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Base position planning of mobile manipulators for assembly tasks in construction environments

Advances in Manufacturing 2023年第1期11卷 93-110页

作者： Dai-Jun Xie Ling-Dong Zeng Zhen Xu Shuai Guo Guo-Hua Cui Tao Song Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and AutomationShanghai UniversityShanghai200444People’s Republic of China National Demonstration Center for Experimental Engineering Training Education Shanghai UniversityShanghai200444People’s Republic of China School of Mechanical and Automotive Engineering Shanghai University of Engineering ScienceShanghai201620People’s Republic of China Shanghai Collaborative Innovation Center of Intelligent Manufacturing Robot Technology for Large Components Shanghai201620People’s Republic of China

With good mobility and flexibility,mobile manipulators have shown broad applications in construction *** position(BP)planning,which refers to the robot autonomously determining its working station in the environment,is an important technique for mobile manipulators when performing the construction assembly task,especially in a large-scale construction ***,the BP planning process is tedious and time-consuming for a human worker to carry ***,to improve the efficiency of construction assembly tasks,a novel BP planning method is proposed in this paper,which can lead to appropriate BPs and minimize the number of BPs at the same ***,the feasible BP regions are generated based on the grid division and the variable workspace of the mobile ***,the positioning uncertainties of the mobile manipulator are considered in calculating the preferred BP areas using ***,a set coverage optimization model is established to obtain the minimum number of BPs using an optimization algorithm according to the greedy *** simulated experiment based on a 9-degree of free(DoF)mobile manipulator has been *** results illustrated that the time for BP planning was significantly reduced and the number of BPs was reduced by 63.41%compared to existing manual planning,which demonstrated the effectiveness of the proposed method.

关键词： Base position(BP)planning Mobile manipulators Variable workspace Positioning uncertainties Construction environments

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Exploiting the Intrinsic Neighborhood Semantic Structure for Domain Adaptation in EEG-based Emotion Recognition

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IEEE Transactions on Affective Computing 2025年

作者： Yang, Yi Wang, Ze Song, Yu Jia, Ziyu Wang, Boyu Jung, Tzyy-Ping Wan, Feng Macau University of Science and Technology Macao Centre for Mathematical Sciences Respiratory Disease AI Laboratory on Epidemic Intelligence and Medical Big Data Instrument Applications Faculty of Innovation Engineering 999078 China Tianjin University of Technology School of Electrical Engineering and Automation Tianjin Key Laboratory of New Energy Power Conversion Transmission and Intelligent Control Tianjin300384 China Chinese Academy of Sciences Beijing Key Laboratory of Brainnetome and Brain-Computer Interface and Brainnetome Center Institute of Automation Beijing100045 China Western University Department of Computer Science Brain Mind Institute LondonONN6A 3K7 Canada University of California at San Diego Swartz Center for Computational Neuroscience Institute for Neural Computation La Jolla CA92093 United States University of Macau Department of Electrical and Computer Engineering Faculty of Science and Technology China University of Macau Centre for Cognitive and Brain Sciences Centre for Artificial Intelligence and Robotics Institute of Collaborative Innovation 999078 China

Due to the inherent non-stationarity and individual differences present in electroencephalogram (EEG) signals, developing a generalizable model that performs well on new subjects is challenging in EEG-based emotion recognition. Most existing domain adaptation (DA) methods typically mitigate these discrepancies by aligning the marginal distributions of domain feature representations. However, when there is a significant difference in the class-conditional distribution between domain features and labels, the domain-invariant features learned by aligning marginal distributions may have limited discriminative ability for unlabeled target instances or even prove counterproductive. To address this issue, we propose a Neighborhood Semantic Aware Learning-based Dynamic Graph Attention Convolution (NSAL-DGAT) approach that learns target semantic information by considering the inter-domain semantic topological structure, thereby improving classifier adaptation for target instances. Specifically, the proposed NSAL framework is designed to capitalize on the insight that after domain feature alignment, some target samples and their neighboring source samples exhibit similar semantics. By leveraging the neighborhood topological structure, we extract and incorporate semantic target features to train a more transferable classifier. Besides, we implement an entropy weighting mechanism to emphasize representative target semantic information, encouraging target instances to prioritize high-confidence individuals within the source neighborhood. We have conducted extensive experiments on the public SEED dataset and our collected the Hearing-Impaired EEG Dataset (HIED). The experimental results underscore the efficacy of our proposed NSAL-DGAT approach, showcasing state-of-the-art accuracy in subject-dependent as well as subject-independent scenarios. The source code is available at https://***/YYingDL/NSAL-DGAT. © 2010-2012 IEEE.

