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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Wang, Zirui Liao, Haiou Jia, Zhenzhong Wu, Jing Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems China Shenzhen518055 China

ISBN: (纸本)9781665481090

Cleaning robots have been widely used in our daily life, achieving huge success in the service robot sector. The autonomous movement and decision-making of these robots directly depend on their environmental perception capability, which is implemented using SLAM (simultaneous localization and mapping) technique. In order to achieve better environmental perception and intelligent decision-making, it is necessary to introduce visual SLAM into cleaning robot and take full advantage of visual information to achieve higher-level perception, instead of sticking to current feature point or pixel level perception capability. In this paper, we propose a framework for semantic mapping with object model replacement visualization in indoor scenes for cleaning robot. We use an EKF-based method to fuse wheel odometry and visual odometry, and build a map representation for navigation in the framework. We obtain a semantic map by fusing object detection and point cloud segmentation. We also develop object model replacement for better visualization purposes. Finally, we conduct dataset tests and real experiments to validate our proposed framework. © 2022 IEEE.

关键词： Visualization

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Droplet-based Microfluidic Platform for High-throughput Formation of Multicellular Spheroids

Droplet-based Microfluidic Platform for High-throughput Form...

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2023 Annual IEEE International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale, 3M-NANO 2023

作者： Zhan, Zhen Xie, Hanhan Hu, Chengzhi Southern University of Science and Technology Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy Engineering Shenzhen China

ISBN: (纸本)9798350344486

Cell culture in vitro is essential for drug screening, disease modeling, and stem cell-related research. Previous studies have indicated that two-dimensional (2D) cellular environments can significantly differ from physiological cells in vivo, leading to a high failure rate when translating therapeutics developed in 2D cell models to clinical applications. Therefore, there is a strong focus on developing three-dimensional (3D) cell culture techniques that more closely mimic in vivo cell microenvironments. These techniques hold great promise for enhancing precision in drug discovery and tissue regeneration. In this study, we introduce a novel microfluidic technique that utilizes droplets to fabricate hydrogel microspheres, each exhibiting a unique internal morphology suitable for 3D cell culture applications. Specifically, we employed this method to cultivate human umbilical vein endothelial cells (HUVECs) within the interior canals of the hydrogel microspheres, forming monolayers on the surfaces of the spiral canals. This setup effectively mimicked the configurations of native blood vessels. Furthermore, we successfully demonstrated the fabrication of heterogeneous spheroids with spiral blood vessel lumens, which can be utilized to construct spiral vascularized bone tissue. © 2023 IEEE.

关键词： Microfluidics

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A Bipedal Wheel-Legged Robot with High-frequency Force Control by Qausi-Direct Drive: Design and Experiments

A Bipedal Wheel-Legged Robot with High-frequency Force Contr...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Zhao, Yuntian Lin, Shiyuan Zhu, Zheng Jia, Zhenzhong Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems China Shenzhen518055 China

ISBN: (纸本)9781665481090

Under-actuated systems like bipedal wheel-legged robots have dynamics coupled with force control, which cannot be separated or integrated out. Joint force control is necessary for these robots to realize model based controllers. In this paper, we design a bipedal wheel-legged robot prototype with proprioceptive quasi-direct drive (QDD) actuators to realize high-frequency force control and good back-drivability to deal with unexpected impacts. We compare the control bandwidth, back-drivability (impact mitigation capability) of three commonly used force-control actuation paradigms including geareddown motor with integrated torque sensor, QDD, and SEA (series elastic actuation) in details. Detailed actuator calibration reveals good current-torque linearity, thereby simplifying the control problem. We also use EtherCAT-based communication network and real-time main controller to ensure high control frequency. We derive the robot dynamics model, establish the simulation model, and design a LQR controller, in order to demonstrate our proposed design. Moreover, in the real-world experiments, we use a velocity-based balance controller together with position joint controller to show preliminary mobility, including balancing, rotating, and forward motion. © 2022 IEEE.

关键词： Force control

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IMU-based joint angle measurement for robot joint angle analysis 3

IMU-based joint angle measurement for robot joint angle anal...

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3rd International Conference on Computer Science and Communication Technology, ICCSCT 2022

作者： Chen, Haidie Li, Xiaoqi State Key Laboratory of Robotics and Systems Harbin Institute of Technology Heilongjiang Harbin China

ISBN: (纸本)9781510661240

Aiming at solving the problem of joint angle measurement during the movement of small robots or robotic arms that cannot be equipped with angle encoders, this paper provides a small, lightweight and detachable measurement system. Compared with traditional magnetic and optical joint angle sensors, the principle of this method has the advantages of flexible installation and non-invasive measurement. By simply binding two inertial measurement units (IMUs) on both sides of the robot joint in any pose, real-time and high-precision robot joint angle measurement can be achieved through wireless transmission. At the same time, the relationship between the IMU and the joint pose changes dynamically with the robot, which can avoid measurement errors due to loose binding or robot vibration. In this paper, experiments were carried out on a knee joint rehabilitation training robot which can realize two rehabilitation actions, and the precise and stable joint angle curve of the robot is obtained. © 2022 SPIE.

