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3rd International Conference on control and Intelligent Robotics, ICCIR 2023

作者： Han, Xiaowu Zhao, Gang Li, Te Xu, Yaohui Xie, Fengran He, Kai Zuo, Qiyang Key Laboratory of Metallurgical Equipment and Control Technology Ministry of Education Wuhan University of Science and Technology China Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering Wuhan University of Science and Technology China Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen University Town 1068 Xueyuan Avenue Xili Nanshan Shenzhen518055 China Shenzhen Key Laboratory of Precision Engineering 1068 Xueyuan Avenue Shenzhen University Town Xili Nanshan Shenzhen518055 China School of Artificial Intelligence Shenzhen Polytechnic Shenzhen518055 China

ISBN: (纸本)9781510671867

At present, most of bionic robotic fish in BCF mode make use of reciprocating positive and negative rotation of a servo to drive the swing motion of the tail fin. However, the swing frequency of the tail fin of the robotic fish is relatively low and the generated propulsive force is also relatively small due to the influence of the properties of the servo. The other robotic fish which use DC motor or other unidirectional rotation motor to drive the tail fin have to take advantage of complex mechanical structure to realize reciprocating swing motion of the tail fin, even so, the swing amplitude of the tail fin cannot be adjusted directly. This paper presents a novel bionic swing propulsion mechanism which is driven by a stepper motor. The tail fin can swing at a high frequency by controlling the rotate speed in positive rotation of the stepper motor, and correspondingly, the swing amplitude of the tail fin can be adjusted by controlling the stepper motor to reverse rotation. In addition, a steering mechanism is added to this bionic swing propulsion mechanism to realize the steering function for the propulsion mechanism. The presented swing propulsion mechanism can be directly used for a swing mechanism of tail fin of robotic fish, or even can act as a kind of bionic propeller of underwater vehicle to replace the traditional screw propeller. In order to verify the feasibility of this underwater bionic propulsion mechanism, a series of swimming experiment were carried out. © 2023 SPIE.

关键词： Fish

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A Stable RTK/MEMS-IMU Tightly-Coupled Algorithm under Differential Corrections Outage

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IEEE Transactions on Vehicular technology 2025年

作者： Bian, Yougang Cao, Shipeng Wang, Guangcai Qin, Xiaohui Hu, Manjiang Qin, Hongmao Hunan University State Key Laboratory of Advanced Design and Manufacturing Technology for Vehicle College of Mechanical and Vehicle Engineering Changsha410082 China Hunan University Wuxi Intelligent Control Research Institute Wuxi214115 China

The GNSS-RTK and MEMS-IMU integrated navigation system is a commonly used high-precision, low-cost solution for outdoor positioning. However, the significant measurement error of MEMS-IMU can rapidly lead to divergence in navigation state predictions based on inertial error propagation models. To overcome this limitation and enhance accuracy, maintaining the continuity of RTK measurement information is crucial. Nevertheless, due to the instability of wireless transmission links and communication equipment, or disruptions in base station observations, differential corrections often experience outages, resulting in a decline in measurement information quality and affecting the accuracy of integrated navigation. Therefore, this paper proposes a stable RTK/MEMS-IMU tightly coupled algorithm. During outages of differential corrections, the proposed algorithm utilizes historical differential corrections from the base station along with real-time rover station information to construct a stable double-difference carrier phase vector. This approach ensures the stability of measurement information and enhances positioning accuracy. Simulation results have verified the effectiveness of this method, and land tests have demonstrated that, compared to the traditional RTK/MEMS-IMU tightly coupled algorithm, the position and velocity accuracy of this algorithm during outages of differential corrections have been improved by 29.5% and 18.4%, respectively. © 1967-2012 IEEE.

关键词： Base stations

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Learning Stable Nonlinear Dynamics and Interactive Force-Aware Variable Impedance control for Robotic Contact Tasks

Learning Stable Nonlinear Dynamics and Interactive Force-Awa...

