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International Conference on Control, Decision and Information Technologies (CoDIT)

作者： João Coelho Laiany Brancalião Mariano Alvarez Paulo Costa José Gonçalves Research Centre in Digitalization and Intelligent Robotics (CeDRI) Instituto Politécnico de Bragança Bragança Portugal University of Léon León Spain Institute of Engineering Systems and Computers Technology and Science (INESC TEC) University of Porto Porto Portugal Laboratory for Sustainability and Technology in Mountain Regions (SusTEC) Instituto Politécnico de Bragança Bragança Portugal

ISBN: (数字)9798350373974

ISBN: (纸本)9798350373981

This article presents the prototyping of an educational manipulator robot, based on the "EEZYbotARM Mk2" robot, tailored for first-year master’s students in the field of robotics. The project encompasses the assembly of the robot arm, computation of both forward and inverse kinematics, and analysis of two path-planning movement algorithms. These features are consolidated into an Arduino library to streamline the process for students to generate instructions for the robot. The "EEZYbotARM Mk2" features a three-degree-of-freedom revolute arm with a gripper that remains parallel to its base at all times, enhancing its suitability for educational applications such as pick-and-place tasks. The article provides detailed descriptions of the materials and methods employed, along with proposed challenges for student engagement.

关键词： Kinematics Manipulators Libraries Information technology Grippers Assembly

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Fluorine Ions Assist Titanium-Based Perylene Diimide to Achieve Over 500h Photocatalytic Stability

SSRN

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SSRN 2025年

作者： Li, Junqiang Fang, Jiongchong Liang, Huiqiang Wei, Zhenghao Fang, Jun Qiu, Longbin Lu, Xinxin Yang, Fuyuan Zeng, Guosong Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems Southern University of Science and Technology Shenzhen518055 China Department of Mechanical and Energy Engineering Southern University of Science and Technology Shenzhen518055 China PetroChina Shenzhen New Energy Research Institute Co. Ltd. Shenzhen518055 China School of Vehicle and Mobility Tsinghua University Beijing100084 China SUSTech Energy Institute for Carbon Neutrality Southern University of Science and Technology Shenzhen518055 China

Photocatalytic water splitting using semiconductor catalysts for green hydrogen production is a critical step toward global carbon neutrality. However, the rapid decline in catalytic activity due to unstable molecular structure and photo-corrosion limits the practical application of many organic semiconductors. In this study, two titanium-coordinated perylene diimide catalysts (TiF-PDI and TiC-PDI) were synthesized via a wet chemical approach, demonstrating impressive hydrogen evolution reaction (HER) activities of 584 and 510 μmol·g−1·h−1 under near-atmospheric conditions,respectively, representing a 7-8-fold enhancement compared to H2PDI. Particularly, TiF-PDI retained ~80% of its initial catalytic activity after 500 hours of continuous illumination under room temperature and near atmospheric pressure, demonstrating the highest HER long-term stability of perylene-based semiconductors to date. The introduction of Ti4+ ions facilitated charge separation and transfer, while F- ions played a vital role in further enhancing system polarization, stabilizing photogenerated excitons, and mitigating Ti4+ ions leaching by intercalating into the molecular lattice. This cooperative regulation of dual ions improved both photocatalytic performance and durability. This work provides valuable insights into structural modification and charge stabilization in designing high-performance and long-lived photocatalysts for sustainable energy applications. © 2025, The Authors. All rights reserved.

