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42nd Chinese Control Conference, CCC 2023

作者： Zeng, Ming Li, Siying Liu, Jiazhe Li, Yuanhao Institute of Robotics and Automation Systems School of Electrical and Information Engineering Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System Tianjin University Tianjin300072 China

ISBN: (纸本)9789887581543

The ability of continuously learning new knowledge without forgetting old ones is crucial to adapt to an ever-changing world. This scenario becomes more challenging when the previous data are not available. Current class incremental learning (CIL) approaches tend to incorporate new classes with backward compatibility, i.e., maintaining discriminability of old ones. By contrast, we focus on the extensibility and compatibility for future new classes in the early stage. Our proposed method achieves this by augmenting feature space. In detail, a large number of pseudo-new classes are generated via real example mixture and then train the initial spatially augmented model using pseudo-new classes and the base classes. Besides, considering the fact that it is impossible to maintain backward compatibility with only one prototype for each old class, the updated model also needs to preserve old class space in incremental stages. We employ a certain perturbation to the old class prototypes to effectively avoid old class space from being over-squeezed by the samples of new classes. The experiments on CIFAR-100 and ImageNet-Subset (100 classes) demonstrate that our method substantially reduces the overlap of old and new classes, outperforming state-of-the-art various baselines. © 2023 Technical Committee on Control Theory, Chinese Association of automation.

关键词： Catastrophic forgetting Class incremental learning Feature space augmentation Old class space preservation Pseudo-new classes

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A Method for High-Voltage Electric Field to Control Inkjet 3D Printing 41

A Method for High-Voltage Electric Field to Control Inkjet 3...

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第41届中国控制会议

作者： Jian Liu Yang Zhou Huixuan Zhu Jingwei Guo School of Information and Control Engineering Shenyang Jianzhu University State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Aiming at the problem of low printing resolution due to the excessively fast droplet falling speed of traditional inkjet 3D printing,a new method of high-voltage electric field controlled inkjet 3 D printing was *** applying a high-voltage electric field during the printing process,the droplets are subjected to the reverse electric field force to control the speed of the droplets during printing,there by ensuring high printing resolution and obtaining better *** this paper,a feasible printing method will be proposed and the feasibility of the method will be verified through confirmatory experiments and simulation studies.

关键词： inkjet 3D printing speed high-voltage electric field control

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Self-Organized Circling of Swarm Robots using Optical Communications 13

Self-Organized Circling of Swarm Robots using Optical Commun...

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13th IEEE International Conference on CYBER Technology in automation, Control, and Intelligent Systems, CYBER 2023

作者： Qin, Xiaoyang Yang, Yongliang Pan, Mengyun Liu, Lianqing State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China The University of Chinese Academy of Sciences Beijing100049 China

ISBN: (纸本)9798350315196

Morphogenetic engineering aims to develop self-organized methods to form the predesigned morphology of robot swarms. A simple method has been reported to form the circling morphology of fish robot swarms in experiments and of ground robot swarms in simulations. This method requires limited hardware of robots and minimum on-board communication, which makes it easy to scale up. The robot swarm on the ground, however, is significantly different from that underwater. Using our homemade Morphobot platform, we adapted this method to generate the circling morphology of a swarm of robots on the ground. For this application, we customized Morphobots with optical sensors and light emission devices. We first demonstrated the effectiveness of this adapted method. In self-organized systems, the relationship between the global pattern and the properties of individual robots is implicit. It is thus still challenging to design a controller for this type of dynamic system. To clarify this relationship in this circling morphogenesis, we evaluated the effects of two important features of robots on the formation of the circling pattern. We Second experimentally evaluated the effects of the moving radius and ranges of light emission of individual robots on the circling morphology. These results shine light on developing a reliable and rigid engineering methodology for swarm robotics. © 2023 IEEE.

关键词： Morphology

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Efficient and Hierarchical Quadrotor Planner for Fast Autonomous Flight 16th

Efficient and Hierarchical Quadrotor Planner for Fast Auto...