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2023 International Conference on Biomimetic Intelligence and Robotics

作者： Wu, Hongmin Zhai, Xueqian Wu, Xinyu Gu, Shichao Liao, Zhaoyang Xu, Zhihao Pan, Jia Zhou, Xuefeng Institute of Intelligent Manufacturing Guangdong Academy of Sciences Guangdong Key Laboratory of Modern Control Technology Guangzhou China Shenzhen Institute of Advanced TechnologyChinese Academy of Sciences Shenzhen China Wuyi University Jiangmen China Pazhou Lab Guangzhou China The University of Hong Kong Hong Kong

This paper presents a novel approach for efficient robot programming in tasks such as polishing and grinding, which addresses the challenges of stability and adaptability in robot motion and control. The approach involves learning movement skills and variable impedance control from human demonstrations. Firstly, a non-parametric Gaussian mixture model and globally stable method are proposed for learning robot rhythmic skills with nonlinear dynamics by taking into account the characteristics of robot motion in human-robot physical interaction. Then, adaptive variable impedance control mechanisms are constructed using Gaussian mixture regression, enabling adaptive perception and online control of unknown environments. Finally, a stability-consideration variable impedance controller is designed to minimize the total control-torque while ensuring motion accuracy, which allows efficient adaptation to uncertain environments and complex tasks. The paper provides a novel framework of robot rhythmic skill learning and variable impedance control for robotic complex surface polishing tasks with nonlinear dynamics based on multiple physical human demonstrations, and verifies the proposed methods with a real Franka-robot polishing task. These implementations would be with applications in intelligent manufacturing, robot-assisted rehabilitation. © 2023 The Authors. Published by Elsevier B.V.

关键词： Robot programming

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Design of a Novel Autonomous Docking System With a Supporting Robotic Fish

Design of a Novel Autonomous Docking System With a Supportin...

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2023 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2023

作者： Dong, Huijie Zhao, Chunyang Qiao, Tiezhu Wang, Jian Chen, Di Meng, Yan Yu, Junzhi Taiyuan University of Technology Key Laboratory of Advanced Transducers and Intelligent Control System Ministry of Education Taiyuan030024 China Chinese Academy of Sciences Laboratory of Cognitive and Decision Intelligence for Complex System Institute of Automation Beijing100190 China Peking University State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and Robotics College of Engineering Beijing100871 China Guangdong Ocean University College of Electronics and Information Engineering Zhanjiang524088 China

ISBN: (纸本)9798350327182

Underwater supporting robots serving as a relay of energy supplements and communication for other underwater equipment are promising for ocean exploration, development, and protection. This paper proposes a novel autonomous docking system centered on a designed supporting robotic fish named 'CourierFish'. Specifically, CourierFish is capable of docking with a surface dock station for supplying itself and docking with a seafloor platform for supporting equipment in the platform. A visual navigation scheme integrating LED and ArUco markers is presented for accurate localization. The control approach for docking motion is also illustrated. Simulations and aquatic experiments are performed to verify the feasibility of the proposed docking system. The obtained results lay a solid foundation for the construction of various underwater equipment and robot networks. © 2023 IEEE.

关键词： Fish

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Fruit target detection method based on faster R-CNN

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International Journal of Wireless and Mobile Computing 2021年第3期21卷 207-213页

作者： Yin, Guanghui Xie, Yuanmin Yun, Juntong Ning, Lichuan Liu, Ying Wuhan University of Science and Technology Hubei Wuhan China Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education Wuhan University of Science and Technology Hubei Wuhan China Hubei Provincial Key Laboratory of Mechanical Transmission and Manufacturing Engineering Wuhan University of Science and Technology Hubei Wuhan China Research Centre for Biomimetic Robot and Intelligent Measurement and Control Wuhan University of Science and Technology Hubei Wuhan China

With the rapid development of agricultural modernisation, fruit picking is becoming more and more automatic. The detection of fruit target by machine vision technology is the key to realise fruit automatic picking. In recent years, with the development of deep learning technology, target detection algorithm based on deep learning has gradually become a hot research topic, and the detection accuracy has been greatly improved. However, the shape and size of fruits in natural environment are different, and the light intensity changes at any time, which affects the detection accuracy to a certain extent. In this paper, aiming at the problem of fruit detection and location in natural environment, based on Fast R-CNN target detection model, a fruit detection and location method combining image processing and deep learning is proposed. The experimental results show that the combination of image processing and deep learning can achieve high detection accuracy and speed. Copyright © 2021 Inderscience Enterprises Ltd.

