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Feature Space Augmentation and Old Class Space Preservation for Class Incremental Learning

Feature Space Augmentation and Old Class Space Preservation ...

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Chinese Control Conference (CCC)

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

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.

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Motion Capture and Gait Analysis of Ants with Leg Injuries

Motion Capture and Gait Analysis of Ants with Leg Injuries

引用

Chinese Control Conference (CCC)

作者： Ming Zeng Yuanhao Li Chang Meng Shutong Zhong Zhijing Wang Feng Zhao Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System Institute of Robotics and Automation Systems School of Electrical and Information Engineering Tianjin University Tianjin

Many insects in nature, such as ants, recover quickly after sustaining leg injuries. If this capability could be imparted to multi-legged robots, it would drastically enhance their ability to resist destruction and adapt to the environment. In this paper, the Camponotus Japonicus is used as the research object, and its locomotive patterns are studied under different leg-loss conditions. To facilitate this, a high-speed acquisition system, with a dual-view (bottom view and side view) setup, is designed to analyze the ant's linear gaits. Subsequently, the pivotal gait characteristics of the injured ants are extracted by keyframe annotation technology, including the gait phase diagram, duty factor, angle before support, angle before swing, and leg swing range. Lastly, according to the obtained gait characteristics, the general and specific laws of gait adjustment in the absence of one or two legs are systematically analyzed, which provides the basis for parametric settings and strategy optimization of robotic injured gait self-adjustment.

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Analysis of normal force of wheel-sand interaction for planetary rovers with active suspension*

Analysis of normal force of wheel-sand interaction for plane...

引用

IEEE International Conference on robotics and Biomimetics

作者： Zhengyin Wang Huaiguang Yang Liang Ding Qingning Lan Haibo Gao Zdravko Terze Zongquan Deng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Faculty of Mechanical Engineering and Naval Architecture University of Zagreb Zagreb Croatia

The planetary rover with active suspension can climb steeper slopes and cross bigger obstacles in a wheel-step motion mode, which enables the planetary rover to perform more complex exploration tasks. However, wheel-step motion requires coordinated movement of the suspension and the wheels: the suspension can determine the wheel's sinkage depth and translation speed. Matching up with the wheel rotation speed can actively construct the slip ratio. The forces exerted on the wheels by sand during this process are a key index for motion control. This poses new challenges to existing wheel-sand interaction models. In this paper, dynamic normal force tests are carried out. The dynamic variation of wheel normal force with slip ratio is investigated at different sinkage depths. It is found that the normal force exerted on the wheel increases firstly and then decreases with the slip ratio, and reaches the maximum value near s=0. The distributed stresses of the wheel were analysed by discrete element method (DEM) simulation, and the phenomenon of the distribution stress reconstruction of the wheel is found. Further, by analyzing the local particles in contact with the wheel, it is found that the particle movement direction and morphology vary with slip ratio. The analysis of the wheel’s normal force and the granular material variation with slip ratio provides the basis for establishing a physics-based wheel-sand interaction model.

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Enveloping grasp planning of a three-fingered deployable metamorphic robotic grasper

Enveloping grasp planning of a three-fingered deployable met...

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IEEE International Conference on Cyborg and Bionic systems (CBS)

作者： Changqing Gao Yang Zhang Hong Lei Xi Kang Peng Xu Bing Li School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

This paper takes a three-fingered deployable metamorphic robotic grasper as the studied object and presents a novel enveloping grasp planning method, by which the robotic grasper can grasp objects with different sizes and shapes more effectively and stably. Firstly, the mechanism design and key performances of the robotic grasper are briefly introduced. Secondly, the static analysis of the grasping motion process is conducted and the factors affecting static equilibrium are also analyzed, based on which the mathematical model of static equilibrium is established, and the relationship between grasping force and grasping posture is obtained. Then, an optimization model of static enveloping grasp with the grasping angle as the variable is proposed, by which the best grasping posture can be obtained. Thirdly, to prove the effectiveness of the proposed enveloping grasp planning method, a group of grasping simulations is performed and the results show that this method is feasible and reliable.

