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2023 IEEE International Conference on Real-Time Computing and robotics, RCAR 2023

作者： Li, Wentao Li, Jinke He, Yong Tian, Dingkui Li, Feng Sun, Jianquan Wu, Xinyu Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Shenzhen518055 China Siat Cuhk Joint Laboratory of Robotics and Intelligent Systems China University of Chinese Academy of Sciences Shenzhen College of Advanced Technology Shenzhen518055 China China Construction Third Bureau First Engineering Mep Co. Ltd. Shenzhen518109 China

ISBN: (纸本)9798350327182

Physical therapy plays an important role in the rehabilitation for spinal cord injured individuals, and exoskeleton can assist with this process. In this paper, a self-balancing exoskeleton robot is introduced, which can provide assist not only in gait training, but also in balance training. In addition, it allows individuals walk with it without other assistive devices. This exoskeleton is designed to have a high degree of compatibility with humans. The structure and control system of the exoskeleton is introduced and the forward and inverse kinematic are solved, which enables the robot to perform various rehabilitation training actions as required. Experiments with a male subject have shown that this exoskeleton achieves the predicted results in gait training and balance training. © 2023 IEEE.

关键词： Inverse kinematics

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Towards Efficient Intermittent-Propulsion Mode of a Novel Bioinspired Underwater Vehicle

IEEE Transactions on Intelligent Vehicles

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IEEE Transactions on Intelligent Vehicles 2024年 1-13页

作者： Li, Sijie Wu, Zhengxing Wang, Jian Feng, Yukai Tan, Min Yu, Junzhi School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China State Key Laboratory for Turbulence and Complex System Department of Advanced Manufacturing and Robotics BIC-ESAT College of Engineering Peking University Beijing China

In nature, the bottlenose dolphin employs a prevalent intermittent-flapping behavioral strategy to enhance swimming efficiency during long-distance journeys. Taking inspiration from this natural mechanism, a newly-designed bioinspired underwater vehicle (BUV) based on dorsoventral propulsion is developed to investigate the specific intermittent-propulsion mode. First, a BUV prototype is designed, incorporating morphological characteristics resembling those of adult bottlenose dolphins, which features robust sensing capabilities, redundant actuation surfaces, and a passive peduncle joint for mitigation of the head-nodding motion. Second, a dynamic model for assessing the intermittent propulsion's cost of transport and velocity in a balanced perspective is established. In-depth investigations are conducted to analyze the impact of parameters in the intermittent-propulsion mode under varying flapping and gliding drag coefficients, which offer a novel and reasonable explanation for the exceptional duty cycle observed in bottlenose dolphins by biologists. Finally, numerous aquatic experiments are conducted to validate the remarkable energy-saving advantages of the proposed intermittent-propulsion mode of the BUV. These results present a new solution for efficient and sustainable long-distance navigation of BUVs, highlighting their potential for effective marine exploration. IEEE

关键词： Secondary batteries

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Ultrahigh Energy Density and Rapid Response Dielectric Elastomer for Advanced Soft Robots

SSRN

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SSRN 2025年

作者： Du, Chengzhen Yan, Peinan Zou, Jiang Guo, Yutong Pang, Zimo Li, Sijia Chen, Yujie Fan, Qunfu Liu, Hezhou State Key Laboratory of Metal Matrix Composites School of Materials Science and Engineering Shanghai Jiao Tong University Shanghai200240 China Robotics Institute State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai200240 China National Engineering Research Center of Special Equipment and Power System for Ship and Marine Engineering Shanghai200030 China

Dielectric elastomer actuators (DEAs) require high energy density to simultaneously achieve high mechanical output while enabling compact and lightweight actuator design. However, the realization of high energy density is constrained by the high driving electric field and the significant hysteretic relaxation. Herein, we present a DE featuring a bimodal-network structure and multiple hydrogen bond interactions, which possesses outstanding properties, including a low Young's modulus, optimal dielectric properties, and low mechanical loss. The DE achieves a maximum actuation strain of 200% at a low driving electric field of 60 V μm-1 with a rapid response. Remarkably, it exhibits an output force of 0.95 N and an ultrahigh specific energy of 283 J kg-1, approximately 7 times that of natural muscle. A series of soft robots with different structures and functions are fabricated to showcase the immense potential of our DE in various applications. This work provides a novel strategy to fabricate high performance artificial muscles for soft robotics. © 2025, The Authors. All rights reserved.

关键词： Elastomers

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Encoding-Based Fusion Estimation for Multi-Sensor systems: Applications to Target Tracking

Encoding-Based Fusion Estimation for Multi-Sensor Systems: A...