关键词： Robots

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Terrain Classification Using Inside-Wheel Cameras Based on Wheel-Terrain Interaction Characteristics

Terrain Classification Using Inside-Wheel Cameras Based on W...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Hu, Longteng Xue, Feng Yao, Chen Li, Yunzhou Wei, Jin Wang, Peichen Zhu, Zheng Jia, Zhenzhong Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy Engineering Shenzhen518055 China Harbin150090 China

ISBN: (纸本)9798350325706

The wheeled rover is widely used in off-road planetary exploration tasks nowadays. However, complex operating environment like soft deformable terrains on the planet surface demands the high performance of rover. In order to reduce danger, environmental perception technologies need to be used on the rover. Terrain classification is a critical method in environmental perception. In this research, a wheel-vision-based terrain classification method is proposed. This method uses wheel-terrain interaction parameters obtained from inside-wheel cameras which are strongly related to the terrain as input. We use single-wheel testbed to collect and process data to form a dataset. The data is obtained under different slip ratios and different terrains. Then, we train four terrain classification models using machine learning algorithms and analyze their performance. From the results, all performance criteria of the models achieve over 95%, with DT being the optimal method. The feasibility of our method in the case of fewer training samples and the rationality of dataset selection are also verified through the results of different training set sizes and the ablation experiment. © 2023 IEEE.

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SmallRhex: A Fast and Highly-Mobile Hexapod Robot

SmallRhex: A Fast and Highly-Mobile Hexapod Robot

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Wang, Wenhui Shi, Wujie Li, Zerui Zhuang, Weiheng Zhu, Zheng Jia, Zhenzhong Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems China Shenzhen518055 China

ISBN: (纸本)9781665481090

Relying on the unique C-leg structure, RHex robots have good mobility and traffic ability when having relatively simple structures. Based on the existing RHex robots, taking into account the performance and cost, this design develops a small hexapod robot, named smallRhex, with low cost but strong performance. This paper mainly introduces the mechanical structure, robot gaits, simulation, and physical performance tests of smallRhex robots. The hardware is mainly based on the raspberry pie microcomputer and Robomaster motor and accessories. The high power density meets the dual requirements of performance and cost. Then cooperates with 3D printing and sheet metal and machined parts processing to complete the design of the mechanical structure and assembly of the robot. At the control level, raspberry pie directly controls the movement of 6 motors. The gait design includes basic motion gait, which includes straight walking and turning, and other gaits of complex motion: stair climbing, jumping, and high obstacle climbing. They are simulated in Webots. Finally, the performance test and the gait test of the robot are carried out. Then the gait design is further optimized, and the basic design of smallRhex robot is completed. © 2022 IEEE.

关键词： Sheet metal

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Design and Implementation of a Control System for Wrist Offset Wheel Hub Polishing Robot 12

Design and Implementation of a Control System for Wrist Offs...

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

作者： Zhu, Kui Zhao, Lijun Liu, Zhiheng Xia, Yi Harbin Institute of Technology Department of State Key Laboratory of Robotics and Systems Harbin China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

The application of the offset wrist robot meets the needs of wheel hub grinding and polishing, and there is no open motion control system for this solution. This paper proposes a cooperative design method of the software and hardware control system oriented to the grinding and polishing robot with offset wrist, which realizes the hardware bus integration, software modularization and standardized synchronous design, and effectively improves the stability and usability of the control system. Its electronic control system, motion control software system and human-computer interaction system are designed, and the problem of software and hardware co-design of offset grinding and polishing robot is solved. This paper realizes the connection of the non-real-time module of the upper machine through the ADS communication method, and designs the human-computer interaction software interface. At the same time, a grinding and polishing process software package is added to the upper machine to manage the hub and grinding and polishing process, and realize tasks such as motion simulation and trajectory planning, which improves the versatility and can also meet the special requirements for grinding and polishing. Based on the EtherCAT bus technology, this paper realizes the communication between the upper machine and the lower machine, and embeds real-time control modules such as kinematics calculation and joint interpolation calculation in the Beckhoff controller to achieve high speed and real-time control. Finally, the rationality and stability of the control system are verified through an example program. The grinding and polishing path of the wheel hub surface is created through the offline system, and the wheel hub grinding and polishing processing is realized through simulation and experiment, which verifies the software-hardware collaborative design and real-time grinding and polishing performance. © 2022 IEEE.

