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Monocular Visual-Inertial and Robotic-Arm Calibration in a Unifying Framework

IEEE/CAA Journal of Automatica Sinica 2022年第1期9卷 146-159页

作者： Yinlong Zhang Wei Liang Mingze Yuan Hongsheng He Jindong Tan Zhibo Pang Key Laboratory of Networked Control Systems Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016 State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016 Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China School of Computing Wichita State UniversityWichita 67260 USA Department of Mechanical Aerospace and Biomedical EngineeringUniversity of TennesseeTN 37996 USA Department of Automation Technology ABB Corporate Research SwedenVasteras 72178Sweden Department of Intelligent Systems Royal Institute of Technology(KTH)Stockholm 11428Sweden

Reliable and accurate calibration for camera,inertial measurement unit(IMU)and robot is a critical prerequisite for visual-inertial based robot pose estimation and surrounding environment ***,traditional calibrations suffer inaccuracy and *** address these problems,this paper proposes a monocular visual-inertial and robotic-arm calibration in a unifying *** our method,the spatial relationship is geometrically correlated between the sensing units and robotic *** decoupled estimations on rotation and translation could reduce the coupled errors during the ***,the robotic calibration moving trajectory has been designed in a spiral pattern that enables full excitations on 6 DOF motions repeatably and *** calibration has been evaluated on our developed *** the experiments,the calibration achieves the accuracy with rotation and translation RMSEs less than 0.7°and 0.01 m,*** comparisons with state-of-the-art results prove our calibration consistency,accuracy and effectiveness.

关键词： Calibration inertial measurement unit(IMU) monocular camera robotic arm spiral moving trajectory

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Design of a pressure sensitive matrix for analyzing direct haptic patient-therapist interaction in motor rehabilitation after stroke

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Current Directions in Biomedical Engineering 2017年第1期3卷 57-61页

作者： Pust, Michael Ivanova, Ekaterina Schmidt, Henning Krüger, Jörg TU Berlin Berlin Germany Rehabilitation Robotics Group Department of Industrial Automation Technology TU Berlin Berlin Germany Rehabilitation Robotics Group Fraunhofer Institute for Production Systems and Design Technology Berlin Germany Department of Industrial Automation Technology TU Berlin Berlin Germany

Robot based therapy is one of the prevalent therapeutic approaches in motor stroke rehabilitation. It is often used in hospitals in combination with conventional therapy. In order to optimize human-robot interaction, we aim to investigate how a therapist physically supports patients during motor training of the upper extremities. This paper presents the design of a flexible textile sensor matrix, which measures the pressure exerted between therapist and patient during direct haptic interaction as well as the hand position and orientation in space. The matrix contains 144 sensors which enables measuring pressure intensity and localization of areas where the pressure is applied. The measurement matrix was evaluated with four healthy participants. © 2017 Michael Pust et al., licensee De Gruyter.

关键词： Human robot interaction

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Development and Evaluation of a Robotic System for Safe Cardiac Sheath Delivery

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IEEE Transactions on Biomedical Engineering 2025年 PP卷 PP页

作者： Wang, Weizhao Saija, Carlo Xu, Zhouyang Zeidan, Aya Wilcox, Joshua Patterson, Tiffany Redwood, Simon Wang, Shuangyi Rhode, Kawal Housden, Richard King's College London School of Biomedical Engineering and Imaging Sciences LondonWC2R 2LS United Kingdom Guy's and St Thomas' NHS Foundation Trust Cardiovascular Department LondonSE1 7EH United Kingdom King's College London School of Cardiovascular Medicine and Sciences LondonSE1 7EH United Kingdom Institute of Automation Chinese Academy of Sciences State Key Laboratory of Multimodal Artificial Intelligence Systems Beijing100190 China University of Chinese Academy of Sciences School of Artificial Intelligence Beijing101408 China Chinese Academy of Sciences Centre for Artificial Intelligence and Robotics Hong Kong Institute of Science & Innovation Hong Kong

Objective: This study aimed to develop and evaluate a 3-degree-of-freedom (DoF) robotic system for the safe delivery of cardiac sheaths through challenging anatomical structures, including the fossa ovalis and pathways with tight curves. Methods: The robot and its kinematic model were built on a previously proposed single-DoF actuation module and bending model. A sheath delivery strategy (SDS) was developed, combining two control methods: tip position control to approach an optimal entry point and point-constrained control to maintain consistent navigation through this point, minimizing tissue contact. Technical performance was evaluated through trajectory-following and point-crossing tests, followed by feasibility experiments in a simulated scenario. Trials were conducted by three cardiologists using a validated phantom model under fluoroscopic guidance, comparing SDS with joint control (JC) and manual control (MC). Results: Average root mean square errors were 2.10 mm for tip position control and 1.86 mm for point-constrained control. SDS outperformed MC with significantly shorter trajectory lengths and lower root mean square jerk. Compared to JC, SDS reduced sheath-induced movements (an indirect measure of force) and increased retraction success rates at the fossa ovalis. Conclusion: The proposed robotic system reduced tissue wall contact compared to JC and provided smoother, more controlled operations than MC, ensuring safer and more effective delivery through confined pathways. Significance: This work contributes to advancing robotic-assisted cardiac sheath delivery, providing a reliable and safer method for navigating challenging anatomical structures. © 2025 IEEE Computer Society. All rights reserved.

