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检索条件"机构=Key Laboratory of Robot Technology Used for Special Environment"

共 155 条记录，以下是1-10 订阅

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XK-III: A new three-degree-of-freedom omnidirectional moving spherical robot 2

XK-III: A new three-degree-of-freedom omnidirectional moving...

引用

2nd International Conference on robotics, Artificial Intelligence and Intelligent Control, RAIIC 2023

作者： Lin, Rui Yang, Xin Zhang, Yu Yang, Ruilin Li, Ruilin Southwest University of Science and Technology Robot Technology Used for Special Environment Key Laboratory of Sichuan Province Mianyang China

ISBN: (纸本)9798350328004

The unique motion mode and shape structure of spherical robot make it have high flexibility in complex and narrow environment. The existing spherical robot has the problems of high difficulty in control and large turning radius. Therefore, this paper designs a spherical robot with three-degree-of-freedom omnidirectional movement capability: XK-III. This paper innovatively designs a rotating mechanism around the OZ axis. Based on this structure, we designed the first sports mode (FSM) and the second sports mode (SSM) of XK-III. Then, the kinematics and dynamics specification model of XK-III spherical robot is established. Finally, the validity of the structural and dynamic models of XK-III is verified by using PID controller, active disturbance rejection controller and linear quadratic regulator. It provides an application idea for the application of spherical robots in complex environments. © 2023 IEEE.

关键词： Sports

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Particle Filter Method Based on Angle of Arrival for Seeking Radioactive Source

Particle Filter Method Based on Angle of Arrival for Seeking...

引用

International Conference on Guidance, Navigation and Control, ICGNC 2022

作者： Xie, Yuehui Teng, Mingbo Wan, Pengcheng Xiao, Yufeng Robot Technology Used for Special Environment Key Laboratory of Sichuan Province Southwest University of Science and Technology Mianyang621010 China

ISBN: (纸本)9789811966125

To find out a lost radioactive source, a particle filter method based on Angle of Arrival (AOA) is proposed in this paper. Firstly, a particles set is constructed to describe the source location and intensity. Secondly, the AOA is introduced into particle update process before the process of the normalization, resampling and adaptive update. Finally, the particle filtering ends when convergence condition is satisfied, and the source position is estimated with weighted summation of the particle. Simulation experiments show that the proposed method can help a robot to seek a source with unknown position. Moreover, contrast with existing research results, it behaved more efficiently and was suitable for larger detection areas. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Monte Carlo methods

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Hierarchical Control Method for Multi-robot Formation

Hierarchical Control Method for Multi-robot Formation

引用

International Conference on Guidance, Navigation and Control, ICGNC 2022

作者： Jiamin, Fan Jianwen, Huo Ying, Luo Yufeng, Xiao Robot Technology Used for Special Environment Key Laboratory of Sichuan Province Southwest University of Science and Technology Mianyang621010 China

ISBN: (纸本)9789811966125

The difficulty for multi-robots to adapt their formation in an uncertain environment is a considerable issue. In this study, we propose a hierarchical multi-robot formation control algorithm. The proposed algorithm is composed of a strategy layer, logic layer, tactical layer, and an execution layer. The algorithm form multi-robots efficiently and methodologically. The logic layer adopts the finite-state machine theory to design multi-robot formation switching states, which realizes the state transition according to the instructions of the strategy layer and robot execution signals. The tactical layer designs the control law of the formation switching movement and the different formations to maintain the movement, which adopts the dynamic window method to design the anti-collision strategy in the formation process. In this study, simulation experiments were conducted in a complex environment to verify the correctness and feasibility of the proposed algorithm. Moreover, physical experiments were performed in real scenes to further verify the effectiveness and stability of the proposed algorithm. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Industrial robots

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Design of high-frequency test fixture considering impedance matching

Design of high-frequency test fixture considering impedance ...

引用

2023 International Conference on Mechatronic Engineering and Artificial Intelligence, MEAI 2023

作者： Peng, Yi Cai, QiangMing Yang, Lanqing Cao, Xin Zhou, Longjian Li, Haoran Zhu, Yuyu School of Information Engineering Southwest University of Science and Technology Mianyang China Robot Technology Used for Special Environment Key Laboratory of Sichuan Province Mianyang China Mianyang China

ISBN: (纸本)9781510674608

This paper presents the design of a high-frequency test fixture for high-speed connectors. Specifically, after analyzing and designing the board material, laminate structure, trace structure, and signal via structure, the impedance consistency and bandwidth of the high-speed interconnect structure are verified through TDR and S-parameter simulations conducted in HFSS. a PCB layout is generated using Cadence. The test results confirm that the differential impedance of the fixture meets the requirements for high-speed connector testing. Within the frequency range of 0-30 GHz, the difference between S11 and S21 for the 2x-thru structure is greater than 0 dB, indicating a bandwidth capability of up to 30 GHz for the fixture. © 2024 SPIE.

