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ODD: Omni Differential Drive for Simultaneous Reconfiguration and Omnidirectional Mobility of Wheeled Robots

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arXiv 2024年

作者： Zhao, Ziqi Xie, Peijia Meng, Max Q.-H. Shenzhen Key Laboratory of Robotics Perception and Intelligence The Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen China Department of Electronic Engineering The Chinese University of Hong Kong Hong Kong Department of Electrical and Computer Engineering The University of Alberta Canada

Wheeled robots are highly efficient in human living environments. However, conventional wheeled designs, limited by degrees of freedom, struggle to meet varying footprint needs and achieve omnidirectional mobility. This paper proposes a novel robot drive model inspired by human movements, termed as the Omni Differential Drive (ODD). The ODD model innovatively utilizes a lateral differential drive to adjust wheel spacing without adding additional actuators to the existing omnidirectional drive. This approach enables wheeled robots to achieve both simultaneous reconfiguration and omnidirectional mobility. Additionally, a prototype was developed to validate the ODD, followed by kinematic analysis. Control systems for self-balancing and motion were designed and implemented. Experimental validations confirmed the feasibility of the ODD mechanism and the effectiveness of the control strategies. The results underline the potential of this innovative drive system to enhance the mobility and adaptability of robotic platforms. Copyright © 2024, The Authors. All rights reserved.

关键词： Wheels

HPPS: A Hierarchical Progressive Perception System for Luggage Trolley Detection and Localization at Airports

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arXiv 2024年

作者： Sun, Zhirui Zhang, Zhe Zhao, Jieting Ye, Hanjing Wang, Jiankun Shenzhen Key Laboratory of Robotics Perception and Intelligence Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen China Jiaxing Research Institute Southern University of Science and Technology Jiaxing China Shenzhen Key Laboratory of Robotics and Computer Vision Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen China

The robotic autonomous luggage trolley collection system employs robots to gather and transport scattered luggage trolleys at airports. However, existing methods for detecting and locating these luggage trolleys often fail when they are not fully visible. To address this, we introduce the Hierarchical Progressive Perception System (HPPS), which enhances the detection and localization of luggage trolleys under partial occlusion. The HPPS processes the luggage trolley’s position (x, y) and orientation (θ) separately, which requires only RGB images for labeling and training, eliminating the need for 3D coordinates and alignment. The HPPS can accurately determine the position of the luggage trolley with just one well-detected keypoint and estimate the luggage trolley’s orientation when it is partially occluded. Once the luggage trolley’s initial pose is detected, HPPS updates this information continuously to refine its accuracy until the robot begins grasping. The experiments on detection and localization demonstrate that HPPS is more reliable under partial occlusion compared to existing methods. Its effectiveness and robustness have also been confirmed through practical tests in actual luggage trolley collection tasks. A website about this work is available at HPPS. Copyright © 2024, The Authors. All rights reserved.

关键词： robotics

A third-party platoon coordination service: Pricing under government subsidies

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A third-party platoon coordination service: Pricing under go...

作者： Bai, Ting Johansson, Alexander Li, Shaoyuan Johansson, Karl Henrik Mårtensson, Jonas School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden KTH Royal Institute of Technology Stockholm Sweden Department of Automation Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Shanghai Jiao Tong University Shanghai China Digital Futures Stockholm Sweden

This paper models a platooning system consisting of trucks and a third-party service provider (TPSP), which performs platoon coordination, distributes the platooning profit in platoons, and charges trucks in exchange for the services. Government subsidies used to incentivize platooning are also considered. We propose a pricing rule for the TPSP, which keeps part of the platooning profit including the subsidy each time a platoon is formed. In addition, a platoon coordination solution based on the distributed model predictive control (MPC) is proposed, in which the pricing rule under government subsidies is integrated. We perform a realistic simulation over the Swedish road network to evaluate the impact of the pricing rule and subsidies on the achieved profits and fuel savings. Our results show that subsidies are an effective mean to boost fuel savings from platooning. Moreover, the simulation study indicates that high pricing corresponds to a low platooning rate of the system, as trucks' incentives for platooning decrease. © 2023 The Authors. Asian Journal of Control published by John Wiley & Sons Australia, Ltd on behalf of Chinese Automatic Control Society.