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Youth Academic Annual Conference of Chinese Association of Automation (YAC)

作者： Kaiqun Zhu Qirong Tang Pengcheng Zhang State Key Laboratory of Internet of Things for Smart City University of Macau Macau China Laboratory of Robotics and Multibody System Tongji University Shanghai China School of Mechatronic Engineering and Automation Shanghai University Shanghai China

ISBN: (数字)9798350379228

ISBN: (纸本)9798350390780

This paper is concerned with the robust set-membership fusion estimation problem for multi-sensor systems under the influence of uncertain parameters and unknown-but-bounded noises. The sensor nodes and the remote fusion estimator are connected through bandwidth-constrained communication networks. To address this challenge, a dynamic encoding-based data compression mechanism is introduced, enabling the data to be efficiently encoded using a reduced number of bits. By thoroughly analyzing the impact of uncertain parameters, unknown-but-bounded noises, and data distortions on estimation performance, sufficient conditions are derived to ensure that the estimation error remains within the bounded ellipsoidal set. Moreover, the weight parameters are calculated by solving constrained optimization problems. Finally, the effectiveness of the proposed estimation algorithm is verified through a maneuvering target tracking scenario.

关键词： Sufficient conditions Estimation error Target tracking Noise Data compression Set theory Distortion

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A Family of Deployable Single-Loop Metamorphic Mechanisms for Aerospace Manipulators: Synthesis, Network, and Analysis

SSRN

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SSRN 2024年

作者： Zhang, Yang Kang, Xi Li, Bing State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Harbin Institute of Technology Shenzhen518052 China School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen518052 China

Guided by predetermined degrees of freedom for different desired tasks, the type synthesis of single-loop metamorphic mechanisms (SLMMs) has long posed a challenge. Owing to the complexity and coupling of their overconstraints and the variability of constraints arising from bifurcation motions, it is difficult to ensure geometric coordination and synchronous motion for a network of multiple SLMMs. Here, we propose an approach to type synthesize SLMMs using the atlas method. A novel family of SLMMs is further synthesized. The mobility analysis of a selected 7R SLMM is carried out via screw theory. The kinematics and bifurcation phenomena are analyzed and verified through numerical simulation using computer-aided design models. To evaluate the performance of the SLMMs, the mapping relationship between key design parameters and performance indicators, such as the grasping angle, folding angle, and mechanical advantage, is studied. A networking method is then proposed by considering the geometric coordination conditions and variation of the overconstraints of SLMMs. Prototypes of an SLMM and manipulator with optimal geometrical parameters are developed to verify the feasibility and correctness of the proposed method and kinematic analysis. © 2024, The Authors. All rights reserved.

关键词： Manipulators

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Distributed Event-Triggered Formation Control for a Multi-robotic Fish system

Distributed Event-Triggered Formation Control for a Multi-ro...

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International Conference on Guidance, Navigation and Control, ICGNC 2022

作者： Dai, Shijie Wu, Zhengxing Tan, Min Yu, Junzhi School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100049 China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China State Key Laboratory for Turbulence and Complex System Department of Advanced Manufacturing and Robotics BIC-ESAT College of Engineering Peking University Beijing100871 China

ISBN: (纸本)9789811966125

This paper investigates the formation control problem for a multi-robotic fish system and a distributed event-triggered-based formation control framework is proposed. The framework consists of a communication topology, a distributed formation control law, and a dynamic event-triggered communication mechanism. In particular, a position-based formation control law is presented to drive the multi-robotic fish system to an anticipated configuration based on local measurements while keeping pace with a moving target. Meanwhile, a dynamic event-triggered mechanism is utilized to measure importance of the interactive information and decide the communication timing. The proposed formation control method shows its merits to greatly reduce communication consumption with a limited loss of formation control performance. Finally, simulations with quantitative comparisons are presented to verify the effectiveness of the proposed framework. This formation control framework provides a solid foundation for future marine cooperative control of the multi-robotic fish system. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Multi agent systems

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Fuzzy Based Steering Control of a Multi-Joint AUV

Fuzzy Based Steering Control of a Multi-Joint AUV

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Control Conference (ANZCC), Australian and New Zealand

作者： Zakarya Omar Ke-Xian Liu Chao Ren Qing-Hao Meng Institute of Robotics and Autonomous Systems Tianjin Key Laboratory of Intelligent Un-manned Swarm Technology and System School of Electrical and Information Engineering Tianjin University Tianjin China Faculty of Engineering Sana'a University Sana'a Yemen

The multi-joint structure of our Autonomous Underwater Vehicle (AUV) enhances its maneuverability, allowing it to navigate in the underwater environment with greater flexibility. However, this added maneuverability poses challenges to the steering process. When the multi-joint AUV (MJ-AUV) performs steering maneuvers, its joints undergo rotation, leading to a change in the orientation of the cabins with respect to the overall forward heading of the vehicle. As a result, this change in orientation affects the values of the hydrodynamic reactions, including Coriolis and damping, experienced by the cabins. The dynamic interaction between the joints' rotation and the resulting change in hydrodynamic forces significantly impacts the steering performance and stability of the MJ-AUV. Understanding and addressing these effects are crucial for the development of effective control strategies that ensure precise and reliable steering in various underwater environments. Overcoming the difficulties posed by joint rotation during steering can lead to advancements in MJ-AUV navigation and expand their potential applications in complex underwater missions. This research proposes a fuzzy-based control with sliding mode control (SMC) approach for the steering of an MJAUV. The developed fuzzy-based SMC control algorithm is validated through extensive MATLAB simulations. The results demonstrate improved tracking performance and robustness in comparison to the SMC control method. Moreover, the proposed approach shows superior trajectory tracking accuracy while mitigating undesired chattering effects associated with standard SMC techniques.