关键词： Speech analysis

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A multimode soft gripper with an inflatable toroid for robotic gentle grasping: Swallowing, enveloping, and expansion

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Sensors and Actuators A: Physical 2025年 393卷

作者： Sheng Xiang Muye Niu Zhong Wei Jia Liu Yang Yang Zhen Liu School of Automation Nanjing University of Information Science and Technology Nanjing 210044 PR China Jiangsu Collaborative Innovation Center of Atmospheric Environment and Equipment Technology Nanjing 210044 PR China State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin 150001 PR China

Soft grippers offer inherent adaptability to objects of varying shapes due to the compliance of their constituent materials. In this study, we present a novel multimode soft gripper based on an inflatable toroidal structure that supports swallowing, enveloping, and expansion grasping modes. By enabling seamless transitions between these modes, the gripper accommodates a wide range of object geometries, facilitates continuous multi-object grasping, and enhances load-bearing capacity and tolerance to positional misalignment. The design features a soft toroid integrated with V-shaped pleats, which enable dual-mode deformation through coordinated material stretching and pleat unfolding. The design of the gripper and an analytical model capturing its geometric characteristics are presented, along with detailed descriptions of its structural configuration and fabrication process. Experiments were conducted analyzing the characteristics and grasping capabilities of the gripper. Results demonstrate its ability to successfully grasp various objects, including delicate items such as potato chips and jelly, a mesh pen holder, and a bucket of water weighing 12 kg. Experimental studies on the tolerance of different grasping modes to an initial grasp position and angle reveal that switching to an enveloping grasping mode after swallowing exhibits increased load capacity and enhanced tolerance towards grasp misalignment. Experimental results demonstrate the gripper’s shape adaptability and its ability to gently and reliably handle fragile items, highlighting its potential for applications in robotic delicate object grasping.

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A robust and accurate SLAM algorithm for omni-directional mobile robots based on a novel 2.5D lidar device 13

A robust and accurate SLAM algorithm for omni-directional mo...

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13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018

作者： Yang, Yu Yang, Guilin Tian, Yingzhong Zheng, Tianjiang Li, Long Wang, Zhenhua Ningbo Institute of Materials Technology and Engineering CAS Ningbo315201 China Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology China School of Mechatronic Engineering and Automation Shanghai University Shanghai China Jiangsu Provincial Key Laboratory of Advanced Robotics Collaborative Innovation Center of Suzhou Nano Science and Technology Soochow University Suzhou215123 China

ISBN: (纸本)9781538637579

Lidars are commonly employed in mobile robot SLAM applications due to their high stability and high measuring accuracy. For a conventional 2D Lidar, only the planar points can be detected in once scan, which limits the robustness of SLAM algorithms. Omni-directional mobile robots with powered caster wheels have 3-DOF planar motion capabilities so that they are widely deployed in narrowly constrained environment. This paper presents a novel design of a 2.5D Lidar device, in which a 2D Lidar is mounted onto a 1-DOF liner stage that moves along the vertical direction. As a result, the 2.5D Lidar device can also perform vertical scanning within the motion range of the liner stage. Consequently, a robust SLAM algorithm based on the 2.5D Lidar device is proposed for the omni-directional mobile robot, where a frame-to-frame scan matching using ICP algorithm is employed to improve the robustness and accuracy of the scan matching. As the 2.5D points cloud is actually located in a belt-shaped space, the map can be finally constructed in a 2D mode to reduce the computational complexity. In addition, when an incorrect matching occurs, the odometry information of the mobile robot will be employed to further improve the robustness and accuracy of the scan matching algorithm. The effectiveness of the proposed approach is validated through computer simulations. © 2018 IEEE.

关键词： Optical radar

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Recent Advances in Triboelectric Nanogenerators: From Technological Progress to Commercial Applications

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ACS Nano 2023年第12期17卷 11087-11219页