关键词： Bandwidth

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Dynamic SLAM algorithm based on reprojection error and depth estimation

Dynamic SLAM algorithm based on reprojection error and depth...

引用

2023 International Conference on Automation Control, Algorithm, and Intelligent Bionics, ACAIB 2023

作者： Deng, Ziben Huang, Pengcheng Bai, Keqiang School of Information Engineering Southwest University of Science and Technology China Fund of Robot Technology Used for Special Environment Key Laboratory of Sichuan Province China

ISBN: (纸本)9781510667662

In order to improve the SLAM accuracy of robots in dynamic scenes and realize the tracking of dynamic objects, this paper proposed a dynamic objects recognition method based on reprojection error and depth estimation. Firstly, recognize objects by semantic segmentation and calculate reprojection error of objects between adjacent frames to filter out dynamic objects. Then, estimate the depth of objects to improve the recognition accuracy. Finally, complete SLAM and real-time estimation of dynamic objects pose according to static background and objects. Results of experiments on KITTI datasets show that the algorithm can effectively improve the recognition accuracy of dynamic objects and ameliorate the SLAM accuracy in dynamic scenes. © 2023 SPIE.

关键词： Semantics

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Using Coaxial Ground Full-touch Structure to Reduce Far-end Crosstalk in PCIe5 High-speed Connectors

Using Coaxial Ground Full-touch Structure to Reduce Far-end ...

引用

2024 Photonics and Electromagnetics Research Symposium, PIERS 2024

作者： Liu, Yuhui Yang, Lanqing Cai, Qiang-Ming Cao, Xin Zhou, Longjian Li, Haoran Luo, Haoxin Zhu, Yuyu Fan, Jun Southwest University of Science and Technology School of Information Engineering Mianyang China Robot Technology Used for Special Environment Key Laboratory of Sichuan Province Mianyang China Tianfu Institute of Research and Innovation China

ISBN: (纸本)9798350375909

With the continuous increase of data transmission speed, the problem of far-end crosstalk (FEXT) of high-speed connectors has gradually become a significant challenge that restricts the performance of communication systems. This paper proposes a full-contact return path design to mitigate the FEXT. By improving the return path distance, the stripping of the ground layer of the coaxial line is directly connected with the metal spacer in the hollow of the full-contact connection. Thus, the current return path flows between the coaxial and the metal spacer, which shortens the return path of high-frequency current. At the same time, to the entire coaxial conductive layer as the ground, FEXT can be further reduced by expanding the grounding area to constrain the signal. Simulations with the commercial software HFSS show the FEXT decreases by 6 dB from DC to 20 GHz compared to a return path design without complete contact. Besides, the time domain results are also simulated. Compared with the return path design without complete contact, the coaxial ground full-touch structure reduces peaks in FEXT voltage compared to the return path design. Therefore, it can be demonstrated that the coaxial ground full-touch structure can be adopted to mitigate the FEXT in high-speed connectors, further improving the signal quality and reliability in modern communication systems. © 2024 IEEE.

关键词： Crosstalk

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Surface defect detection method for high-voltage cable joints based on improved YOLOv5s 7

Surface defect detection method for high-voltage cable joint...

引用

7th IEEE Advanced Information technology, Electronic and Automation Control Conference, IAEAC 2024

作者： Shen, Zhengbin Liu, Guihua Chen, Chunmei Gong, Yunxin Southwest University of Science and Technology School of Information Engineering Mianyang621000 China Southwest University of Science and Technology Robot Technology Used for Special Environment Key Laboratory of Sichuan Province Mianyang621000 China

ISBN: (纸本)9798350339161

Aiming at the problems of inaccurate and time-consuming manual detection of surface defects on high-voltage cable joints, a method for detecting surface defects on cable joints based on improved YOLOv5s is proposed. Firstly, (Space to Depth) SPD convolution and (Efficient Channel Attention) ECA attention mechanism are used in the feature extraction network to prevent the loss of information in tiny defects due to pooling operations. Secondly, a new multi-scale fusion feature pyramid structure is designed to better retain and fuse important information at each scale. Then the decoupling operation is performed on the detection head to avoid the conflict between the classification task and the localization task. Finally, the (Normalize Wasserstein Distance) DWN metric is used to design the localization loss to improve the ability of tiny defect localization. The experimental results show that the proposed method achieves 93.86% mAP in the cable joint surface defect dataset. Compared with the original algorithm, it improves 2.61% mAP, and at the same time reduces the number of parameters by 27.46% and the flops by 49.43%. © 2024 IEEE.

关键词： Cables

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Accurate RLC Extraction for Stripline Structures Using 2D-FEM

Accurate RLC Extraction for Stripline Structures Using 2D-FE...

