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2011 2nd International Conference on Digital Manufacturing and Automation, ICDMA 2011

作者： Chen, Jun Chen, Tao Deng, Zongquan State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 15001 China School of Naval Architecture Harbin Institute of Technology at Weihai Weihai Shandong 264209 China Linyi Entry-Exit Inspection and Quarantine Bureau Linyi Shandong 276034 China School of Mechtronic Engineering Harbin Institute of Technology Harbin Heilongjiang 150001 China

ISBN: (纸本)9780769544557

A novel untethered autonomous motor driven in-pipe robot inspecting system has been designed in order to solve the internal defect inspection for long-distance pipeLine. Which includes motor driven traction robot and other multiple cyLindrical box modular units, the adjacent units are Linked by double hook joints and by three extended supporting wheels contacting the inner surface of pipe elastically to form the articulated multi-body system. Based on the virtual prototype technology, by means of the relations of structure and size for modular units and its connectors, to research the determine method of structure size meeting the needs of in-pipe robot inspecting system moved in elbow pipe. The method proposed this paper has been used in the design of engineering prototype, and whose structure size and mechanics performance have been proved can achieve the design indexes. © 2011 IEEE.

关键词： Machine design

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A fault tolerant control strategy for six-phase transverse flux tubular PMLM based on synthetic vector method

A fault tolerant control strategy for six-phase transverse f...

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Electromagnetic Launch Technology

作者： Hao Yan Yongxiang Xu Shanlin Jiang Jibin Zou Weiyan Liang Department of Electrical Engineering Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and System (HIT) Harbin China

This paper presents a fault tolerant control strategy for six-phase transverse flux tubular PMLM based on Synthetic Vector Method when the machine has a single phase open circuit fault. The operation of six-phase transverse flux tubular PMLM is described as well as its basic mathematical model. Then, the principles of Synthetic Vector Method are introduced. Based on these theories, the fault tolerant control strategy is derived in detail under the single phase open fault condition. In addition, a fault tolerant, dual Three-phase Four-leg Inverters drive topology which can be applied under this faulted condition is proposed. More, to implement the control algorithms proposed, a modified Space Vector Modulation is presented. Both the finite element simulation and the MATLAB/Simulink simulation results illustrate the validity of proposed fault tolerant control as well as the associated control topology and space vector modulation.

关键词： Vectors Fault tolerance Fault tolerant systems Circuit faults Windings Inverters Mathematical model

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A practical detection of non-cooperative satellite based on ellipse fitting

A practical detection of non-cooperative satellite based on ...

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IEEE International Conference on Mechatronics and Automation

作者： Yang Liu Zongwu Xie Bin Wang Hong Liu Zheng Jing Cong Huang Shi Bao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang P.R. China Institute of Manned Space System Engineering Beijing P.R. China

ISBN: (纸本)9781509023974

As some of the valuable satellites can maintain working after on-orbit servicing, it's meaningful to study on the autonomous rendezvous. Most of these satellites are non-cooperative, more specifically, they have no target location markers or rendezvous sensors. This paper extracts the edge of the adapter ring as natures for recognition, measurement or even mechanical docking. A practical detection method of non-cooperative satellite based on ellipse fitting is proposed in this paper. By detecting the contours of the input image, we can estimate the ellipse parameters at the curve level. Linear segmentation method is used to extract straight-line segments from edge contours. After that, we construct a graph model to segment each line contour into elliptical arcs of a possible ellipse. Finally, ellipse detection based on least square algorithm is used to get the expression of the quadric curve in the pixel coordinate system of the image. The corresponding algorithm is experimented on the image in all directions with complex backgrounds, it can provide a real-time result with high accuracy compared with conventional methodologies.

关键词： Image edge detection Satellites Image segmentation Space vehicles Image color analysis Robot kinematics

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Configuration design method for in-pipe robot locomotion mechanism

Configuration design method for in-pipe robot locomotion mec...

