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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Xiang, Tian Meng, Qiwei Zhang, Ji Zhang, Beibei Song, Wei Xie, Anhuan Gu, Jason Research Institute of Interdisciplinary Innovation Zhejiang Laboratory Research Center for Intelligent Robotics Hangzhou311100 China The Chinese University of Hong Kong T Stone Robotics Institute Department of Mechanical and Automation Engineering Hong Kong Research Institute of Intelligent Computing Zhejiang Laboratory Research Center for Intelligent Computing Software Hangzhou311100 China Dalhousie University Electrical and Computer Engineering Halifax Canada

ISBN: (纸本)9798350325706

In recent years, the global robot market has witnessed substantial growth, particularly in the domain of service robots. Despite their expanding presence, service robots encounter limitations when operating autonomously in unstructured environments, primarily due to their constrained computational capacities. As a solution, the fusion of cloud and edge computing resources becomes imperative to expedite task inference and enhance scenario perception capabilities. The integration of cloud-edge-device models holds significant promise in bolstering the operational efficiency of robots. This entails the dynamic partitioning of intricate robotic tasks, executed collaboratively across cloud, edge, and device resources. In this landscape, deep neural network (DNN) models play a pivotal role in facilitating a wide array of robotic tasks. The inference time for each layer of a DNN model in actual deployment, emerges as a critical determinant in the model's partitioning strategy. It also serves as an important metric influencing the model's suitability for a specific hardware platform. This article presents an overview of recent advancements in predicting inference and training time of DNN models, summarizes the related methods, and finally discusses the challenges in this field and the research that can be studied in the future. © 2023 IEEE.

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Digital Twin and TD3-Enabled Optimization of xEV Energy Management in Vehicle-to-Grid Networks

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IEEE Access 2025年 13卷 92495-92506页

作者： Saba, Irum Alobaidi, Abdulraheem H. Alghamdi, Sultan Tariq, Muhammad National University of Computer & Emerging Sciences Department of Electrical Engineering Islamabad 44000 Pakistan King Abdulaziz University Faculty of Engineering Department of Electrical and Computer Engineering Jeddah 21589 Saudi Arabia King Abdulaziz University Center of Research Excellence in Renewable Energy and Power Systems Jeddah 21589 Saudi Arabia Princeton University Department of Electrical and Computer Engineering Princeton NJ United States

The rapid expansion of extended electric vehicle (xEV) adoption necessitates optimizing energy storage systems (ESS) management for enhanced performance, longevity, and reliability. However, traditional ESS management approaches struggle with real-time state estimation, energy optimization, and predictive maintenance, leading to inefficiencies in battery utilization and sustainability. This paper addresses these challenges by proposing an advanced ESS framework that integrates digital twin (DT) technology with the twin-delayed deep deterministic policy gradient (TD3) algorithm, a state-of-the-art reinforcement learning method derived from the deep deterministic policy gradient (DDPG). This integration enables precise real-time estimation of critical ESS states, including state of charge (SoC), state of health (SoH), state of energy (SoE), and remaining useful life (RUL), thereby enhancing predictive maintenance and operational efficiency. The proposed framework facilitates proactive battery health monitoring, generates early warnings for potential failures, and enables intelligent battery swapping via DT-driven ESS control. By dynamically adapting ESS control strategies, the TD3 algorithm optimizes energy distribution, reduces energy consumption, and improves overall vehicle performance. With a prediction accuracy of 99.8% for SoC, SoH, and SoE, the proposed approach effectively addresses key challenges in xEV ESS management like cell balancing, dynamic charging rate adjustment, battery swapping decisions, and energy optimization, contributing to a more sustainable and efficient EV ecosystem. © 2013 IEEE.

