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EVA-Planner: Environmental Adaptive Quadrotor Plan

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EVA-Planner: Environmental Adaptive Quadrotor Plan

2021 IEEE International Conference on robotics and Automation, ICRA 2021

作者： Quan, Lun Zhang, Zhiwei Zhong, Xingguang Xu, Chao Gao, Fei State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou310027 China Huzhou Institute Zhejiang University Huzhou313000 China Ningbo315000 China

ISBN: (纸本)9781728190778

The quadrotor is popularly used in challenging environments due to its superior agility and flexibility. In these scenarios, trajectory planning plays a vital role in generating safe motions to avoid obstacles while ensuring flight smoothness. Although many works on quadrotor planning have been proposed, a research gap exists in incorporating self-adaptation into a planning framework to enable a drone to automatically fly slower in denser environments and increase its speed in a safer area. In this paper, we propose an environmental adaptive planner to adjust the flight aggressiveness effectively based on the obstacle distribution and quadrotor state. Firstly, we design an environmental adaptive safety aware method to assign the priority of the surrounding obstacles according to the environmental risk level and instantaneous motion tendency. Then, we apply it into a multi-layered model predictive contouring control (Multi-MPCC) framework to generate adaptive, safe, and dynamical feasible local trajectories. Extensive simulations and real-world experiments verify the efficiency and robustness of our planning framework. Benchmark comparison also shows superior performances of our method with another advanced environmental adaptive planning algorithm. Moreover, we release our planning framework as open-source ros-packages. © 2021 IEEE

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Low-noise analysis and design for the sensing system of the nanomanipulation robot by AFM

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Low-noise analysis and design for the sensing system of the ...

2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Yuan, Shuai Wu, Boyu Wang, Kaixuan Yu, Peng School of Information & Control Engineering Shenyang Jianzhu University Liaoning Province Shenyang110168 China Shenyang Jianzhu University Shenyang110168 China Shenyang Institute of Automation Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China University of Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781665481090

In this paper, through the noise analysis of the signal processing circuit of the photoelectric sensor, two noise reduction methods are proposed by reducing the feedback resistance of the transimpedance amplifier and integrating the overall signal processing circuit. These two noise reduction methods can reduce noise and improve the signal-to-noise ratio while ensuring that the topography signal of the item is unchanged. To verify the method in this paper, the scanning head design was optimized, the feasibility of the proposed scheme was verified by the thermal noise method and the 0-range scanning method, and finally, the roughness specification was analyzed. © 2022 IEEE.

关键词： Operational amplifiers

A Fast Conversion Method of Tube Coordinates

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A Fast Conversion Method of Tube Coordinates

作者： Hao Zhao Renbo Xia Yueling Chen Liming Tao Daixian Zhao Tianyu Zhang Key Laboratory of Networked Control System Chinese Academy of Sciences Shenyang Institute of Automation Chinese Academy of Sciences Institute of Robotics and Intelligent Manufacturing Innovation Chinese Academy of Sciences University of Chinese Academy of Sciences

Inspired by the idea of the coordinate transformation of the robot arm, the tube structure is analogized to the robot arm structure, and the conversion method of the tube bend processing parameters LRA to the three-dimensional coordinate points is obtained. The method first regards the tube as a "mechanical arm";then, using the similarity of the LRA processing parameters and DH parameters, all the LRA parameters are converted into D-H parameters;finally, the D-H parameter method is applied to calculate the distance between each axis of the " mechanical arm ". If the first space coordinate point is defined as the origin of the base coordinate system (0, 0, 0), then the position of the origin of other coordinate systems in the base coordinate system can be obtained;It has been proved by experiments that this method fast and feasible.

关键词： Tube Coordinates Fast Conversion Method Mechanical Arm D-H Parameter Method

Towards Precise 3D Human Pose Estimation with Multi-Perspective Spatial-Temporal Relational Transformers

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arXiv 2024年

作者： Jiao, Jianbin Cheng, Xina Chen, Weijie Yin, Xiaoting Shi, Hao Yang, Kailun School of Artificial Intelligence Xidian University China State Key Laboratory of Extreme Photonics and Instrumentation Zhejiang University China School of Robotics Hunan University China National Engineering Research Center of Robot Visual Perception and Control Technology Hunan University China

