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International Conference on Guidance, Navigation and Control, ICGNC 2022

作者： Huang, Jingwen Yu, Hai Liang, Xiao Fang, Yongchun Han, Jianda College of Artificial Intelligence Tianjin Key Laboratory of Intelligent Robotics Institute of Robotics and Automatic Information Systems Nankai University Tianjin300350 China

ISBN: (纸本)9789811966125

Unmanned quadcopter transportation systems present extremely strong underactuated characteristics. Due to the unmodeled dynamics and unknown disturbances in practical flight, existing control schemes may lead to poor control effects or even control failure. This paper presents a robust tracking control for unmanned quadcopter transportation systems, which can achieve accurate trajectory tracking and eliminate unexpected payload swings effectively. Simulations are provided to verify the effectiveness of the control scheme against unknown uncertainties. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Robust control

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Search-Based Motion Planning for Quadrotor Transporting a Cable-Suspended Load

Search-Based Motion Planning for Quadrotor Transporting a Ca...

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International Conference on Guidance, Navigation and Control, ICGNC 2022

作者： Zhong, Yuhang Cao, Qianqian Liang, Xiao Fang, Yongchun Han, Jianda College of Artificial Intelligence Tianjin Key Laboratory of Intelligent Robotics Institute of Robotics and Automatic Information Systems Nankai University Tianjin300350 China

ISBN: (纸本)9789811966125

Trajectory planning plays an important part in studies related to aerial transportation systems implemented by suspending the payload beneath the quadrotor. However, generating a feasible trajectory for the cable suspended aerial transportation system in complex environments can be a challenge, considering the complicated dynamic of the system and obstacle avoidance. This paper addresses the aforementioned challenges by modeling the dynamical system with the help of differential flatness, and a novel search-based planning method for trajectory generation in cluttered environments is proposed. Specifically, by utilizing motion primitives to conduct the discretization on the state space, the optimization problem is converted to graph search which can be solved by A* algorithm. Subsequently, the search heuristic is defined by solving a linear quadratic minimum time problem, where both control effort and time consumption are considered. Relevant simulation results verify the feasibility of the generated trajectory. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Cables

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A Novel Actuation Mechanism for High-Bandwidth Bidirectional Rotation of Cable-Driven Revolute Joints 16th

A Novel Actuation Mechanism for High-Bandwidth Bidirectiona...

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16th International Federation of Theory of Machines and Mechanisms World Congress, IFToMM WC 2023

作者： Zhou, Zhihao Zhao, Zihang Ruan, Lecheng Wang, Qining The Institute for Artificial Intelligence Peking University Beijing100871 China The National Key Laboratory of General Artificial Intelligence Beijing100080 China The Department of Advanced Manufacturing and Robotics College of Engineering Peking University Beijing100871 China

ISBN: (纸本)9783031457081

In recent years, cable-driven revolute joints have been successfully applied in various robotic fields. However, two major concerns remain unsolved. (i) The pull-only characteristic of cable requires additional actuators or a passive low-bandwidth resetting mechanism for bidirectional rotation. (ii) The actuation performance is constrained by the nonlinear relationship between the rotations of the revolute joint and the motor. This paper proposes a general actuation mechanism for a large group of cable-driven revolute joints of various shapes and sizes. A pulley with two separate non-circular tracks, which can retract and release two-side cables simultaneously and independently, is designed to achieve high-bandwidth bidirectional rotation with only one motor while creating a linear relationship between the joint and motor rotations. The profile of the pulley track is depicted with differential equations and the calculation process facilitates revolute joints of various symmetric or asymmetric configurations. The design is verified by the simulation with a numerical example of real-world parameters. Results show the advantages of the proposed mechanism in contrast with the conventional pulley with a circular track profile on both concerns. This mechanism can potentially enlarge the application of cable-driven revolute joints with space and payload limitations, in addition to the requirements of highly dynamic performance. © 2024, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Rotation

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The deleterious effects and potential therapeutic strategy of fluorene-9-bisphenol on circadian activity and liver diseases in zebrafish and mice

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Journal of Environmental Sciences 2024年第11期145卷 13-27页

作者： Shuhui Zhang Xiang Zuo Jialu Luan Huijuan Bai Zhenhua Fu 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

