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Leader-follower:Human-centered intention-guided controller for novel SuperLimb with application to load-carrying scenarios

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Science China(Technological Sciences) 2025年第1期68卷 321-334页

作者： Qinghua ZHANG Xianglong LI Hongwei JING Kerui SUN Yuancheng LI Sikai ZHAO Lele LI Haotian JU Ziqi WANG Rui WU Tianjiao ZHENG Jie ZHAO Yanhe ZHU The State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China The Learning Algorithms and Systems Laboratory School of EngineeringÉcole Polytechnique Fédérale de LausanneLausanne CH 101510587Switzerland

Supernumerary robotic arms(SuperLimb)are a new type of wearable robot that works closely with humans as a third hand to augment human operation *** conveyance of wearers'intentions,allocation of roles,and humancentered interaction considerations are the key points in the process of human-SuperLimb *** paper proposes a human-centered intention-guided leader-follower controller that relies on the dynamic modeling of SuperLimb with application to load-carrying *** proposed leader-follower controller takes the human as the leader and the SuperLimb as the follower,achieving effective information communication,autonomous coordination,and good force compliance between SuperLimb,humans,and the environment under human safety ***,the human-SuperLimb dynamic system is modeled to achieve force interaction with the environment and ***,to achieve the precise intention extraction of humans,pose data from five visual odometry sensors are fused to capture the human state,the generalized position,the velocity of hands,and the surface electromyography signals from two myoelectric bracelets sensors are processed to recognize the natural hand gestures during load-carrying scenarios by a designed Swin transformer ***,based on the real-time distance detection between human and mechanical limbs,the security assurance and force-compliant interaction of the human-SuperLimb system are ***,the human hand muscle intention recognition,human-robot safety strategy verification,and comparative load-carrying experiments with and without the proposed method are conducted on the SuperLimb *** showed that the task parameters are well estimated to produce more reasonable planning trajectories,and SuperLimb could well understand the wearer's intentions to switch different SuperLimb *** proposed sensor-based human-robot communication framework motivates future studies of other collaboration scenes fo

关键词： SuperLimb leader-follower human intention estimation human-robot safety human-robot communication

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Rethinking Attention Module Design for Point Cloud Analysis 27th

Rethinking Attention Module Design for Point Cloud Analysis

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27th International Conference on Pattern Recognition, ICPR 2024

作者： Wu, Chengzhi Wang, Kaige Zhong, Zeyun Fu, Hao Zheng, Junwei Zhang, Jiaming Pfrommer, Julius Beyerer, Jürgen Institute for Anthropomatics and Robotics Karlsruhe Institute of Technology Karlsruhe Germany Fraunhofer Institute of Optronics System Technologies and Image Exploitation IOSB Karlsruhe Germany

ISBN: (纸本)9783031783944

In recent years, there have been significant advancements in applying attention mechanisms to point cloud analysis. However, attention module variants featured in various research papers often operate under diverse settings and tasks, incorporating potential training strategies. This heterogeneity poses challenges in establishing a fair comparison among these attention module variants. In this paper, we address this issue by rethinking and exploring attention module design within a consistent base framework and settings. Both global-based and local-based attention methods are studied, with a focus on the selection basis and scales of neighbors for local-based attention. Different combinations of aggregated local features and computation methods for attention scores are evaluated, ranging from the initial addition/concatenation-based approach to the widely adopted dot product-based method and the recently proposed vector attention technique. Various position encoding methods are also investigated. Our extensive experimental analysis reveals that there is no universally optimal design across diverse point cloud tasks. Instead, drawing from best practices, we propose tailored attention modules for specific tasks, leading to superior performance on point cloud classification and segmentation benchmarks. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Attention mechanism Module design exploration. Point cloud data

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UAGE: A Supervised Contrastive Method for Unconstrained Adaptive Gaze Estimation 17th

UAGE: A Supervised Contrastive Method for Unconstrained Ada...

