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检索条件"机构=Key State Laboratory of Robotics and System"

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A Novel Approach for Solving Time-Varying Linear Equations and Its Application in Motion Tracking of Redundant Robots

A Novel Approach for Solving Time-Varying Linear Equations a...

引用

Frontiers of robotics and Software Engineering (FRSE), International Conference on

作者： Hong Yin Hongzhe Jin Jie Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Solving time-varying linear equations is a common problem in many fields. In this article, a novel approach is proposed based on the cost function constructed by the mixed error, which is made up of the residual error and its integration. The merits of the novel approach include high accuracy, noise immunity, and asymptotic convergence. Since the derivative information of time-varying signals is used in the proposed method, a proportional-integral differentiator is designed based on the mixed estimation error for the first derivative estimation. The proposed differentiator has a high degree of precision, asymptotic convergence, and no chattering. In addition, theoretical analyses prove the convergence of the proposed optimal strategy and differentiator. Simulation results validate the effectiveness and superiority of the proposed strategy and the designed differentiator. Finally, the proposed approach is employed in the motion tracking of redundant robots.

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A novel design of force-feedback master manipulator for remote ultrasound scanning

A novel design of force-feedback master manipulator for remo...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Li, Changle Zhang, Chentao Yu, Chuan You Zhang, Leifeng Liu, Gangfeng Zhao, Jie Harbin Institute of Technology State Key Laboratory of Robotics and System No.2 YiKuang Street NanGang District Harbin HeiLongJiang China

ISBN: (纸本)9781665481090

This paper presents a novel six-degree-of-freedom force feedback master manipulator for remote ultrasound scanning. Firstly, a new configuration based on a planar five-link mechanism is proposed, taking into account the practical needs of medical ultrasound scanning. This configuration has two operating modes and can provide three degrees of force feedback. Secondly, a hybrid force/position master-slave control system based on the kinetic model force feedback method is built, which can realize incremental master-slave control, variable proportional control, force feedback, and other functions. Finally, the positional accuracy, gravity balance effect, and force feedback performance of this master manipulator are verified through experiments. Experiments show that the average position error of this novel force feedback master manipulator is 1.18 mm, the average attitude error expressed in terms of Euler angles is 0.83°, and the maximum feedback force that can be provided is 12.1 N, which satisfies the requirements of ultrasonic scanning. © 2022 IEEE.

关键词： Feedback

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Optimizing Dataset Configuration for Improving Convolutional Neural Networks Performance in Chest X-ray Image Classification

Optimizing Dataset Configuration for Improving Convolutional...

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6th International Conference on Intelligent Computing and Signal Processing (ICSP)

作者： Zengmin He Yi Ren Honggang Wang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Chest X-ray (CXR) is essential for physicians to diagnose lung diseases in clinical medicine. With the development of computer and deep learning techniques, creating CXR datasets to train convolutional neural networks (CNNs) has become a popular research topic. However, there are still challenges in creating datasets due to class imbalance and the ratio setting of datasets. This study investigated the impact of class imbalance and the ratio of training, validation, and test sets on CNNs classification performance by optimizing the dataset configuration. This was achieved by directly modifying the ratio, applying oversampling based on the adaptive contrast enhancement (ACE) algorithm, and random undersampling to balance the dataset classes, followed by modifying the ratio again. Therefore, seven datasets were obtained, which were utilized to individually train four CNNs based on transfer learning and fine-tuning techniques. Evaluation metrics based on the confusion matrix were utilized to demonstrate the enhanced classification performance of CNNs. The results indicated that at least 17% of the accuracy of CNNs trained by the dataset with modified ratios was improved as compared with the dataset with an unreasonable initial configuration. Additionally, the overall evaluation metrics of CNNs were further improved by balancing the dataset classes and modifying the ratios. ChexNet demonstrated the best classification performance among the four CNNs, as evidenced by the area under the receiver operating characteristic (ROC) curves (AUC). Furthermore, ChexNet was trained by a class balanced dataset with a ratio of 7:2:1, resulting in the best evaluation metrics, including F1 Score, balanced accuracy, accuracy, recall, specificity, and precision, which were 97.81%, 97.78%, 97.78%, 98.73%, 96.84%, and 96.89%, respectively. Therefore, optimizing dataset configuration can effectively improve the performance of CNNs, providing empirical guidance for researchers in creating dat

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Design and Implementation of Quasi-Direct-Drive Legs for a Frog-Like Jumping Robot

Design and Implementation of Quasi-Direct-Drive Legs for a F...