关键词： charging station digital twin Energy storage system extended electric vehicles grid twin delayed deep deterministic policy gradient

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Far-field super-resolution chemical microscopy

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Light(Science & Applications) 2023年第7期12卷 1246-1267页

作者： Mingwei Tang Yubing Han Danchen Jia Qing Yang Ji-Xin Cheng State Key Laboratory of Modern Optical Instrumentation College of Optical Science and EngineeringZhejiang UniversityHangzhou 310027China Intelligent Perception Research Institute Zhejiang LabHangzhou 311100China Department of Biomedical Engineering Department of Electrical and Computer EngineeringPhotonics CenterBoston UniversityBostonMA 02459USA

Far-feld chemical microscopy providing molecular electronic or vibrational fingerprint information opens a new window for the study of three-dimensional biological,material,and chemical *** microscopy provides a nondestructive way of chemical identification without exterior ***,the diffraction limit of optics hindered it from discovering more details under the resolution *** development of super-resolution techniques gives enlightenment to open this door behind far-field chemical ***,we review recent advances that have pushed the boundary of far-field chemical microscopy in terms of spatial *** further highlight applications in biomedical research,material characterization,environmental study,cultural heritage conservation,and integrated chip inspection.

关键词： chemical details optics

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Whole Body Balance Control for Bipedal Robots Based on Virtual Model Control 16th

Whole Body Balance Control for Bipedal Robots Based on Virtu...

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16th International Conference on intelligent robotics and Applications, ICIRA 2023

作者： Gao, Chengzhi Xie, Ye Zhu, Yiting Liang, Dingkun Kong, Lingyu Wang, Xin Xie, Anhuan Gu, Jianjun Research Center for Intelligent Robotics Research Institute of Interdisciplinary Innovation Zhejiang Laboratory Hangzhou311100 China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou311100 China Zhejiang University Zhejiang Hangzhou311100 China Department of Electrical and Computer Engineering Dalhousie University HalifaxNSB3H 4R2 Canada

ISBN: (纸本)9789819964918

Due to the lack of accurate stability theoretical basis, the dynamic balance control of bipedal robots is a challenging topic. In this paper, we propose a controller that combines virtual model control and whole body control. In our framework, the whole system is simplified into a spring inverted pendulum model. Decoupling control is carried out for this model, and a virtual model is introduced to establish the relationship between the joint torque of the support leg and the state of the center of mass. The distribution of reaction force is obtained through decoupling closed-loop control. The whole body control part first uses multi task whole body control to determine the kinematics information, and then solves the joint feedforward torque through dynamical model, thus obtaining the desired force position hybrid control. Proposed algorithm improved the problem of incomplete decoupling between states and increased the stiffness of the support leg. The newly designed control framework was tested in Simscape dynamic simulation and verified the anti-interference ability and fast walking ability of Whole Body Balance Control for bipedal robots based on Virtual Model Control. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd 2023.

关键词： Inverted pendulum

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Lightweight Design and Property Analysis of Humanoid Robot Thigh Integrated Structure with Appearance 16th

Lightweight Design and Property Analysis of Humanoid Robot T...

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16th International Conference on intelligent robotics and Applications, ICIRA 2023

作者： Nie, Daming Gu, Jason Zhang, Yu Jiang, Hongjian Research Center for Intelligent Robotics Zhejiang Lab Hangzhou310058 China Department of Electrical and Computer Engineering Dalhousie University HalifaxB3M 1A2 Canada

ISBN: (纸本)9789819964949

The lightweight and high stiffness leg structure of humanoid robots can effectively reduce rotational inertia and energy consumption, improving the robot's ability to quickly switch motion states. Based on the lightweight requirements of robots, this article proposes an innovative design method for humanoid robot legs based on the "structure-appearance" integration of light-alloy additive manufacturing technology. The load-bearing part of the leg structure is designed as a "shell + density-variable lattice" configuration, and the appearance part is set as a thin shell with equal thickness. The load-bearing part and the appearance one are combined together, resulting in a 20% weight reduction compared to traditional legs. The leg structure sample was processed using metal additive manufacturing method, and tested by a set of personalized fixture. When applying 200 Nm loading under pure torsion conditions, the local strain did not exceed 0.0175%, indicating that it meets the usage requirements. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Anthropomorphic robots

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Fast Walking of Position-Controlled Biped Robot Based on Whole-Body Compliance Control 16th

Fast Walking of Position-Controlled Biped Robot Based on Who...