3D human pose estimation captures the human joint points in three-dimensional space while keeping the depth information and physical structure. That is essential for applications that require precise pose information, such as human-computer interaction, scene understanding, and rehabilitation training. Due to the challenges in data collection, mainstream datasets of 3D human pose estimation are primarily composed of multi-view video data collected in laboratory environments, which contains rich spatial-temporal correlation information besides the image frame content. Given the remarkable self-attention mechanism of transformers, capable of capturing the spatial-temporal correlation from multi-view video datasets, we propose a multi-stage framework for 3D sequence-to-sequence (seq2seq) human pose detection. Firstly, the spatial module represents the human pose feature by intra-image content, while the frame-image relation module extracts temporal relationships and 3D spatial positional relationship features between the multi-perspective images. Secondly, the self-attention mechanism is adopted to eliminate the interference from non-human body parts and reduce computing resources. Our method is evaluated on Human3.6M, a popular 3D human pose detection dataset. Experimental results demonstrate that our approach achieves state-of-the-art performance on this dataset. The source code will be available at https://***/WUJINHUAN/3D-human-pose. Copyright © 2024, The Authors. All rights reserved.

关键词： Human computer interaction

A modified YOLOv4 detection method for a vision-based underwater garbage cleaning robot

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Frontiers of Information Technology & Electronic Engineering 2022年第8期23卷 1217-1228页

作者： Manjun TIAN Xiali LI Shihan KONG Licheng WU Junzhi YU First Research Institute of the Ministry of Public Security of PRC Beijing 100048China School of Information Engineering Minzu University of ChinaBeijing 100081China Department of Advanced Manufacturing and Robotics College of EngineeringPeking UniversityBeijing 100871China State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China

To tackle the problem of aquatic environment pollution,a vision-based autonomous underwater garbage cleaning robot has been developed in our *** propose a garbage detection method based on a modified YOLOv4,allowing high-speed and high-precision object ***,the YOLOv4 algorithm is chosen as a basic neural network framework to perform object *** the purpose of further improvement on the detection accuracy,YOLOv4 is transformed into a four-scale detection *** improve the detection speed,model pruning is applied to the new *** virtue of the improved detection methods,the robot can collect garbage *** detection speed is up to 66.67 frames/s with a mean average precision(mAP)of 95.099%,and experimental results demonstrate that both the detection speed and the accuracy of the improved YOLOv4 are excellent.

关键词： Object detection Aquatic environment Garbage cleaning robot Modified YOLOv4

Exploring Quasi-Global Solutions to Compound Lens Based Computational Imaging systems

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arXiv 2024年

作者： Gao, Yao Jiang, Qi Gao, Shaohua Sun, Lei Yang, Kailun Wang, Kaiwei State Key Laboratory of Extreme Photonics and Instrumentation Zhejiang University Hangzhou310027 China School of Robotics Hunan University Changsha410012 China National Engineering Research Center of Robot Visual Perception and Control Technology Hunan University Changsha410082 China

Recently, joint design approaches that simultaneously optimize optical systems and downstream algorithms through data-driven learning have demonstrated superior performance over traditional separate design approaches. However, current joint design approaches heavily rely on the manual identification of initial lenses, posing challenges and limitations, particularly for compound lens systems with multiple potential starting points. In this work, we present Quasi-Global Search Optics (QGSO) to automatically design compound lens based computational imaging systems through two parts: (i) Fused Optimization Method for Automatic Optical Design (OptiFusion), which searches for diverse initial optical systems under certain design specifications;and (ii) Efficient Physic-aware Joint Optimization (EPJO), which conducts parallel joint optimization of initial optical systems and image reconstruction networks with the consideration of physical constraints, culminating in the selection of the optimal solution in all search results. Extensive experimental results illustrate that QGSO serves as a transformative end-to-end lens design paradigm for superior global search ability, which automatically provides compound lens based computational imaging systems with higher imaging quality compared to existing paradigms. The source code will be made publicly available at https://***/LiGpy/QGSO. Copyright © 2024, The Authors. All rights reserved.

