamic analysis of the deformation mechanism is carried out. Among them, the dynamic analysis puts forward two solutions to the rigid impact problem in the deformation process, and the second solution is systematically modeled. It is found that it can be expressed as a standard second-order system, and the simulation parameters are set according to its characteristics to verify the feasibility of the scheme. © Published under licence by IOP Publishing Ltd.

关键词： Wheels

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A 6R Metamorphic Mechanism with a Novel Variable-Axis Joint

A 6R Metamorphic Mechanism with a Novel Variable-Axis Joint

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

作者： Ruixin Ba Xi Kang Bing Li Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robots Key University Laboratory of Mechanism & Machine Theory and Intelligent Unmanned Systems of Guangdong Harbin Institute of Technology Shenzhen China

ISBN: (数字)9798350395969

ISBN: (纸本)9798350395976

This paper presents a 6R metamorphic mechanism with a novel variable-axis joint, which can achieve compliant switching between motion branches. This paper involves the utilization of a self-coupling variable-axis joint to increase the degree of freedom of the metamorphic mechanism in the vicinity of the bifurcation point. The expansion from the bifurcation point to the bifurcation domains facilitates the switching of motion branches without traversing the bifurcation point. The results show that this variable-axis joint can achieve compliant switching and also enable the mechanism to autonomously converge to the regular motion branch. The findings confirmed the feasibility and efficacy of the proposed method for achieving compliant switching between metamorphic mechanism motion branches.

关键词： Couplings Technological innovation Switches Bifurcation robots

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Learning Rat-Like Behavioral Interaction Using a Small-Scale Robotic Rat 12

Learning Rat-Like Behavioral Interaction Using a Small-Scale...

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12th International Conference on CYBER technology in Automation, Control, and intelligent Systems, CYBER 2022

作者： Gao, Zihang Jia, Guanglu Xie, Hongzhao Guo, Xiaowen Fukuda, Toshio Shi, Qing Beijing Institute of Technology Ministry of Education Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology Key Laboratory of Biomimetic Robots and Systems Beijing100081 China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

In the existing robot-rat interaction, robots usually exert influence as stimuli to observe the response of target rats. However, the above single-stimulation model from robot to rat lacks a two-way communication. Therefore, we proposed a method to learn the rat-like behavioral interaction. First, we constructed two behavior patterns in the interaction process between the two rats: the individual pattern and the interaction pattern. We divided the roles of the two rats into active stimulator and passive receiver. The stimulator executes the individual pattern, and the receiver switches between the two patterns. Which pattern the receiver executes depends on the probability of interaction. Secondly, we proposed a hypothesis concerning the behavioral interaction between two rats and controlled the interaction process between two robots. Information entropy was used to measure the similarity between two robots and two rats. The results proved that the probability of interaction between rats depends on the distance of centroid and average relative velocity, and we obtained the optimal solution to express the relationship between them. In the future, the improvement of robots' interaction ability with rats will highly benefit from this study. © 2022 IEEE.

关键词： Rats

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Progress and Development Trend of Space intelligent Robot technology

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Space(Science & technology) 2022年第1期2022卷 286-296页

作者： Zhihong Jiang Xiaolei Cao Xiao Huang Hui Li Marco Ceccarelli School of Mechatronic Engineering Beijing Institute of TechnologyBeijing 100081China Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of TechnologyBeijing 100081China Key Laboratory of Biomimetic Robots and Systems of Chinese Ministry Beijing Institute of TechnologyBeijing 100081China Department of Industrial Engineering University of Rome Tor VergataVia del Politecnico 100133 RomaItaly

Since space intelligent robots are not restricted by physiological conditions,it is an attractive choice for the development of automation technology to use them for space exploration and *** is currently the key development direction of the major space powers over the *** paper first investigates the robotic manipulators and humanoid robot systems for space station applications and reviews theories and methods for robots to achieve large-range stable motion and intelligent dexterous ***,the intelligent robot systems for on-orbit satellite maintenance are reviewed,and the related technologies of multirobot collaboration are ***,we investigate the intelligent robot systems for on-orbit assembly of large-scale spatial structures and summarize the technologies of modular assembly and on-orbit ***,this paper reviews the technological progress and development trends of space robots,which provides a good reference for further technical research in this field.

