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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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Extinction Chains Reveal Intermediate Phases Between the Safety and Collapse in Mutualistic Ecosystems

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Engineering 2024年第12期43卷 89-98页

作者： Guangwei Wang Xueming Liu Ying Xiao Ye Yuan Linqiang Pan Xiaohong Guan Jianxi Gao Hai-Tao Zhang The MOE Engineering Research Center of Autonomous Intelligent Unmanned Systems State Key Laboratory of Digital Manufacturing Equipment and TechnologySchool of Artificial Intelligence and AutomationHuazhong University of Science and TechnologyWuhan 430074China Guangdong HUST Industrial Technology Research Institute Huazhong University of Science and TechnologyDongguan 523808China Guangdong Provincial Engineering Technology Center of Autonomous Unmanned Vessels Dongguan 523808China MOE Key Laboratory of Intelligent Networks and Network Security&State Key Laboratory of Manufacturing Systems Xi’an Jiaotong UniversityXi’an 710049China Tsinghua National Laboratory of Information Science and Technology Department of AutomationTsinghua UniversityBeijing 100084China Department of Computer Science Rensselaer Polytechnic InstituteTroyNY 12180USA

Ecosystems are undergoing unprecedented persistent deterioration due to unsustainable anthropogenic human activities,such as overfishing and deforestation,and the effects of such damage on ecological stability are *** recent advances in experimental and theoretical studies on regime shifts and tipping points,theoretical tools for understanding the extinction chain,which is the sequence of species extinctions resulting from overexploitation,are still lacking,especially for large-scale nonlinear networked *** this study,we developed a mathematical tool to predict regime shifts and extinction chains in ecosystems under multiple exploitation situations and verified it in 26 real-world mutualistic networks of various sizes and *** discovered five phases during the exploitation process:safe,partial extinction,bistable,tristable,and collapse,which enabled the optimal design of restoration strategies for degraded or collapsed *** validated our approach using a 20-year dataset from an eelgrass restoration ***,we also found a specific region in the diagram spanning exploitation rates and competition intensities,where exploiting more species helps increase *** computational tool provides insights into harvesting,fishing,exploitation,or deforestation plans while conserving or restoring the biodiversity of mutualistic ecosystems.

关键词： Complex system Network science Overexploitation Regime shift Metastability

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Effect of cooperative injection and suction jet on power extraction characteristics of a semi-active flapping airfoil

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Acta Mechanica Sinica 2021年第9期37卷 1433-1445,I0003页

作者： Jianyang Zhu Mingkang Zhu Tinghai Cheng Institute of Robotics and Intelligent Systems Wuhan University of Science and TechnologyWuhan430081China Beijing Institute of Nanoenergy and Nanosystems Chinese Academy of SciencesBeijing101400China

A novel cooperative injection and suction jet was employed in this work to improve the power extraction characteristics of a semi-active flapping airfoil(S-AFA).The combined Taguchi method and numerical simulations was used to optimize the characteristic parameters of the cooperative injection and suction jet that affect the power extraction characteristics of the *** the Reynolds number of 6×10^(4)and the pitching axis location at the center of the ellipse airfoil,the effects of jet position,jet width,jet coefficient as well as phase difference between the cooperative injection and suction jet and the active pitching motion on the power extraction characteristics of the S-AFA are systematically *** is concluded that the power extraction characteristics of the S-AFA can be enhanced by employing cooperative injection and suction *** to the S-AFA without jet,the maximum efficiency is increased 11.06%for the S-AFA with optimized cooperative injection and suction *** flow structure behavior analysis shows that the vortex strength,the low pressure range in the suction surface of the airfoil as well as the pressure value in the pressure surface of the airfoil are increased due to the cooperative injection and suction jet,and it is why the power extraction characteristics of S-AFA can be improved.

关键词： Cooperative injection and suction jet Power extraction efficiency Semi-active flapping airfoil Vortex Pressure

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MHRN-ST: Go Board Recognition With Multi-stage Highlight Removal Network Based On Swin Transformer 8th

MHRN-ST: Go Board Recognition With Multi-stage Highlight Rem...

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8th International Conference on Cognitive systems and information Processing, ICCSIP 2023

作者： Zhou, Junxian Lin, Yunhan Min, Huasong Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology Wuhan China

ISBN: (纸本)9789819980208

Artificial intelligence has generally surpassed humans in the game of Go, and the actual human-machine gaming environment is often more complex. In this environment, issues such as highlights, piece misplacement, and occlusions on the image can severely affect board recognition and reduce the intelligence level of the robot player. This paper proposes a multi-stage highlight removal network based on Swin Transformer, which can remove highlights on the image and recognize Go game information. Firstly, the image is processed by a multi-task detection network based on YOLOv5 to obtain highlight information. Then, the image is enhanced with the highlight information and input into the highlight removal network based on Swin Transformer for highlight removal. The output image is further processed by the detection network to obtain board information. We collected a total of 4242 images from publicly available datasets to train the detection network, which to some extent solves the problem of piece displacement. Additionally, we collected 1096 pairs of images for training the highlight removal network. Finally, the effectiveness of the proposed method was tested on a test set containing 56 images, achieving a recognition accuracy of 95.67%. © 2024, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Image enhancement

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Robotic Grasp Prediction for Selective Objects in a Cluttered Environment using Object Centric Masking 10

Robotic Grasp Prediction for Selective Objects in a Cluttere...