关键词： Fruits

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Regulating Lithium Deposition via 3D Printed Current Collectors with Dual-Scale Roughness

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ACS applied materials & interfaces 2025年第23期17卷 2025 May 29页

作者： Meng Cheng Kehao Tang Zhuoyuan Yang Mingfan Zhao Wei Duan Xin Lin Kunpeng Zhu Haolin Tang Yizhou Jiang Key Laboratory of Metallurgical Equipment and Control Technology Ministry of Education Wuhan University of Science and Technology Wuhan 430081 China. Precision Manufacturing Institute Wuhan University of Science and Technology Wuhan 430081 China. Department of Aerospace Engineering Embry-Riddle Aeronautical University Daytona Beach Florida 32114 United States. Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering Wuhan University of Science and Technology Wuhan 430081 China. State Key Laboratory of Advanced Technology for Materials Synthesis and Processing Wuhan University of Technology Wuhan 430070 China.

With the growing demand for future electric vehicles, mobile devices, and wearable electronics, lithium metal has emerged as a promising anode material, offering high theoretical capacity and low density. However, uncontrolled lithium dendrite growth and significant volume changes during cycling remain major challenges. In this study, to mitigate such challenges, we present a three-dimensional (3D) current collector design of a triply periodic minimal surface structure, fabricated using selective laser melting 3D printing of copper and modified through mechanical polishing to achieve dual-scale roughness. The resulting 3D current collector features a gyroid lattice with polished top surfaces and rough inner caverns, designed to induce preferential lithium nucleation within the caverns and promote confined growth. This gyroid structure increases the surface area and improves current density distribution, leading to highly improved Li deposition uniformity and reduced dendritic growth. As expected, cells using the 3D current collectors demonstrate a low nucleation overpotential, enhanced cycling stability, and improved rate performance. The manufacturing approach and structural design can be readily extended to other metal-based batteries, providing a versatile pathway for enhancing the performance and safety of metal electrode batteries.

关键词： 3D printing current collectors dendrite suppression lithium metal anode triply periodic minimal surface

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All-weather,natural silent speech recognition via machine-learning-assisted tattoo-like electronics

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npj Flexible Electronics 2021年第1期5卷 183-191页

作者： Youhua Wang Tianyi Tang Yin Xu Yunzhao Bai Lang Yin Guang Li Hongmiao Zhang Huicong Liu YongAn Huang State Key Laboratory of Digital Manufacturing Equipment and Technology Huazhong University of Science and TechnologyWuhanChina Flexible Electronics Research Center Huazhong University of Science and TechnologyWuhanChina School of Mechanical and Electric Engineering Jiangsu Provincial Key Laboratory of Advanced RoboticsSoochow UniversitySuzhouChina State Key Laboratory of Industrial Control Technologyg Institute of Cyber Systems and ControlZhejiang UniversityHangzhouChina

The internal availability of silent speech serves as a translator for people with aphasia and keeps human–machine/human interactions working under various *** paper develops a silent speech strategy to achieve all-weather,natural *** strategy requires few usage specialized skills like sign language but accurately transfers high-capacity information in complicated and changeable daily *** the strategy,the tattoo-like electronics imperceptibly attached on facial skin record high-quality bio-data of various silent speech,and the machine-learning algorithm deployed on the cloud recognizes accurately the silent speech and reduces the weight of the wireless acquisition module.A series of experiments show that the silent speech recognition system(SSRS)can enduringly comply with large deformation(~45%)of faces by virtue of the electricitypreferred tattoo-like electrodes and recognize up to 110 words covering daily vocabularies with a high average accuracy of 92.64%simply by use of small-sample machine *** successfully apply the SSRS to 1-day routine life,including daily greeting,running,dining,manipulating industrial robots in deafening noise,and expressing in darkness,which shows great promotion in real-world applications.