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International Conference on Digital Manufacturing and Automation

作者： Chen, Jun Chen, Tao Deng, Zong-Quan State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 15001 China School of Naval Architecture Harbin Institute of Technology at Weihai Weihai Shandong 264209 China Linyi Entry-Exit Inspection and Quarantine Bureau Linyi Shandong 276034 China School of Mechtronic Engineering Harbin Institute of Technology Harbin Heilongjiang 150001 China

ISBN: (纸本)9780769542867

The configuration design of in-pipe robot locomotion mechanism has a significant impact on its motion performance. By analyzing the operation principle of adapting mechanism, the basic four-bar linkage is chosen as base unit to make topological combination, the two kinds of linkage combination including input of prismatic pair are presented, and further through kinematic chain regeneration, the specific kinematic chain atlas that meet the given design constraints can be synthesized. Finally, the application examples adopting the derivative new mechanisms are given. Which provides the systematic methods for in-pipe robot configuration design. © 2010 IEEE.

关键词： Topology

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A Modular Framework for Flexible Planning in Human-Robot Collaboration

arXiv

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arXiv 2024年

作者： Belcamino, Valerio Kilina, Mariya Lastrico, Linda Carfì, Alessandro Mastrogiovanni, Fulvio TheEngineRoom Department of Informatics Bioengineering Robotics and System Engineering University of Genoa Genoa Italy Italian Institute of Technology Genoa Italy

This paper presents a comprehensive framework to enhance Human-Robot Collaboration (HRC) in real-world scenarios. It introduces a formalism to model articulated tasks, requiring cooperation between two agents, through a smaller set of primitives. Our implementation leverages Hierarchical Task Networks (HTN) planning and a modular multisensory perception pipeline, which includes vision, human activity recognition, and tactile sensing. To showcase the system’s scalability, we present an experimental scenario where two humans alternate in collaborating with a Baxter robot to assemble four pieces of furniture with variable components. This integration highlights promising advancements in HRC, suggesting a scalable approach for complex, cooperative tasks across diverse applications. © 2024, CC BY.

关键词： Robot programming

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Servo system of 6 DOF Electro-hydraulic Shaking Table

Servo System of 6 DOF Electro-hydraulic Shaking Table

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2011 3rd International Asia Conference on Informatics in Control, Automation and robotics (CAR 2011 LNEE 132)

作者： Liyi Yin Zhengmao Ye Gang Shen Junwei Han State Key Laboratory of Robotics and System School of Mechatronics EngineeringHarbin Institute of Technology School of Mechanical and Electrical Engineering China University of Mining and Technology

Electro-hydraulic shaking table(EHST) is a useful experimental apparatus to real-time replicate the desired acceleration vibration signal for evaluating the performance of the tested specimen structural systems. A three axis six degree-of-freedom(DOF) EHST system with eight hydraulic actuators is presented in the paper. A decouple control method is employed to lower the acceleration couple among the six DOF. The procedure of the decouple controller is programmed in MATLAB/Simulink, and then compiled to a realtime PC with Microsoft Visual *** for implementation. The experimental results demonstrate that a better tracking performance with the improved servo controller is achieved in experiments by using actual EHST.

关键词： Electro-hydraulic shaking table,decouple control,identification

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Research on stereo vision technology based on improved Region growing method 2

Research on stereo vision technology based on improved Regio...

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2nd International Conference on Computer Vision and Data Mining, ICVDM 2021

作者： Dai, Shilong Xia, Xinghua Zhang, Hualiang School of Information and Control Engineering Shenyang Jianzhu University Shenyang110168 China Industrial Control Network and System Laboratory Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institudes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China

Image segmentation is the cornerstone of image analysis and image processing, its main difficulty is the ill-posedness of image segmentation. The region growing method is the most commonly used method in image segmentation. Its advantages are fast calculation speed, lower algorithm difficulty, and easy understanding. This article uses the area growing algorithm and TOF combined with binocular fusion technology. Discussed how to select the seed points in the region growing method. The algorithm proposed in this paper has high accuracy and high matching quality in the boundary area of the object and the area with large difference in depth. It has both matching time and reliability. It has good results and overcomes the limitations of the active and passive distance methods in the vision system. © 2021 institute of Physics Publishing. All rights reserved.

