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FaRo-PPF: Fast and Robust Point Pair Feature for 6D Pose Estimation in Industrial Stamping 8

FaRo-PPF: Fast and Robust Point Pair Feature for 6D Pose Est...

引用

8th IEEE International Conference on Advanced robotics and Mechatronics, ICARM 2023

作者： He, Cheng Zhang, Xuebo Zhao, Zhenjie Institute of Robotics and Automatic Information System College of Artificial Intelligence Nankai University Tianjin Key Laboratory of Intelligent Robotics Tianjin300350 China School of Computer Science Nanjing University of Information Science and Technology Nanjing210044 China

ISBN: (纸本)9798350300178

Estimating 6D poses of targets efficiently is critical for industrial stamping tasks, in which the Point Pair Feature (PPF) method has been widely used. Based on PPF, this paper proposes Fast and Robust PPF, i.e. FaRo-PPF, which improves PPF in the following three key aspects: adaptive down-sampling based on surface features, point pair matching based on voting ball, and normal-based pose verification. The three designs alleviate existing problems of the local matching stage in PPF, and make FaRo-PPF a stronger method of 6D pose estimation in industrial stamping. To demonstrate the effectiveness of FaRo-PPF, we compare it with PPF on five publically available datasets. Experiment results showed that FaRo-PPF is able to significantly improve accuracy by about 15% and reduce the execution time by about 40% across all test data. We further conduct a grasping and assembly experiment on a physical robot arm, and similar improvement can be observed. FaRo-PPF achieves a higher success rate of assembly and reduces the execution time by about 50%. © 2023 IEEE.

关键词： Stamping

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PID Steering Control for Lane Keeping Assist based on IMU Sensor and ROS 2

PID Steering Control for Lane Keeping Assist based on IMU Se...

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2nd IEEE International Conference on Electrical Engineering, Computer and Information Technology, ICEECIT 2024

作者： Siagian, Marco Yosafat Salim, Taufik Ibnu Manurung, Philippians Firmansyah, Rendra Dwi Putrasari, Yanuandri Wahono, Bambang Wardana, Muhammad Khristamto Aditya Anam, Khairul Del Institute Of Technology North Sumatra Indonesia Research Center for Smart Mechatronics National Research and Innovation Agency Bandung Indonesia Faculty Del Institute Of Technology North Sumatra Indonesia Intelligent System and Robotics CDAST UNEJ Jember Indonesia

ISBN: (纸本)9798331504373

This study presents the development and implementation of a PID steering control system for lane-keeping assistance using an IMU sensor and ROS (Robot Operating system). The system leverages the capabilities of the Teensy 4.1 microcontroller and the HWT905-TTL IMU sensor to maintain precise steering adjustments, crucial for autonomous vehicle applications. The PID controller, designed to respond dynamically to real-time feedback, ensures that the motor reaches designated target angles, even under varying test conditions. The control system was tuned experimentally to achieve optimal response times, resulting in a rise time of approximately 2 seconds, a steady-state error within ±1-2 degrees, and a maximum overshoot of 4.09%. Performance metrics such as the Integral of Squared Error (ISE) and the Integral of Time-weighted Squared Error (ITSE) further confirmed system accuracy and stability over time. Results indicate that the proposed control system effectively maintains lane-keeping with minimal error, demonstrating potential for future deployment in real-world autonomous driving scenarios. Future work will focus on enhancing system adaptability through advanced tuning techniques and sensor fusion to improve robustness in dynamic environments. © 2024 IEEE.

关键词： Microcontrollers

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Exoskeleton-Based Lower Limb Rehabilitation Robot Design and Simulation for Children with Cerebral Palsy

Exoskeleton-Based Lower Limb Rehabilitation Robot Design and...