关键词： robot Robot attractive

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Chinese Position Segmentation Based on ALBERT-BiGRU-CRF Model

Chinese Position Segmentation Based on ALBERT-BiGRU-CRF Mode...

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2021 International Symposium on Computer technology and Information Science, ISCTIS 2021

作者： Li, Xiaolin Deng, Qingkang Wuhan University of Technology Hubei Provincial Key Laboratory of Intelligent Robots Wuhan China

ISBN: (纸本)9781665414418

Aiming at the problems of poor parsing effect and poor generalization ability in Chinese position segmentation using current neural network models, this paper proposes a Chinese position segmentation method based on ALBERT-BiGRU-CRF model. The method first uses the ALBERT pre-Training model to pre-Train the Chinese location information to obtain the context information in all layers, enhance the semantic representation ability of the Chinese location information, and then extract the feature information of the vector through the BiLSTM model, and finally decode it through the CRF model to obtain the global Optimal labeling sequence. Experimental results show that on the basis of different numbers and regions of Chinese location information data sets, the ALBERT-BiGRU-CRF model has better word segmentation accuracy and F1 value on all test sets than the current commonly used neural network models, and the highest can be achieved. 93.91% and 93.96%. Using the ALBERT-BiGRU-CRF model to segment Chinese location information not only effectively improves the accuracy of Chinese location information analysis and polysemous word analysis, but also has better generalization capabilities. © 2021 IEEE.

关键词： Neural network models

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Multi-speed walking gait generation for bipedal robots based on reinforcement learning and human motion imitation

Multi-speed walking gait generation for bipedal robots based...

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第42届中国控制会议

作者： Mengya Su Yan Huang Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology Key Laboratory of Biomimetic Robots and Systems Ministry of Education

Gait generation is significant for a humanoid robot to realize flexible motion adapt to complex environments. With the wide applications of data-driven methods, gait generation approaches based on reinforcement learning have been *** this study, we proposed a multi-speed walking gait generation method based on reinforcement learning and human motion imitation. Multi-speed walking gaits were generated with imitation of human walking of only one speed. Moreover, we also analyzed multi-speed walking gait generation for a biped robot with reduced human motion data(e.g. motion data of trunk orientation and hip and knee angles without ankle angle, or motion data of trunk orientation and hip angle only) and reduced training time. This study provides a novel method for generation of multi-speed and human-like walking gaits of biped robot.

关键词：

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Named entity recognition of legal documents based on cascade model

Named entity recognition of legal documents based on cascade...

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2021 International Symposium on Computer technology and Information Science, ISCTIS 2021

作者： Li, Xiaolin Chen, Zhuohao Xu, Gang Huang, Bowen Wuhan University of Technology Hubei Provincial Key Laboratory of Intelligent Robots Wuhan China

ISBN: (纸本)9781665414418

Aiming at the problems of long legal document entities and the lack of annotated data, a cascade model that integrates the characteristics of characters and words is proposed. The traditional NER is decomposed into two cascaded subtasks: The entity recognition and the attribute recognition. The model obtains the vector representation of text character-level and word-level through BERT and Self-Attention, respectively. Then the BiLSTM is used to obtain the internal features of the serialized text. Subsequenly, CRF is used to select the entity's optimal tag sequence and the attributed optimal tag sequence. Finally, these two sequences are spliced to obtain the optimal marker sequence. In order to improve the utilization rate of the data, the label linearization is introduced for the data enchancement. The results show that the method is superior to traditional models, can effectively extract named entities of legal documents, and has the vital practical significance. © 2021 IEEE.

关键词： Authentication

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Real-Time Digital Video Stabilization Based on IMU Data Fusion and Periodic Jitters of Airborne Vision of Bionic Flapping Wing robots

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IEEE Transactions on Instrumentation and Measurement 2025年 74卷

作者： Ye, Jingyang Pan, Erzhen Xu, Wenfu Harbin Institute of Technology Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robots Guangdong Biomimetic Intelligent Unmanned System Engineering Technology Research Center Shenzhen518052 China Jianghuai Advance Technology Center Hefei230000 China

