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IEEE International Conference on robotics and Automation (ICRA)

作者： Jian Wen Xuebo Zhang Qingchen Bi Zhangchao Pan Yanghe Feng Jing Yuan Yongchun Fang Institute of Robotics and Automatic Information System College of Artificial Intelligence Nankai University Tianjin China Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin China School of Marine Science and Technology Northwestern Polytechnical University Xi’an China Faculty of Robot Science and Engineering Northeastern University Shenyang China College of Systems Engineering National University of Defense Technology Changsha China

Local planning is one of the key technologies for mobile robots to achieve full autonomy and has been widely investigated. To evaluate mobile robot local planning approaches in a unified and comprehensive way, a mobile robot local planning benchmark called MRPB 1.0 is newly proposed in this paper. The benchmark facilitates both motion planning researchers who want to compare the performance of a new local planner relative to many other state-of-the-art approaches as well as end users in the mobile robotics industry who want to select a local planner that performs best on some problems of interest. We elaborately design various simulation scenarios to challenge the applicability of local planners, including large-scale, partially unknown, and dynamic complex environments. Furthermore, three types of principled evaluation metrics are carefully designed to quantitatively evaluate the performance of local planners, wherein the safety, efficiency, and smoothness of motions are comprehensively considered. We present the application of the proposed benchmark in two popular open-source local planners to show the practicality of the benchmark. In addition, some insights and guidelines about the design and selection of local planners are also provided. The benchmark website [1] contains all data of the designed simulation scenarios, detailed descriptions of these scenarios, and example code.

关键词： Measurement Industries Service robots Dynamics Benchmark testing Planning Safety

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A disordered composite metamaterial beam optimized using NSGA-Ⅱ:a structure with an adjustable hybrid bandgap

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European Journal of Mechanics - A/Solids 2025年 114卷

作者： Wentao Wu Xiaobiao Shan Chenghui Sun Guangdong Sui Tianci Jiang Huan Zhang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China Institute of Ultra-precision Optoelectronic Instrument Engineering Harbin Institute of Technology Science Park No.2 Yikuang Street Nangang District Harbin 150080 China

To address the limitations of conventional periodic metamaterials in regulation and optimization, this study introduces a novel staggered supercell beam configuration designed to enhance low-frequency vibration isolation. The proposed supercell beam is composed of single cells with varying staggered degrees and inductances. Initially, the transmission matrix method was employed to model both symmetrical and staggered structures, enabling the determination of their attenuation constant and transmission coefficient. Subsequently, the Non-dominated Sorting Genetic Algorithm II (NSGA-II) was implemented for multi-objective optimization to identify Pareto frontiers. Theoretical analysis demonstrated that the staggered beam exhibits a lower attenuation constant than its symmetrical counterpart and, critically, introduces a new coupling bandgap at low frequencies. Experimental transmission coefficient measurements confirmed that the optimized staggered beam achieves superior low-frequency vibration isolation performance compared to the symmetrical beam. This improvement is attributed to the successful application of NSGA-II, which effectively balances bandgap width and attenuation constant—a challenge previously unresolved in the field, as evidenced by studies that have explored the maximum limits of attenuation constants and the influence of parameters such as resistance, piezoelectric sheet thickness, and lattice constant length on bandgap characteristics. The findings of this study demonstrate that the proposed disordered staggered supercell beam configuration, optimized with NSGA-II, achieves superior bandgap attenuation, offering significant potential for advancements in low-frequency vibration isolation research.

