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arXiv 2025年

作者： Qiu, Yu Sun, Yuhang Mei, Jie Xiao, Lin Xu, Jing College of Information Science and Engineering Hunan Normal University Changsha410081 China National Key Laboratory of Intelligent Tracking and Forecasting for Infectious Diseases College of Artificial Intelligence Nankai University Tianjin300350 China National Engineering Research Center of Robot Visual Perception and Control Technology School of Robotics Hunan University Changsha410082 China

Traffic Salient Object Detection (TSOD) aims to segment the objects critical to driving safety by combining semantic (e.g., collision risks) and visual saliency. Unlike SOD in natural scene images (NSI-SOD), which prioritizes visually distinctive regions, TSOD emphasizes the objects that demand immediate driver attention due to their semantic impact, even with low visual contrast. This dual criterion, i.e., bridging perception and contextual risk, re-defines saliency for autonomous and assisted driving systems. To address the lack of task-specific benchmarks, we collect the first large-scale TSOD dataset with pixel-wise saliency annotations, named TSOD10K. TSOD10K covers the diverse object categories in various real-world traffic scenes under various challenging weather/illumination variations (e.g., fog, snowstorms, low-contrast, and low-light). Methodologically, we propose a Mamba-based TSOD model, termed Tramba. Considering the challenge of distinguishing inconspicuous visual information from complex traffic backgrounds, Tramba introduces a novel Dual-Frequency Visual State Space module equipped with shifted window partitioning and dilated scanning to enhance the perception of fine details and global structure by hierarchically decomposing high/low-frequency components. To emphasize critical regions in traffic scenes, we propose a traffic-oriented Helix 2D-Selective-Scan (Helix-SS2D) mechanism that injects driving attention priors while effectively capturing global multi-direction spatial dependencies. We establish a comprehensive benchmark by evaluating Tramba and 22 existing NSI-SOD models on TSOD10K, demonstrating Tramba’s superiority. Our research establishes the first foundation for safety-aware saliency analysis in intelligent transportation systems. Copyright © 2025, The Authors. All rights reserved.

关键词： Risk perception

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The shape optimization design of the guide plate of the modular AUV recovery device 6

The shape optimization design of the guide plate of the modu...

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6th International Conference on Automation, Control and robotics engineering, CACRE 2021

作者： Wang, Xuhui Zhang, Wei Lin, Yang Gu, Haitao Meng, Lingshuai Gao, Dongyong School of Mechanical Engineering and Automation Northeastern University Shenyang China Naval Research Academy Beijng China State Key Laboratory of Robotics Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China College of Mechanical Engineering Shenyang University of Technology Shenyang China

ISBN: (纸本)9781665435765

At present, the main method of ocean exploration is Autonomous Underwater Vehicle (AUV) in cooperation with manned Vehicles. After AUV completes its mission, it relies on the operator to retrieve it on the deck of the Vehicle. This recycling method has shortcomings such as low work efficiency and high personnel risk. In order to meet the development needs of AUV applications in the future, it is urgent to carry out research on AUV independent recycling technology. In this paper, a modular AUV autonomous recovery device based on the Unmanned Surface Vehicle (USV) platform is designed in conjunction with the SEA-KET autonomous AUV recovery method. In order to improve the success rate and efficiency of AUV docking, reduce recovery time, and optimize the collision force in the docking process, the guide plate in the recovery device is optimized and designed. The shape of the guide plate is obtained by combination optimization, and the guiding ability of the optimized guide plate is compared with the conventional shape guide plate, which verifies the validity and reliability of the optimization result. © 2021 IEEE.

关键词： Autonomous underwater vehicles

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A Soft Robotic System Imitating the Multimodal Sensory Mechanism of Human Fingers for intelligent Grasping and Recognition

SSRN

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SSRN 2024年

作者： Xu, Jinsui Xu, Boyi Zhan, Hao Xie, Zhijie Tian, Zhen Lu, Yifan Wang, Zheping Yue, Honghao Yang, Fei South China University of Technology China State Key Laboratory of Robotics and System School of Mechatronics Engineering Harbin Institute of Technology Harbin150001 China Wu Xianming School of Intelligent Engineering South China University of Technology Guangzhou510641 China College of Mechanical and Electrical Engineering Northeast Forestry University Harbin150042 China Science and Technology on Space Physics Laboratory China Academy of Launch Vehicle Technology Beijing100000 China