关键词： translator weather silent

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Feature extraction of composite faults in automotive transmission shaft bearings using optimized RVME parameters

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Zhendong yu Chongji/Journal of Vibration and Shock 2025年第13期44卷 317-326页

作者： Yu, Jun Zhang, Yanan Ping, Jingyan Shen, Tao Jin, Zheming Lin, Jiang Key Laboratory of Advanced Manufacturing and Intelligent Technology Harbin University of Science and Technology Harbin150080 China BH Technology Group Co. Ltd. Taizhou318054 China School of Mechatronics Engineering Henan University of Science and Technology Luoyang471003 China School of Measurement and Communication Engineering Harbin University of Science and Technology Harbin150080 China

Aiming at the problem of composite fault feature extraction of automotive transmission shaft bearings under strong background noise interference, a feature extraction method for composite faults of automotive transmission shaft bearings of optimizing recursive variational mode extraction parameters based on spider wasp optimizer (SWO) is proposed. SWO is used to determine the optimal values of penalty factor and center frequency. The effective weight kurtosis criterion is employed to select mode components for signal reconstruction, and reduce the interference of strong background noise. The introduction of a two-dimensional Chebyshev-Logistic-Infinite collapse map increases the diversity and randomness of the population, avoids SWO falling into local optima, shortens running time, and increases fault feature coefficient. The population is divided into multiple subgroups based on fast non-dominated sorting, and an adaptive grouping strategy is adopted to accelerate the convergence speed of SWO. The simulation analyses and experimental verification results show that this method can effectively suppress the interference noise in the signal, and achieve a good balance between convergence speed and optimization accuracy. © 2025 Chinese Vibration Engineering Society. All rights reserved.

关键词： Image reconstruction

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Development of an Integrated CMUTs-Based Resonant Biosensor for Label-Free Detection of DNA with Improved Selectivity by Ethylene-Glycol Alkanethiols

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Engineering 2024年第10期41卷 231-241页

作者： Zhikang Li Yihe Zhao Gian Luca Barbruni Jie Li Zixuan Li Jiawei Yuan Ping Yang Libo Zhao Zhuangde Jiang Sandro Carrara State Key Laboratory for Manufacturing Systems Engineering the International Joint Laboratory for Micro/Nano Manufacturing and Measurement TechnologiesXi’an Jiaotong UniversityXi’an 710049China Xi’an Jiaotong University(Yantai)Research Institute for Intelligent Sensing Technology and System Yantai 264003China School of Instrument Science and Technology Xi’an Jiaotong UniversityXi’an 710049China School of Mechanical Engineering Xi’an Jiaotong UniversityXi’an 710049China Shandong Laboratory of Yantai Advanced Materials and Green Manufacturing Yantai 265503China Bio/CMOS Interfaces Laboratory Institute of Electrical and MicroengineeringSchool of EngineeringÉcole Polytechnique Fédérale de LausanneNeuchâtel 2000Switzerland College of Mechanical and Electrical Engineering Shaanxi University of Science and TechnologyXi’an 710021China

