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Design of a Novel Gripper system with 3D- and Inkjet-printed Multimodal Sensors for Automated Grasping of a Forestry Robot

Design of a Novel Gripper System with 3D- and Inkjet-printed...

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2019 IEEE/RSJ International Conference on Intelligent Robots and systems, IROS 2019

作者： Faller, Lisa-Marie Stetco, Christian Zangl, Hubert Department of Robotics FH Kärnten Department of Engineering IT Europastrasse 4 Villach9524 Austria Institute of Smart System Technologies Alpen-Adria-Universität Klagenfurt Sensors and Actuators Department Klagenfurt9020 Austria

ISBN: (纸本)9781728140049

Future industrial robotic systems increasingly rely on automation of dangerous and tedious tasks. The acquisition of diverse and partially redundant information using reliable and rugged multimodal sensors helps to improve the safety an dependability of such systems. In this paper we propose proximity sensors suitable for the integration into the gripper of a forestry robot. The suggested sensors are complementary to vision based data acquisition as it can in particular provide information on objects close to the gripper that could otherwise not be obtained due to occlusion and missing direct line of sight. We present the design, fabrication and evaluation of 3Dand inkjet-printed capacitive sensors for grasping applications in harsh industrial environment, especially forestry robotics. The sensor elements have been developed along with a complete gripper re-design. The suggested fabrication strategy allows retrofitting of various industry components and reduced maintenance and costs as well as application-specific design and optimization and are also suitable for wireless operation. The developed gripper allows the support of grasping tasks by providing proximity and contact information. © 2019 IEEE.

关键词： Data acquisition

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Design of Regenerative Braking Strategy for Hybrid Electric Vehicle Based on Sensitivity Ratio

Design of Regenerative Braking Strategy for Hybrid Electric ...

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第35届中国控制与决策会议

作者： Qinyu Xu Shiqian Wu Institute of Robotics and Intelligent System School of Information Science and Engineering Wuhan University of Science and Technology

Based on the braking system of hybrid electric vehicles(HEVs),a method based on sensitivity ratio decisionmaking is proposed to coordinate the multi-objective requirements of stability and economy in vehicle regenerative ***,the grid method is used to calculate the fitness of the braking force distribution coefficient of each front and rear wheel under each braking intensity,and the Pareto solution set is obtained through non-dominated *** the decision method of nonlinear variable weight sensitivity ratio is adopted offline to obtain the best *** the one-dimensional mapping table(1-D table) of and is built,and embedded into the braking energy strategy to achieve the coordination of stability and ***,the simulation is carried out in ADVISOR simulation software,and the results show that the stability of this strategy is better than the traditional ADVISOR strategy,and the brake recovery rate is increased by 43.55%.

关键词： Hybrid electric vehicle regenerative braking strategy multi-objective optimization nonlinear variable weight sensitivity ratio decision

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Friction identification and control for Chinese large-scale space end-effector

Friction identification and control for Chinese large-scale ...

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International Conference on Information and Automation (ICIA)

作者： Fenglei Ni Qian Zhang Shipeng Xie Hong Liu Dangyang Jie State Key Laboratory of Robotics and System Harbin Institute of Technology (HIT) Harbin China Beijing Institute of Astronautics System Engineering Beijing China

In order to achieve large tolerance capture and high stiffness connection for space payload operations, a Chinese large-scale space end-effector (EER) was developed. Friction is a kind of strong nonlinear factor that severely degrades performance of EER To predict the friction amplitude and compensate the dynamic error, the friction model based Generalized Maxwell-Slip model (GMS) is built. In order to improve the parameters identification accuracy of friction model, and overcome the error effects of the low speed velocity measurement, the full-order speed observer is designed as feedback speed information. Experiments platform has been built and some dragging experiments on the EER have been done. Results of the experiments show that the precision of the position tracking can reach ±0.02mm by GMS compensation, increased more than 30% compared with Stribeck friction model.

关键词： Friction Observers Decision support systems Conferences Automation Abstracts Indexes

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Improvement on obstacle avoiding ability based on laser range finder

Improvement on obstacle avoiding ability based on laser rang...