The sensory function is crucial for achieving precise feedback control and environmental interaction in soft robots. Therefore, the multimodal sensory capabilities that mimic human fingers have always been a research hotspot. This study proposes a design method for a soft robotic gripper that can emulate the multimodal perception mechanism of human fingers and achieve high-precision recognition of grasped objects using machine learning algorithms. In addition, a finger texture structure inspired by human fingerprints is designed using a negative pressure-induced buckling method to enhance the soft gripper's ability to perceive minute surface textures. Inspired by slow adapting (SA) receptors and fast adapting (FA) receptors of human fingers, this study designs a capacitive curvature sensor (CS) and a triboelectric texture sensor (TS) to detect the size, material, and texture of objects. Furthermore, a non-contact medium identification sensor (MIS), having a sensitivity of more than 1300 times higher compared to the traditional MISs, is fabricated using the principle of electromagnetic resonance. It is shown that by employing a deep learning-based multi-channel feature fusion network, the soft grasping system with multimodal sensing can achieve an object recognition accuracy of 98.43%. This work provides an innovative approach for the application of soft robots in various fields, such as logistics sorting and food safety. © 2024, The Authors. All rights reserved.

关键词： Textures

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Synthesis of Decoherence-Free Modes in Linear Quantum Passive Systems via Robust Pole Placement

Synthesis of Decoherence-Free Modes in Linear Quantum Passiv...

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IEEE International Conference on Systems, Man and Cybernetics

作者： Zibo Miao Yu Pan Qing Gao Guangdong Key Laboratory of Intelligent Morphing Mechanisms School of Mechanical Engineering and Automation Adaptive Robotics Harbin Institute of Technology Shenzhen China State Key Laboratory of Industrial Control Technology The Institute of Cyber-Systems and Control College of Control Science and Engineering Zhejiang University Hangzhou China The School of Automation Science and Electrical Engineering Beijing Advanced Innovation Center for Big Data and Brain Computing Beihang University Beijing China

ISBN: (数字)9781665410205

ISBN: (纸本)9781665410212

In this paper we extend our previous research on coherent observer-based pole placement approach to study the synthesis of robust decoherence-free (DF) modes for linear quantum passive systems, which is aimed at preservation of quantum information. In particular, DF modes can be generated by placing the poles on the imaginary axis via a coherent feedback design scheme, and these modes can further be simultaneously made robust against perturbations to the system parameters by minimizing the condition number associated with imaginary poles. We develop explicit algebraic conditions for the existence of such a coherent quantum controller, with the corresponding deign procedure provided. Examples are given to illustrate the process of tuning the DF modes towards perfect robustness via the proposed pole placement technique.

关键词： Perturbation methods Design methodology Quantum optics Robustness Feedback control Closed loop systems Tuning Cybernetics

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Design and analysis of a soft bellow-based robot for dysphagia rehabilitation 30

Design and analysis of a soft bellow-based robot for dysphag...

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30th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2024

作者： Guo, Linlin Dang, Yu Wang, Yue Wu, Jinqiao Yu, Yang Wu, Jialing Han, Jianda College of Artificial Intelligence Nankai University Tianjin300350 China Engineering Research Center of Trusted Behavior Intelligence Ministry of Education Nankai University Tianjin300350 China Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin300350 China Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute Nankai University Shenzhen518083 China Department of Rehabilitation Medicine Tianjin Huanhu Hospital Tianjin300350 China Department of Neurology Tianjin Huanhu Hospital Tianjin300350 China

ISBN: (纸本)9798350391916

As the population ages, the incidence of diseases such as stroke is increasing, leading to a growing number of patients with dysphagia or difficulty swallowing. Dysphagia directly affects the hydration and nutritional intake, potentially leading to serious complications such as aspiration pneumonia, severely threatening patients' health and quality of life. Currently, the rehabilitation of swallowing function mainly relies on therapists to conduct swallowing training for patients. However, the high incidence and long duration of swallowing rehabilitation training pose a burden on the patients and medical resources. There remains a gap in the robotic devices for swallowing rehabilitation. To address this gap, this paper proposes a soft bellow-shaped robot for dysphagia rehabilitation. One mode of the rehabilitation training, where the therapist manipulates the throat to move horizontally, is selected to mimic. This robot simulates the force and displacement applied by the therapist's fingertip during dysphagia rehabilitation. First, swallowing training data were collected and analyzed to understand the variations in displacement and force applied by therapists' fingertips on the throat. Based on this analysis, the technical requirements for the swallowing rehabilitation robot were summarized. Following these requirements, we designed a physical prototype of the pneumatic bellow-shaped robot. The robot simulates the fingertip movement on both sides of the throat through the linear elongation and contraction of the bellows. The performance of the soft bellows was then characterized, verifying that its output force and displacement meet the technical requirements. This characterization lays a foundation for the modeling and control of the displacement and force of the robot. © 2024 IEEE.

