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IEEE International Conference on robotics and Biomimetics

作者： Qiwei Meng Shiqiang Zhu Jianjun Gu Zheyuan Lin Ling Zhong Wei Song Research Center for Intelligent Robotics Research Institute of Interdisciplinary Innovation Zhejiang Laboratory Hangzhou China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou China Department of Electrical and Computer Engineering Dalhousie University Halifax NS Canada

ISBN: (纸本)9781665481106

In this paper, we present FEIF, a novel framework for 6D object pose estimation from a single RGBD image. Compared with previous approaches, this model fully leverages the complementary RGB and depth information through lay-erwise feature excitation and interactive fusion, thus improving the effectiveness and robustness of extracted features. The representative RGBD features can be subsequently applied for object keypoints prediction and pose computation. In addition, our FEIF includes a self-evaluation module to make robots aware of the confidence of pose estimation, so they are flexible to take the corresponding strategy for following tasks. Experiment results prove the SOTA performance of our model on LineMOD, Occlusion-LineMOD and YCB-Video datasets, and we also demonstrate its applicability and robustness in real-world robotic manipulation.

关键词： Technological innovation Computational modeling Biomimetics Pose estimation Feature extraction Robustness Data mining

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Impact of Copper Matrix Materials on the Performance of Permanent Magnet Synchronous Motor

Impact of Copper Matrix Materials on the Performance of Perm...

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International Conference on electrical Machines and Systems (ICEMS)

作者： Yuan Cheng Yao Wang Kai Yao Bo Gao Xiaowei Ju Lidong Wang Shumei Cui Chongqing Research Institute of Harbin Institute of Technology Chongqing China Department of Electrical Engineering and Automation Harbin Institute of Technology (HIT) Harbin China

ISBN: (数字)9781665493024

ISBN: (纸本)9781665493031

The carbon nanotube (CNT) and graphene incorporated copper (Graphene/Cu) composite conductors have the potentials to improve performances of electric machines, which have drawn much attention around the world. The properties of copper matrix material are different from copper in terms of electrical conductivity, mass density, and thermal conductivity. One of the properties of interest is the high electrical conductivity. However, the amount of composite material simple is limited due to the current processing and manufacturing. In this paper, the variation of material resistivity with temperature is measured based on a Graphene/Cu sample. With the experimental measurement data and the material properties available in the literature, this paper discusses the impacts of high conductivity materials on permanent magnet synchronous motor (PMSM) performances.

关键词： Temperature measurement Composite materials Current measurement Windings Wires Conductivity Permanent magnet motors

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Offline Diagnosis and Classification of Demagnetization and Eccentricity Faults for Permanent Magnet Synchronous Motors Using Search Coils

Offline Diagnosis and Classification of Demagnetization and ...

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International Conference on electrical Machines and Systems (ICEMS)

作者： Yuan Cheng Wan Huang Bochao Du Shumei Cui Chongqing Research Institute of Harbin Institute of Technology Chongqing China Department of Electrical Engineering and Automation Harbin Institute of Technology (HIT) Harbin China

ISBN: (数字)9781665493024

ISBN: (纸本)9781665493031

A special search coil arrangement is proposed in this paper to diagnose the local demagnetization faults (LDFs) and dynamic eccentricity faults (DEFs) offline. The d-axis is excited by an alternating-current signal, and the change of the magnetic permeability symmetry under motor different states results in different responses in the voltage signal of search coils (SCs), which functions as a monitor of the local magnetic field. This feature is often cancelled out by the synthesis of the three-phase system, so the proposed offline method is more sensitive and intuitive than the traditional methods. Finally, the method is verified by simulation results.

关键词： Simulation Voltage Signal processing Permanent magnet motors Synchronous motors Permanent magnets Permeability

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Low-cost Mars Terrain Classification System Based on Coarse-grained Annotation

Low-cost Mars Terrain Classification System Based on Coarse-...

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IEEE International Conference on robotics and Biomimetics

作者： Jian Zhang Yeheng Chen Shiqiang Zhu Yuehua Li Tian Xie Jason Gu Zhejiang Laboratory Research Center for Intelligent Robotics Research Institute of Interdisciplinary Innovation Hangzhou China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou China Department of Electrical and Computer Engineering Dalhousie University Halifax NS Canada

ISBN: (纸本)9781665481106

Due to communication latency with remote ground sites, automatic recognition of Mars terrain is essential for the path-planning of rovers. Currently, most vision-based terrain classification require thousands of fine-grained training samples, while the undefined terrains on Mars are difficult to be classified or fine-grained labeled. Actually, most of the terrain categories can only be coarse-grained labeled due to several limitations, such as overlapped sub-regions, blurred borders, etc. To solve this problem, CACMT (Coarse-grained Annotation-based Classification for Mars Terrain) is proposed to generate the global fine-grained classification map from the local coarse-grained data. Specifically, the complete pipeline is decomposed into (i) annotation rules with unique design, (ii) hierarchical feature fusion network for predicting sub-features of terrain (iii) and a generator for outputting dense terrain categories of Mars. Finally, the results of actual data on Mars demonstrate that the terrain sub-features can be successfully recognized and a dense terrain classification map can be generated applying only coarse-grained labeled images.