关键词： Atmospheric corrosion

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Robot self-recognition via facial expression sensorimotor learning

Robot self-recognition via facial expression sensorimotor le...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Zhegong Shangguan Mengyuan Ding Chuang Yu Chaona Chen Adriana Tapus Autonomous Systems and Robotics Lab/U2IS ENSTA Paris Institut Polytechnique de Paris 828 Boulevard des Maréchaux Palaiseau France National Engineering Laboratory for Visual Information Applications college of Artificial Intelligence Institute of Artificial Intelligence and Robotics Xi’an Jiaotong University Xi’an China Cognitive Robotics Lab Department of Computer Science University of Manchester Kilburn Building Oxford Rd Manchester UK School of Psychology and Neuroscience University of Glasgow Glasgow UK

To develop robots that can show cognitive functions, we must learn from the knowledge of human cognition. Existing biological and psychological evidence suggests that self-face perception and sensorimotor learning mechanisms play a crucial role in self-recognition. However, one of the most important self-identity cues – facial information – has not been extensively studied in the robot self-recognition task. Current research on robot self-recognition primarily relies on the recognition of high-precision targets and tracking of manipulator motions, where the self-perception of facial information is not well studied. In this work, we propose a novel approach to achieve self-recognition via self-perception of facial expressions. Specifically, we developed a Conditional Generative Adversarial Network (CGAN) model using the knowledge on human cognitive and sensorimotor functions. It allows the robot to be aware of self-face (i.e., off-line model). Passing the observed visual variations in a mirror and comparing them to self-perceptive information, the robot can recognize the self through an online Bayesian learning regression. The results of our first experiment show that the robot can recognize itself in a mirror. The results from the second experiment show that our algorithm could be tricked by a similar robot with the same facial expressions, which is similar to the rubber hand illusion (RHI).

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Neural Augmentation Based Panoramic High Dynamic Range Stitching

arXiv

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arXiv 2024年

作者： Zheng, Chaobing Xu, Yilun Chen, Weihai Wu, Shiqian Zhang, Sen Li, Zhengguo Institute of Robotics and Intelligent Systems School of Electronic Information Wuhan University of Science and Technology 947 Heping Avenue Wuhan430081 China School of Automation Science and Electrical Engineering Beihang University Beijing100191 China School of Automation and Electrical Engineering University of Science and Technology Beiing Beijing100083 China Key Laboratory of Knowledge Auomalion for indusrial Proceses of Mimistry ofEducation University of Science and Techmology Beijing Beijing1083 China Shunde lnnovation School University of Science and Technology Beijing Foshan 528300 China VI Department Institute for Infocomm Research A*STAR 138632 Singapore

Due to saturated regions of inputting low dynamic range (LDR) images and large intensity changes among the LDR images caused by different exposures, it is challenging to produce an information enriched panoramic LDR image without visual artifacts for a high dynamic range (HDR) scene through stitching multiple geometrically synchronized LDR images with different exposures and pairwise overlapping fields of views (OFOVs). Fortunately, the stitching of such images is innately a perfect scenario for the fusion of a physics-driven approach and a data-driven approach due to their OFOVs. Based on this new insight, a novel neural augmentation based panoramic HDR stitching algorithm is proposed in this paper. The physics-driven approach is built up using the OFOVs. Different exposed images of each view are initially generated by using the physics-driven approach, are then refined by a data-driven approach, and are finally used to produce panoramic LDR images with different exposures. All the panoramic LDR images with different exposures are combined together via a multi-scale exposure fusion algorithm to produce the final panoramic LDR image. Experimental results demonstrate the proposed algorithm outperforms existing panoramic stitching algorithms. © 2024, CC0.

关键词： Image fusion

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Single image dehazing via combining the prior knowledge and CNNs

Single image dehazing via combining the prior knowledge and ...

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第33届中国控制与决策会议

作者： Yuwen Li Chaobing Zheng Shiqian Wu Wangming Xu Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering Wuhan University of Science and Technology The Institute of Robotics and Intelligent Systems School of Information Science and EngineeringWuhan University of Science and Technology

Aiming at the existing single image haze removal algorithms,which are based on prior knowledge and assumptions,subject to many limitations in practical applications,and could suffer from noise and halo *** end-to-end system is proposed in this paper to reduce defects by combining the prior knowledge and deep learning *** haze image is decomposed into the base layer and detail layers through a weighted guided image filter(WGIF) firstly,and the airlight is estimated from the base ***,the base layer image is passed to the efficient deep convolutional network for estimating the transmission *** restore object close to the camera completely without amplifying noise in sky or heavily hazy scene,an adaptive strategy is proposed based on the value of the transmission *** the transmission map of a pixel is small,the base layer of the haze image is used to recover a haze-free image via atmospheric scattering model,***,the haze image is *** show that the proposed method achieves superior performance over existing methods.