关键词： Bellows

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A Novel Signals and Features Fusion Method Based on Fisher Vector for Severity Assessment in Parkinson's Disease 8

A Novel Signals and Features Fusion Method Based on Fisher V...

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8th IEEE International Conference on Advanced robotics and Mechatronics, ICARM 2023

作者： Sun, Yubo Cheng, Yuanyuan Zhu, Zhizhong Liu, Jinrui Guo, Zhenhui Yu, Ningbo College of Artificial Intelligence Nankai University Tianjin300350 China Tianjin Huanhu Hospital Department of Rehabilitation Medicine Tianjin300350 China Nankai University Engineering Research Center of Trusted Behavior Intelligence Ministry of Education Tianjin300350 China Nankai University Tianjin Key Laboratory of Intelligent Robotics Tianjin300350 China Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University Shenzhen518083 China

ISBN: (纸本)9798350300178

Parkinson's disease (PD) is a progressive neurode-generative disorder that requires accurate severity assessment to facilitate proper medication and interventions. This study proposes a novel method for PD severity assessment by fusing bilateral surface electromyography (sEMG) signals and features using Fisher vector. The sEMG signals were measured from the tibialis anterior (TA) and lateral gastrocnemius (GL) muscles in 28 PD patients. Preprocessing was performed to remove industrial frequency noise and low-frequency trend, followed by feature extraction using a customized feature generator that included time-domain and frequency-domain features. The extracted features and preprocessed sEMG signals were then vectorized using the Fisher vector and fused as input to the classifier. Our results demonstrated that considering bilateral features is more favorable than unilateral features for the PD severity assessment. Moreover, the proposed method significantly enhanced the classification accuracy, with a remarkable classification accuracy of 96.00% achieved through the combination of our proposed method with a decision tree classifier. © 2023 IEEE.

关键词： Time domain analysis

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A Precise Method for Identifying 3-D Circles in Freeform Surface Point Clouds

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IEEE Transactions on Instrumentation and Measurement 2025年 74卷

作者： Deng, Jingdan Liu, Shangzhi Chen, Hong Chang, Youquan Yu, Yingtian Ma, Wenting Wang, Yaonan Xie, He Hunan University College of Electrical and Information Engineering Changsha410082 China China Mobile Communications Group Hunan Company Ltd. Changsha410082 China China Mobile Research Institute Beijing100032 China Hunan University College of Robotics Changsha410082 China Hunan University State Key Laboratory of Intelligent Manufacturing Equipment and Technology Changsha410082 China

Accurate recognition and precise positioning of surface circular holes in aerospace components, which are crucial for automatic drilling and rivet leak detection, ensure the reliability of manufacturing and maintenance processes. Existing circular hole detection and positioning methods mainly focus on planar point clouds, leading to significant inaccuracies when identifying circular holes on complex surfaces such as fairings, wings, and fuselages. To address this challenge, we propose a novel approach specifically designed to accurately identify and position circular holes on irregular surfaces. First, an orthogonal-guided rotational sphere (OGRS)-based margin point extraction method is introduced to precisely extract the boundaries of circular holes, while incorporating normal vector constraints to adapt to point cloud data with varying curvatures. After clustering and segmenting the margin points, a novel anisotropic overdetermined equation (AOE) method is applied for identifying circular holes, yielding their precise position information. This method consists of two key parts: the first is a proximal averaging and residual optimization (PR) approach to determine the overall orientation of circular holes, and the second is an overdetermined 3-D circle identification (OC) method for accurate hole localization. In the experimental evaluation, the proposed algorithm’s effectiveness and general applicability to freeform surfaces are verified through three distinct experiments: those involving surface point clouds with varying curvatures, cylindrical models, and scanned point clouds of aircraft skin. Across the simulated point cloud data, the algorithm demonstrates a maximum radius error of 0.005 mm, with a maximum error of 0.015 mm for scanned point clouds, thus meeting aerospace manufacturing standards. © 1963-2012 IEEE.

关键词： Leak detection

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Optimization of Simulation Parameters of Input Shaper Based on Genetic Algorithm 2

Optimization of Simulation Parameters of Input Shaper Based ...