Increasing evidence indicates that disturbance of the clock genes,which leads to systemic endocrine perturbation,plays a crucial role in the pathogenesis of metabolic and liver ***-9-bisphenol(BHPF)is utilized in the manufacturing of plastic materials but its biological effects on liver homeostasis remain *** impacts and involved mechanisms of BHPF on the liver diseases,metabolism,and circadian clock were comprehensively studied by zebrafish andmouse *** therapeutic effect of melatonin(MT)was also *** and mousemodels with either acute exposure(0.5 and 1μmol/L,1-4 days post-fertilization)or chronic oral exposure(0.5 and 50 mg/(kg·2 days),30 days)were established with various BHPF ***,we identified a crucial role for estrogenic regulation in liver development and circadian locomotor rhythms damaged by BHPF in a zebrafish *** mice showed chaos in circadian activity through the imbalance of circadian clock component Brain and Muscle Aryl hydrocarbon receptor nuclear translocator-like 1 in the liver and *** liver sexual dimorphic alteration alongwith reduced growth hormone and estrogens played a critical role in damaged glucose metabolism,hepatic inflammation,and fibrosis induced by ***,sleep improvement by exogenous MT alleviated BHPF-related glucose metabolism and liver injury in *** proposed the pathogenesis of metabolic and liver disease resulting from BHPF and promising targeted therapy for livermetabolism disorders associated with endocrine perturbation *** results might play a warning role in the administration of endocrine-disrupting chemicals in everyday life and various industry applications.

关键词： Fluorene-9-bisphenol(BHPF) Melatonin Circadian activity Endocrine perturbation Liver diseases Female behavior Hepatic sexual dimorphism

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Saturated Robust Nonlinear Control for Double-Pendulum Quadrotor Transportation Systems 42

Saturated Robust Nonlinear Control for Double-Pendulum Quadr...

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42nd Chinese Control Conference, CCC 2023

作者： Su, Chen Chen, Yuxuan Yu, Hai Liang, Xiao Han, Jianda Fang, Yongchun Institute of Robotics and Automatic Information System College of Artificial Intelligence Nankai University Tianjin Key Laboratory of Intelligent Robotics Tianjin300350 China

ISBN: (纸本)9789887581543

Unknown external disturbances and dynamic/parameter uncertainties are usually existing when the quadrotor transportation system performs cargo delivery missions in the actual environment. Additionally, in most researches, the hook and the payload are regarded as a single point of mass which ignore the double-pendulum effect. To address the aforementioned issues, this paper proposed a saturated robust nonlinear controller for the quadrotor transportation system with double-pendulum effect, which has the ability to handle the lumped disturbance and suppress the payload and hook swing angles. On the basis of Lyapunov techniques and LaSalle's Invariance Theorem, the asymptotic convergence of the closed-loop system is guaranteed. Simulation results are presented to verify the performance of the designed control scheme. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Robust control

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The Prosthetic Hand Can Grasp Occluded Objects with the Help of 3rd-Eye Based on artificial Vision and AR Technology 1

The Prosthetic Hand Can Grasp Occluded Objects with the Help...

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1st International Conference on artificial intelligence and Human-Computer Interaction, ArtInHCI 2023

作者： Shi, Chunyuan Zhao, Jingdong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150081 China Artificial Intelligence Laboratory Harbin Institute of Technology Harbin150081 China

ISBN: (纸本)9781643685083

Grasping occluded objects is a large challenge for hand amputees because of the hand's perception loss. This paper proposed an alternative approach based on artificial vision and augmented reality technology, termed 3rd-Eye, to solve the problem. In detail, a live stream of an RGB camera attached to the prosthetic hand was presented to the user who wore an augmented reality helmet, HoloLens 2. The 3rd-Eye was integrated into a hybrid control prosthetic system (i-MYO proposed in our previous work). It was tested in a special reach-And-grasp experiment where the subject needed to grasp an occluded object in cluttered environments (one to six objects in total) using the prosthetic hand. The new approach has achieved satisfactory results (success rate: 100% in all). © 2024 The Authors.

关键词： Computer vision

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Point Set Registration Based on Adaptive Maximum Correntropy 25

Point Set Registration Based on Adaptive Maximum Correntropy

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25th IEEE China Conference on System Simulation Technology and its Application, CCSSTA 2024

作者： Shao, Yinfeng Cui, Wenting Xu, Liang Tianjin University of Technology School of Electrical Engineering and Automation Tianjin China Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University Xi'an China

ISBN: (纸本)9798350366600

Aiming at the problem that the iterative closest point algorithm has a lot of noise in data and poor robustness to outliers, this paper proposes a point set registration algorithm based on the adaptive maximum correntropy criterion. The aim is to enhance the robustness of traditional registration methods, improve registration accuracy, and reduce registration time. Firstly, the maximum correntropy criterion is introduced to effectively identify and eliminate noise and outliers in the data. Secondly, a parameter-adaptive iterative approach is proposed to iteratively remove noise and outliers in the data, thus improving the accuracy and robustness of point set registration. Experimental results on datasets containing a large amount of noise and outliers demonstrate that the proposed algorithm effectively enhances the accuracy and robustness of point set registration. © 2024 IEEE.