关键词： Trucks

Advances in cost-effective integrated spectrometers

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Light(Science & Applications) 2022年第7期11卷 1379-1396页

作者： Ang Li Chunhui Yao Junfei Xia Huijie Wang Qixiang Cheng Richard Penty Yeshaiahu Fainman Shilong Pan Key Laboratory of Radar Imaging and Microwave Photonics Ministry of EducationNanjing University of Aeronautics and AstronauticsNanjing 210016China Litin Technology XuzhouJiangsuChina Department of Engineering University of Cambridge9 JJ Thomson AvenueCambridge CB30FAUK Colllege of Automation Engineering Nanjing University of Aeronautics and AstronauticsNanjing 210016China Department of Electrical and Computer Engineering University of California at San DiegoLa JollaCAUSA

The proliferation of Internet-of-Things has promoted a wide variety of emerging applications that require compact,lightweight,and low-cost optical *** substantial progresses have been made in the miniaturization of spectrometers,most of them are with a major focus on the technical side but tend to feature a lower technology readiness level for *** importantly,in spite of the advancement in miniaturized spectrometers,their performance and the metrics of real-life applications have seldomly been connected but are highly *** review paper shows the market trend for chip-scale spectrometers and analyzes the key metrics that are required to adopt miniaturized spectrometers in real-life *** progress addressing the challenges of miniaturization of spectrometers is summarized,paying a special attention to the CMOS-compatible fabrication platform that shows a clear pathway to massive *** for ways forward are also presented.

关键词： cost summarized spite

Aerial-ground collaborative routing with time constraints

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Chinese Journal of Aeronautics 2023年第2期36卷 270-283页

作者： Jiahao XING Lichen SU Wenjing HONG Lu TONG Renli LYU Wenbo DU School of Electronics and Information Engineering Beihang UniversityBeijing 100091China School of Future Aerospace Technology/Shen Yuan Honors College Beihang UniversityBejing 100091China School of Automation Science and Electrical Engineering Beihang UniversityBejing 100091China Guangdong Provincial Key Laboratory of Brain-Inspired Intelligent Computation Shenzhen 518055China Department of Computer Science and Engineering Southern University of Science and TechnologyShenzhen 518055China Research Institute of Frontier Science Beihang UniversityBeijing 100083China CAAC Key Laboratory of General Aviation Operation Civil Aviation Management Institute of ChinaBeijing 100102China

The advancement of autonomous technology makes electric-powered drones an excellent choice for flexible logistics services at the last mile delivery *** reach a balance between green transportation and competitive edge,the collaborative routing of drones in the air and trucks on the ground is increasingly invested in the next generation of delivery,where it is particularly reasonable to consider customer time windows and time-dependent travel times as two typical time-related factors in daily *** this paper,we propose the Vehicle Routing Problem with Drones under Time constraints(VRPD-T)and focus on the time constraints involved in realistic scenarios during the delivery.A mixed-integer linear programming model has been developed to minimize the total delivery completion ***,to overcome the limitations of standard solvers in handling large-scale complex issues,a space-time hybrid heuristic-based algorithm has been developed to effectively identify a high-quality *** numerical results produced from randomly generated instances demonstrate the effectiveness of the proposed algorithm.