关键词： Metamaterials

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Study on stiffness and shape deformation of a hyper-redundant robot for robotic interventions

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Journal of Institute of Control, robotics and systems 2020年第11期26卷 999-1006页

作者： Kim, Kiyoung Woo, Hyunsoo Cho, Jang Ho Shin, Minki Suh, Jungwook Laboratory of Medical Assistant Robotics Korea Institute of Machinery and Materials South Korea Department of Robot and Smart System Engineering Kyungpook National University Korea Republic of

Continuum manipulators or hyper-redundant manipulators are commonly used for steerable endoscopes and robotic catheters. Hyper-redundant manipulators are composed of many rigid links and joints, which can be actuated by embedded motors or by transmission components such as tendons and spring sheaths. This article describes a mathematical model of a hyper-redundant manipulator with rolling contact joints. The position and orientation of each discrete link of the hyper-redundant manipulator is calculated using a transformation matrix, and the moment equations of the joints are solved by numerical analysis. The shape deformation of the manipulator under a lateral force is calculated and the theoretical stiffness on the lateral force is determined. We compare the stiffness obtained by experiments with theoretical values. The lateral deformation has an error of up to 7.1 mm, and the lateral stiffness is within an error range of 9%. Stiffness analysis of the hyper-redundant manipulator is expected to predict the motion of the manipulator during robotic interventions. © ICROS 2020.

关键词： Catheters

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A moving target detection and localization strategy based on optical flow and pin-hole imaging methods using monocular vision

A moving target detection and localization strategy based on...

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

作者： Wang, Shun Guo, Qingqiang Xu, Sheng Su, Dan School of Control Science and Engineering Shandong University Shandong Jinan250061 China Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institute of Advanced Technology Shenzhen518055 China Shandong Institute of Advanced Technology Chinese Academy of Sciences Shandong Jinan250102 China Orbbec Inc. Shenzhen518057 China

ISBN: (纸本)9781665436786

This paper proposes a new strategy for moving target detection and localization based on monocular vision. Firstly, to detect a moving target with large displacement and high speed accurately, two consecutive video images captured by a monocular camera are preprocessed using the enhancement and denoising methods. Then, the optical flow representing motion information is calculated iteratively by the modified Lucas-Kanade optical flow method. Secondly, a new interest region extraction method is developed to overcome the negative impacts caused by the noises in the background. Specifically, this proposed method combines a two-level image segmentation strategy from coarse to fine, including median filtering, two-direction dynamic threshold segmentation, the Otsu method, and morphological processing. Thirdly, a low computational cost target localization algorithm is proposed based on pin-hole imaging theory. Besides, it only uses two-dimensional image and camera parameters to obtain the moving target's position in the three-dimensional space. Finally, experimental results show that the proposed strategy can effectively eliminate noise interferences and realize moving target detection, extraction, and localization. © 2021 IEEE.

关键词： Image segmentation

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Active Virtual Mass Micro-Vibration Isolation Control Method based on Two-Parameter Acceleration Feedback

Active Virtual Mass Micro-Vibration Isolation Control Method...

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International Conference on Electronic Measurement and Instruments, ICEMI

作者： Jing Wang Lei Wang Junzhong Li Yuanyuan Yang Yujian Bian Bin Zhou School of instrumentation science and engineering Harbin Institute of Technology Harbin China Shenzhen Key Laboratory of Minimally Invasive Surgical Robotics and System Chinese Academy of Sciences Shenzhen China Heilongjiang Research Institute of Territory's Spatial Planning Harbin China

ISBN: (纸本)9781665444927

External interference is an important factor affecting the accuracy and stability of precision equipment. An active micro-vibration isolation control method is proposed and used in active vibration control to suppress external interference in this paper. This method is based on two-parameter acceleration feedback, which splits the acceleration feedback gain into two parameters, one on the front path and one on the feedback path. Compared with the traditional acceleration feedback, the proposed method not only increases the virtual mass of the system to reduce the natural frequency, but also suppresses the excessive motor output in the vibration isolation system simultaneously. Simulation results proved the effectiveness of the proposed two-parameter acceleration feedback control method in preventing excessive motor output, and experimental results confirm its capacity to reduce the natural frequency of the system.

关键词： Vibrations Simulation Instruments Interference Vibration control Stability analysis Feedback control

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An Efficient Ant Colony system for Multi-Robot Task Allocation with Large-scale Cooperative Tasks and Precedence Constraints

An Efficient Ant Colony System for Multi-Robot Task Allocati...