Bionic flapping wing robots (FWRs) with airborne vision return real-time video streams during flight for critical tasks such as aerial surveys, traffic patrols, and fire warnings. Periodic wing flapping, however, introduces intense jitters into the monitoring video streams. A real-time digital video stabilization (DVS) method based on inertial measurement unit (IMU) data fusion and periodic jitters, which can be operated in real time via an airborne computer and return stabilized video streams to the ground station with low latency, was proposed in this study. First, multiple continuous trajectories with equal spatial intervals were generated on the basis of airborne IMU data and optical flow tracking. Second, the lagged stable positions and velocities of the trajectories were estimated on the basis of the periodic characteristics and frequency of the flapping wings via an airborne Hall sensor. Then, the stable trajectories of the current frame were predicted with a constant-velocity (CV) model and guided to generate stable frames. Finally, outdoor flight experiments were conducted with a 1.8 m wingspan FWR. In terms of objective and subjective evaluations, the proposed method provides greater stabilization performance and robustness for different scenes and FWR flight status than existing methods do. © 1963-2012 IEEE.

关键词： Video streaming

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Android Malware Detection Model Incorporating Function Call Graph and Permission

Android Malware Detection Model Incorporating Function Call ...

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IEEE International Conference on Mechatronics, Robotics and Automation (ICMRA)

作者： Zekun Xia Shaofei Wu School of Computer Science and Engineering Wuhan Institute of Technology Hubei Province Key Laboratory of Intelligent Robots Wuhan Institute of Technology Wuhan China

ISBN: (数字)9798350352474

ISBN: (纸本)9798350352481

The proliferation of malicious software in the smartphone market, particularly targeting the Android operating system, has sparked a need for accurate detection methodologies. Leveraging machine learning and deep learning techniques, prior research has focused on feature extraction from APK files to identify such threats. However, the reliance solely on single-dimensional feature vectors, such as permissions extracted from manifest files (***), often falls short in accurately predicting malware because code obfuscation makes accurate prediction difficult.”. In response, this paper presents a hybrid detection approach. Initially, permission data sourced from the APK manifest file is fed into a multilayer perceptron (MLP) model, yielding prediction result A with an accuracy of 91.81%. Subsequently, function call graphs (FCGs) extracted from APKs are processed by a graph convolutional network (GCN) model, producing prediction result B with an accuracy of 93.50%. These two prediction sets are then amalgamated, considering both model accuracies and individual APK prediction probabilities. Introducing a novel feature u i , computed as the product of a i (model accuracy) and p i (APK prediction probability), facilitates the integration process. Utilizing these enhanced features, a logistic regression meta-model is trained, achieving a prediction accuracy of 96.50%.

关键词： Accuracy Mechatronics Operating systems Computational modeling Predictive models Multilayer perceptrons Feature extraction Malware Vectors Robotics and automation

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Retinal artery and vein classification optimization method based on vascular topology

Retinal artery and vein classification optimization method b...

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2022 International Conference on Computer Graphics, Artificial Intelligence, and Data Processing, ICCAID 2022

作者： Jiang, Zhihong Su, Hong Zhao, Aidi She, Chongyang Li, Hui Qiu, Huaiyu Huang, Xiao School of Mechatronical Engineering Beijing Institute of Technology Beijing100081 China Advanced Innovation Center for Intelligent Robots and Systems Beijing100081 China Key Laboratory of Biomimetic Robots and Systems of Chinese Ministry of Education Beijing100081 China Ophthalmology Department Beijing Chao-Yang hospital Capital medical university Beijing100020 China

ISBN: (纸本)9781510663350

Arteriosclerosis is an independent predictor of cardiovascular disease which is one of the most important causes of human death. Retinal vascular features parameters are important for intelligent diagnosis of arteriosclerosis. These parameters depend on accurate artery and vein (A/V) classification result, but the convolutional neural networks (CNN) used for retinal A/V classification all have some A/V misclassification. In this paper, an optimization method is proposed to optimize the A/V classification of CNN basing on vascular topology. A multi-level lightweight algorithm is proposed to obtain the lightweight information of the vascular skeleton. Using the knowledge of graph theory, the multi-lightweight algorithm preserves the continuous and complete center line structure information. And then, we use multilevel Dijkstra algorithm to estimate the vascular topology on the lightweight vessel skeleton graph, and use the direction algorithm to obtain the vascular directed topology. Lastly, the topology labels algorithm is found on the type of branch nodes to deliver the A/V information along the vascular directed topology to optimize the A/V classification. Experiments clearly show that our optimization method can correct effectively the A/V misclassification. © 2023 SPIE.

关键词： Classification (of information)

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