关键词： Aerial-ground collaborative delivery Mixed-integer programming Space-time hybrid heuristic algorithm Vehicle routing problem with drones Time-dependent travel times

HGDiffuser: Efficient Task-Oriented Grasp Generation via Human-Guided Grasp Diffusion Models

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arXiv 2025年

作者： Huang, Dehao Dong, Wenlong Tang, Chao Zhang, Hong Shenzhen Key Laboratory of Robotics and Computer Vision Southern University of Science and Technology Shenzhen China Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen China

Task-oriented grasping (TOG) is essential for robots to perform manipulation tasks, requiring grasps that are both stable and compliant with task-specific constraints. Humans naturally grasp objects in a task-oriented manner to facilitate subsequent manipulation tasks. By leveraging human grasp demonstrations, current methods can generate high-quality robotic parallel-jaw task-oriented grasps for diverse objects and tasks. However, they still encounter challenges in maintaining grasp stability and sampling efficiency. These methods typically rely on a two-stage process: first performing exhaustive task-agnostic grasp sampling in the 6-DoF space, then applying demonstration-induced constraints (e.g., contact regions and wrist orientations) to filter candidates. This leads to inefficiency and potential failure due to the vast sampling space. To address this, we propose the Human-guided Grasp Diffuser (HGDiffuser), a diffusion-based framework that integrates these constraints into a guided sampling process. Through this approach, HGDiffuser directly generates 6-DoF task-oriented grasps in a single stage, eliminating exhaustive task-agnostic sampling. Furthermore, by incorporating Diffusion Transformer (DiT) blocks as the feature backbone, HGDiffuser improves grasp generation quality compared to MLP-based methods. Experimental results demonstrate that our approach significantly improves the efficiency of task-oriented grasp generation, enabling more effective transfer of human grasping strategies to robotic systems. To access the source code and supplementary videos, visit https://***/ view/hgdiffuser. Copyright © 2025, The Authors. All rights reserved.

关键词： robotics

Insulating materials for realising carbon neutrality:Opportunities,remaining issues and challenges

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High Voltage 2022年第4期7卷 610-632页

作者： Chuanyang Li Yang Yang Guoqiang Xu Yao Zhou Mengshuo Jia Shaolong Zhong Yu Gao Chanyeop Park Qiang Liu Yalin Wang Shakeel Akram Xiaoliang Zeng Yi Li Fangwei Liang Bin Cui Junpeng Fang Lingling Tang Yulin Zeng Xingtao Hu Jiachen Gao Giovanni Mazzanti Jinliang He Jianxiao Wang Davide Fabiani Gilbert Teyssedre Yang Cao Feipeng Wang Yunlong Zi The State Key Laboratory of Power System Department of Electrical EngineeringTsinghua UniversityBeijingChina Department of Mechanical and Automation Engineering The Chinese University of Hong KongHong KongChina Simpson Querrey Institute Northwestern UniversityEvanstonIllinoisUSA Department of Materials Science and Engineering The Pennsylvania State UniversityUniversity ParkPennsylvaniaUSA Department of Information Technology and Electrical Engineering ETH ZürichZürichSwitzerland School of Electrical and Information Engineering Tianjin UniversityTianjinChina Department of Electrical and Computer Engineering Mississippi State UniversityMississippi StateMississippiUSA Electrical and Electronic Engineering The University of ManchesterManchesterUK Department of Electrical Engineering School of Electronic Information and Electrical EngineeringShanghai Jiao Tong UniversityShanghaiChina Key Laboratory of Control of Power Transmission and Conversion(SJTU) Ministry of EducationShanghaiChina College of Electrical Engineering Sichuan UniversityChengduChina Shenzhen Institute of Advanced Technology Chinese Academy of Sciences ShenzhenShenzhenChina School of Electrical Engineering Wuhan UniversityWuhanChina School of Integrated Circuits Tsinghua UniversityBeijingChina Jiangsu Jinxin Electric Appliance Co.Ltd. YangzhouChina Tai'an Tiancheng Safety Evaluation Co. Ltd.Tai'anChina Department Electrical Electronic and Information EngineeringUniversity of BolognaBolognaItaly National Engineering Laboratory for Big Data Analysis and Applications Peking UniversityBeijingChina Laplace Paul Sabatier Universityand CNRSToulouseFrance Electrical and Computer Engineering University of ConnecticutStorrsConnecticutUSA State Key Laboratory of Power Transmission Equipment&System Security and New Technology School of Electrical EngineeringChongqing UniversityChongqingChina Thrust of Sustainable Energy and Environment The Hong Kong University of Science and Technology(Guangzhou)GuangzhouChina De