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2024 International Convention on Rehabilitation Engineering and Assistive Technology and World Rehabilitation Robot Convention, i-CREATE and WRRC 2024

作者： Cao, Wujing Zhang, Shuo Zou, Yupeng Guo, Xinqiang Li, Changyu Wang, Jingxin Kobsiriphat, Worawarit Wu, Xinyu Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen518005 China SIAT Branch Shenzhen Institute of Artificial Intelligence and Robotics for Society SIAT-CUHK Joint Laboratory of Robotics and Intelligent Systems China School of Mechanical Engineering China University of Petroleum China Jining Zhongke Intelligent Technology Co. Ltd. China Zhengzhou Central Hospital Zhengzhou University Department of Rehabilitation Medicine Zhengzhou China National Metal and Materials Technology Center Thailand

ISBN: (纸本)9798350355123

Squat gait is the most common abnormal gait in children with cerebral palsy. Gait training with lower limb rehabilitation robots can improve rehabilitation efficiency and reduce manual labor for them. A novel exoskeleton-based lower limb rehabilitation robot for children with cerebral palsy is proposed, considering the squat gait characteristics of children with cerebral palsy. The structure of the lower limb rehabilitation robot, which combines hip and knee with 4 active degrees of freedom exoskeleton and mobile walker, is designed and optimized. Static analysis of the key mechanical structure of the exoskeleton is conducted using ANSYS Workbench, and local structures are optimized to ensure the safety factor of the mechanical structure is greater than 1, guaranteeing reasonable structural strength and stiffness design. Dynamic simulation analysis based on the ADAMS model validates the reliability and dynamic walking effect of the lower limb exoskeleton rehabilitation robot, obtaining the curve relationship between joint angles and motion cycles, thus verifying the effectiveness of the mechanical system motion. © 2024 IEEE.

关键词： Exoskeleton (robotics)

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Automated Adherent Cell Injection Method Based on Double-Micropipettes Operation 42

Automated Adherent Cell Injection Method Based on Double-Mic...

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42nd Chinese Control Conference, CCC 2023

作者： Chu, Zhaotong Cai, Linxuan Cui, MaoSheng Wang, Zuqi Zhang, Yidi Li, Minghui Zhao, Qili Sun, Mingzhu Zhao, Xin Liu, Yaowei Institute of Robotics and Automatic Information System Nankai University The Tianjin Key Laboratory of Intelligent Robotics Tianjin300071 China Tianjin Academy of Agriculture Science Tianjin300112 China Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University Shenzhen518083 China

ISBN: (纸本)9789887581543

Microinjection of adherent cells is a technique of inserting glass pipette into adherent cells and injecting few exogenous substances into adherent cells, which is widely used in the field of cell biology. Researchers in this field usually inject adherent cells manually, however, the microinjection operation is complicated, which requires a lot of energy and takes a lot of time. The existing automated microinjection method only uses one injection micropipette to inject, compared with the manual injection method, the microinjection process is consistent not optimized, and the injection efficiency cannot be greatly improved. In this paper, an automated adherent cell injection method based on double-micropipettes operation is proposed. Firstly, the adherent cell injection process based on double-micropipettes operation is designed. Secondly, this paper solves the key technologies of automated injection of adherent cells based on double-micropipettes operation were introduced, including adherent cell detection, injection path planning and double-micropipettes operation. Finally, the experiment of adherent cell microinjection based on double-micropipettes operation, the operation of two micropipettes was carried out. The experimental results show that the success rate of injection can reach 60% and the injection speed of this method can reach 35 cells/minute, which is 75% higher than that of manual injection with single pipette (20 cells/minute) and 40% higher than that of automated adherent cell injection with single pipette (25 cells/minute). © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Motion planning

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A Sub-pixel Location Method of Circular PCB Markers Based on Partial Area Effect

A Sub-pixel Location Method of Circular PCB Markers Based on...