Gravimetric resonant-inspired biosensors have attracted increasing attention in industrial and point-ofcare applications,enabling label-free detection of biomarkers such as DNA and *** micromachined ultrasonic transducers(CMUTs)are promising tools for developing miniaturized highperformance biosensing complementary metal–oxide–silicon(CMOS)***,their operability is limited by inefficient functionalization,aggregation,crosstalk in the buffer,and the requirement for an external high-voltage(HV)power *** this study,we aimed to propose a CMUTs-based resonant biosensor integrated with a CMOS front–end interface coupled with ethylene–glycol alkanethiols to detect single-stranded DNA oligonucleotides with large *** topography of the functionalized surface was characterized by energy-dispersive X-ray *** selectivity for onchip hybridization was demonstrated by comparing complementary and non-complementary singlestranded DNA oligonucleotides using fluorescence imaging *** sensor array was further characterized using a five-element lumped equivalent *** 4 mm^(2) application-specific integrated circuit chip was designed and developed through 0.18 lm HV bipolar-CMOS-double diffused metal–oxide–silicon(DMOS)technology(BCD)to generate on-chip 20 V HV boosting and to track feedback frequency under a standard 1.8 V supply,with a total power consumption of 3.8 mW in a continuous *** measured results indicated a detection sensitivity of 7.943×10^(-3) lmol·L^(-1)·Hz^(-1) over a concentration range of 1 to 100 lmol·L^(-1).In conclusion,the label-free biosensing of DNA under dry conditions was successfully demonstrated using a microfabricated CMUT array with a 2 MHz frequency on CMOS electronics with an internal HV ***,ethylene–glycol alkanethiols successfully deposited self-assembled monolayers on aluminum electrodes,which has never been attempted thus far on CMUTs,to enhance the sel

关键词： Capacitive micromachined ultrasonic transducers(CMUTs) DNA detection Self-assembled monolayer(SAM) Ethylene-glycol alkanethiols Application-specific integrated circuit(ASIC)

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A new anterograde trans-synaptic tracer based on Sindbis virus

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Neural Regeneration Research 2022年第12期17卷 2761-2764页

作者： Xiang-Wei Shi Fan Jia Pei Lyu Fu-Qiang Xu State Key Laboratory of Magnetic Resonance and Atomic and Molecular Physics Key Laboratory of Magnetic Resonance in Biological SystemsWuhan Center for Magnetic ResonanceInnovation Academy for Precision Measurement Science and TechnologyChinese Academy of SciencesWuhanHubei ProvinceChina Guangdong Provincial Key Laboratory of Brain Connectome and Behavior CAS Key Laboratory of Brain Connectome and Manipulationthe Brain Cognition and Brain Disease Institute(BCBDI)Translational Research Center for the Nervous System(TRCNS)Shenzhen Institute of Advanced TechnologyChinese Academy of SciencesShenzhen-Hong Kong Institute of Brain Science-Shenzhen Fundamental Research InstitutionsShenzhenGuangdong ProvinceChina NMPA Key Laboratory for Research and Evaluation of Viral Vector Technology in Cell and Gene Therapy Medicinal Products Key Laboratory of Quality Control Technology for Virus-Based TherapeuticsGuangdong Provincial Medical Products AdministrationShenzhen Key Laboratory of Viral Vectors for BiomedicineShenzhen Institute of Advanced TechnologyChinese Academy of SciencesShenzhenGuangdong ProvinceChina University of Chinese Academy of Sciences BeijingChina Wuhan National Laboratory for Optoelectronics Huazhong University of Science and TechnologyWuhanHubei ProvinceChina

Mapping neural circuits is critical for understanding the structure and function of the nervous *** viruses are a valuable tool for tracing neural ***,current tracers do not fully meet the needs for this approach because of various drawbacks,such as toxicity and characteristics that are difficult to ***,there is an urgent need to develop a new tracer with low toxicity and that allows for long-term *** this study,we constructed an engineered Sindbis virus(SINV)expressing enhanced green fluorescent protein(EGFP)reporter gene(SINV-EGFP)and found that it had no significant difference in biological characterization compared with the wild-type Sindbis virus in BHK-21 cells and neurons in *** injected the virus into the visual circuit of mouse brain and found that the virus infected neurons in the local injected site and anterogradely spread in the neural *** the efficiency of transmission was limited,the findings demonstrate that SINV can be used as a new anterograde tracer to map neural circuits in mouse brain and that it spreads exclusively in the anterograde ***,use of SINV in mouse brain research will provide longer time windows for circuit tracing than is possible with herpes simplex virus and vesicular stomatitis virus tracers.

关键词： anterograde lateral geniculate nucleus mouse brains neural circuit neurons retina Sindbis virus superior colliculus synapse tracer

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