关键词： Training Image recognition Annotations Biomimetics Pipelines Generators Robots

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Preliminary Design and Performance Analysis of A Solar-Powered Jumping-Gliding Martian Aircraft

Preliminary Design and Performance Analysis of A Solar-Power...

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IEEE International Conference on robotics and Biomimetics

作者： Bin Lou Anhuan Xie Shiqiang Zhu Yaru Liu Jason Gu Research Center for Intelligent Robotics Research Institute of Interdisciplinary Innovation Zhejiang Lab Hangzhou China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou China Department of Electrical and Computer Engineering Dalhousie University Halifax NS Canada

ISBN: (纸本)9781665481106

A solar-powered jumping-gliding Martian aircraft is proposed as a new tool for Mars exploration, designed especially to perform long-term wide-range detection. A completely new way of continues detection performed by aircraft is created. A preliminary design of the jumping-gliding Martian aircraft is carried out while its flight performance is analyzed afterwards. The conceptual design of a large-aspect ratio foldable wing with a thin fuselage and a jumping device is put forward. The solar energy model, aerodynamic model and weight mode are all built. The energy balance models are established for the periods of detecting mission that the aircraft lands on the ground for harvesting solar energy and flies in the sky. The gliding performance of this aircraft is particularly discussed here.

关键词： Performance evaluation Potential energy Atmospheric modeling Photovoltaic cells Biological system modeling Solar energy Aerodynamics

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Iron-making Process Monitoring based on Wasserstein Dynamic Stationary Subspace Analysis

Iron-making Process Monitoring based on Wasserstein Dynamic ...

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Youth Academic Annual Conference of Chinese Association of automation (YAC)

作者： Junjie Nan Yating Lyu Qingqing Liu Haojie Bai Hanwen Zhang Jianxun Zhang School of Automation and Electrical Engineering University of Science and Technology Beijing Beijing China Department of Automation Xi’an Research Institute of High Technology Xi’an China

ISBN: (纸本)9781665465373

The detection of early abnormalities in blast furnaces is important for the safety of iron-making processes, the reduction of energy consumption, and the improvement of economic benefits. Due to the fluctuation of raw material composition, production schedule adjustment, equipment degradation, etc., the iron-making process data often present non-stationary characteristics, resulting in the time-varying statistical characteristics of the data even under normal conditions. To solve this problem, a dynamic stationary subspace analysis method based on Wasserstein distance to detect anomalies of the iron-making process is proposed. Firstly, the switching time of hot blast stoves is identified to reduce the false alarms caused by the hot blast stove switching; Secondly, the differences in data distribution of different time intervals are measured by the Wasserstein distance, and the stationary features are obtained by minimizing the Wasserstein distance between intervals; Finally, the abnormal furnace condition monitoring index based on Mahalanobis distance is constructed by using the stationary features. The simulation results based on an actual iron-making process dataset show that the method proposed in this paper can effectively monitor the abnormal furnace conditions.

关键词： Process monitoring Schedules Simulation Switches Interference Production Time measurement

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The intelligent biped robot AIRO: System overview and omnidirectional walking method design*

The intelligent biped robot AIRO: System overview and omnidi...

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IEEE International Conference on robotics and Biomimetics

作者： Yun Liu Anhuan Xie Shiqiang Zhu Jason Gu Research Center for Intelligent Robotics Research Institute of Interdisciplinary Innovation Zhejiang Lab Hangzhou China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou China Department of Electrical Engineering Dalhousie University Halifax Nova Scotia Canada

ISBN: (纸本)9781665481106

In order to verify the omnidirectional walking theory and to meet the requirements of rapid prototyping and economy, a bipedal robot system AIRO based on commercial servo motor-driven joints is designed and implemented. Compared with other motor-driven biped robots of the same size, the structure body of AIRO is lighter, and the leg mass distribution is more in line with the principle of the linear inverted pendulum model. Firstly, the overall system composition of the robot is introduced, including the mechanical structure part and the control system part; Then, based on the linear inverted pendulum model principle and the input speed command of the system, the omnidirectional walking planning and control of the robot is realized in combination with the current state of the robot; Finally, a successful omnidirectional walking experiment was carried out on AIRO to verify the effectiveness of the biped robot motion system.