关键词： Image segmentation

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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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Robotic Electrospinning Actuated by Non-Circular Joint Continuum Manipulator for Endoluminal Therapy

Robotic Electrospinning Actuated by Non-Circular Joint Conti...

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2021 IEEE International Conference on robotics and Automation, ICRA 2021

作者： Wu, Zicong Lou, Chuqian Jin, Zhu Huang, Shaoping Liu, Ning Zou, Yun Kovac, Mirko Gao, Anzhu Yang, Guang-Zhong The Institute of Medical Robotics Department of Bioengineering Shanghai Jiao Tong University Shanghai200240 China Imperial College London Empa-Swiss Federal Laboratories for Materials Science and Technology United Kingdom Limited 999077 Hong Kong Aerial Robotics Laboratory Imperial College London LondonSW7 2AZ United Kingdom The Institute of Medical Robotics Department of Automation Shanghai Jiao Tong University The Key Laboratory of System Control and Information Processing Ministry of Education Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China The Institute of Medical Robotics Shanghai Jiao Tong University Shanghai200240 China

ISBN: (纸本)9781728190778

Electrospinning has exhibited excellent benefits to treat the trauma for tissue engineering due to its produced micro/nano fibrous structure. It can effectively adhere to the tissue surface for long-term continuous therapy. This paper develops a robotic electrospinning platform for endoluminal therapy. The platform consists of a continuum manipulator, the electrospinning device, and the actuation unit. The continuum manipulator has two bending sections to facilitate the steering of the tip needle for a controllable spinning direction. Non-circular joint profile is carefully designed to enable a constant length of the centreline of a continuum manipulator for stable fluid transmission inside it. Experiments are performed on a bronchus phantom, and the steering ability and bending limitation in each direction are also investigated. The endoluminal electrospinning is also fulfilled by a trajectory following and points targeting experiments. The effective adhesive area of the produced fibre is also illustrated. The proposed robotic electrospinning shows its feasibility to precisely spread more therapeutic drug to construct fibrous structure for potential endoluminal treatments. © 2021 IEEE

关键词： Electrospinning

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S2H-GNN: Learning Soft to Hard Feature Matching with Sparsified Graph Neural Network

S2H-GNN: Learning Soft to Hard Feature Matching with Sparsif...

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IEEE International Conference on Real-time Computing and robotics (RCAR)

作者： Tao Xie Ruifeng Li Zhiqiang Jiang Kun Dai Ke Wang Lijun Zhao Shuozhan Li State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Fujian (Quanzhou)-HIT Research Institute of Engineering and Technology Quanzhou China

In this work, we introduce a soft-to-hard network (S2H-GNN) for precise local feature matching between image pairs. The core of S2H-GNN is a weighted context aggregation algorithm that enables nodes to receive information from their neighbors in order to form a more global understanding. S2HGNN leverages a sparsified graph neural network to enhance the features, consisting of the following modules alternately: (1) Inducing Point Initial Module that uses cosine correlation to identify highly scored keypoints as Inducing points. (2) Message Passing Module that integrates the features of original keypoints into those of Inducing points, which are further leveraged to exchange messages through self attention and cross attention. (3) Attention Upsample Module that propagates the feature of Inducing points to that of original keypoints, obtaining discriminative feature representation. Additionally, we propose an assignment layer to obtain a soft assignment matrix, which views feature matching as a graphy matching problem. Finally, we introduce a novel gap loss to guide S2H-GNN in learning a discriminative cognition of matching and non-matching keypoints, ultimately obtaining the hard assignment matrix. Experimental results demonstrate that S2H-GNN achieves comparable or higher performance in image matching and homography estimation tasks.

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