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10th IEEE Uttar Pradesh Section International Conference on Electrical, Electronics and Computer Engineering, UPCON 2023

作者： Agarwal, Ananya Kushwaha, Vandana Singh, Aditya Nandi, G.C. Center of Intelligent Robotics Indian Institute of Information Technology Allahabad U.P. Prayagraj211015 India Universitat Rovira i Virgili Tarragona Spain

ISBN: (纸本)9798350382471

intelligent grasping is a very active field of research in robotics. In the current scenario, a robot can identify the object pose (position and orientation) and pick it up by predicting a grasp rectangle but cannot predict the grasp parameters for a particular class of object out of multiple objects in a cluttered environment. Also, the architectures used for predicting grasp parameters usually suffer from the problem of finding regions of interest (ROI) in a large-size image or image with multiple objects, which deteriorates the prediction quality. To solve this shortcoming, we have proposed a method to identify the ROI and concentrate the grasp prediction model on the ROI. We have used a state-of-the-art object detection model YOLOv5 and grasp prediction model GR-ConvNet as major components of our method. The YOLOv5 network is used to localize the object of interest in the scene and outputs the position coordinates for the object of interest. We propose a novel center-passing mechanism for GR-ConvNet, which considers the object location as reference while pre-processing the image. It uses a white mask technique for isolating the object of interest. With our white masking approach, we are claiming an accuracy of 96.25% on Cornell Dataset. Our method is also tested in a real-world scenario for two objects: a duster and screwdriver in a cluttered scenes. Experimentally we have demonstrated a successful grasp execution on a 7 DOF Baxter robot with 87.80% and 79.07% accuracy on sparsely and densely placed objects respectively. © 2023 IEEE.

关键词： GR-ConvNet Object centric Masking Object detection Selective object Grasping YOLOv5

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Leveraging large language models for comprehensive locomotion control in humanoid robots design

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Biomimetic Intelligence & robotics 2024年第4期4卷 48-63页

作者： Shilong Sun Chiyao Li Zida Zhao Haodong Huang Wenfu Xu School of Mechanical Engineering and Automation Harbin Institute of TechnologyShenzhen 518055China Guangdong Provincial Key Laboratory of Inteligent Morphing Mechanisms and Adaptive Robotics Shenzhen 518055China Key University Laboratory of Mechanism&Machine Theory and Intelligent Unmanned Systems of Guangdong Shenzhen 518055China

This paper investigates the utilization of large language models(LLMs)for the comprehensive control of humanoid robot *** reinforcement learning(RL)approaches for robot locomotion are resource-intensive and rely heavily on manually designed reward *** address these challenges,we propose a method that employs LLMs as the primary designer to handle key aspects of locomotion control,such as trajectory planning,inverse kinematics solving,and reward function *** using user-provided prompts,LLMs generate and optimize code,reducing the need for manual *** approach was validated through simulations in Unity,demonstrating that LLMs can achieve human-level performance in humanoid robot *** results indicate that LLMs can simplify and enhance the development of advanced locomotion control systems for humanoid robots.

关键词： Humanoid robots Large language models Locomotion control Reinforcement learning

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Invariance and Contraction in Geometrically Periodic systems with Differential Inclusions

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IEEE Transactions on Automatic Control 2025年

作者： Qian, Chen Fang, Yongchun Research Center for Intelligent Robotics Zhejiang Lab Research Institute of Interdisciplinary Innovation Hangzhou311100 China College of Artificial Intelligence Institute of Robotics and Automatic Information Systems China Nankai University Tianjin Key Laboratory of Intelligent Robotics Tianjin300353 China

The objective of this paper is to derive the essential invariance and contraction properties for the geometric periodic systems, which can be formulated as a category of differential inclusions, and primarily rendered in the phase coordinate, or the cycle coordinate. First, we introduce the geometric averaging method for this category of systems, and also analyze the accuracy of its averaging approximation. Specifically, we delve into the details of the geometrically periodic system through the tunnel of considering the convergence between the system and its geometrically averaging approximation. Under different corresponding conditions, the approximation on infinite time intervals can achieve certain accuracies, such that one can use the stability result of either the original system or the averaging system to deduce the stability of the other. After that, we employ the graphical stability to investigate the "pattern stability"with respect to the phase-based system. Finally, by virtue of the contraction analysis on the Finsler manifold, the idea of accentuating the periodic pattern incremental stability and convergence is nurtured in the phase-based differential inclusion system, and comes to its preliminary fruition in application to biomimetic mechanic robot control problem. © 1963-2012 IEEE.