关键词： Medical robotics

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Gas distribution mapping based on integrating system with mobile robot and sensor network 41

Gas distribution mapping based on integrating system with mo...

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第41届中国控制会议

作者： Zhirui Xu Lei Cheng Daiwei Tang Engineering Research Center for Metallurgical Automation and Measurement Technology of Ministry of Education Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

The monitoring of industrial environmental gas quality becomes an increasingly important topic due to its significant impact on the health of the producers and the safety of the production ***,there are two main approaches to this task:first,using mobile robots equipped with sensors to patrol and monitor the environment,the prediction accuracy of this method is relatively poor;second,using a sensor network distributed in the environment for a long term monitoring,however this method lefts spatial relations and non-detection areas *** solve the above problems,this paper proposes a method combining the spatial map constructed by the mobile robot with fixed monitoring *** this method,the concentration of gas is collected by a fixed gas sensor and predicted by a deep neural *** the same time,a mobile robot equipped with lidar and a gas sensor is used to model the spatial construction of the environment as well as verify the *** embedding the predicted concentration map with the spatial map,a gas concentration map with high accuracy and spatial information is *** using anhydrous ethanol odor sources in a closed and windless room showed high prediction accuracy(98%) with this method.

关键词： Gas distribution mapping Deep neural networks spatial-temporal distribution simultaneous Localization and Mapping(SLAM)

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Path planning of a snake-like robot based on Serpenoid curve and Genetic algorithms

Path planning of a snake-like robot based on Serpenoid curve...

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WCICA 2004 - Fifth World Congress on Intelligent Control and automation, Conference Proceedings

作者： Liu, Jinguo Wang, Yuechao Li, Bin Ma, Shugen Robotics Laboratory Chinese Academy of Sciences Shenyang Institute of Automation China Department of Systems Engineering Ibaraki University Japan

The path of the snake-like robot has no repetition because its motion is influenced by manifold indeterminate factors such as ground condition, mechanism's vibration and motor voltage's variety. A novel path planning technique based on Serpenoid curve and Genetic algorithms (GAs) has been proposed to control the snake-like robot in Shenyang institute of automation (SIA, China). Firstly, the ranges of the path and the curvature deviation have been calculated approximately and set as the bounds of Genetic algorithms. Then using real time dual Genetic algorithms, this path planning technique not only can decide the shortest path and the minimum curvature deviation, but also can limit the motion error's influence. Simulation results show that the results of the second layer of GAs are more available than that of the first layer of GAs and this novel technique is effective for the path planning of the SIA snake-like robot.

关键词： Mobile robots

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A new generation of collaborative robots for material handling

A new generation of collaborative robots for material handli...

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29th International Symposium of automation and robotics in Construction, ISARC 2012

作者： Gambao, Ernesto Hernando, Miguel Surdilovic, Dragoljub Centre for Automation and Robotics UPM-CISC Madrid Spain Fraunhofer Institute for Production Systems and Design Technology Berlin Germany

Purpose: The handling of material is a high resource consuming task in many different manufacturing industries and especially in the construction sector. Global demand for material-handling products is projected to rise by 7.0 percent annually until 2014 to a total of $119 billion. Typically, work on the construction site, in the materials distribution process or in the construction materials production, includes extensive material handling tasks. Advanced automation and robotics technologies can enhance the productivity of this process, guaranteeing at the same time the highest level of safety for workers. Modular reconfigurable robotic systems are considered as one of the most challenging topics. A worldwide cutting-edge technical solution for material handling, based on the development of a modular intelligent power assists systems (collaborative robots, COBOTS), is presented in this paper. Method: Conventional manually-guided handling systems lack an intuitive and responsive control and may lead to back discomfort and fatigue. A significant improvement has been achieved by power-assisted systems developed by Stanley Cobotics in the USA, as well by the first cobot prototypes in German industry implemented through cooperation of IPK and Schmidt-Handling GmbH. The proposed material handling approach would constitute a significant breakthrough by bridging the gap between fully automatic and manual technologies. The developed intelligent power systems are capable of working with people also in a direct physical contact, combining human flexibility, intelligence, and skills with the advantage of sophisticated technical systems. Safety issues have been considered to be of paramount importance. Results & Discussion: A modular flexible collaborative robot prototype has been designed and developed as a demonstration of the proposed new generation of material handling methodology. This technology supposes a break with traditional paradigms regarding flexibility, cost, acce

关键词： Materials handling

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Short-term load forecasting of long-short term memory neural network based on genetic algorithm 4

Short-term load forecasting of long-short term memory neural...