关键词： Imaging systems

Hybrid Beamforming Design for Millimeter Wave Multiuser MIMO systems with Dynamic Subarrays

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arXiv 2022年

作者： Wang, Gengshan Yang, Zhijia Gong, Tierui State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China The Key Laboratory of Networked Control System Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China The Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China The University of Chinese Academy of Sciences Beijing100049 China Singapore University of Technology and Design Singapore

In this letter, we investigate the millimeter wave (mmWave) downlink multiuser multiple-input multiple-output (MU-MIMO) system, adopting the dynamic subarray architecture at the base station and considering the multi-stream communication for each user. Aiming at maximizing the system spectral efficiency, we propose a novel hybrid beamforming design. First, assuming no inter-user interference (IUI), we easily get the optimal fully-digital beamformers and combiners using the singular value decomposition of each user channel and the waterfilling algorithm. Then, based on the obtained fully-digital beamformers, we propose a Kuhn-Munkres algorithm-assisted dynamic hybrid beamforming design, which guarantees that each radio-frequency chain is connected to at least one antenna. Finally, we propose to further project each obtained digital beamformer onto the null space of all the other equivalent user channels to cancel the IUI. Numerical results verify the superiority of our proposed hybrid beamforming design. © 2022, CC BY.

关键词： Millimeter waves

Towards Single-Lens controllable Depth-of-Field Imaging via Depth-Aware Point Spread Functions

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arXiv 2024年

作者： Qian, Xiaolong Jiang, Qi Gao, Yao Gao, Shaohua Yi, Zhonghua Sun, Lei Wei, Kai Li, Haifeng Yang, Kailun Wang, Kaiwei Bai, Jian State Key Laboratory of Extreme Photonics and Instrumentation Zhejiang University Hangzhou310027 China School of Robotics Hunan University Changsha410012 China National Engineering Research Center of Robot Visual Perception and Control Technology Hunan University Changsha410082 China

controllable Depth-of-Field (DoF) imaging commonly produces amazing visual effects based on heavy and expensive high-end lenses. However, confronted with the increasing demand for mobile scenarios, it is desirable to achieve a lightweight solution with Minimalist Optical systems (MOS). This work centers around two major limitations of MOS, i.e., the severe optical aberrations and uncontrollable DoF, for achieving single-lens controllable DoF imaging via computational methods. A Depth-aware controllable DoF Imaging (DCDI) framework is proposed equipped with All-in-Focus (AiF) aberration correction and monocular depth estimation, where the recovered image and corresponding depth map are utilized to produce imaging results under diverse DoFs of any high-end lens via patch-wise convolution. To address the depth-varying optical degradation, we introduce a Depth-aware Degradation-adaptive Training (DA2T) scheme. At the dataset level, a Depth-aware Aberration MOS (DAMOS) dataset is established based on the simulation of Point Spread Functions (PSFs) under different object distances. Additionally, we design two plug-and-play depth-aware mechanisms to embed depth information into the aberration image recovery for better tackling depth-aware degradation. Furthermore, we propose a storage-efficient Omni-Lens-Field model to represent the 4D PSF library of various lenses. With the predicted depth map, recovered image, and depth-aware PSF map inferred by Omni-Lens-Field, single-lens controllable DoF imaging is achieved. To the best of our knowledge, we are the first to explore the single-lens controllable DoF imaging solution. Comprehensive experimental results demonstrate that the proposed framework enhances the recovery performance, and attains impressive single-lens controllable DoF imaging results, providing a seminal baseline for this field. The source code and the established dataset will be publicly available at https://***/XiaolongQian/DCDI. Copyright © 2024, The A

关键词： Optical transfer function

Human-like Walking of Biped Robot with Foot Rotation Using Passive Metatarsophalangeal Joint 12

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Human-like Walking of Biped Robot with Foot Rotation Using P...

12th International Conference on CYBER Technology in Automation, control, and Intelligent systems, CYBER 2022

作者： Dai, Xiaolin Liu, Yixiang Liu, Xinyu Zang, Xizhe Song, Rui Li, Yibin School of Control Science and Engineering Shandong University Jinan250061 China Engineering Research Center of Intelligent Unmanned System Ministry of Education Jinan250061 China Jiangsu Automation Research Institute Lianyungang222000 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

In the process of walking, humans are accompanied by the important action of foot rotation. The foot rotates taking the heel and toe as the axis of rotation when landing on and leaving the ground, respectively. Although having high similarity to humans, many biped robots do not reproduce this important feature. This paper describes a method for adding foot rotation into biped robots using the passive metatarsophalangeal joint. Firstly, the biomechanics of human metatarsophalangeal joint during walking is analyzed. Then, the control strategy based on finite state machine for human-like biped walking with foot rotation is proposed for a simplified biped robot model that is composed of eight joints. Finally, the simulation results of the walking gait of the biped robot in MATLAB demonstrate the effectiveness of the control strategy. © 2022 IEEE.

关键词： Rotation