关键词： Shape Biological system modeling Force Grasping Static analysis Mathematical models Planning

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Design and Experimental Validation of Sealing Assembly for Lunar Regolith Volatile Extraction Heating Furnace

Design and Experimental Validation of Sealing Assembly for L...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Zhang, Hongan Tang, Junyue Wang, Yinchao Lu, Zixiao Wang, Bo Cao, Miaoyan Jiang, Shengyuan Yanshan University Mechanical Engineering Qinhuangdao China Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China Shenyang Aerospace University Mechatronics Institute Shenyang China Chinese Academy of Science National Center for Nanoscience and Technlogy Beijing China China Academy of Space Technology Beijing China

ISBN: (纸本)9798350325706

A lunar regolith in-situ analysis payload deploying a mass spectrometer is proposed to exactly detect the water ice of the South Pole of the moon for China future lunar exploration missions. In order to realize the goal, an airtight heating furnace for volatile extraction from lunar regolith is desired. In this paper, sealing methods for lunar regolith volatile in heating furnace to future proposed in-situ sampling and analysis of lunar samples were investigated based on power requirements, furnace closing accuracy requirements, dust tolerance and operation in the Lunar environment. Methods implemented include a balanced metal hollow ring seal, a double channel ferrule tab ring radial seal and a spring energized seal. Comparing the performance of sealing methods under the above conditions, a spring energized seal is selected as the heating furnace seal. The materials and structure of the seal are designed based on the rigidity requirements, leakage rate requirements and working environment requirements. In order to test the sealing performance of seals after repeated sealing in high and low temperature environments, a seal leak detection system was designed. The test results indicate that the seal can meet the sealing performance requirements after repeated sealing at various temperatures. © 2023 IEEE.

关键词： Dust tolerance Leakage rate Lunar environment Repeated sealing Spring energized seal

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Design and Experiment of A Hybrid Wave Energy Harvester Based on Tapered Rollers

Design and Experiment of A Hybrid Wave Energy Harvester Base...

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Micro and Nanotechnology for Power Generation and Energy Conversion Applications (PowerMEMS)

作者： Yunfei Li Tianyi Tang Yan Fang Manjuan Huang Cheng Hou Huicong Liu Lining Sun State Key Laboratory of Robotics and System Harbin Institute of Technology (HIT) Harbin China School of Mechanical and Electric Engineering Jiangsu Provincial Key Laboratory of Advanced Robotics Soochow University CHINA State Key Laboratory of Robotics and System Harbin Institute of Technology (HIT) China

ISBN: (纸本)9781665493079

This paper presents a hybrid energy harvester based on tapered rollers with an electromagnetic generator (EMG) component and a triboelectric nanogenerator (TENG) component for ultra-low frequency wave energy harvesting. The chaotic pendulum is adjusted to adapt the wave excitation under different sea conditions, ensuring that the device achieves optimal output performance. At excitation frequency of 1Hz and the tilt angle of 60°, the open-circuit voltage peaks of 8.4 and 132 V can be achieved by the EMG and TENG, respectively, corresponding to the power outputs of 4.38 and 0.078 mW, respectively. It was demonstrated that the device can easily light up over 360 red light-emitting diodes.

关键词： Performance evaluation Oceans Voltage Energy conversion Light emitting diodes Electromyography Sensors

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Design and Evaluation of a Bidirectional Ankle Exoskeleton system

Design and Evaluation of a Bidirectional Ankle Exoskeleton S...

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

作者： Yiying Peng Jianyu Chen Liping Wang Jianda Han Juanjuan Zhang Tianjin Key Laboratory of Intelligent Robotics Institute of Robotics and Automatic Information System College of Artificial Intelligence and School of Materials Science and Engineering Smart Sensing Interdisciplinary Science Center Nankai University Tianjin China

Patients with foot-drop are unable to dorsiflexion during the swing phase, resulting in toe dragging and increasing the risk of falling. Ankle-foot-orthoses (AFOs) can reduce foot-drop of patients but limit their ankle plantarflexion. Assistive exoskeletons have a significant improvement on walking economy and the assistance can enhance human mobility. Here, we developed a bidirectional ankle exoskeleton to provide passive dorsiflexion assistance during the swing phase and active plantarflexion assistance during the stance phase. The performance of our exoskeleton was tested based on experiments of one healthy subject. We changed the front passive assistive materials and evaluated the kinematics and biological efforts of the subject with different assistive conditions. Results showed that the maximum ankle dorsiflexion angles were increased during the swing phase and ankle joint torques were reduced under assistance. The root mean square (RMS) of the soleus and tibialis anterior muscle activities were decreased by 21.8% and 17.9% under the assistance of elastic ropes condition. Our design expected to provide assistance for individuals with impaired dorsiflexion and plantarflexor muscle strength, which can enhance their locomotion ability.