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4th IEEE Conference on Energy Internet and Energy System Integration, EI2 2020

作者： Li, Wanting Zang, Chuanzhi Liu, Ding Zeng, Peng Shenyang Institute of Automation Chinese Academy of Sciences Key Laboratory of Networked Control Systems State Key Laboratory of Robotics Institutes for Robotics and Intelligent Manufacturing Beijing China

ISBN: (纸本)9781728196060

Accurate load forecasting is conducive to the reasonable arrangement of power grid dispatching plans. Traditional load forecasting methods cannot handle the time series and nonlinear characteristics of load well. Long-short term memory (LSTM) neural networks can record long-term and short-term information, which can effectively solve this kind of problem. But the parameters of LSTM network are difficult to determine. For this reason, this paper proposes a long-short term neural network based on genetic algorithm. The learning rate and iteration number of the LSTM network are used as chromosomes, and the genes are continuously selected, crossed, and mutated to obtain more good genes. Comparing this method with the standard LSTM network, the simulation results show that the LSTM network using genetic algorithm for parameter optimization improves the prediction accuracy of the standard LSTM network by 63%. © 2020 IEEE.

关键词： Genetic algorithms

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automation of Life Data Analysis Processes 13

Automation of Life Data Analysis Processes

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13th International DAAAM Baltic Conference and 29th International Baltic Conference, BALTMATTRIB 2021

作者： Krämer, Jonathan Thiele, Gregor Johanni, Theresa Krüger, Jörg Department for Industrial automation The Institute for Machine Tools and Factory Management Technical University of Berlin Germany Department for Process automation and Robotics Fraunhofer Institute for Production Systems and Design Technology Germany

Life data analysis is an effective statistical process to gain information on the reliability of technical facilities. The Weibull analysis is a widely-used method for modeling the probabilities of different functional failures. For its application in modern manufacturing and maintenance processes, an automation of this analysis is expedient. An exemplary process of data collection and fitting of a parametric model with continuous time scale is analyzed in this article. Its automation with different statistic software tools is described and comparatively evaluated. With the ambition of minimizing manual effort in the process, a highly automated solution was developed in this research. We describe this self-implemented solution in "R" and justify that this procedure automatizes the process more than the examined commercial implementations. The here presented work proves to be a practical real-time assistance, right now applied in aircraft maintenance. © 2021 DAAAM International. All rights reserved.

关键词： automation

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A practical PID variable stiffness control and its enhancement for compliant force-tracking interactions with unknown environments

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Science China(Technological Sciences) 2023年第10期66卷 2882-2896页

作者： ZHANG Xin ZHOU Hao LIU JinGuo JU ZhaoJie LENG YuQuan YANG ChenGuang State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China School of Computing University of PortsmouthPortsmouth PO13HEUK Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy EngineeringSouthern University of Science and TechnologyShenzhen 518055China Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and EngineeringSouth China University of TechnologyGuangzhou 510640China

Compliant interaction control is a key technology for robots performing contact-rich manipulation *** design of the compliant controller needs to consider the robot hardware because complex control algorithms may not be compatible with the hardware performance,especially for some industrial robots with low bandwidth *** paper focuses on effective and easy-to-use compliant control algorithms for position/velocity-controlled *** by human arm stiffness adaptation behavior,a novel variable target stiffness(NVTS)admittance control strategy is proposed for adaptive force tracking,in which a proportional integral derivative(PID)variable stiffness law is designed to update the stiffness coefficient of the admittance function by the force and position ***,its stability and force-tracking capability are theoretically *** addition,an impact compensator(Impc)is integrated into the NVTS controller to enhance its disturbance-suppression capability when the robot is subjected to strong vibration disturbances in complicated surface polishing *** proposed controllers are validated through four groups of experimental tests using different robots and the corresponding results demonstrate that they have high-accuracy tracking capability and strong adaptability in unknown environments.

关键词： compliant interaction control force tracking PID variable stiffness impact compensator unknown environments

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Novel Surface Design of Deployable Reflector Antenna Based on Polar Scissor Structures

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Chinese Journal of Mechanical Engineering 2020年第5期33卷 4-18页

作者： Pengyuan Zhao Jinguo Liu Chenchen Wu Yangmin Li Keli Chen State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of ScienceShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China Department of Industrial and Systems Engineering The Hong Kong Polytechnic UniversityHong Kong 999077China

Space-deployable mechanisms can be used as supporting structures for large-diameter antennas in space *** study proposes a novel method for constructing the surface design of space reflector antennas based on polar scissor *** concurrency and deployability equations of the space scissor unit with definite surface constraints are derived using the rod and vector *** equations of the spatial transformation for space n-edge polar scissor units are summarized.A new closed-loop deployable structure,called the polar scissor deployable antenna(PSDA),is designed by combining planar polar scissor units with spatial polar scissor *** overconstrained problem is solved by releasing the curve constraint that locates at the end-point of the planar scissor *** simulation and error analysis are *** results show that the PSDA can effectively fit the paraboloid of ***,deployment experiments verify the validity and feasibility of the proposed design method,which provides a new idea for the construction of large space-reflector antennas.

关键词： Deployable structures Polar scissor unit Reflector antenna Surface design

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