关键词： System stability

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Design of a Miniaturized Magnetic Actuation System for Motion Control of Micro/Nano Swimming Robots

Design of a Miniaturized Magnetic Actuation System for Motio...

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2022 IEEE International Conference on Real-Time Computing and robotics, RCAR 2022

作者： Sun, Liwen Wang, Huaping Shi, Qing Guo, Siyu Gao, Zhiqiao Sun, Tao Huang, Qiang Fukuda, Toshio Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology Beijing100081 China Beijing Institute of Technology Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing100081 China

ISBN: (数字)9781665469838

ISBN: (纸本)9781665469838

Magnetically controlled microrobots for drug delivery and noninvasive treatment have great potential applications in the biomedical field in the future. The construction of the magnetic actuation system is an important step to realize the automated control of micro/nano swimmers. However, the construction of a magnetic actuation system still faces challenges;for example, the magnetic field cannot be turned off immediately, the distribution of the magnetic field in the workspace is not uniform, the working space is limited and the feedback is inconvenient. In view of the above problems, a design method based on an eight-axis electromagnetic coil magnetic control system is introduced in this paper, which can compositely actuate the microrobot and ensure movement with five degrees of freedom. In addition, the overall size of the system can be reduced as much as possible under the condition that the magnetic field in the workspace is sufficiently uniform and the magnetic field intensity is sufficiently large. Finally, in the experimental part, the magnetic field uniformity is verified by magnetic field simulation and measurement, and then the path following of the square trajectory is realized with the 75 \mu \mathrm{m} helical microswimmer as the operating object. © 2022 IEEE.

关键词： Degrees of freedom (mechanics)

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Local Path Planning Combined with the Motion State of Dynamic Obstacles 1

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17th International Conference on Bio-Inspired Computing: Theories and Applications, BIC-TA 2022

作者： Hu, Yuxin Li, Jun Jiang, Lin Key Laboratory of Metallurgical Equipment and Control Technology Wuhan University of Science and Technology Wuhan430081 China Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology Wuhan430081 China

ISBN: (数字)9789819915491

ISBN: (纸本)9789819915484

Aiming at the problem that the current local path planning algorithm treats moving obstacles as transient static ones when avoiding obstacles, lacking initiative and security, a local path planning algorithm combining dynamic obstacle motion state is proposed. Firstly, the position information of all obstacles is obtained by a single scan LIDAR. Then, segmenting and linearly fitting all laser point clouds, removing the known obstacles in the map;and marking possible emerging dynamic obstacles with circles of appropriate size;then detecting the dynamic obstacles through the change of the coordinates of the center of the circle, obtaining the center coordinates of the dynamic obstacles continuously;thus, the equation of motion is solved by using the least squares. Finally, the cost map of dynamic obstacles is expanded in the direction of velocity, by combining DWA dynamic window method to realize avoiding dynamic obstacles safely. In this paper, through the simulation experiments and real environment experiments of robot meeting scenes from multiple angles, the results show that expanding the cost map of the motion direction of the dynamic obstacles provides more sufficient response space for the robot to avoid the dynamic obstacles. Compared with the original DWA, the algorithm in this paper can avoid dynamic obstacles more safely, which proves the security and feasibility of this algorithm. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Equations of motion

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Human-Robot Collision Analysis in Gazebo Environment

Human-Robot Collision Analysis in Gazebo Environment

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information, Control, and Communication Technologies (ICCT), International Conference on

作者： Aidar Zagirov Elvira Chebotareva Sergey Osokin Laboratory of Intelligent Robotics Systems (LIRS) Institute of Information Technologies and Intelligent Systems Kazan Federal University Kazan Russian Federation Institute of Information Technologies and Intelligent Systems Kazan Federal University Kazan Russian Federation

ISBN: (数字)9798331517564

ISBN: (纸本)9798331517571

Physical injuries resulting from collisions between people and moving robots are prevalent in automated manufacturing settings. To prevent hazardous situations, it is crucial to use appropriate simulation models of human actors during a design stage of production processes. This paper investigates an issue of human-robot interaction (HRI) safety and considers collision modeling within the Gazebo simulation environment. We evaluate a suitability of three existing human models: the standard Gazebo actor, the Gazebo actor with a collisions plugin, and the AR-601M robot-based human model, for use in scenarios involving collisions with moving physical objects. The study reveals significant differences in performance of these models, highlighting a need for accurate simulation tools in assessing and improving safety in human-robot interactions.

关键词： Accuracy Human-robot interaction Production Safety Manufacturing Reliability Collision avoidance Standards Robots Injuries

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