引用

2024 Photonics and Electromagnetics Research Symposium, PIERS 2024

作者： Liu, Chenxi Li, Xiaoping Deng, Quan Cai, Qiang-Ming Cao, Xin Zhou, Longjian Zhu, Yuyu Fan, Jun Southwest University of Science and Technology School of Information Engineering Mianyang China Robot Technology Used for Special Environment Key Laboratory of Sichuan Province Mianyang China Tianfu Institute of Research and Innovation China

ISBN: (纸本)9798350375909

In this paper, a two-dimensional finite element method (2D-FEM) is presented to extract the per-unit-length RLC for the stripline. Because the current propagates in the same direction in the three-dimensional stripline structures, the RLC extraction can be converted to a two-dimensional problem, i.e., calculating the per-unit-length RLC. In this 2D-FEM, in order to extract R and L, considering the influence of skin effect on current distribution, a frequency factor was introduced into the vector Poisson's equation, the Lagrange interpolation functions defined in triangular elements are adopted to discretize the magnetic vector potential, which can ensure the continuity of the solutions on both sides of these elements. After introducing the Dirichlet boundary condition on the boundary of the central conductor of the stripline and the boundary of the metal grounding plate, the matrix equation is obtained. Using Gaussian elimination method to obtain an accurate solution of vector magnetic potential, and obtaining the per-unit-length R and L of the stripline through post-processing. In order to extract C, the unknowns of the Poisson equation are scalar potentials, and the solution method is consistent with the methods of R and L. Moreover, numerical results are provided to demonstrate the accuracy and efficiency of this proposed 2D-FEM method. The RLC was calculated using EM-software, and compared with 2D-FEM at 1GHz, the error was less than 3%. When calculating the RLC of a structure with the same current distribution in a certain direction, compared to three-dimensional finite element, two-dimensional finite element has lower order, fewer number of basis functions, occupies less memory, and has higher computational efficiency. © 2024 IEEE.

关键词： Poisson equation

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Using T-shaped Metal Structure for Far-end Crosstalk Mitigation in PCIe5 High-speed Connectors

Using T-shaped Metal Structure for Far-end Crosstalk Mitigat...

引用

2024 Photonics and Electromagnetics Research Symposium, PIERS 2024

作者： Luo, Haoxin Li, Haoran Zhu, Yuyu Yang, Lanqing Cao, Xin Cai, Qiang-Ming Zhou, Longjian Fan, Jun Southwest University of Science and Technology School of Information Engineering Mianyang China Robot Technology Used for Special Environment Key Laboratory of Sichuan Province Mianyang China Tianfu Institute of Research and Innovation China

ISBN: (纸本)9798350375909

With the increase in data transmission rates, reducing far-end crosstalk (FEXT) has become a critical challenge in the design of high-speed connectors. In this paper, we develop an efficient crosstalk mitigation approach by designing T-shaped metal structure to increase the mutual capacitance between differential pairs. The PCIe 5.0 connector was simulated by three-dimensional electromagnetic simulation software HFSS. The simulated results show the achieved FEXT can maintain under -50.0 dB from dc to 20 GHz, and, in comparison with the initial connector, over 10 dB reduction in FEXT is achieved within the 0-20 GHz frequency range. Besides, the time-domain results are also provided to indicate a significant suppression of crosstalk amplitude on the end with higher crosstalk in the differential pair, thereby balancing the crosstalk difference between the difference pairs and reducing overall differential crosstalk. Moreover, a thorough examination of the influence of manufacturing errors on crosstalk suppression was conducted. Therefore, this technology with T-shaped metal structure is a promising candidate to address FEXT challenges in high-speed connectors of PCIe 5.0, which contribute to the enhancement of signal quality and reliability in modern communication systems. © 2024 IEEE.

关键词： Crosstalk

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Design of Active Disturbance Rejection Attitude Controller for Tethered UAV with Parameter Tuning 2

Design of Active Disturbance Rejection Attitude Controller f...

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2nd International Conference on robotics, Artificial Intelligence and Intelligent Control, RAIIC 2023

作者： Zhou, Zhan Li, Xiao Chen, Zhigang Su, Haoxiang Robot Technology Used for Special Environment Key Laboratory of Sichuan Province Mianyang China Computational Aerodynamics Institute China Aerodynamics Research and Development Center China

ISBN: (纸本)9798350328004

In this paper, active disturbance rejection control (ADRC) is designed for the characteristics of tethered UAV cable interference. Combined with the characteristics of active disturbance rejection control parameters difficult to tune, a parameter tuning method based on particle swarm optimization (PSO) algorithm is proposed. The kinematics model and dynamics model of the tether UAV are established, and then the attitude controller was designed for cable interference. The particle swarm optimization algorithm was designed with the integral of time and absolute error (ITAE) performance index as the objective function and as the fitness value of particle swarm. The parameter values obtained after optimization processing are substituted into the attitude controller. After experiment and simulation, comparing it with PID control, it is proved that it has feasibility and good anti-interference, and can track the track of unmanned vehicle very well. © 2023 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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