作者： Choi, Dongwhi Lee, Younghoon Lin, Zong-Hong Cho, Sumin Kim, Miso Ao, Chi Kit Soh, Siowling Sohn, Changwan Jeong, Chang Kyu Lee, Jeongwan Lee, Minbaek Lee, Seungah Ryu, Jungho Parashar, Parag Cho, Yujang Ahn, Jaewan Kim, Il-Doo Jiang, Feng Lee, Pooi See Khandelwal, Gaurav Kim, Sang-Jae Kim, Hyun Soo Song, Hyun-Cheol Kim, Minje Nah, Junghyo Kim, Wook Menge, Habtamu Gebeyehu Park, Yong Tae Xu, Wei Hao, Jianhua Park, Hyosik Lee, Ju-Hyuck Lee, Dong-Min Kim, Sang-Woo Park, Ji Young Zhang, Haixia Zi, Yunlong Guo, Ru Cheng, Jia Yang, Ze Xie, Yannan Lee, Sangmin Chung, Jihoon Oh, Il-Kwon Kim, Ji-Seok Cheng, Tinghai Gao, Qi Cheng, Gang Gu, Guangqin Shim, Minseob Jung, Jeehoon Yun, Changwoo Zhang, Chi Liu, Guoxu Chen, Yufeng Kim, Suhan Chen, Xiangyu Hu, Jun Pu, Xiong Guo, Zi Hao Wang, Xudong Chen, Jun Xiao, Xiao Xie, Xing Jarin, Mourin Zhang, Hulin Lai, Ying-Chih He, Tianyiyi Kim, Hakjeong Park, Inkyu Ahn, Junseong Huynh, Nghia Dinh Yang, Ya Wang, Zhong Lin Baik, Jeong Min Choi, Dukhyun Kyung Hee University Gyeonggi Yongin17104 Korea Republic of Department of Electrical Engineering and Computer Science Massachusetts Institute of Technology 77 Massachusetts Avenue CambridgeMA02139 United States Department of Mechanical Engineering Soft Robotics Research Center Seoul National University Seoul08826 Korea Republic of Department of Mechanical Engineering Gachon University Seongnam13120 Korea Republic of Department of Biomedical Engineering National Taiwan University Taipei10617 Taiwan Frontier Research Center on Fundamental and Applied Sciences of Matters National Tsing Hua University Hsinchu30013 Taiwan School of Advanced Materials Science & Engineering Sungkyunkwan University Suwon16419 Korea Republic of Sungkyunkwan University 2066 Seobu-ro Gyeonggi Suwon16419 Korea Republic of Department of Chemical and Biomolecular Engineering National University of Singapore 4 Engineering Drive 4 117585 Singapore Division of Advanced Materials Engineering Jeonbuk National University 567 Baekje-daero Jeonbuk Jeonju54896 Korea Republic of Jeonbuk National University 567 Baekje-daero Jeonbuk Jeonju54896 Korea Republic of Department of Physics Inha University 100 Inha-ro Incheon22212 Korea Republic of School of Materials Science & Engineering Yeungnam University Gyeongbuk Gyeongsan38541 Korea Republic of 291 Daehak-ro Daejeon34141 Korea Republic of School of Materials Science and Engineering Nanyang Technological University 50 Nanyang Avenue 639798 Singapore Institute of Flexible Electronics Technology of Tsinghua Zhejiang Jiaxing314000 China Nanomaterials and System Lab Major of Mechatronics Engineering Faculty of Applied Energy System Jeju National University Jeju632-43 Korea Republic of School of Engineering University of Glasgow GlasgowG128QQ United Kingdom Seoul02792 Korea Republic of Department of Physics Inha University Incheon22212 Korea Republic of Suwon16419 Korea Republic of Department of

Serious climate changes and energy-related environmental problems are currently critical issues in the world. In order to reduce carbon emissions and save our environment, renewable energy harvesting technologies will serve as a key solution in the near future. Among them, triboelectric nanogenerators (TENGs), which is one of the most promising mechanical energy harvesters by means of contact electrification phenomenon, are explosively developing due to abundant wasting mechanical energy sources and a number of superior advantages in a wide availability and selection of materials, relatively simple device configurations, and low-cost processing. Significant experimental and theoretical efforts have been achieved toward understanding fundamental behaviors and a wide range of demonstrations since its report in 2012. As a result, considerable technological advancement has been exhibited and it advances the timeline of achievement in the proposed roadmap. Now, the technology has reached the stage of prototype development with verification of performance beyond the lab scale environment toward its commercialization. In this review, distinguished authors in the world worked together to summarize the state of the art in theory, materials, devices, systems, circuits, and applications in TENG fields. The great research achievements of researchers in this field around the world over the past decade are expected to play a major role in coming to fruition of unexpectedly accelerated technological advances over the next decade. © 2023 The Authors. Published by American Chemical Society

关键词： Nanogenerators

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Determining Headway for Personalized Autonomous Vehicles by Learning from Human Driving Demonstration

Determining Headway for Personalized Autonomous Vehicles by ...

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IEEE International Conference on Cyber Technology in automation, Control, and Intelligent Systems

作者： Longxiang Guo Sagar Manglani Yuhao Liu Yunyi Jia Collaborative Robotics and Automation Laboratory Department for Automotive Engineering Clemson University

ISBN: (纸本)9781538604915

Adaptive cruise control (ACC) is a critical function for autonomous driving. Nowadays this technology enables the vehicle to maintain a preset distance from the vehicle in front of it by adjusting the vehicle's speed. The preset distance is usually a fixed value manually picked by human drivers by their preference during driving. But in real life different drivers may have different driving styles, resulting in different headway distance, which normally varies as speed changes. With a traditional ACC system, a human driver always needs to change headway distance parameter during driving, which may make the human driver feel inconvenient and uncomfortable. In this paper we introduce a method that enables human drivers to teach ACC system with different driving styles. With this method, ACC system can learn from human demonstration and generate parameters dedicated to a certain driver so that the comfort of the driver can be improved.