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17th Asian Conference on Computer Vision, ACCV 2024

作者： Lan, Enfan Hu, Zhengxi Liu, Jingtai Institute of Robotics and Automatic Information System Nankai University Tianjin China Tianjin Key Laboratory of Intelligent Robotics Tianjin China TBI Center Nankai University Tianjin China

ISBN: (纸本)9789819609628

Gaze estimation, which involves perceiving human gaze directions, is the foundation of gaze analysis. It provides crucial clues for understanding human attention and intention. However, most existing methods are designed for constrained environments, which leads to a significant performance drop in unconstrained practical applications. In this work, we propose a supervised contrastive method for Unconstrained Adaptive Gaze Estimation (UAGE), which consists of an unconstrained gaze estimation method and a Gaze-guided Contrastive Domain Adaptation (GCDA) framework. Our method leverages the entire human body states and the uncertainty of gaze behaviors to robustly estimate gazes in unconstrained environments, rather than solely relying on head states. Additionally, we employ the GCDA framework to adapt the model to new domains, thereby improving its generalization ability. Experiment results show that our UAGE method has achieved state-of-the-art within-domain performance on the unconstrained GAFA dataset and has reduced the angular error by 14% compared to the baseline in cross-domain gaze estimation, with GAFA as the source domain and Gaze360 as the target domain. The code is available at https://***/youthhfor/***. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Domain adaptation Gaze estimation Unconstrained environment

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Predicting Vessel Speed Using Ensemble MLR and RF Models on AIS Data

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Defence Science Journal 2025年第2期75卷 250-256页

作者： Raj, Nitish Kumar, Prabhat Goyal, Divyanshi Weapons and Electronics System Engineering Establishment Delhi110 066 India National Institute of Technology Patna801 503 India University School of Automation and Robotics GGSIPU Delhi110 032 India

Defence agencies like the DRDO, Indian Navy, Indian Army, Indian Air Force (IAF), and many other organizations require ongoing oversight of their applications and devices to detect anomalous behaviour. The purpose of this research is to track the ship’s speed to facilitate navigation. AIS data plays a substantial role in this investigation, as it provides critical information such as the speed, course, and position of a vessel. Monitoring vessel speed is essential to ensure smooth functioning, enabling collision avoidance, route optimisation, and accurate analysis of the ship’s schedule for transportation. In this study, an ensemble approach using Multiple Linear Regression (MLR) and Random Forest (RF) models to predict vessel speed more accurately is developed. The proposed ensemble model outperformed existing methods, showing significant improvements in prediction accuracy and robustness. This enhanced performance also aids in the precise Estimation of the Time of Arrival (ETA) of the vessel, contributing to more efficient operation procedures and environmentally friendly practices. Early oversight of vessel speed ensures maritime navigation and safety, promoting reliable and optimized routes for vessels. © 2025, DESIDOC.

关键词： Multiple linear regression

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A High-Power Wave Energy Harvester with Mag-Boost Mechanism 5th

A High-Power Wave Energy Harvester with Mag-Boost Mechanism

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5th International Conference on Vibration and Energy Harvesting Applications, VEH 2024

作者： Tang, Tianyi Li, Yunfei Sun, Lining Liu, Huicong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China School of Mechanical and Electrical Engineering Jiangsu Provincial Key Laboratory of Advanced Robotics Soochow University Suzhou China

ISBN: (纸本)9789819611904

Ocean wave energy is a widely anticipated new type of renewable energy. However, due to the ultra-low-frequency and random motion characteristics of ocean waves, effectively harnessing it presents a significant challenge. This paper proposes a Mag-Boost mechanism based on the phenomenon that the magnetic torque undergoes a sudden change when the magnetic poles of two magnets are orthogonal. This innovative mechanism, requiring just a trigger below 1 Hz, can stimulate a power-magnet to generate high-frequency oscillation without direct contact. Utilizing this mechanism, a high-power wave energy harvester (WEH) with ultra-low-frequency response capabilities has been developed. Tested on a six-degree-of-freedom platform, the WEH demonstrated a high-output power of 1.44W and a power density of 1.2 kW/m3 at a frequency of 1 Hz and an inclination angle of 30°. The peak open-circuit voltage of the WEH reached 5 V, ensuring a completely independent and stable power supply for wireless temperature and humidity sensors. Furthermore, the Mag-Boost mechanism also shows considerable potential for harvesting other forms of low-frequency environmental energy, including wind, vibration, and human kinetic energy. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Water waves

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Optoelectronic-Coupled-Driven Microrobot for Biological Cargo Transport in Conductive Isosmotic Glucose Solution

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ACS Applied Materials and Interfaces 2025年第19期17卷 28425-28435页

作者： Zhuang, Rencheng Chang, Xiaocong Sha, Jinrui Yu, Zehao Shi, Enbo Lu, Minqiao Liu, Junmin Zhang, Guangyu Zhou, Dekai Li, Longqiu State Key Laboratory of Robotics and System Harbin Institute of Technology Heilongjiang Harbin150001 China Chongqing Research Institute Harbin Institute of Technology Chongqing400722 China Zhengzhou Research Institute Harbin Institute of Technology Zhengzhou450000 China School of Life Science and Technology Harbin Institute of Technology Heilongjiang Harbin150001 China