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IEEE Symposium Series on Computational Intelligence (SSCI)

作者： Xiao-Fang Liu Bo-Cheng Lin Zhi-Hui Zhan Sang-Woon Jeon Jun Zhang Institute of Robotics and Automatic Information System College of Artificial Intelligence Nankai University Tianjin China Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin China School of Computer Science and Engineering South China University of Technology Guangzhou China Hanyang University Ansan South Korea Chaoyang University of Technology Taichung Taiwan China

ISBN: (纸本)9781728190495

Multiple heterogeneous robots can work together to execute complex tasks. Given multiple heterogeneous tasks and heterogeneous robots, the allocation of tasks to robots is a challenging optimization problem. Lots of methods have been proposed for the multi-robot task allocation (MRTA) problem. However, most existing methods only consider small-scale tasks without precedence constraints. Hence, this paper tracks the time-extended MRTA problem with large-scale cooperative tasks and precedence constraints, and proposes an efficient ant colony system (ACS) to solve the problem. In the proposed algorithm, we adopt a permutation with task-robot alliance pairs as the encode scheme to represent a feasible solution. A pheromone matrix is initialized by a hierarchical greedy strategy and iteratively updated to record historical experience. Heuristic information related to the optimization objective is also designed to help algorithm find better solutions according to the current state. Through combining pheromone and heuristic information, the ACS is able to search high-quality solutions from a global perspective. Experimental results on multiple problem instances are reported to show the advantage of the proposed method. The proposed ACS method can well solve the MRTA problem with large-scale cooperative tasks and precedence constraints.

关键词： Processor scheduling Heuristic algorithms Resource management Task analysis Robots Optimization Computational intelligence

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The energy-saving advantages of burst-and-glide mode for thunniform swimming

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Journal of Hydrodynamics 2018年第6期30卷 1072-1082页

作者： Dan Xia Wei-shan Chen Jun-kao Liu Xiang Luo School of Mechanical Engineering Southeast University State Key Laboratory of Robotics and System Harbin Institute of Technology

This paper explores the energy-saving advantages of the burst-and-glide swimming and compares it with the normal self-swimming for a thunniform swimmer. The virtual swimmer allows us to perform controlled numerical experiments by varying the swinging tail number and the duty cycle while keeping the other parameters fixed. 3-D Navier-Stokes equations are used to compute the viscous flow over the swimmer. The user-defined functions and the dynamic mesh technology are used to simulate the burst-and-glide swimming. The results show that with the increase of the swinging tail number or the duty cycle, the swimming velocity, the power and the efficiency all increase, but the velocity-power ratio decreases somewhat. Therefore, choosing smaller swinging tail number and duty cycle is beneficial in reducing the power and increasing the velocity-power ratio, and thus to obtain the same velocity, less power is consumed. And to swim the same distance, the energy can significantly be saved. The power consumption, the efficiency and the velocity-power ratio in the burst-and-glide case are 43.9%, 40.6% and 1.15 times of those in the normal swimming case, respectively. The flow structures clearly show the evolution process around the fish in the burst-and-glide swimming. The findings can be used to reasonably plan the swimming action and to take the advantage of the external flow field energy for the fishlike robot, to be more efficient and energy-saving.

关键词： Energy-saving advantages burst-and-glide mode normal self-swimming thunniform swimmer

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Group-wise inhibition based feature regularization for robust classification

arXiv

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arXiv 2021年

作者： Liu, Haozhe Wu, Haoqian Xie, Weicheng Liu, Feng Shen, Linlin 1Computer Vision Institute College of Computer Science and Software Engineering 2SZU Branch Shenzhen Institute of Artificial Intelligence and Robotics for Society 3National Engineering Laboratory for Big Data System Computing Technology 4Guangdong Key Laboratory of Intelligent Information Processing Shenzhen University Shenzhen 518060 China

The convolutional neural network (CNN) is vulnerable to degraded images with even very small variations (e.g. corrupted and adversarial samples). One of the possible reasons is that CNN pays more attention to the most discriminative regions, but ignores the auxiliary features when learning, leading to the lack of feature diversity for final judgment. In our method, we propose to dynamically suppress significant activation values of CNN by group-wise inhibition, but not fixedly or randomly handle them when training. The feature maps with different activation distribution are then processed separately to take the feature independence into account. CNN is finally guided to learn richer discriminative features hierarchically for robust classification according to the proposed regularization. Our method is comprehensively evaluated under multiple settings, including classification against corruptions, adversarial attacks and low data regime. Extensive experimental results show that the proposed method can achieve significant improvements in terms of both robustness and generalization performances, when compared with the state-of-the-art methods. Code is available at https://***/LinusWu/TENET_Training. Copyright © 2021, The Authors. All rights reserved.