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2023 IEEE International Conference on Real-Time Computing and robotics, RCAR 2023

作者： Yang, Yingyuan Wang, Xianwen Luo, Sijin Liang, Guoyuan University of Chinese Academy of Sciences Beijing China Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Shenzhen China

ISBN: (纸本)9798350327182

With the rapid development of electronic manufacturing industry, automatic optical inspection (AOI) systems are widely applied to mark positioning and defect inspection of printed circuit board (PCB). As the most common mark, the accurate positioning of circle is of great importance in the wiring and assembly of the PCB. Various sub-pixel algorithms have been presented in the past decade. In this paper, we propose an improved version of sub-pixel edge location method based on partial area effect to acquire better sub-pixel points for fitting the circular marks. In stead of the simple one direction offset model, a composite offset model is adopted to diminish the positioning error as much as possible in the case of small gradient differences between horizontal and vertical directions. Besides, the constraints of both gradient magnitude and angle are also introduced for filtering the sub-pixel points at each edge pixel in order to effectively improve the quality of the fitted circle. Experiments conducted on synthetic and real PCB mark images have verified the better performance of the proposed method in terms of anti-interference and location accuracy. © 2023 IEEE.

关键词： Printed circuit boards

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Design, Modeling and Experiment of an Eccentric Mass-driven Spherical Robot 2

Design, Modeling and Experiment of an Eccentric Mass-driven ...

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2nd International Conference on Design Science, ICDS 2024

作者： Mao, Han Xie, Tongtong Zhu, Aibin Zhang, Di Wu, Xinyu Li, Cheng Wang, Xin Xi'an Jiaotong University Institute of Robotics & Intelligent Systems Xi'an China Key Laboratory of Education Ministry for Modern Design and Rotor-Bearing System Xi'an China Chang'an University School of Construction Machinery Xi'an China

ISBN: (纸本)9798350376289

The spherical robot's hermetically sealed spherical housing renders it flexible and capable of functioning continuously in harsh weather conditions and challenging environments. In order to address the issue of insufficient climbing ability of spherical robots, a single eccentric mass-driven spherical robot was designed. The climbing process of a spherical robot was subjected to analysis, with particular attention paid to the mass distribution of the robot's spherical shell and internal structure. A kinematics model and a dynamics model were developed to decompose the robot's motion into linear and steering motions. The mass size and swing amplitude of the eccentric mass are the key factors affecting the motion performance and stability of the spherical robot, and the swinging process of the heavy pendulum with different eccentric masses is analyzed. The experimental results indicate that the robot has a minimum turning radius of 0.5 m and is capable of climbing slopes with a gradient of 12°. The maximum error in the speed control of the spherical robot is 0.3314 rad/s. © 2024 IEEE.

关键词： Spheres

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6D Grasp Pose Detection in Cluttered Environment from a Single-view

6D Grasp Pose Detection in Cluttered Environment from a Sing...

引用

2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Li, Enbo Fu, Yili Feng, Haibo Intelligent Robot Research Center Zhejiang Laboratory Hangzhou311100 China Harbin Institute of Technology State Key Laboratory of Robotics and System Heilongjiang Province Harbin150001 China

ISBN: (纸本)9798350325706

Robot grasping has always been a hot topic in the research field, but there are still a lot of problems to be solved. In this paper, we propose a general grasping method for the unknown objects in cluttered environment from a single-view. Our method is divided into three steps: sampling points selection, grasping pose sampling and grasping pose evaluation. Firstly, we generate a pixel-wise probability image based on the trained sampling affordance network from RGB images, and map the points with high probability to the 3D point cloud combined with the depth map. Then, we obtaine the candidate grasps by sampling on the proposal points, and finally we evaluate the candidate grasps through the trained grasp evaluation network. The network can capture the geometric structure represented by the point cloud information. The proposed method directly uses the original sensor data and can increases the sampling success rate. © 2023 IEEE.

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Combine Neural Radiance Fields in Different Reference Coordinates

Combine Neural Radiance Fields in Different Reference Coordi...