关键词： Adaptive Iterative closest point algorithm Maximum correntropy criterion Robustness

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Driver Intention Prediction Using Text Prompts with In-Cabin and Out-Cabin Cameras 16

Driver Intention Prediction Using Text Prompts with In-Cabin...

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16th International Conference on Cyber-Enabled Distributed Computing and Knowledge Discover, CyberC 2024

作者： He, Bin Yu, Ningmei Han, Hongcheng Xi'an University of Technology School of Automation and Information Engineering Xi'an China Xi'an Jiaotong University Institute of Artificial Intelligence and Robotics Xi'an China

ISBN: (纸本)9798331506896

Human-machine collaborative driving is poised to become a cornerstone of intelligent transportation systems, where accurate recognition of driver behavior and intent is crucial for vehicle decision-making and real-time traffic management. Existing methods for driver maneuver recognition, primarily based on 3D convolutional neural networks (3D-CNNs) and Transformers, encounter challenges such as spatiotemporal redundancy, limited spatial perception, and inadequate capture of detailed object motion. To overcome these limitations, we propose a novel text-driven approach utilizing Large Language Models (LLMs) for driver maneuver recognition. By integrating textual semantics from both in-car and external environments, the Contrastive Language-Image Pre-training (CLIP) text encoder enhances the model's comprehension of complex video scenarios, improving both training and inference efficiency while enabling more precise identification of motion dynamics. Experimental results demonstrate that our approach outperforms state-of-the-art methods in driver intention prediction. © 2024 IEEE.

关键词： Convolutional neural networks

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Design and Implementation of Pipeline Detection Robot with Three-Dimensional Scanning Capability

Design and Implementation of Pipeline Detection Robot with T...

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2023 IEEE International Conference on Signal Processing, Communications and Computing, ICSPCC 2023

作者： Chen, Dansheng Zhao, Min Ding, Ning Yuan, Xiaoqiang Li, Nan Fang, Zehao Shenzhen Institute of Artificial Intelligence and Robotics for Society Center for Special Robots Shenzhen China Institute of Robotics and the Intelligent Manufacturing the Chinese University of Hong Kong Shenzhen China

ISBN: (纸本)9798350316728

To adapt to different application scenarios, the structure and execution components of pipeline robots need to be customized according to specific projects. Custom design requires a lot of time and manpower. Therefore, this paper proposes a pipeline robot based on network communication, which can achieve three-dimensional inspection inside pipelines with good expandability, reducing the development work for new projects and allowing for quick product updates. The hardware of the robot is designed around an ethernet switch controller, which connects communication modules and sensors, the expansion interface is reserved for further use. The software is based on the special workflow of pipeline detection robots and is designed around robot control - data acquisition - pipeline defect analysis. Testing in various scenarios showed that the design of the robot meets the functional requirements of pipeline detection as well as having good expandability. © 2023 IEEE.

关键词： Robots

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DrivingDojo Dataset: Advancing Interactive and Knowledge-Enriched Driving World Model 38

DrivingDojo Dataset: Advancing Interactive and Knowledge-Enr...

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38th Conference on Neural Information Processing Systems, NeurIPS 2024

作者： Wang, Yuqi Cheng, Ke He, Jiawei Wang, Qitai Dai, Hengchen Chen, Yuntao Xia, Fei Zhang, Zhaoxiang New Laboratory of Pattern Recognition Institute of Automation Chinese Academy of Sciences China School of Artificial Intelligence University of Chinese Academy of Sciences China Meituan Inc. China Centre for Artificial Intelligence and Robotics HKISI CAS China

Driving world models have gained increasing attention due to their ability to model complex physical dynamics. However, their superb modeling capability is yet to be fully unleashed due to the limited video diversity in current driving datasets. We introduce DrivingDojo, the first dataset tailor-made for training interactive world models with complex driving dynamics. Our dataset features video clips with a complete set of driving maneuvers, diverse multi-agent interplay, and rich open-world driving knowledge, laying a stepping stone for future world model development. We further define an action instruction following (AIF) benchmark for world models and demonstrate the superiority of the proposed dataset for generating action-controlled future predictions. © 2024 Neural information processing systems foundation. All rights reserved.

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