关键词： Legged locomotion Robot motion Atmospheric modeling Three-dimensional printing Rapid prototyping Topology Plastics

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Determination of the Characteristics of Gears of Robot-Like Systems by Analytical Description of their Structure

Determination of the Characteristics of Gears of Robot-Like ...

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Stefan Landler Raúl Molina Blanco Michael Otto Birgit Vogel-Heuser Markus Zimmermann Karsten Stahl Technical University of Munich Germany TUM School of Engineering and Design Department of Mechanical Engineering Munich Institute of Robotics and Machine Intelligence (MIRMI) Institute of Machine Elements Gear Research Center (FZG) Institute of Automation and Information Systems (AIS) Laboratory for Product Development and Lightweight Design (LPL)

The axes of robots and robot-like systems (RLS) usually include e-motor-gearbox-arrangements for optimal connection of the elements. The characteristics of the drive system and thus also of the robot depend strongly on the gears. Different gearbox designs are available which differ in stiffness, efficiency and further properties. For an application-optimal design of RLS a uniform documentation and a comparability of gearbox concepts is a decisive factor. The application-optimal design is supported by an interdisciplinary approach between mechanical engineering and software design, guided by adequate product development methodology. The quite heterogeneous characterization of gearboxes for RLS which is currently the state of the art is a relevant obstacle in the flexible and optimal design of RLS. The paper shows the analysis of the gear structure with unified symbols for specific machine elements and contact types. The introduced method gives insight into the mechanical structure of the gearboxes. Similarities between gear types can thus be revealed. This also enables the classification of new developments in the state of the art. Moreover, the developed method for analyzing the gear structure can be used to determine the characteristics of gears. Examples for these characteristics are backlash, efficiency or stiffness. Specifically, the stiffness of gears can be synthesized by the force action of individual contacts and the individual phenomena that occur with them. The representation by individual phenomena also makes it possible to extend the calculation to include influencing parameters such as temperature that have not been sufficiently taken into account so far.

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Compatibility Simulation research of Variable Frequency AC Power System for More Electric Aircraft

Compatibility Simulation Research of Variable Frequency AC P...

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2022 IEEE International Conference on Industrial Technology, ICIT 2022

作者： He, Linke Xu, Zixiao Wang, Xinyuan Yang, Xiaojia Li, Shuang Li, Weilin Northwestern Polytechnical University School of Automation Department of Electrical Engineering Xi'an China Avic Shaanxi Aero Electric CO. LTD Xi'an China Northwestern Polytechnical University Xi'an China Taicang Research Institute of Northwestern Polytechnical University Taicang China

ISBN: (纸本)9781728119489

The variable frequency AC (VFAC) power system with the advantages of high efficiency, high capacity and low cost has been widely used in modern more-electric aircraft (MEA). The constant power load characteristics of the variable frequency AC power system and the coupling problems caused by the load diversity will affect the safe operation of the aircraft. The paper takes the compatibility between the power supply system and the load as the research background. By modeling the subsystems, a VFAC generator model with different loads models is established in Matlab/Simulink for simulation research. The research results show that the load can be compatible with the power supply system when the load is in normal operation or in three-phase unbalanced operation. The research provides a reference for the compatibility research of MEA power system. © 2022 IEEE.

关键词： More electric aircraft

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Nesterov acceleration for Riemannian optimization

arXiv

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arXiv 2022年

作者： Kim, Jungbin Yang, Insoon Department of Electrical and Computer Engineering Automation and Systems Research Institute Seoul National University Seoul08826 Korea Republic of

In this paper, we generalize the Nesterov accelerated gradient (NAG) method to solve Riemannian optimization problems in a computationally tractable manner. The iteration complexity of our algorithm matches that of the NAG method on the Euclidean space when the objective functions are geodesically convex or geodesically strongly convex. To the best of our knowledge, the proposed algorithm is the first fully accelerated method for geodesically convex optimization problems without requiring strong convexity. Our convergence rate analysis exploits novel metric distortion lemmas as well as carefully designed potential functions. We also identify a connection with the continuous-time dynamics for modeling Riemannian acceleration in Alimisis et al. [1] to understand the accelerated convergence of our scheme through the lens of continuous-time flows. Copyright © 2022, The Authors. All rights reserved.

关键词： Continuous time systems

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