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IEEE International Conference on robotics and Automation (ICRA)

作者： Jian Wen Xuebo Zhang Qingchen Bi Zhangchao Pan Yanghe Feng Jing Yuan Yongchun Fang Institute of Robotics and Automatic Information System College of Artificial Intelligence Nankai University Tianjin China Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin China School of Marine Science and Technology Northwestern Polytechnical University Xi’an China Faculty of Robot Science and Engineering Northeastern University Shenyang China College of Systems Engineering National University of Defense Technology Changsha China

Local planning is one of the key technologies for mobile robots to achieve full autonomy and has been widely investigated. To evaluate mobile robot local planning approaches in a unified and comprehensive way, a mobile robot local planning benchmark called MRPB 1.0 is newly proposed in this paper. The benchmark facilitates both motion planning researchers who want to compare the performance of a new local planner relative to many other state-of-the-art approaches as well as end users in the mobile robotics industry who want to select a local planner that performs best on some problems of interest. We elaborately design various simulation scenarios to challenge the applicability of local planners, including large-scale, partially unknown, and dynamic complex environments. Furthermore, three types of principled evaluation metrics are carefully designed to quantitatively evaluate the performance of local planners, wherein the safety, efficiency, and smoothness of motions are comprehensively considered. We present the application of the proposed benchmark in two popular open-source local planners to show the practicality of the benchmark. In addition, some insights and guidelines about the design and selection of local planners are also provided. The benchmark website [1] contains all data of the designed simulation scenarios, detailed descriptions of these scenarios, and example code.

关键词： Measurement Industries Service robots Dynamics Benchmark testing Planning Safety

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Conditions for active assistance control of exoskeleton robot

Conditions for active assistance control of exoskeleton robo...

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International Conference on Advanced robotics and Mechatronics (ICARM)

作者： Shiyin Qiu Wei Guo Fusheng Zha Xin Wang Wentao Sheng Fei Chen Darwin Caldwell State Key Laboratory of Robotics and System School of Mechatronics Engineering Harbin Institute of Technology Harbin China Shenzhen Academy of Aerospace Technology Robotics Institute of Shenzhen Academy of Aerospace Technology Shenzhen China

ISBN: (数字)9781728164793

ISBN: (纸本)9781728164809

The condition of active assistance is the basic design criteria of target assistance torque profile. Based on the human-exoskeleton interaction model, the condition of active assistance was derived first. And then, some biomechanical simulation experiments based on OpenSim were carried out to demonstrate the the condition of active assistance. The condition of active assistance for exoskeleton robot is that the target assistance torque and the human joint muscle torque should be in a same direction and the assistance ratio should be greater than 0 and less than 1.

关键词： Exoskeletons Torque Muscles Robots Trajectory Force Dynamics

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A Reinforcement Learning Based Multiple Strategy Framework for Tracking a Moving Target

A Reinforcement Learning Based Multiple Strategy Framework f...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Zixuan Huo Shilong Dai Mingxing Yuan Xiang Chen Xuebo Zhang Institute of Robotics and Automatic Information System Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin China Department of Electrical and Computer Engineering University of Windsor Ontario Canada

ISBN: (数字)9781728167947

ISBN: (纸本)9781728167954

The pursuit-evasion game has been a classic research topic in the field of mobile robotics. Reinforcement learning (RL), which shows outstanding advantages in the decision-making area, is a widely used method in pursuitevasion game. This paper proposes a hierarchical framework in which RL allows the pursuer to select an appropriate strategy for the current condition in the upper level from multiple underlying strategies in the lower level. Through the analysis of existing motion planning algorithms, the dynamic window approach (DWA) and the proportional guidance method (PG) are used as the lower level strategies of the framework. Individual discussions on the merits and limitations of the two motion planning algorithms indicate a possible complementarity between them. Simulations are carried out and the corresponding results validate the excellent performance of the proposed approach.

关键词： Games Robots Planning Heuristic algorithms Dynamics Target tracking Trajectory

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Formation mechanism of a smooth, defectfree surface of fused silica optics using rapid CO2 laser polishing

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International Journal of Extreme Manufacturing 2019年第3期1卷 85-95页

作者： Linjie Zhao Jian Cheng Mingjun Chen Xiaodong Yuan Wei Liao Qi Liu Hao Yang Haijun Wang State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001People’s Republic of China Research Center of Laser Fusion China Academy of Engineering PhysicsMianyang 621900People’s Republic of China