关键词： single image haze removal Weighted guided image filtering prior knowledge Convolutional Neural Networks

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Coherence as a criterion for multichannel combining low SNR communications in an upwelling environment

Coherence as a criterion for multichannel combining low SNR ...

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OCEANS

作者： Fabio B. Louza Sergio M. Jesus Laboratory of Robotic Systems in Engineering and Science (LARSyS) University of Algarve Faro Portugal

ISBN: (数字)9781728154466

ISBN: (纸本)9781728184098

This paper presents a study on the impact of temporal (TCOH) and spatial (SCOH) coherence over low SNR communications in an environment with intense upwelling and demonstrates how to use coherence as a criterion to perform multichannel combining. Using low power signals collected in a shallow water experiment, from two independent and different geometry arrays with four hydrophones each, temporal coherence was estimated. Signals whose TCOH was above a threshold were averaged and SCOH between channels were estimated. Bit error rate results showed that SCOH can be used as a criterion to discard noisy and high multipath channels. Multichannel combination based on SCOH indicated that the use of the arrays can increase the processing gain, even if the sensors are just a few wavelengths from each other. Moreover, longer averaging times provided lower BER but reduced the effective bit rate.

关键词： Bit error rate Bit rate Spatial coherence Sonar equipment Coherence Signal to noise ratio Sensor arrays

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Tension Analysis of Small Motor Stator Winding Tensioning Process

Tension Analysis of Small Motor Stator Winding Tensioning Pr...

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作者： Zhao, Yanling Zhang, Zhao Xiang, Jingzhong Bao, Yudong State Key Laboratory of Robotics and Systems Harbin150080 China School of Mechanical and Power Engineering Harbin University of Science and Technology Harbin150080 China

In view of the small motor stator winding due to the size of the tension on the enameled wire is different, so that the winding tightness is different and lead to enameled wire damage or motor can not be used normally. Through the establishment of the tension model of the tensioning process, the stress of each layer of enameled wire during tensioning is analyzed, which involves the mechanical theory of tensioning process and the theory of thick-walled thin cylinder. According to this theory, the mechanical behavior of the enameled wire during the tensioning process is studied, the influence of tension on the radial stress and hoop stress of the special point and the variation law are obtained. After simulation and experiment, the results show that the tension and the number of winding layers have different effects on the radial and hoop stress of the special points. Applying reasonable tension can effectively ensure the normal operation of the motor and greatly increase its reliability. © Springer Nature Singapore Pte Ltd. 2020.

关键词： Winding

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Design and simulation of a hip exoskeleton for lateral walking

Design and simulation of a hip exoskeleton for lateral walki...

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2021 IEEE International Conference on Real-Time Computing and robotics, RCAR 2021

作者： Zhang, Zhewen Cao, Wujing Chen, Chunjie Yu, Hongliu Wu, Xinyu Meng, Qiaoling Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System University of Shanghai for Science and Technology Rehabilitation Engineering and Technology Institute CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institute of Advanced Technology

ISBN: (纸本)9781665436786

In this article, a rehabilitation exoskeleton assisted by lateral walking is designed to help patients with lower limb movement disorders to solve the problem of lateral walking assistance, so as to achieve the effect of rehabilitation training. Based on the characteristics of lateral movement of human body, the exoskeleton designed in this paper uses linear push rod motor and thigh binding to assist hip abduction and adduction respectively. Based on the research of human transverse movement gait, a reasonable linkage mechanism was designed and kinematics simulation was carried out. The dynamics model of human lower limbs was established and calculated with MATLAB simulation software. the moment of hip joint lateral movement is obtained. Finally, the structural parameters of the driving mechanism were analyzed by dynamic simulation, and the simulation results were compared with the target motion function to verify the rationality of the design. © 2021 IEEE.