关键词： Grinding (machining)

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Characteristics of laser-induced breakdown spectroscopy of liquid slag

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Plasma Science and Technology 2024年第2期26卷 86-93页

作者：董长言于洪霞孙兰香李洋刘修业周平黄少文 State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016People's Republic of China Key Laboratory of Networked Control Systems Chinese Academy of SciencesShenyang 110016People's RepublicofChina Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169People's Republic of China Shenyang University of Technology Shenyang 110870People's Republic of China Shenyang Ligong University Shenyang 1i0142People's Republic of China Shandong Iron and Steel Company Ltd. Jinan 271105People's Republic of China

Rapid online analysis of liquid slag is essential for optimizing the quality and energy efficiency of steel production. To investigate the key factors that affect the online measurement of refined slag using laser-induced breakdown spectroscopy(LIBS), this study examined the effects of slag composition and temperature on the intensity and stability of the LIBS spectra. The experimental temperature was controlled at three levels: 1350℃, 1400℃, and 1450℃. The results showed that slag composition and temperature significantly affected the intensity and stability of the LIBS spectra. Increasing the Fe content and temperature in the slag reduces its viscosity, resulting in an enhanced intensity and stability of the LIBS spectra. Additionally, 42 refined slag samples were quantitatively analyzed for Fe, Si, Ca, Mg, Al, and Mn at 1350℃, 1400℃, and 1450℃.The normalized full spectrum combined with partial least squares(PLS) quantification modeling was used, using the Ca Ⅱ 317.91 nm spectral line as an internal standard. The results show that using the internal standard normalization method can significantly reduce the influence of spectral fluctuations. Meanwhile, a temperature of 1450℃ has been found to yield superior results compared to both 1350℃ and 1400℃, and it is advantageous to conduct a quantitative analysis of the slag when it is in a “water-like” state with low viscosity.

关键词： laser-induced breakdown spectroscopy(LIBS) slag temperature composition viscosity internal standard normalization partial least squares(PLS)

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Extrinsic Parameter Calibration and Dynamic Objects Coping Strategy for Multi-camera SLAM 3

Extrinsic Parameter Calibration and Dynamic Objects Coping S...

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3rd International Conference on Computer Science and Management Technology, ICCSMT 2022

作者： Dong, Yunlong Guo, Wei Zha, Fusheng Wang, Pengfei Harbin Institute of Technology State Key Laboratory of Robotics and Systems Harbin150080 China

ISBN: (纸本)9798350320404

Perceiving the surrounding environment timely and accurately is very essential to improve the safety of mobile robots. To obtain rich information and increase the visual field of mobile robots, the development of multi-camera simultaneous localization and mapping (SLAM) system has become a hot research field. In the current research, multi-camera extrinsic parameter calibration and multi-camera dynamic SLAM are still challenging. Therefore, this paper proposes a dynamic environment-oriented multi-camera SLAM system. This system not only presents an accurate multi-camera extrinsic parameter calibration method but also can achieve accurate localization in the environment with dynamic objects. The effectiveness of the algorithm is verified through comprehensive experiments. © 2022 IEEE.

关键词： Mobile robots

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Lower limb motion pattern recognition based on IWOA-SVM 3

Lower limb motion pattern recognition based on IWOA-SVM

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3rd International Conference on Computer Science and Communication Technology, ICCSCT 2022

作者： Li, Xiaoqi Yang, Yunlong Chen, Haidie Yao, Yufeng State Key Laboratory of Robotics and Systems Harbin Institute of Technology Heilongjiang Harbin China

ISBN: (纸本)9781510661240

This paper presents a lower limb motion pattern recognition algorithm based on SVM model optimized by improved whale algorithm (IWOA-SVM). The purpose is to overcome the problems of low accuracy and low reaction speed of existing lower limb rehabilitation pattern recognition algorithms, nonlinear adjustment factor is combined with WOA to enhance the search ability and search speed of the algorithm. The collected surface EMG signals are used as the input of the motion pattern recognition system, and the motion pattern recognition is realized by combining the IWOA-SVM model. Simulation experiments on six test functions are carried out and compared with WOA. The results indicated that the search convergence speed and optimization accuracy of IWOA are improved. Experiments on the collected signal data suggested that the recognition accuracy is 94.12%, compared with WOA-SVM algorithm, PSO-SVM and GA-SVM. The results indicated that the recognition accuracy of this algorithm is improved by 4.02%, 8.82% and 6.64% respectively. © 2022 SPIE.

关键词： Pattern recognition

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