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16th International Conference on intelligent robotics and Applications, ICIRA 2023

作者： Zhu, Yiting Xie, Ye Gao, Chengzhi Liang, Dingkun Kong, Lingyu Wang, Xin Xie, Anhuan Gu, Jianjun Research Center for Intelligent Robotics Research Institute of Interdisciplinary Innovation Zhejiang Laboratory Hangzhou311100 China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou311100 China Zhejiang University Zhejiang Hangzhou311100 China Department of Electrical and Computer Engineering Dalhousie University HalifaxNSB3H 4R2 Canada

ISBN: (纸本)9789819964918

When a biped robot walks at a high speed, only relying on the open-loop gait trajectory based on the linear inverted pendulum model (LIPM), the robot cannot maintain stability. Sudden contact with the ground when landing may cause the robot to be unstable. Simultaneously, when the robot walks faster, the horizontal position of the center of mass (CoM) varies greatly during a walk cycle, and the expected CoM trajectory cannot be accurately tracked, resulting in a deviation from the zero-moment point (ZMP). Aiming at the above situation that may occur in fast walking, a whole-body compliance controller with emphasis on making robot’s walking more stable and faster is presented in this paper. The whole-body compliance controller consists of three parts: the CoM compliance controller, the vertical compliance controller and the foot compliance controller, which are used to improve the tracking effect of CoM, reduce the force impact of foot, and adjust the posture of the foot respectively. The simulation results show that with the whole-body compliance controller proposed in this paper, the tracking accuracy of the CoM becomes better, the posture of the robot is more stable during walking, and the landing compliance during landing are greatly improved. Finally, the walking speed of the robot can reach 1.8m/s. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd 2023.

关键词： Compliance control

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Onboard Perception-Assisted High Fidelity Simulation Framework for Autonomous Planetary Soft-Landing

Onboard Perception-Assisted High Fidelity Simulation Framewo...

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AIAA Science and Technology Forum and Exposition, AIAA SciTech Forum 2025

作者： Alibekov, Ulugbek Banerjee, Avijit Satpute, Sumeet Gajanan Nikolakopoulos, George ERASMUS MUNDUS JOINT MASTER in Intelligent Field Robotic Systems Faculty of Informatics Eötvös Loránd University Budapest Hungary Robotics and AI research group Department of Computer Science Electrical and Space Engineering Luleå University of Technology Luleå Sweden

ISBN: (数字)9781624107238

ISBN: (纸本)9781624107238

This article presents an onboard perception-assisted high-fidelity simulation framework for autonomous planetary soft-landing, enabling visual information processing tightly integrated with advanced onboard guidance system in a realistic simulation environments. Utilizing the open source Unity game engine, a physics-based simulation toolbox integrated with the Robotic Operating System (ROS2), we effectively emulate the motion of spacecraft approaching planetary terrain. The simulation environment features a realistic 3D terrain model and a lander spacecraft equipped with onboard camera to effectively capture detailed local terrain images. The simulation engine accurately captures the spacecraft’s 6-degrees of freedom motion, seamlessly integrating space craft orientation with the associated camera feed while incorporating various illumination conditions using a light source representing the Sun. To demonstrate the efficacy of the framework, we implement a recently developed attitude-constrained minimum jerk guidance algorithm to emulate spacecraft motion. Concurrently, the visual feed from the onboard RGB camera is processed through a gradient extraction-based perception system, providing the visual odometer. This system identifies provably safe landing sites, effectively avoiding potential risks of landing on uneven terrain. © 2025, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Planetary landers

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Risk-Aware Reward Shaping of Reinforcement Learning Agents for Autonomous Driving 49

Risk-Aware Reward Shaping of Reinforcement Learning Agents f...