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2nd IEEE International Conference on Advanced Technologies in intelligent Control, Environment, Computing and Communication engineering, ICATIECE 2022

作者： Yi, Tao Pei, Quanshen Li, Deying Wei, Shugong Jia, Danping Zhang, Hualiang Hunan University of Information Changsha China School of Information Science and Engineering Shenyang University of Technology Shenyang China College of Physics and Electronic Engineering Guangxi Normal University for Nationalities Chongzuo China Chinese Academy of Sciences Shenyang Institute of Automation Key Laboratory of Networked Control Systems Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Shenyang China

ISBN: (纸本)9781665493963

In the motion control system, input shaper is often used to suppress the residual oscillation of high-precision positioning system, but the selection of input shaper parameters is difficult. In view of the difficulty of selecting input shaper parameters, this paper proposes to use genetic algorithm to select the parameters of input shaper. Firstly, the input shaper is designed in the light of the three-loop mathematical model of motor;Secondly, because the genetic algorithm directly optimizes the output of the motor and the algorithm can reduce the influence of the deviation of generator parameters on the parameter selection of the input shaper to a certain extent, the parameters of the input shaper are selected by the genetic algorithm to optimize the output of the motor;In the finish, a comparative experiment between a system with input shaper and a system with simple PID control is carried out. The results show that the optimized system can obtain higher robustness and smaller tracking deviation. © 2022 IEEE.

关键词： Genetic algorithms

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Lower Limb Trajectory Prediction for Exoskeleton with AutoEncoder-Deep Gaussian Process

Lower Limb Trajectory Prediction for Exoskeleton with AutoEn...

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IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Pingping Lv Chi Zhang Feng Yi Ting Yuan Shupei Li Meitong Zhang Faculty of Electrical Engineering and Computer Science Ningbo University Ningbo China Ningbo Institute of Materials Technology and Engineering Chinese Academy of Sciences Ningbo China Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology Chinese Academy of Sciences Ningbo China College of Materials Science and Opto-Electronic Technology University of Chinese Academy of Sciences Ningbo China

ISBN: (数字)9798350360868

ISBN: (纸本)9798350360875

Gait trajectory prediction is a crucial component in compensating control system delays, reducing interactive resistance, and achieving real-time assistance in exoskeleton robotics. In this paper, an adaptive gait prediction model based on the autoencoder deep Gaussian process (AE-DGP) is proposed for joint angle estimation using measurement data from inertial measurement units (IMUs). The DGP process involves stochastic gradient Hamiltonian Monte Carlo (SGHMC) calculations and Monte Carlo Expectation-maximization (MCEM) optimization at a lower computational cost. The kernel of the model is the multi-feature fusion input based on autoencoder and the construction of the DGP model with an adaptive sliding window. To suppress spikes in predicted deviations, a weighted averaging strategy is employed to estimate future stable gait trajectories. Benefiting from the design, the proposed model can enhance the accuracy and adaptability of gait prediction at different speeds. Experiments involving four participants at four speeds indicate that the proposed method achieves hip and knee joint prediction with less than 0.16° and 0.35° root mean squared errors respectively. Compared to the Gaussian process (GP) and long short-term memory (LSTM) models, the proposed method exhibits superior performance in adaptive gait trajectory prediction at different speeds.

关键词： Adaptation models Monte Carlo methods Computational modeling Exoskeletons Gaussian processes Predictive models Real-time systems

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A ROS Based Open Source Simulation Environment for robotics Beginners 6

A ROS Based Open Source Simulation Environment for Robotics ...

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6th International Conference on robotics and Automation engineering, ICRAE 2021

作者： Su, Linyu Qiu, Guoping Tang, Wengming Chen, Min Shenzhen University College of Electronic and Information Engineering Guangdong Key Laboratory of Intelligent Information Processing Shenzhen Institute of Artificial Intelligence and Robotics for Society China Super-accurate Vision Science and Technology Ltd Shenzhen China

ISBN: (纸本)9781665406970

This paper presents an open source robot simulation environment based on the robot operating system (ROS). To help novice to learn robotics, we have designed several important experiments that most robotics beginners will need to practice. Our simulation environment provides an efficient, safe, and transferable testing and operating environment for the rapid verification of robot algorithms. Through practicing the experiments in this paper, robotics beginners can learn robotics knowledge faster, better and at a lower cost, which should great facilitate them to operate robots in real-world applications. Source code, simulation video and detailed wiki for the simulation environment are available online at https://***/Suyixiu/robot_sim. © 2021 IEEE.

关键词： robotics

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