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Computer, Control and robotics (ICCCR), International Conference on

作者： Dong Zhihui Fan Jizhuang Du Qilong Zhao Jie State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

This study aims to design and optimize a motor-driven frog-like jumping robot leg for efficient vertical jumps and multiple consecutive horizontal jumps. We have conducted bionic research on frog legs' structure and motion characteristics and further explored their motion mechanism, providing new ideas and methods for designing and manufacturing robots with high mobility and adaptability. First, our research team designed a robot leg prototype based on the frog's body structure, optimized the robot using computer-aided design software, and selected a suitable motor-driven actuator. Secondly, the weight reduction optimization of the robot body is carried out regarding material selection and topology optimization to improve the robot's maneuverability and jump height. Finally, after manufacturing the prototype of the robot legs, the robot is experimentally verified. The results show that the robot legs can achieve efficient vertical jumps (the maximum height is 1.40 meters, about 7.8 times the length of the leg link). It can also jump multiple times consecutively, which is significant for applying robots in dangerous environments, search and rescue, and other fields.

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A Positioning Method Based on Kalman Filter for FAST Feed Support Cable Inspection Robot

A Positioning Method Based on Kalman Filter for FAST Feed Su...

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Mechatronics and robotics Engineering (ICMRE), International Conference on

作者： Xiangyu Sun Gangfeng Liu Xuehe Zhang Changle Li Jie Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

In this paper, a positioning system developed for cable inspection robot system which works on feed support cables of Five-hundred-meter Aperture Spherical radio Telescope (FAST) is introduced. The positioning system consists of wheeled odometers and a Real-tme kinematic (RTK) based Global Navigation Satellite system (GNSS). Firstly, the cable with fixed ends and free suspension in the middle is modeled, and the influence of wind on the cable in FAST site is analyzed. Then, the data of the four odometers on the robot are processed, and the odometer information is fused with GNSS information through Kalman filtering. Then the best position estimation of the cable inspection robot is determined. A simulation is finally established to verify the proposed robot positioning method. The result shows that the method can work pretty well under the real working situation.

关键词： Vibrations Global navigation satellite system Analytical models Solid modeling Inspection Mathematical models Feeds

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A Sequential Design Framework of Robot Leg for High Locomotion Performance*

A Sequential Design Framework of Robot Leg for High Locomoti...

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IEEE International Conference on Cyborg and Bionic systems (CBS)

作者： Bin Qi Songyuan Zhang Yili Fu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Leg length, joint maximum torque/speed, motor model and transmission ratio are the most concerning parameters in the leg mechanism design of the legged-robot. The first two parameters are related to the locomotion performance, and the last two determine the actuator’s performance. At the beginning of the design, it is difficult to intuitively grasp the relationship between the leg length, the maximum torque of the joint and the locomotion performance of the legged-robot. When selecting the motor and determining the transmission ratio, these factors impact the control bandwidth and the locomotion performance. Considering the above-mentioned practical problems in the design, this paper proposes a systematic and two-stage sequential leg design framework for the legged-robot, which provides the design guidance in the early stage and the selection of the actuator motor and the determination of the transmission ratio in the later stage. Furthermore, the analytic solution of nonlinear constraint’s gradient was derived. Finally, a case study shows the application of the proposed framework. This work shows that finding an optimal set of design parameters among multiple objectives is not always possible. During design process, it is necessary to weigh the relationship between multiple indexes in many aspects.

关键词： Legged locomotion Actuators Torque systematics Process control Indexes Task analysis

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Design of Mixed Reality Assembly system Based on Improved ORB Algorithm 3

Design of Mixed Reality Assembly System Based on Improved OR...

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3rd International Conference on Computer Vision, Image and Deep Learning and International Conference on Computer Engineering and Applications, CVIDL and ICCEA 2022

作者： Lu, Na Xiao, YongFei Zhao, Jie Shandong Provincial Key Laboratory of Robot and Manufacturing Automation Technology ShanDong China Harbin Institute of Technology Institute of Automation Shandong State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9781665459112

This paper studies the natural feature point detection algorithm in a virtual assembly system. To address the problems of unsatisfactory detection effect and poor matching accuracy of the ORB algorithm, a feature uniform distribution algorithm based on pyramidal grid division is proposed, and a strategy of retaining feature points according to Harris response values is formulated to solve the problem of feature point aggregation while ensuring extraction speed. Hamming distance and the RANSAC algorithm are used to constrain the matching results. The robot assembly system based on this algorithm overlays the 3D model of the spraying robot and virtual information in the mobile device to improve the assembly efficiency of the staff. The experimental results show that the mixed reality(MR) assembly system based on the algorithm of this paper performs well, and the real-time performance and alignment accuracy are improved. © 2022 IEEE.