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49th Annual Conference of the IEEE Industrial Electronics Society, IECON 2023

作者： Wu, Lin-Chi Zhang, Zengjie Haesaert, Sofie Ma, Zhiqiang Sun, Zhiyong Eindhoven University of Technology Department of Electrical Engineering Netherlands School of Astronautics Northwestern Polytechnical University Research Center for Intelligent Robotics Xi'an710072 China

ISBN: (纸本)9798350331820

Reinforcement learning (RL) is an effective approach to motion planning in autonomous driving, where an optimal driving policy can be automatically learned using the interaction data with the environment. Nevertheless, the reward function for an RL agent, which is significant to its performance, is challenging to determine. The conventional work mainly focuses on rewarding safe driving states but does not incorporate the awareness of risky driving behaviors of the vehicles. In this paper, we investigate how to use risk-aware reward shaping to leverage the training and test performance of RL agents in autonomous driving. Based on the essential requirements that prescribe the safety specifications for general autonomous driving in practice, we propose additional reshaped reward terms that encourage exploration and penalize risky driving behaviors. A simulation study in OpenAI Gym indicates the advantage of risk-aware reward shaping for various RL agents. Also, we point out that proximal policy optimization (PPO) is likely to be the best RL method that works with risk-aware reward shaping. © 2023 IEEE.

关键词： Reinforcement learning

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Omnidirectional Walking Realization of a Biped Robot 16th

Omnidirectional Walking Realization of a Biped Robot

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16th International Conference on intelligent robotics and Applications, ICIRA 2023

作者： Tang, Jingge Wang, Peng Liang, Chao Wang, Xin Liu, Yun Weng, Jiawei Wang, Fan Liang, Dingkun Xie, Anhuan Gu, Jianjun Research Center for Intelligent Robotics Research Institute of Interdisciplinary Innovation Zhejiang Lab Hangzhou311100 China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou311100 China Department of Electrical Engineering Dalhousie University HalifaxNSB3H 4R2 Canada

ISBN: (纸本)9789819964918

The purpose of this paper is to discuss the omnidirectional realization of a walking gait for the biped robot, HTY. Firstly, the paper introduces the structure and kinematics of the robot. Subsequently, a modular gait generation system is proposed, comprising a ZMP generator, swing leg generator, center of mass (CoM) generator, foot placement generator, and inverse kinematics (IK) module. These modules are used to obtain the trajectory of joint angles required for humanoid walking, based on the desired motion. Finally, the proposed gait generation system is validated through simulations and experiments on the HTY prototype. The results confirm the effectiveness of the gait generation system and demonstrate the omnidirectional walking ability of the HTY. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd 2023.

关键词： Inverse kinematics

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Advances in Wireless,Batteryless,Implantable Electronics for Real‑Time,Continuous Physiological Monitoring

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Nano-Micro Letters 2024年第3期16卷 254-302页

作者： Hyeonseok Kim Bruno Rigo Gabriella Wong Yoon Jae Lee Woon‑Hong Yeo IEN Center for Wearable Intelligent Systems and Healthcare Georgia Institute of TechnologyAtlantaGA 30332USA George W.Woodruff School of Mechanical Engineering Georgia Institute of TechnologyAtlantaGA 30332USA School of Electrical and Computer Engineering Georgia Institute of TechnologyAtlantaGA 30332USA Wallace H.Coulter Department of Biomedical Engineering Georgia Tech and Emory University School of MedicineAtlantaGA 30332USA Parker H.Petit Institute for Bioengineering and Biosciences Institute for MaterialsInstitute for Robotics and Intelligent MachinesGeorgia Institute of TechnologyAtlantaGA 30332USA

This review summarizes recent progress in developing wireless,batteryless,fully implantable biomedical devices for real-time continuous physiological signal monitoring,focusing on advancing human health *** considerations,such as biological constraints,energy sourcing,and wireless communication,are discussed in achieving the desired performance of the devices and enhanced interface with human *** addition,we review the recent achievements in materials used for developing implantable systems,emphasizing their importance in achieving multi-functionalities,biocompatibility,and *** wireless,batteryless devices offer minimally invasive device insertion to the body,enabling portable health monitoring and advanced disease ***,we summarize the most recent practical applications of advanced implantable devices for human health care,highlighting their potential for immediate commercialization and clinical uses.

关键词： Implantable electronics Biomedical systems Batteryless devices Wireless electronics Physiological signal monitoring

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