Surface defects introduced by conventional mechanical processing methods can induce irreversible damage and reduce the service life of optics applied in high-power *** to mechanical processing,laser polishing with moving beam spot is a noncontact processing method,which is able to form a defect-free *** work aims to explore the mechanism of forming a smooth,defect-free fused silica surface by high-power density laser polishing with coupled multiple *** underlying mechanisms of laser polishing was revealed by numerical simulations and the theoretical results were verified by *** simulated polishing depth and machined surface morphology were in close agreement with the experimental *** obtain the optimized polishing quality,the effects of laser polishing parameters(*** rate,pulse width and polishing times)on the polishing quality were experimentally *** was found that the processing efficiency of fused silica materials by carbon dioxide(CO2)laser polishing could reach 8.68 mm2 s−1,and the surface roughness(Ra)was better than 25 ***,the cracks on pristine fused silica surfaces introduced by initial grinding process were completely removed by laser polishing to achieve a defect-free *** maximum laser polishing rate can reach 3.88μm s−1,much higher than that of the traditional mechanical polishing *** rapid CO2 laser polishing can effectively achieve smooth,defect-free surface,which is of great significance to improve the surface quality of fused silica optics applied in high-power laser facilities.

关键词： laser polishing mechanical processing smooth surface defect-free surface polishing rate

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Towards Collision Detection, Localization and Force Estimation for a Soft Cable-driven Robot Manipulator

Towards Collision Detection, Localization and Force Estimati...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Yuxin Wang Hesheng Wang Fan Xu Junzhi Yu Weidong Chen Yun-Hui Liu Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Institute of Medical Robotics Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai China College of Engineering Peking University Beijing China The Chinese University of Hong Kong Hong Kong

Soft robots have been applied widely to various constrained scenarios due to the advantages over traditional rigid manipulators such as softness, deformability and adaptability to constrained surroundings. To make full use of this merit, this paper proposes a method that integrates collision detection, localization and force estimation for a cable-driven soft manipulator without any prior geometrical knowledge of its surroundings. First of all, a collision detection algorithm is presented based upon Cosserat-rod statics by a threshold method through using the cable tension and the shape information, which are obtained by the load cells and the Vicon system, respectively. Secondly, a collision localization and force estimation method is proposed through optimizing the discrepancy between the actual and the theoretical shapes. Finally, experiments are carried out to validate these algorithms. The experimental results demonstrate that the site, the magnitude as well as the direction can be estimated.

关键词： Location awareness Shape Conferences Force Estimation Soft robotics Manipulators

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Foot terrain impact modeling and motion performance research of hexapod robot based on passive elastic leg 2

Foot terrain impact modeling and motion performance research...

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2nd Spring International Conference on Defence Technology, ICDT 2020

作者： Liu, Y.F. Su, B. Zhou, L. Gao, H.B. Ding, L. Jiang, L. Zou, F.Q. Ma, C.Y. China North Vehicle Research Institute Beijing100072 China Equipment Project Management Center Beijing100072 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China MEMS Center Harbin Institute of Technology Harbin150080 China College of Mechanical Engineering Jiamusi University Jiamusi154007 China

In order to improve the performance of the multi-legged robot, the impact of foot-terrain is an important target to measure the performance of the robot. In order to ensure the compliance contact of foot-terrain for the legged robot, it is essential to add passive spring between the calf and foot. The mechanical structure makes the leg of hexapod robot retractable passive elastic structure. For multi-legged robots with passive elastic legs, the foot-terrain impact model is presented to measure the dynamic performance and provide theoretical support for the low impact force motion planning. The traditional planning method will cause additional impact for the switching case between the swing and stance phase. This paper presents a motion planning method that considers the deformable leg structure and impact performance. The experiments have been carried out, and the results have demonstrated the effectiveness of the foot terrain impact model and motion planning method in comparison with a conventional method. © Published under licence by IOP Publishing Ltd.

关键词： Motion planning

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UAV-based Odor Source Localization in Multi-Building Environments Using Simulated Annealing Algorithm

UAV-based Odor Source Localization in Multi-Building Environ...

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第三十九届中国控制会议

作者： Zi-Zhen Yang Tao Jing Qing-Hao Meng Institute of Robotics and Autonomous System Tianjin Key Laboratory of Process Measurement and Control School of Electrical and Information Engineering Tianjin University

A single unmanned-aerial-vehicle(UAV) based odor source localization(OSL) method for outdoor multi-building environments was proposed. The simulated annealing(SA) algorithm was introduced in this problem in consideration of the difficulties of relatively large search space, turbulent airflow in the building environment, and local concentration extrema near the building walls. To avoid the effect of rotating UAV rotors on airflow, a tunable diode laser absorption spectroscopy(TDLAS) rather than the contact gas sensor was used to collect odor information remotely. Moreover, a three-mode(plume finding, tracking, and escaping local extremum) searching framework was designed in the SA-based OSL method to equip the UAV with abilities of traversing the searching area and escaping local extrema rapidly. Simulation results on a robot active olfaction simulator show that, the UAV could effectively escape the local extremum, track the plume and localize the odor source in the area of 30×30×10 m with an average time of about 119 steps and an average error of 1.56 m.