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16th International Conference on Intelligent robotics and Applications, ICIRA 2023

作者： Nie, Hongyu Chen, Jiantan Zhang, Guangyu Li, Decai He, Yuqing State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110016 China University of Chinese Academy of Sciences Beijing100049 China

ISBN: (纸本)9789819965007

In this paper, we propose an effective and hierarchical planning framework for quadrotor fast autonomous flight. In the front-end, we propose an efficient guided sampling strategy by topology graph. In the back-end, the traditional trajectory optimization problems are formulated as minimising an objective function such as total energy cost while considering safety and dynamic feasibility constraints. However, the time characteristic is ignored. In this paper, the time optimal trajectory is studied, the time optimal trajectory problem is transformed to a convex optimization problem with a time optimal guidance trajectory based on the Pontryagin’s Minimum Principle. The simulation experimental results demonstrate the feasibility and validity of the proposed motion planning method. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Topology

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Animal Weight Prediction Based on Point Cloud Reconstruction Technology Combined with SVR 3

Animal Weight Prediction Based on Point Cloud Reconstruction...

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3rd International Conference on Machine Learning and Computer Application, ICMLCA 2022

作者： Qin, Lijuan He, Xinyu School of Information Science and Engineering Shenyang Ligong University Shenyang China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Science Shenyang China

ISBN: (纸本)9781510664814

In the new era of China, with the improvement of people's level day by day, people's awareness of animal protection is gradually enhanced. However, the lack of operator experience of the breeder will cause the stress response of the animals, which will lead to the physical injury of the breeder. Therefore, contactless measurements of animals will be realized in this paper. PCL point cloud plays the same important role in 3D information processing as OpenCV 2D information processing. PCL point cloud can be combined with machine learning method to solve practical application problems. In this paper, pig is taken as the research object, and the 3D reconstruction of pig point cloud is carried out through the reconstruction algorithm in PCL point cloud. Then, this paper uses the point cloud convex hull algorithm and getsurfaceArea() function to obtain the volume and surface area of the pig respectively. Finally, the point cloud reconstruction technology combined with SVR algorithm to predict the weight of pigs can control the weight prediction rate of pigs within 5%. © 2023 SPIE.

关键词： Computer vision

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Optimization-Based Motion Planning Method for a Robot Manipulator Under the Conditions of Confined Space and Heavy Load 16th

Optimization-Based Motion Planning Method for a Robot Mani...

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16th International Conference on Intelligent robotics and Applications, ICIRA 2023

作者： Zhang, Tianyu Wang, Hongguang Lv, Peng Kong, Fanxu Wang, Daqian Pan, Xin’an State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China University of Chinese Academy of Sciences Beijing100049 China

ISBN: (纸本)9789819964826

The current aircraft refueling method relies heavily on manual labor, resulting in high labor intensity, a cumbersome refueling process, and low efficiency. Therefore, extensive research is crucial to explore the use of robot manipulators for autonomous refueling. However, implementing robot arms encounters challenges such as confined workspace and the heavy weight of fueling tools. This paper proposes a motion planning method for a robot manipulator operating within confined areas to address these issues. The method considers obstacle avoidance constraints, dynamic joint torque allocation, and physical limitations. To characterize the dynamic transmission performance between joint torque output and end force while considering joint torque limitations, we introduce the Inertia Matching Index (IMI). The IMI and minimum joint angles serve as cost functions in our approach. Given the confined environments and various types of refueling equipment, we incorporate collision distance as a constraint to avoid collisions between the robot arm and other objects. To ensure effective resolution, we reformulate these non-convex objectives and constraints to solve them using the ADMM algorithm. The experimental results demonstrate the effectiveness of our proposed motion planning method in improving IMI while ensuring safe trajectories and optimal joint torque allocation. This study has significant theoretical and practical value for autonomous robot operations and autonomous aerial refueling applications in confined spaces. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Motion planning

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A Magnetically Actuated Diatom-Biohybrid Microrobot as a Drug Delivery Capsule 16th

A Magnetically Actuated Diatom-Biohybrid Microrobot as a Dru...