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International Conference on Mechatronics and Automation

作者： He, Fujun Liu, Xiaolei Du, Zhijiang Ta, Yueyue Daqing Petroleum Institute Daqing Heilongjiang 163318 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province 150001 China Department of Mechanical Science and Technology Electrical Engineering Department Daqing Petroleum Institute Daqing Heilongjiang 163318 China

ISBN: (纸本)9781424451418

Mobile robot works in complicated environment have to deal with all kinds of obstacles, some obstacles may leave only a narrow way, and some obstacles moves quickly or arbitrarily, such as a child. The robot must improve its ability to quickly sensing the obstacles and tracking their state, and then avoid these obstacle and move to the original goal at the same time by motion planning. To improve the obstacle avoiding ability, a three layers obstacle avoiding policy is adopted to deal with the obstacle in different range. The dangerous obstacles are determined and the sub-goal based avoiding policy is presented. To improve the responding ability to moving object, a tracking model is set up, which takes into account the influence of moving platform. The robot may anticipate the collision possibility, collision time and position from tracking algorithm, and then three obstacle avoiding policy is presented according to the collision estimation. The experiment shows good moving object avoiding result. © 2010 IEEE.

关键词： Motion planning

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An investigation on laser-induced damage resistance of KDP optics repaired by different micro-milling strategies 20

An investigation on laser-induced damage resistance of KDP o...

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20th International Conference of the European Society for Precision engineering and Nanotechnology, EUSPEN 2020

作者： Liu, Qi Cheng, Jian Yang, Hao Zhao, Linjie Tan, Chao Chen, Mingjun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Machining and Condition Monitoring Group Faculty of Engineering University of Nottingham NG7 2RD United Kingdom

ISBN: (纸本)9780995775176

Although micro-milling has been regarded as the most promising method to repair the micro-defects on KH2PO4 (KDP) optics surfaces, residual tool marks are inevitably generated on the repaired surfaces and would pose a direct impact on the laser-induced damage (LID) threshold of repaired KDP optics. In this work, a residual tool marks model was developed to characterize the repaired surface morphologies processed by different milling strategies (e.g. layer-milling and spiral-milling strategies). Then the predicted tool marks were utilized to built a light-filed intensity modulation model to reveal the relationship between the residual tool marks and its related optical performance. The practical of LID tests well verified the simulation results. It was revealed that the milling strategies indeed have a significant influence on the ultimate LID resistance of KDP optics after repair through impacting the generation of residual tool marks. The spiral-milling method with a smaller path interval can produce a laser-friendly repaired surfaces, which have a equivalent laser-induced resistance with the original fly cutitng surface, while the layer-milling method has a higher machining efficiency. Therefore, an optimized repair procedure, adopting layer-milling path as rough milling and spiral-milling as fine milling, was proposed for pratical engineering application in ICF facilities in the future. Copyright © Proceedings of the 20th International Conference of the European Society for Precision engineering and Nanotechnology, EUSPEN 2020. All rights reserved.

关键词： Milling (machining)

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Optimized Design of a Haptic Unit for Vibrotactile Amplitude Modulation

Optimized Design of a Haptic Unit for Vibrotactile Amplitude...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Huang, Jingchen Fang, Yun Guo, Weichao Qiao, Zhijian Sheng, Xinjun School of Mechanical Engineering Meta Robotics Institute Shanghai Jiao Tong University State Key Laboratory of Mechanical System and Vibration Shanghai200240 China Hong Kong University of Science and Technology Department of Electronic and Computer Engineering Hong Kong Hong Kong

ISBN: (纸本)9781665481090

Communicating information to users is a crucial aspect of human-machine interaction. Vibrotactile feedback encodes information into spatiotemporal vibrations, enabling users to perceive tactile sensations. It offers advantages such as lightweight, wearability, and high stability, with broad applications in sensory substitution, virtual reality, education, and healthcare. However, existing haptic unit designs lack amplitude modulation capabilities, which limits their applications. This paper proposed an optimized design of the haptic unit from the perspective of vibration amplitude modulation. A modified elastic model was developed to describe the propagation and attenuation mechanisms of vibration in the skin. Based on the model, two types of hierarchical architectural design were proposed. The design incorporated various materials arranged in multiple layers to amplify or attenuate the vibration amplitude as it traveled through the structure. An experimental platform was built to evaluate the performance of the optimized design. © 2024 IEEE.

关键词： Virtual reality

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Static Stability Analysis of a Joint Double-Tracked Robot

Static Stability Analysis of a Joint Double-Tracked Robot

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第26届中国控制与决策会议

作者： Chengguo Zong Shigong Jiang Wenzeng Guo Fuquan Dai Xueshan Gao School of Mechatronical Engineering Beijing Institute of Technology States Key Laboratory of Robotics and System Harbin Institute of Technology

ISBN: (纸本)9781479937097

This paper presents a robot with double tracks, composed of two segments connected with a joint in mechanical structure. The robot can work like a four-tracked robot for moving on many terrains. Moving posture during robot stairs climbing is discussed, this is a typical case and is useful for designing the robot platform. Static stability analysis of the robot performance on rough terrains is complicated, due to the complexity of the terrains and posture of the robot itself. Therefore, three typical rough terrains are chosen to be analyzed in this paper, namely, the common rugged terrain, the slope terrain, and the stairs. The corresponding experiments' results demonstrate that the robot can perform with satisfactory on the rough terrains.

