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16th European Signal Processing Conference, EUSIPCO 2008

作者： Xin, Jingmin Zheng, Nanning Sano, Akira Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University Xi'an 710049 China Department of System Design Engineering Keio University Yokohama 223-8522 Japan

For any practical direction estimation and tracking system in array processing, estimating the number of incident signals accurately and tracking its possible changes in an on-line way is a critical requirement. In this paper, a new QR-based adaptive detection algorithm is proposed to estimate the coherent/incoherent narrowband signals impinging on a uniform linear array (ULA), where the updating of eigenvalues and the threshold setting are avoided. The effectiveness of the proposed method is verified through numerical examples, and simulation results show that the proposed method has good detection performance to track the number of suddenly appearing/disappearing incident signals or that of closely-spaced signals with time-varying directions. copyright by EURASIP.

关键词： Array processing

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Saliency-SLAM: Saliency Prediction for Visual SLAM

Saliency-SLAM: Saliency Prediction for Visual SLAM

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2023 Tianjin University-IET Electrical and Information engineering Doctoral Forum, TJU IET 2023

作者： Jin, Sheng Meng, Qinghao Institute of Robotics and Autonomous Systems Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System School of Electrical and Information Engineering Tianjin University Tianjin China

ISBN: (纸本)9781839539824

This paper proposes a novel approach for visual simultaneous localization and mapping (vSLAM), called Saliency-SLAM. This method effectively emulates the visual attention mechanism by integrating a saliency prediction model. In contrast to conventional vSLAM methods, which treat all feature points as equally significant, salient feature points are given greater importance in Saliency-SLAM. Therefore, we construct a novel saliency dataset specifically for vSLAM task to train a saliency prediction model by integrating multi-level visual information. Then, we propose to use the salient value of predicted result as the weight of significance for the feature points during the optimization process. Exhaustive experiments have been conducted on the KITTI dataset, demonstrating that our proposed method outperforms existing approaches in terms of localization accuracy. © The Institution of engineering & Technology 2023.

关键词： Forecasting

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Interface design of a human-robot interaction system for dual-manipulators teleoperation based on virtual reality

Interface design of a human-robot interaction system for dua...

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2018 IEEE International Conference on Information and Automation, ICIA 2018

作者： Bian, Feifei Li, Ruifeng Zhao, Lijun Liu, Yihuan Liang, Peidong State Key Lab of Robotics and System Harbin Institute of Technology 2 Yikuangjie Nangang Harbin Heilongjiang China Quanzhou HIT Institute of Engineering and Technology Fengze Quanzhou Fujian China

ISBN: (纸本)9781538680698

This paper presents a human-robot interaction interface for dual-manipulators teleoperation based on virtual reality. Using this method, the human operator is able to control the robot at a distance to complete complicated tasks in unstructured environment. Virtual reality technology is integrated into the system to provide the first person perspective of the robot to the operator. Based on the three-dimensional coordinates of shoulder, elbow, wrist and hand captured by Kinect, a geometric model of the human arm is built. Then a geometric vector method is proposed to calculate the joint angles of human upper limbs which are translated into movement commands for a robot. To access the performance of our proposed human-robot interaction interface, teleoperation experiments are conducted on the Baxter robot, illustrating the effectiveness and feasibility of our proposed method. © 2018 IEEE.

关键词： Virtual reality

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Layout space modeling for automation design of pipeline system

Layout space modeling for automation design of pipeline syst...

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2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Feng, Haibo Fu, Yili Li, Liyi School of Electrical Engineering and Automation Harbin Institute of Technology Harbin Heilongjiang Province China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

Automation design is of great significance to promote design quality and reduce design cycle for pipeline system design. But high complexity and strong design interference are two main problems in automation design process of pipeline system. Thus, this study proposes a novel layout space model to reduce high complexity and design interference in automation design of pipeline system. The proposed model uses grid methods to provide candidate layout space. The candidate layout space adopts random sampling to meet requirements of reducing complexity and design interference. Test experiment is provided to show that the proposed model is effective. © 2012 IEEE.

关键词： Automation

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Complex impedance matching for power improvement of a circular piezoelectric energy harvester

Complex impedance matching for power improvement of a circul...

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2011 International Conference on Mechanical engineering, Materials and Energy, ICMEME 2011

作者： Wang, Hongyan Shan, Xiaobiao Xie, Tao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China College of Computer and Control Engineering Qiqihar University Qiqihar 161006 China

ISBN: (纸本)9783037853405

The impedance matching and the optimization of power from a circular piezoelectric energy harvester with a central-attached mass are studied. A finite element model is constructed to analyze the electrical equivalent impedance of the circular piezoelectric energy harvester. Furthermore, the complex conjugate matching load is used to extract the maximum output power of the energy harvester. The power output from complex conjugate matching load is compared with the power output from the resistive matching load and a constant resistance, separately. The results suggest that the complex conjugate matching can result in a significant increase of the output power for all frequencies. The effective bandwidth of the piezoelectric energy harvester is extended significantly. © (2012) Trans Tech Publications, Switzerland.