关键词： ACC Teach and learn Optimization Adaptive cruise control 1-aminocyclopropane-1-carboxylic acid ABNORMAL CONDITION CONTROL Automobile driving Drivers vehicle Learning Autonomous Vehicles motivation Human driver circuits

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Intuitive Maneuver of Autonomous Vehicles without Physical Control Interfaces using Wearable Sensing Devices

Intuitive Maneuver of Autonomous Vehicles without Physical C...

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IEEE International Conference on Cyber Technology in automation, Control, and Intelligent Systems

作者： Weitian Wang Rui Li Z. Max Diekel Yunyi Jia Collaborative Robotics and Automation Laboratory Department of Automotive Engineering Clemson University

ISBN: (纸本)9781538604915

Autonomous vehicles are more and more likely to eliminate steering wheels, gas/brake pedals and driving shifts. However, direct controls of such vehicle by human drivers are still necessary, especially when the vehicles fail to drive as well as expected. To this end. we propose an intuitive maneuvering approach for autonomous vehicles by using a wearable device which incorporates Klectromyography (EMG) and inertial measurement unit (IMU) signals. Based on goal instructions and motion planning algorithms in this approach, humans can intuitively control the accelerator/brake, steering and driving shift of a vehicle using their hand motions and gestures. This approach was implemented by a series of driving experiments in practical cases on a lab-based research vehicle. Experimental results demonstrated that by taking advantages of intuitive operations in this approach, the human can successfully and effectively control the vehicle to accomplish driving tasks in the human-vehicle intuitive maneuver system.

关键词： Intuitive maneuver Gesture Motions planning Human-vehicle collaboration EMG information Autonomous Vehicles Gestures vehicle Intuitive research vehicles Automobile driving Wearable Foot Pedal Device Sensor

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A robust and accurate SLAM algorithm for omni-directional mobile robots based on a novel 2.5D lidar device

A robust and accurate SLAM algorithm for omni-directional mo...

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IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Yu Yang Guilin Yang Yingzhong Tian Tianjiang Zheng Long Li Zhenhua Wang CAS Ningbo Institute of Materials Technology and Engineering Ningbo China School of Mechatronic Engineering and Automation ShangHai University Shanghai China Jiangsu Provincial Key Laboratory of Advanced Robotics & Collaborative Innovation Center of Suzhou Nano Science and Technology Soochow University Suzhou China

关键词： Laser radar Mobile robots Two dimensional displays Three-dimensional displays Simultaneous localization and mapping Wheels

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Miniature Bioreactors: On-Demand Coalescence and Splitting of Liquid Marbles and Their Bioapplications (Adv. Sci. 10/2019)

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Advanced Science 2019年第10期6卷 1970061-1970061页

作者： Ben Wang Kai Fung Chan Fengtong Ji Qianqian Wang Philip Wai Yan Chiu Zhiguang Guo Li Zhang Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong China Department of Biomedical Engineering The Chinese University of Hong Kong Hong Kong China Chow Yuk Ho Technology Centre for Innovative Medicine The Chinese University of Hong Kong Hong Kong China Department of Surgery The Chinese University of Hong Kong Hong Kong China State Key Laboratory of Solid Lubrication Lanzhou Institute of Chemical Physics Chinese Academy of Science Lanzhou 730000 China Hubei Collaborative Innovation Centre for Advanced Organic Chemical Materials and Ministry of Education Key Laboratory for the Green Preparation and Application of Functional Materials Hubei University Wuhan 430062 China T Stone Robotics Institute The Chinese University of Hong Kong Hong Kong China

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A MICROFLUIDIC SYSTEM FOR ASSESSING FRYING OIL QUALITY

A MICROFLUIDIC SYSTEM FOR ASSESSING FRYING OIL QUALITY

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IEEE International Conference on Micro Electro Mechanical Systems

作者： Mei Liu Shaorong Xie Ji Ge Zhensong Xu Zhizheng Wu Changhai Ru Yu Sun Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai University 200072 China Department of Mechanical and Industrial Engineering University of Toronto Toronto ON M5S 3G8 Canada Jiangsu Provincial Key Laboratory of Advanced Robotics and Collaborative Innovation Center of Suzhou Nano Science and Technology Soochow University Suzhou 215123 China

ISBN: (纸本)9781509006090

This paper reports a microfluidic system for assessing frying oil degradation. The hydrodynamic focusing microfluidic device developed for this purpose generates water-in-oil droplets. By correlating droplet size and the widely accepted oil quality metric, the total polar compound (TPM), it was proven that the device is capable of evaluating frying oil degradation. Compared to existing bulky instruments and methods, this device and measurement technique are fast, simple, and cost-effective.

关键词： SYSTEM ASSESSING FRYING oils Frying oils oil degradation

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