Electric field-driven micro/nanorobots, as micro/nanodevices with autonomous motion capability, have emerged as promising candidates for targeted cargo delivery in biomedical applications due to their advantages of label-free operation, selectivity, and controllability. In biological systems, many biological cargos need to be operated in conductive isosmotic solutions to ensure their viability. However, in the conductive solution, electric field-driven micro/nanorobots exhibit significantly reduced propulsion performance, despite retaining the capability to manipulate cargos by the dielectrophoretic force. This limitation restricts the wider applicability of electric field-driven micro/nanorobots in biomedical fields. This paper presents a novel optoelectronic-coupled-driven α-Fe2O3@aTiO2/Au microrobot, which exhibits significantly improved mobility and enables biological cargo transportation in the conductive isosmotic glucose solution. Benefiting from the flowerlike surface structure and composite photocatalytic material, the proposed microrobot exhibits enhanced photocatalytic capability, enabling efficient propulsion in glucose solution under light irradiation. In addition, the motion behavior of the microrobot under light, electric, and optoelectronic-coupled fields is investigated. It is found that the speed of the microrobot could exceed 300 μm/s under coupled fields, which is more than ten times faster than that of previously reported electric field-driven micro/nanorobots. Due to the magnetic property, the proposed microrobot can be precisely navigated under the guidance of an external uniform magnetic field. Furthermore, the proposed microrobot can achieve the transportation of various biological cargos in a conductive isosmotic glucose solution. The proposed microrobot opens a new avenue for targeted delivery and holds great potential for applications in the biological and pharmaceutical fields. © 2025 American Chemical Society.

关键词： Medical nanotechnology

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Self-powered Smart Water Meter for Pipeline Flow Monitoring 5th

Self-powered Smart Water Meter for Pipeline Flow Monitoring

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5th International Conference on Vibration and Energy Harvesting Applications, VEH 2024

作者： Mei, Mingqi Wang, Zizhao Li, Yunfei Tang, Tianyi Liu, Huicong School of Mechanical and Electric Engineering Jiangsu Provincial Key Laboratory of Advanced Robotics Soochow University Suzhou215123 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

ISBN: (纸本)9789819611904

This paper presents the development of a water flow energy harvester (WFEH) designed to power smart water meters within residential piping systems. Utilizing the kinetic energy of flowing water, the device harnesses this energy and converts it into electricity via electromagnetic principles. The impeller's shape, quantity, and guide vane height at the inlet were simulated using computational fluid dynamics (CFD) software, comparing impeller rotational speeds under various simulation parameters to select the appropriate impeller configuration. Experimental data indicate that with an inlet water pressure of 0.12 MPa and an outlet pressure of 0.06 MPa, a single coil in the device generates a peak voltage of 3.6 V, with a peak power of 54.2 mW and a head loss of 6 m. The maximum head loss permitted in residential water pipes is 10 m. The energy generation module of the WFEH has been designed with a six-coil array, significantly enhancing its performance output. Theoretically, the output power of the WFEH is sufficient to meet the energy needs of smart water meters. Therefore, the WFEH holds potential for integration into urban water management systems, providing a stable energy supply for data collection and transmission, and contributing to the development of self-powered smart meters. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Water meters

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The effects of 17β-trenbolone and bisphenol A on sexual behavior and social dominance via the hypothalamic-pituitary-gonadal axis in male mice

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Journal of Environmental Sciences 2025年第5期151卷 54-67页

作者： Xiang Zuo Minghe Sun Huijuan Bai Shuhui Zhang Jialu Luan Qian Yu Zhenhua Fu Qili Zhao Mingzhu Sun Xin Zhao Xizeng Feng College of Life Science State Key Laboratory of Medicinal Chemical BiologyThe Key Laboratory of Bioactive MaterialsMinistry of EducationNankai UniversityTianjin 300071China Institute of Robotics&Automatic Information System College of Artificial IntelligenceNankai UniversityTianjin 300071China