The 2050 carbon-neutral vision spawns a novel energy structure revolution,and the construction of the future energy structure is based on equipment *** material,as the core of electrical power equipment and electrified transportation asset,faces unprecedented challenges and *** goal of carbon neutral and the urgent need for innovation in electric power equipment and electrification assets are first *** engineering challenges constrained by the insulation system in future electric power equipment/devices and electrified transportation assets are *** materials,including intelligent insulating material,high thermal conductivity insulating material,high energy storage density insulating material,extreme environment resistant insulating material,and environmental-friendly insulating material,are cat-egorised with their scientific issues,opportunities and challenges under the goal of carbon neutrality being *** the context of carbon neutrality,not only improves the understanding of the insulation problems from a macro level,that is,electrical power equipment and electrified transportation asset,but also offers opportunities,remaining issues and challenges from the insulating material *** is hoped that this paper en-visions the challenges regarding design and reliability of insulations in electrical equipment and electric vehicles in the context of policies towards carbon neutrality *** authors also hope that this paper can be helpful in future development and research of novel insulating materials,which promote the realisation of the carbon-neutral vision.

关键词： neutral insulation extreme

Multi-Agent Control:A Graph-Theoretic Perspective

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Journal of Systems Science & Complexity 2021年第5期34卷 1973-2002页

作者： CHEN Fei REN Wei State Key Laboratory of Synthetical Automation for Process Industries Northeastern UniversityShenyang 110004China School of Control Engineering Northeastern University at QinhuangdaoQinhuangdao 066004China. Department of Electrical and Computer Engineering University of CaliforniaRiversideCA 92521USA

Progress in development of multi-agent control is *** approaches for multiagent control,estimation,and optimization are discussed in a systematic way with particular emphasis on the graph-theoretic *** is paid to the design of multi-agent systems via Laplacian dynamics,as well as the role of the graph Laplacian spectrum,the challenges of unbalanced digraphs,and consensus-based estimation of graph *** emergent issues,e.g.,distributed optimization,distributed average tracking,and distributed network games,are also reported,which have witnessed extensive development *** are over 200 references listed,mostly to recent contributions.

关键词： Consensus cooperative control distributed average tracking distributed optimization multi-agent system

Learning-based Detection of GPS Spoofing Attack for Quadrotors

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arXiv 2025年

作者： Wang, Pengyu Yang, Zhaohua Li, Jialu Shi, Ling Department of Electronic and Computer Engineering Hong Kong University of Science and Technology Hong Kong Shenzhen Key Laboratory of Robotics Perception and Intelligence The Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen China

Safety-critical cyber-physical systems (CPS), such as quadrotor UAVs, are particularly prone to cyber attacks, which can result in significant consequences if not detected promptly and accurately. During outdoor operations, the nonlinear dynamics of UAV systems, combined with non-Gaussian noise, pose challenges to the effectiveness of conventional statistical and machine learning methods. To overcome these limitations, we present QUADFormer, an advanced attack detection framework for quadrotor UAVs leveraging a transformer-based architecture. This framework features a residue generator that produces sequences sensitive to anomalies, which are then analyzed by the transformer to capture statistical patterns for detection and classification. Furthermore, an alert mechanism ensures UAVs can operate safely even when under attack. Extensive simulations and experimental evaluations highlight that QUADFormer outperforms existing state-of-the-art techniques in detection accuracy. (Video1) Copyright © 2025, The Authors. All rights reserved.

关键词： Unmanned aerial vehicles (UAV)