关键词： Assembly

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An Effective Rotor-Shape Optimization Method for IPM Motor with 1/2 Slot per Phase per Pole

An Effective Rotor-Shape Optimization Method for IPM Motor w...

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International Conference on Applied Superconductivity and Electromagnetic Devices, ASEMD

作者： Guodong Yu Shuqi Sun Junlong Li Lijun Xiao Yongxiang Xu Jibin Zou State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Although IPM motor with 1/2 slot per phase per pole has a relatively less rotor loss in comparison with other fractional slot concentrated winding (FSCW), the problems of THD of back-EMF and cogging torque are worse, which limits its application in electric vehicles and other industry fields. This paper proposes an effective rotor-shape optimization method to suppress both THD of back-EMF and cogging torque for improving torque ripple problem. Different from the prevalent rotor optimization methods, the proposed rotor-shape optimization method associates both shape function optimization of rotor surface with PM shaping, which can effectively decrease optimization parameters, and enhance optimization efficiency. To clarify the optimization strategy, the back-EMF and cogging torque for this PM motor with 1/2 slot per phase per pole are analyzed firstly. Then, the proposed optimization method is presented in detail. Finally, the optimized IPM motor is prototyped and its experimental results verifies the effectiveness of the proposed optimization method.

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Structural Design and Experiment of a Small Wheel-legged Mobile Robot with Variable Configuration

Structural Design and Experiment of a Small Wheel-legged Mob...

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IEEE International Conference on Mechatronics and Automation

作者： Xiulong Cui Jizhuang Fan Zhihui Dong Yue Ou Jie Zhao The State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

In this paper, we made an improved design on the traditional quadruped robot structure and developed a new small wheel-legged mobile robot structure. It has four legged configurations, which can be selected according to different situations, improving the mobility and operability of the robot. In wheeled mode, the robot can adjust its center of gravity according to actual needs. Including the rotational degree of freedom of the wheel, each leg has four degrees of freedom. Each leg adopts a series structure and moves the knee drive motor to the fuselage position using a parallel four-link mechanism and is symmetrically arranged with the hip drive motor. A wheel is installed at the end of the shank, and a DC brushless motor is built inside it, enabling the robot to have the function of wheeled motion. This article introduces the details of the wheel-legged robot, emphasizing the innovative design of the physical structure and the diversity of deformation. The forward kinematics was analyzed. Based on the full-elbow configuration (a type of legged configuration), a cycloidal motion optimization simulation was completed for the single leg structure. Simulation experiment has proven that the optimized robot’s single leg motion is smoother. Finally, we conducted a typical experiment using an embedded controller to control single leg motion. The experimental results verify that the optimized cycloidal motion of the robot meets the desired motion effect.

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Poly-MOT: A Polyhedral Framework For 3D Multi-Object Tracking

Poly-MOT: A Polyhedral Framework For 3D Multi-Object Trackin...

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IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Xiaoyu Li Tao Xie Dedong Liu Jinghan Gao Kun Dai Zhiqiang Jiang Lijun Zhao Ke Wang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

3D Multi-object tracking (MOT) empowers mobile robots to accomplish well-informed motion planning and navigation tasks by providing motion trajectories of surrounding objects. However, existing 3D MOT methods typically employ a single similarity metric and physical model to perform data association and state estimation for all objects. With large-scale modern datasets and real scenes, there are a variety of object categories that commonly exhibit distinctive geometric properties and motion patterns. In this way, such distinctions would enable various object categories to behave differently under the same standard, resulting in erroneous matches between trajectories and detections, and jeopardizing the reliability of downstream tasks (navigation, etc.). Towards this end, we propose Poly-MOT, an efficient 3D MOT method based on the Tracking-By-Detection framework that enables the tracker to choose the most appropriate tracking criteria for each object category. Specifically, Poly-MOT leverages different motion models for various object categories to characterize distinct types of motion accurately. We also introduce the constraint of the rigid structure of objects into a specific motion model to accurately describe the highly nonlinear motion of the object. Additionally, we introduce a two-stage data association strategy to ensure that objects can find the optimal similarity metric from three custom metrics for their categories and reduce missing matches. On the NuScenes dataset, our proposed method achieves state-of-the-art performance with 75.4% AMOTA. The code is available at https://***/lixiaoyu20001P0Iy-MOT.

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