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16th International Conference on Intelligent robotics and Applications, ICIRA 2023

作者： Li, Mengyue Jiao, Niandong Wang, Xiaodong Liu, Lianqing State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110016 China University of Chinese Academy of Sciences Beijing100049 China

ISBN: (纸本)9789819964796

Targeted drug delivery is a strategy to efficiently deliver drugs to a specific target area and has broad application prospects in the treatment of cancer, inflammatory diseases, and neurological diseases. Currently, biohybrid microrobots have been developed as drug-carrying systems and have great potential in the field of drug delivery. However, the efficient carrying and delivery of drugs is still an urgent problem to be solved in the design of drug delivery systems. Here, we fabricated a Thalassiosira weissflogii-based biohybrid microrobot as a drug delivery capsule for targeted therapy. Diatom frustules with complete cavities were obtained through a simple and economical preparation method. The drugs were encapsulated into the cavity of the diatom frustules by means of vacuum loading, so that they had good drug-loading properties. The magnetic engine is loaded onto the surface of frustules by electrostatic adsorption, so that they can achieve flexible and controllable movement under the action of an external rotating magnetic field, which is expected to achieve targeted drug delivery. The prepared diatom microrobots have great application potential for drug delivery platforms. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Targeted drug delivery

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Analysis of the Attachment Process of Bionic Spines Based on the Coupling of Discrete Elements and Multi-body Dynamics

Analysis of the Attachment Process of Bionic Spines Based on...

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2022 International Conference on Aerospace, Aerodynamics and Mechatronics Engineering, AAME 2022

作者： Liu, Ran Li, Yu Xin Luo, Haitao Yu, Miao School of Mechanical Engineering Shenyang Ligong University Shenyang China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China

As the only natural satellite of the Earth, the Moon has profound significance for deep space research, and the undifferentiated lunar rock core plays a key role in the investigation of the origin of the Moon. In recent years, there have been numerous deep space sampling techniques, but all of them are at the cost of destroying the sample, while drilling can retain the sample in its original state to the maximum extent. In this paper, based on the reference of the claw spine attachment device at home and abroad, the theoretical modeling of the claw spine piece which plays the role of grasping and attaching is carried out, and the simulation analysis is carried out by the coupling method of discrete element and multi-body dynamics, which provides important guidance for the subsequent experi-ments and the optimized design. © Published under licence by IOP Publishing Ltd.

关键词： Moon

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Research on Semi-automatic Coronary Artery Centerline Extraction Based on Deep Learning 11th

Research on Semi-automatic Coronary Artery Centerline Extrac...

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11th International Workshop of Advanced Manufacturing and automation, IWAMA 2021

作者： Zhou, Chuanhong Xu, Yang Ye, Qiuyi School of Mechatronic Engineering and Automation Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai University Shanghai China

ISBN: (纸本)9789811905711

In recent years, Cardio vascular disease (CVD) has become a major cause of premature morbidity and mortality in our population, and the prevention and treatment of CVD have become urgent. Currently, the mainstream method to diagnose coronary artery disease is Coronary Computed Tomography Angiography (CCTA). The processing and analysis of CCTA images can help doctors understand the connection and trend of a coronary artery. Aiming at the problem that the radius error of the centerline obtained by the traditional semi-automatic coronary centerline extraction network is large, and it is easy to extend to the non-coronary tissue at the coronary ostium and end, this paper proposes a new three-dimensional convolutional neural network: MST-Net (Multi-Scale Tracking Net), through the multi-scale feature extraction layer, enables the network to extract more local and global features, to obtain more accurate predictions in the coronary centerline extraction task. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Convolutional neural networks

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Localization of Mobile Robot Aided for Large-Scale Construction Based on Optimized Artificial Landmark Map in Ongoing Scene

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Computer Modeling in Engineering & Sciences 2022年第3期130卷 1853-1882页

作者： Zhen Xu Shuai Guo Tao Song Yuwen Li Lingdong Zeng Shanghai Key Laboratory of IntelligentManufacturing and Robotics School of Mechatronic Engineering and AutomationShanghai UniversityShanghai200444China National Demonstration Center for Experimental Engineering Training Education Shanghai UniversityShanghai200444China

The effectiveness of mobile robot aided for architectural construction depends strongly on its accurate localization *** of mobile robot is increasingly important for the printing of buildings in the construction *** many available studies on the localization have been conducted,only a few studies have addressed the more challenging problem of localization for mobile robot in large-scale ongoing and featureless *** realize the accurate localization of mobile robot in designated stations,we build an artificial landmark map and propose a novel nonlinear optimization algorithm based on graphs to reduce the uncertainty of the whole ***,the performances of localization for mobile robot based on the original and optimized map are compared and ***,experimental results show that the average absolute localization errors that adopted the proposed algorithm is reduced by about 21%compared to that of the original map.

关键词： Large-scale construction artificial landmark map localization mobile robot non-linear optimization

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