关键词： Finite element method

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Development of a novel autonomous lower extremity exoskeleton robot for walking assistance

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Frontiers of Information Technology & Electronic engineering 2019年第3期20卷 318-329页

作者： Yong HE Nan LI Chao WANG Lin-qing XIA Xu YONG Xin-yu WU Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen College of Advanced Technology University of Chinese Academy of Sciences Department of Mechanical Engineering and Intelligent Systems the University of Electro-Communications

Today, exoskeletons are widely applied to provide walking assistance for patients with lower limb motor incapacity. Most existing exoskeletons are under-actuated, resulting in a series of problems, e.g., interference and unnatural gait during walking. In this study, we propose a novel intelligent autonomous lower extremity exoskeleton(Auto-LEE), aiming at improving the user experience of wearable walking aids and extending their application *** traditional exoskeletons, Auto-LEE has 10 degrees of freedom, and all the joints are actuated independently by direct current motors, which allows the robot to maintain balance in aiding walking without extra *** new exoskeleton is designed and developed with a modular structure concept and multi-modal human-robot interfaces are considered in the control system. To validate the ability of self-balancing bipedal walking, three general algorithms for generating walking patterns are researched, and a preliminary experiment is implemented.

关键词： Lower-limb Exoskeleton Self-balancing Bipedal walking Modular design

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robotics-based micro-reeling of magnetic microfibers to fabricate helical structure for smooth muscle cells culture

Robotics-based micro-reeling of magnetic microfibers to fabr...

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2017 IEEE International Conference on robotics and Automation, ICRA 2017

作者： Sun, Tao Shi, Qing Wang, Huaping Liu, Xiaoming Hu, Chengzhi Nakajima, Masahiro Huang, Qiang Fukuda, Toshio Intelligent Robotics Institute Key Laboratory of Biomimetic Robots and System Ministry of Education School of Mechatronical Engineering Beijing Institute of Technology Beijing100081 China Department of Micro-Nano Systems Engineering Nagoya University Nagoya464-8603 Japan Institute of Robotics and Intelligent Systems ETH Zurich Tannenstrasse 3 Zurich8092 Switzerland

ISBN: (纸本)9781509046331

Helical structure assembled by hydrogel microfibers is significant for culture of smooth muscle cells. However, the helical structure is only fabricated at the macroscale, while the fabrication of helical microstructure is still a challenge due to the lack of assembly method. In this paper, we propose a robotics-based assembly method to handle such challenge. An electromagnetic needle (EMN) is employed as end-effector to magnetically reel the microfiber encapsulating magnetic nanoparticles around a micropillar, and a dual-ring structure is designed to keep the microfiber being attracted at the EMN tip. For enhancing the stability of tip attraction, the manipulation mode of anticlockwise pushing microfiber is established. Moreover, the interaction mechanism between EMN tip and microfiber is analyzed by developing a static force model, and then the key condition of stably reeling microfiber is concluded. Furthermore, a robotics-based motion trajectory of EMN tip is planned to achieve a smooth reeling process. Based on such planning, the size of dual-ring structure is further optimized to improve the success rate of reeling. Finally, the helical microstructure with there-turn coils is successfully fabricated. © 2017 IEEE.

关键词： Nanoparticles

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Active Camera View Planning Based on Deep Reinforcement Learning in Indoor Exploration 42

Active Camera View Planning Based on Deep Reinforcement Lear...

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42nd Chinese Control Conference, CCC 2023

作者： Wang, Hao-Yu Meng, Qing-Hao Dai, Xu-Yang Institute of Robotics and Autonomous Systems School of Electrical and Information Engineering Tianjin University Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System Tianjin300072 China

ISBN: (纸本)9789887581543

In the last decades, significant progress has been made in the field of active vSLAM (visual simultaneous localization and mapping). However, the majority of active vSLAM methods suffer from the problem of coupling the camera's viewpoint to the robot's motion, which limits the initiative during the exploration of unknown environments. To address this issue, this study proposes a camera view planning method based on deep reinforcement learning (DRL), which makes the camera rotate independently. First, feature encoding is performed on the reconstructed navigation map using a multi-layer convolutional neural network (CNN). Second, the DRL-based camera view planning method is trained through the proximal policy optimization (PPO) algorithm. Last, a significant number of tests is performed on a public dataset of indoor environments. The simulation results show that the proposed camera view planning method improves the exploration coverage by an average of 4% (33.86 m2 for traditional vs. 35.21 m2 for the suggested method). Meanwhile, the kind of semantic information newly observed in each step increases by 21% (2.9 for traditional vs. 3.5 for the proposed method) on average, indicating the improvement in the efficiency of information acquisition. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Reinforcement learning

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Dynamic modeling and analysis for a differential modular robot joint with the friction model

Dynamic modeling and analysis for a differential modular rob...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Liu, Yukun Luo, Ruiqing He, Minghui Du, Liang Bao, Sheng Yuan, Jianjun Wan, Weiwei Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai University Shanghai China Shanghai Robotics Institute Shanghai University Shanghai China Department of System Innovation Graduate School of Engineering Science Osaka University Osaka Toyonaka Japan

ISBN: (纸本)9781665481090

The study of friction has long been popular with scientists. Considering the coupling characteristic of multi-input-multi-output (MIMO) system, the coupling friction model was established, which was based on Coulomb-Viscous friction model for the differential modular robot joint (DMRJ) according to the law of conservation of energy. Then, we identified the coefficients of the friction model through the experiment. In order to verify the accuracy of the established friction model, we regarded the DMRJ as a 2-DoF linkage and built the inertial dynamic model based on Lie theory, whose inertial parameters were estimated by computer aided design (CAD). Besides, we chose the trajectory based on the Fourier series, which has good performance in anti-interference ability, as the verification trajectory. From the generated trajectories, we used a trajectory that is able to change as much as possible in speed, position and acceleration to estimate the accuracy of the model comprehensively. Finally, the result indicated the model had good accuracy. © 2022 IEEE.

关键词： Modular robots

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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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