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High-Precision Tracking Control of Modular Dielectric Elastomer Actuators Through Kalman Filter Base Self-Adaptive Direct Inverse Hysteresis Compensation

High-Precision Tracking Control of Modular Dielectric Elasto...

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International Conference on Control and Automation (ICCA)

作者： Bohao Xiao Guoying Gu Jiang Zou State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai China Robotics Institute School of Mechanical Engineering Shanghai Jiao Tong University Shanghai China

ISBN: (数字)9798350354409

ISBN: (纸本)9798350354416

This work proposes a Kalman filter based direct inverse hysteresis compensation approach for modularized dielectric elastomer actuators (DEAs) with rate-dependent viscoelasticity, mechanical vibration, and individual variation. To this end, we firstly investigate the dynamics of three modularized DEAs, including viscoelasticity, mechanical vibration, and their individual variation. Then, based on a rate-independent phenomenological hysteresis model, a direct inverse hysteresis compensation (DIHC) is established to eliminate the hysteresis effect. Further, a feedback controller is adopted to remove the creep and model uncertainty. Lastly, a Kalman filter is employed to automatically adjust the parameter of the DIHC, capable of achieving high-precision tracking control of modular DEAs within a wide frequency range. To verify the effectiveness of our control strategy, three modularized DEAs are employed to track periodical trajectories with different frequencies (in a range of 0.1Hz to 10Hz). The experimental results demonstrate that the Kalman filter based controller can fully eliminate the rate-dependent viscoelasticity, mechanical vibration, and individual difference, achieving high-precision tracking control of modular DEAs in a wide frequency range. The maximum error and root mean square error are reduced from 20.16% and 11.44% to 9.87% and 5.22%, respectively.

关键词： Vibrations Uncertainty Creep Soft robotics Trajectory Kalman filters Root mean square

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A Novel Image Quality Assessment Method for Dehazed Image 7

A Novel Image Quality Assessment Method for Dehazed Image

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7th International Conference on Computer and Communication systems, ICCCS 2022

作者： Wei, Shuang Zhou, Hao Fu, Yiran Shang, Xinna Jing, Hongyuan Union University College of Robotics Beijing Beijing China Beijing Union University Multi-Agent System Research Centre Beijing China Beijing Union University Beijing Key Laboratory of Information Service Engineering Beijing China

ISBN: (数字)9781665450607

ISBN: (纸本)9781665450607

In order to measure the effectiveness of dehazing algorithm, we need an objective and fair defogging quality evaluation algorithm to evaluate the effect of image defogging. Image quality is an important metric to compare the performance of defogging algorithms and optimize system parameters. At present, Image Quality Assessment (IQA) methods can be divided into subjective evaluation method and objective evaluation method. In view of the extensive application of Structure Similarity Index Measure (SSIM) and Peak-Signal to Noise Ratio (PSNR) in objective evaluation methods, this paper designed a questionnaire and published it on the Internet to discuss the relationship between SSIM and PSNR and study their relationship with subjective quality evaluation methods. We collected 88 volunteers from all walks of life and invited them to fill out a questionnaire designed by us. In addition, this paper also proposes a new subjective evaluation method. Inspired by the dual-stimulus loss classification method, we design a new scoring mechanism. The results show that SSIM and PSNR have high correlation, and the degree of their linear correlation fusion is different from subjective evaluation method. © 2022 IEEE.

关键词： Image quality

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S2H-GNN: Learning Soft to Hard Feature Matching with Sparsified Graph Neural Network

S2H-GNN: Learning Soft to Hard Feature Matching with Sparsif...

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IEEE International Conference on Real-time Computing and robotics (RCAR)

作者： Tao Xie Ruifeng Li Zhiqiang Jiang Kun Dai Ke Wang Lijun Zhao Shuozhan Li State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Fujian (Quanzhou)-HIT Research Institute of Engineering and Technology Quanzhou China

In this work, we introduce a soft-to-hard network (S2H-GNN) for precise local feature matching between image pairs. The core of S2H-GNN is a weighted context aggregation algorithm that enables nodes to receive information from their neighbors in order to form a more global understanding. S2HGNN leverages a sparsified graph neural network to enhance the features, consisting of the following modules alternately: (1) Inducing Point Initial Module that uses cosine correlation to identify highly scored keypoints as Inducing points. (2) Message Passing Module that integrates the features of original keypoints into those of Inducing points, which are further leveraged to exchange messages through self attention and cross attention. (3) Attention Upsample Module that propagates the feature of Inducing points to that of original keypoints, obtaining discriminative feature representation. Additionally, we propose an assignment layer to obtain a soft assignment matrix, which views feature matching as a graphy matching problem. Finally, we introduce a novel gap loss to guide S2H-GNN in learning a discriminative cognition of matching and non-matching keypoints, ultimately obtaining the hard assignment matrix. Experimental results demonstrate that S2H-GNN achieves comparable or higher performance in image matching and homography estimation tasks.

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