关键词： MATLAB

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Lunar Asset Messaging and on Orbit Navigation (LA MOON)

Lunar Asset Messaging and on Orbit Navigation (LA MOON)

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IAF Space Exploration Symposium 2021 at the 72nd International Astronautical Congress, IAC 2021

作者： Derewa, Chrishma Holt, Samuel Lally, Michael Trybula, Robert Yuan, Christine Coble, Kyle Huang, Calvin Jet Propulsion Laboratory California Institute of Technology United States University of Colorado Boulder Aerospace Engineering United States New York University Computer Science United States University of Southern California Computer Science United States Cornell University Mechanical Engineering United States Kth Royal Institute of Technology Systems Control and Robotics Pasadena City College Computer Science United States

ISBN: (纸本)9781713842965

NASA has titled its 2020 thrust for the Moon, Artemis. The increased focus on the Moon as a destination for future human and robotic expeditions necessitates general purpose navigational and communications infrastructure reducing their complexity to help establish a sustained presence. A framework through which Lunar missions can relay communications and localize their positions shifts the burden from the individual mission and enables resource allocation tailored to mission-specific goals. During the summer of 2020, student interns under the Innovation to Flight (i2F) program at the National Aeronautics and Space Administration s (NASA) Jet Propulsion laboratory (JPL) in collaboration with the University of Colorado Boulder designed, built, and tested a prototype framework capable of providing surface assets with communication and positioning services. The team utilized the existing i2F CubeSat bus in addition to developing several CubeSat engineering development units (EDUs), a ground vehicle, and a ground station to simulate a scenario in which a lunar surface mission is supported by these services. A primary goal of the summer was to develop a method for localizing the ground vehicle through trilateration. Distances are inferred from the round-Trip time of flight (ToF) of radio signals between an asset and several elements. Signals were sent and received using LimeSDR software defined radios on-board both the ground vehicle and the EDUs;ToF and trilateration were calculated on a Qualcomm Snapdragon development board located within the LA MOON payload data system. The ModalAI chipset on the Qualcomm was instrumental in executing visual based position estimation. Communications was facilitated through a bent-pipe approach addressing the NASA requirement to provide solutions for in communication denied locations. The ground vehicle relayed information to other surface assets in addition to its ground station through the supporting constellation. This project demons

关键词： Orbits

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A Haptic Exploration and Surface Classification of Objects with Four Typical Surface Properties

A Haptic Exploration and Surface Classification of Objects w...

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International Conference on Advanced robotics and Mechatronics (ICARM)

作者： Peng Qi Yunfeng Wu Tianliang Yao Bo Lu Yi Sun Jian S. Dai Department of Control Science and Engineering College of Electronics and Information Engineering Tongji University Shanghai P. R. China Robotics and Microsystems Center School of Mechanical and Electric Engineering Soochow University Suzhou Jiangsu China Laboratory of Intelligent Systems Ecole Polytechnique Federale de Lausanne Lausanne Switzerland Department of Mechanical and Energy Engineering College of Engineering Southern University of Science and Technology Shenzhen P. R. China School of Natural Mathematical and Engineering Sciences King's College London

To effectively interact with the physical world, an intelligent robot is required to have the ability to obtain the detailed features of an unknown object. Visual devices are commonly used to detect the global geometry of an object; however, detailed information such as surface properties cannot be identified using these devices. The current study proposes an efficient haptic exploration method to recognize the physical properties of surfaces using an intelligent fingertip. Our surface-following algorithm utilizes the normal force vector and the tangential force vector at the contact point between the fingertip and the target object to predict the moving direction and implement the surface exploration. And a correction index $K$ is introduced to adjust the sliding velocity. The algorithm is proved to be robust and high performance both in simulation and lab experiments. Finally, we propose and explore a haptic prediction neural network, which enables our robot to have an accurate feel through physical interaction. In the classification experiment of four types of objects with different surface properties, the average accuracy of the proposed model is 90.2%.

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