关键词： Tracked robot,Static stability analysis,Rough terrains

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A Novel Multi-layered Minutiae Extractor Based on OCT Fingerprints 16th

A Novel Multi-layered Minutiae Extractor Based on OCT Finge...

引用

16th Chinese Conference on Biometric Recognition, CCBR 2022

作者： Zeng, Wenfeng Zhang, Wentian Liu, Feng Tan, Xu Li, Qin College of Computer Science and Software Engineering Shenzhen University Shenzhen China SZU Branch Shenzhen Institute of Artificial Intelligence and Robotics for Society Senzhen China The National Engineering Laboratory for Big Data System Computing Technology Shenzhen University Shenzhen China School of Software Engineering Shenzhen Institute of Information Technology Shenzhen China

ISBN: (纸本)9783031202322

Fingerprints of Optical Coherence Tomography (OCT) imaging provide 3D volume data which have the nature property of multi-layered tissue structure. This paper, for the first time, attempts to extract minutiae for OCT-based fingerprint by making full use of the merits multi-layered structure of OCT imaging and powerful convolution al neural network (CNN). In particular, a novel multi-layered feature fusion minutiae extraction network is proposed, involving a multi-layered feature extractor to integrate the rich information of multiple subsurface fingerprints, and a two-stage object detection framework using reweighted concatenation feature to detect minutiae points. Compared with the results achieved by typical traditional and learning-based methods, our method outperforms the best one by about 2% of F1-score in minutiae extraction, and achieves the improvement of 0.09% than the best one in matching performance, which further demonstrate the effectiveness and robustness of our proposed method. © 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Optical tomography

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Application of Scanning Sonar using Multi - Legged Underwater Robot's Degree of Freedom

Application of Scanning Sonar using Multi - Legged Underwate...

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Oceans MTS/IEEE Washington (Conference)

作者： Hyuk Baek Songyeol Yoo Bong-Huan Jun Marine Robotics Lab Ocean System Engineering Research Division Korea Research Institute of Ships & Ocean Engineering

ISBN: (纸本)9781467393744

Generally scanning sonar can be used with ROV or other equipments. When scanning sonar is operated independently of a ROV, it is most often deployed in a stationary tripod, cage or frame, or pole-mounted to survey the seafloor, port wall, and scour at bottom of the bridge. It could offer high accuracy of image position, in comparison with side scan sonar. However, In high current and shallow water, it was too hard to acquire precise images with these kinds of fixture including gimble so far. When scanning sonar is operated with a universal ROV, it is difficult to survey in strong current water. A scanning sonar attached CR200 can be operated in strong current water because CR200 is designed to overcome this. One of its most advantage is possibility of the variable application with scanning sonar and ultra sound camera because of ability to keep stable posture during the surveying and offer degree of freedom. We had conducted the performance test of CR200 at Mado, West Sea of Korea where the excavation of the sunken historical objects is in progress last from 16th April to 15th May. To do this we arranged arbitrary targets around the place, searched and collected them. This paper deals with method of acquiring high quality image from scanning sonar operated with CR200 making full use of degree of freedom and application to navigation with the images in high current and shallow water. CR200 performed successfully the mission to search, identify and collect the imitation relic samples with scanning sonar operation method to figure out to navigation position and to minimize the noise of the conventional sonar image applied to CR200 throughout the experiment.

关键词： CR200 Crabster Underwater walking robot High resolution scanning sonar Scour Image mosaic

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Design of RBF Neural Network Based on Entropy and Sensitivity Analysis

Design of RBF Neural Network Based on Entropy and Sensitivit...

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第35届中国控制与决策会议

作者： Zhenlin Dong Shiqian Wu Institute of Robotics and Intelligent System School of Information Science and Engineering Wuhan University of Science and Technology

Aiming at the problem of how to determine the hidden layer structure of radial basis function(RBF) neural network,an RBF neural network algorithm based on entropy and sensitivity analysis is proposed to optimize the network ***,an entropy-based initial clustering is proposed to get the number and position of the initial clustering centers which serve as the input to the K-means ***,a hidden node deletion method based on sensitivity analysis is proposed to analyze the weight and standard deviation between the hidden layer with the output layer,and the hidden nodes which have low contributions to the network will be *** experiments on the nonlinear function approximation and the nonlinear dynamic system identification are set to verify the proposed *** results show that the proposed method achieves stronger approximation ability and better identification effect than the state-of-the-art methods.

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