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Modeling and planar trajectory tracking control of an MJ-AUV

Modeling and planar trajectory tracking control of an MJ-AUV

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第42届中国控制会议

作者： Zakarya Omar Ke-Xian Liu Chao Ren Qing-Hao Meng Institute of Robotics and Autonomous Systems Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and SystemSchool of Electrical and Information EngineeringTianjin University Faculty of Engineering Sana'a University

A Multi-Joint Autonomous Underwater Vehicle(MJ-AUV) is designed and equipped with multiple movable segments or joints that allow for greater maneuverability and flexibility in the *** joints allow the MJ-AUV to change its shape,orientation,and direction of movement,so it can access tight spaces or navigate in complex underwater environments,making it useful for a variety of tasks in the deep sea,such as surveillance,exploration,and ***,the multiple joint structure of the MJ-AUV complicates the dynamics of the ***,the joints' rotation causes misalignment of the cabins,causing deviations in the desired forces and *** address these issues,this study focuses on the 2-dimensional(2 D) modeling as well as the trajectory tracking controller of the *** this setting,the proposed controller utilizes a hierarchically structured robust nonlinear back-stepping and sliding-mode ***,this controller is simulated under various uncertainties and disturbances and the results show that it presents a global finite-time convergence to a bounded neighborhood of the origin for both position and velocity tracking errors,demonstrating its effectiveness and robustness.

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High-Speed Trajectory Tracking Control for Quadrotors via Deep Reinforcement Learning

High-Speed Trajectory Tracking Control for Quadrotors via De...

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

作者： Hean Hua Hang Zhong Hui Zhang Yongchun Fang Yaonan Wang College of Electrical and Information Engineering Hunan University Changsha China National Engineering Research Center for Robot Visual Perception and Control Technology Changsha China School of Robotics Hunan University Changsha China Institute of Robotics and Automatic Information System College of Artificial Intelligence Nankai University Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin China

ISBN: (数字)9798350379228

ISBN: (纸本)9798350390780

This paper presents a learning-based high-speed trajectory tracking control strategy for quadrotors, which achieves efficient learning and strong reliability by the collaboration of deep reinforcement learning (RL) and self-tuning mechanism. Different from existing methods, the proposed strategy is designed to explore optimal control performance by taking advantage of model-based self-tuning mechanism and deep reinforcement learning. Specifically, the self-tuning guided deep RL scheme is put forward for quadrotors, with superior learning efficiency and strong adaptability. Firstly, a novel self-tuning mechanism is constructed and some auxiliary variables are introduced to enhance the tracking performance. Then, based on the model-driven self-tuning design, the deep RL is proposed to achieve model-guided learning, where the tuning actions are adopted in the evaluation process during training, aiming at removing the bad explorations by the carefully designed parallel evaluation. Finally, the convergence is analyzed based on the proposed learning framework, which indicates the efficient cooperation of exploration and self-tuning mechanism. To verify the effectiveness of the proposed controller, the guided training and hardware experiments are implemented to show efficient cooperation and satisfactory high-speed trajectory tracking control of the proposed method.

关键词： Training Adaptation models Trajectory tracking Heuristic algorithms Optimal control Deep reinforcement learning Hardware

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An Efficient Planner for Dual-Arm Massage Robots in Constrained State

An Efficient Planner for Dual-Arm Massage Robots in Constrai...

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IEEE International Conference on robotics and Biomimetics

作者： Yuan Xu Wenxiao Wang Lechuan Zhou Weichao Guo Xinjun Sheng State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai China Meta Robotics Institute Shanghai Jiao Tong University Shanghai China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

Dual-arm massage robots necessitate reaching the massage pose along an optimal collision-free path in constrained state, where traditional path planning methods often exhibit inefficiency. This paper proposes a sampling-based planning algorithm that integrates lazy evaluation, transition testing, and bidirectional Rapidly-exploring Random Tree to reduce computational load, enhance planning efficiency, and improve the planner's ability to effectively explore the state space, avoid local minima, and converge to high-quality solutions. Comparative experiments conducted on a simulation platform across multiple algorithms have demonstrated the efficacy of the proposed planner, achieving a 95 % planning success rate within 1 second. The paths generated by the algorithm exhibit superior quality and enhanced consistency. In summary, the proposed algorithm is capable of producing asymptotically optimal, collision-free paths for a dual-arm massage robot.

关键词： Hands Simulated annealing Path planning Skin Planning Space exploration Computational efficiency Collision avoidance Optimization Testing

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