关键词： Odor source localization active olfaction UAV multi-building environments simulated annealing

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Reconstruct defect features in ultrasonic scan data by multi-time local outlier factors

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Measurement 2025年

作者： Peng Yin Fei Wang Yunyan Liu Peng Song Jianghao Zhao Zhuoyan Yue Yaodong Yang Honghao Yue Junyan Liu State Key Laboratory of Robotics and System (HIT) Harbin 150001 PR China School of Mechatronics Engineering Harbin Institute of Technology Harbin 150001 PR China Beijing Satellite Manufacturing Factory Co. LTD Beijing 100001 PR China

In this paper, a novel multi-time Local Outlier Factor (MT-LOF) algorithm is proposed to address the challenges posed by the low efficiency of automated imaging of ultrasound data and the difficulty of reusing the results. MT-LOF is employed to summarize ultrasound outlier signals at multiple time points and reconstruct detection results. Additionally, phased array ultrasonic testing (PAUT) boards are utilized to collect data from flat-bottomed holes, simulated impact components, and real specimens. The collected data is then processed using the MT-LOF and gate peak method, and the results are compared. The findings of the research suggest that MT-LOF can effectively streamline the ultrasonic signal processing process, achieve automated characterization of ultrasonic defect data, and concurrently enhance the signal-to-noise ratio (SNR) of the impact simulation sample experiment by 176.7% in comparison with conventional methods, while concomitantly reducing the background standard deviation by 44.7%.

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Study on stiffness and shape deformation of a hyper-redundant robot for robotic interventions

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Journal of institute of Control, robotics and systems 2020年第11期26卷 999-1006页

作者： Kim, Kiyoung Woo, Hyunsoo Cho, Jang Ho Shin, Minki Suh, Jungwook Laboratory of Medical Assistant Robotics Korea Institute of Machinery and Materials South Korea Department of Robot and Smart System Engineering Kyungpook National University Korea Republic of

Continuum manipulators or hyper-redundant manipulators are commonly used for steerable endoscopes and robotic catheters. Hyper-redundant manipulators are composed of many rigid links and joints, which can be actuated by embedded motors or by transmission components such as tendons and spring sheaths. This article describes a mathematical model of a hyper-redundant manipulator with rolling contact joints. The position and orientation of each discrete link of the hyper-redundant manipulator is calculated using a transformation matrix, and the moment equations of the joints are solved by numerical analysis. The shape deformation of the manipulator under a lateral force is calculated and the theoretical stiffness on the lateral force is determined. We compare the stiffness obtained by experiments with theoretical values. The lateral deformation has an error of up to 7.1 mm, and the lateral stiffness is within an error range of 9%. Stiffness analysis of the hyper-redundant manipulator is expected to predict the motion of the manipulator during robotic interventions. © ICROS 2020.

关键词： Catheters

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An Efficient Ant Colony system for Multi-Robot Task Allocation with Large-scale Cooperative Tasks and Precedence Constraints

An Efficient Ant Colony System for Multi-Robot Task Allocati...

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IEEE Symposium Series on Computational Intelligence (SSCI)

作者： Xiao-Fang Liu Bo-Cheng Lin Zhi-Hui Zhan Sang-Woon Jeon Jun Zhang Institute of Robotics and Automatic Information System College of Artificial Intelligence Nankai University Tianjin China Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin China School of Computer Science and Engineering South China University of Technology Guangzhou China Hanyang University Ansan South Korea Chaoyang University of Technology Taichung Taiwan China

ISBN: (纸本)9781728190495

Multiple heterogeneous robots can work together to execute complex tasks. Given multiple heterogeneous tasks and heterogeneous robots, the allocation of tasks to robots is a challenging optimization problem. Lots of methods have been proposed for the multi-robot task allocation (MRTA) problem. However, most existing methods only consider small-scale tasks without precedence constraints. Hence, this paper tracks the time-extended MRTA problem with large-scale cooperative tasks and precedence constraints, and proposes an efficient ant colony system (ACS) to solve the problem. In the proposed algorithm, we adopt a permutation with task-robot alliance pairs as the encode scheme to represent a feasible solution. A pheromone matrix is initialized by a hierarchical greedy strategy and iteratively updated to record historical experience. Heuristic information related to the optimization objective is also designed to help algorithm find better solutions according to the current state. Through combining pheromone and heuristic information, the ACS is able to search high-quality solutions from a global perspective. Experimental results on multiple problem instances are reported to show the advantage of the proposed method. The proposed ACS method can well solve the MRTA problem with large-scale cooperative tasks and precedence constraints.

关键词： Processor scheduling Heuristic algorithms Resource management Task analysis Robots Optimization Computational intelligence

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