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2023 China Automation Congress, CAC 2023

作者： Zhang, Weili Li, Zhongheng Guo, Yu Wang, Fei Institute of Artificial Intelligence and Robotics Xi'An Jiaotong University Xi'an China Beijing Institute of Spacecraft System Engineering Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing China

ISBN: (纸本)9798350303759

Neural Radiance Fields (NeRF) leverage deep learning networks to restore high-quality implicit representations of 3D scenes from 2D images, surpassing traditional texture mapping in rendering quality. Typically, reconstructed images by NeRF exist in a reference coordinate system, necessitating consideration of each surface's information in a single shot. Overlapping parts in adjacent images are addressed by obtaining the camera pose through sparse COLMAP reconstruction. However, occluded regions, caused by contact with support surfaces, pose challenges for complete reconstruction. To address this, we propose a scene fusion algorithm based on NeRF, facilitating the amalgamation of neural radiance fields under different reference coordinate systems. This reduces data requirements and shooting conditions, enhancing the implicit 3D reconstruction of real objects. By estimating the translation and rotation relationship between image capture angles and the NeRF model, we fuse neural radiance fields in distinct reference coordinate systems, completing object surface information. Evaluation is conducted on both NeRF synthetic dataset and real objects. © 2023 IEEE.

关键词： Cameras

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A Locust-Inspired Energy Storage Joint for Variable Jumping Trajectory Control 16th

A Locust-Inspired Energy Storage Joint for Variable Jumping ...

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16th International Conference on intelligent robotics and Applications, ICIRA 2023

作者： Yang, Yongzun Feng, Zhiyuan Jin, Cheng Tang, Lingqi Ma, Songsong Li, Yao School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen518052 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Harbin Institute of Technology Shenzhen518052 China

ISBN: (纸本)9789819964949

Jumping is a good solution for small robots over obstacles. Most of the current jumping robots are not energy store adjustable due to the design of the energy storage elements and structures, which limits the effective working space of the robot. The locust is good at jumping. Thanks to the excellent structure of the hind legs, the locust can change the degree of compression of the simi-lunar process (SLP) and change the energy storage while maintaining the same jumping stance. Herein, we design a locust-inspired energy storage joint and verified its function on a jumping robot. The motors and wires were used to imitate the muscles and the torsion springs were used to imitate SLP. To accurately describe the energy stored, a static model of the torsion springs was developed. Furthermore, the number of motor revolutions and the stored energy value were also calculated and could be used for subsequent precise control. Six jumping experiments with different compression angles for torsion springs proved the feasibility of the static model. This locust-inspired energy storage joint is the basis for the next robot capable of the omnidirectional, continuous autonomous jumping. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Energy storage

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Flapping-Wing Robot Achieves Multi-Domain Locomotion Using Transformable Wheel Mechanism

Flapping-Wing Robot Achieves Multi-Domain Locomotion Using T...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Chai, Xiangxiao Wang, Shihua Pan, Erzhen Xu, Wenfu Shenzhen518055 China Key University Laboratory of Mechanism & Machine Theory and Intelligent Unmanned Systems of Guangdong Shenzhen518055 China Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150001 China

ISBN: (纸本)9781665481090

The difficulty of moving from aquatic to aerial environment is one of the major challenges limiting the development of trans-medium multi-domain locomotion vehicles. In this paper, the concept of the transformable wheel, a feature commonly found in autonomous land vehicles (AL V s), is introduced into the design. Additionally, a flapping-wing robot equipped with multi-domain locomotion capability, which can not only realize aerial flight and surface navigation on water, but also ascend from water to land for subsequent takeoff is presented. The paper first introduces the system design of the robot and proposes the corresponding multi-domain locomotion strategy. Subsequently, the design of the transformable wheel mechanism is described in detail and the force analysis for the water-exit is conducted. The feasibility of the proposed strategy is experimentally validated, confirming the prototype's multi-domain locomotion performance finally. This research explores the feasibility of introducing the transformable wheel mechanism into trans-medium multi-domain vehicle platforms and provides a design example. © 2024 IEEE.

关键词： Machine design

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