17β-Trenbolone(17-TB)is well documented as an environmental endocrine disruptor in aquatic biological studies,but its effects on mammals remain poorly ***,17-TB acts as a hormone with properties similar to testosterone,and the consequences of juvenile exposure on adult social behavior remain *** A(BPA)acts as an estrogen-like hormone,compared to ***-week-old male Balb/c mice were exposed orally to 17-TB(100μg/(kg·day))and BPA(4 mg/(kg·day))for 28 *** of social interactions and a three-chamber test showed that 17-TB increased virility in male mice,intensified both male and female sexual behavior,and attracted and accepted female *** also increased social dominance through tube tests inmalemice and markedly activated the c-Fos^(+)immune response in themedial prefrontal cortex(mPFC)and basal amygdala(BLA).ELISA data showed that 17-TB and BPA exposure significantly affected serum gonadotropin-releasing hormone(GnRH),growth hormone(GH),estradiol(E2),and luteinizing hormone(LH)levels,as well as testicular lesions and androgen receptor(ARβ)and estrogen receptor(ERα)*** transcriptomic analysis further confirmed that could disrupt steroid synthesis and linoleic acid-related biometabolic *** findings suggest the influence of 17-TB and BPA exposure on sexual behavior and fertility in male mice,possibly through modulation of the hypothalamic-pituitary-gonadal *** study provides insights relevant to human reproductive health and neuro-social behavioral research,and the potential risk of environmental disturbances should not be overlooked.

关键词： 17β-Trenbolone(17-TB) Bisphenol A(BPA) hypothalamic-pituitary-gonadal axis(HPG) Sex hormones Social dominance Sexual behavior

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Automated Nanomanipulation for Repairing Defects on Nanoimprint Lithography Masters

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IEEE Transactions on Automation Science and Engineering 2025年 22卷 14967-14975页

作者： Meng, Siyuan Jiang, Jiankang Wang, Fubo Zhu, Junhui Zhang, Qianjun Wang, Yong Dong, Wei Ru, Changhai Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150000 China JITRI Micro-Nano Automation System and Equipment Technology Research Institute Jiangsu21500 China Suzhou University of Science and Technology School of Electronic and Information Engineering Suzhou215000 China

The fabrication of Nanoimprint Lithography (NIL) masters serves as the initial process in the manufacturing of devices such as silicon photonic chips using NIL. Repairing defects and modifying structures on an NIL master accurately is critical for NIL manufacturing. This study proposes an innovative scanning electron microscope (SEM)-based in-situ nanomanipulation technique to address the macro-micro-nano cross-scale nanopositioning issues necessary for repair functions. A macro/micro closed-loop control system was designed, which includes a frequency/voltage (f/u) proportional controller, a real-time direct inverse hysteresis compensation feedforward controller, a grating displacement sensor, and a cross-scale nanopositioning platform. The performance testing of the nano-manipulation approach resulted in a repair range of 22.18×20.92×10.06 mm3, meeting the repair requirements for most silicon photo chip NIL masters in terms of size. The system achieved a repair accuracy at 4.946 nm (X-axis), 4.663 nm (Y-axis), and 4.679 nm (Z-axis). As a demonstrate, the repair functionality testing confirmed the ability of the system to remove target structures such as cantilever beams and detach adhered particles from a master surface. © 2004-2012 IEEE.

关键词： Nanoimprint lithography

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Development of a high-performance bend-actuated piezoelectric tip/tilt stage with low power and simple operation

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Science China Technological Sciences 2025年第6期68卷 1-12页

作者： Guan, Jinghan Zhang, Shijing Deng, Jie Chen, Weishan Liu, Junkao Liu, Yingxiang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Piezoelectric tip/tilt stages (PZT stages), which precisely and quickly control laser beam deflection, are widely used in laser communications. Most are driven by piezoelectric stack actuators (PSAs) and have high capacitance and power consumption. The negative voltage causes irreversible damage to PSAs. Therefore, negative voltage operation needs to be prohibited, which complicates manipulating the bidirectional deflection of the mirror. However, the aerospace field places higher requirements on power consumption and ease of operation, which makes the PZT stage require reduced power consumption and simple operation. This paper presents a high-performance bend-actuated PZT stage, which uses ceramic plates for driving, with a capacitance of only 26.4 nF/axis and a power of only 27 mW (at operating conditions of 1 mrad and 100 Hz). The sandwich structure allows for bi-directional voltage, which makes the operation easier. Two channels control two degrees of freedom (DOFs). A theoretical mod el suitable for bend-actuated structures is proposed. It is used to calculate the deflection angle and resonance frequency, and its validity is verified by finite element analysis. Experimental results show that it has a deflection angle of ±2.97 mrad (x-axis), ±3.24 mrad (y-axis) at 600 Vp-p, an unloaded first-order resonance frequency of 1728 Hz, and a quasi-static hysteresis of only 7.5%, which is less than that of PSAs (>10%). With the constructed laser beam deflection system, a circular trajectory is realized, which has the potential for beam steering.

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