关键词： Convolutional neural networks

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Structural Optimization of Photoacoustic Transducer with Pdms/Csnps Nanocomposite for Laser-Induced Nonlinear Surface Wave and its Application in Fatigue Crack Detection

SSRN

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SSRN 2023年

作者： Yao, Zhijun Li, Yehai Lv, Gaolong Chen, Dan Yang, Jian Guo, Shifeng Shenzhen Key Laboratory of Smart Sensing and Intelligent Systems Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China University of Chinese Academy of Sciences Beijing100049 China Institute of Intelligent Manufacturing Technology Shenzhen Polytechnic Shenzhen518055 China Department of Mechanical Materials and Manufacturing Engineering University of Nottingham Ningbo China Ningbo315100 China

Laser ultrasonics is a promising non-contact inspection technique but faces the challenges of low signal-to-noise ratio and low amplitude under the non-destructive thermoelastic regime. In this paper, an ultrasonic surface wave modulation method based on laser ultrasonics and photoacoustic transducer (PAT) is proposed and combined with nonlinear wave mixing technique to achieve non-contact detection of fatigue crack. The PAT comprised of candle soot nanoparticles and polydimethylsiloxane (PDMS) as well as a line-arrayed laser source modulated by a slit mask are firstly introduced to generate narrowband surface wave with high intensity and SNR under the thermoelastic regime. The thicknesses of the PDMS layers of PAT are thereafter optimized by analytical, numerical and experimental investigations to acquire narrowband surface wave with pure fundamental frequency component. Two modulated ultrasonic surface waves with frequencies of 2.1 MHz and 2.9 MHz are excited on a fatigued aluminum plate to generate nonlinear mixed components, and the ultrasonic responses over the fatigue crack regions are acquired by using a scanning laser Doppler vibrometer. The localization of fatigue crack with microscale is eventually acquired by mapping the nonlinear parameter of the mixed components, which proves it a reliable and nondestructive technique to inspect the fatigue crack. © 2023, The Authors. All rights reserved.

关键词： Transducers

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FreeDriveRF: Monocular RGB Dynamic NeRF without Poses for Autonomous Driving via Point-Level Dynamic-Static Decoupling

arXiv

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arXiv 2025年

作者： Wen, Yue Song, Liang Liu, Yijia Zhu, Siting Miao, Yanzi Han, Lijun Wang, Hesheng Department of Automation Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai200240 China Dimanshen Technology Co. Ltd. China Engineering Research Center of Intelligent Control for Underground Space Ministry of Education School of Information and Control Engineering Advanced Robotics Research Center China University of Mining and Technology Xuzhou221116 China

Dynamic scene reconstruction for autonomous driving enables vehicles to perceive and interpret complex scene changes more precisely. Dynamic Neural Radiance Fields (NeRFs) have recently shown promising capability in scene modeling. However, many existing methods rely heavily on accurate poses inputs and multi-sensor data, leading to increased system complexity. To address this, we propose FreeDriveRF, which reconstructs dynamic driving scenes using only sequential RGB images without requiring poses inputs. We innovatively decouple dynamic and static parts at the early sampling level using semantic supervision, mitigating image blurring and artifacts. To overcome the challenges posed by object motion and occlusion in monocular camera, we introduce a warped ray-guided dynamic object rendering consistency loss, utilizing optical flow to better constrain the dynamic modeling process. Additionally, we incorporate estimated dynamic flow to constrain the pose optimization process, improving the stability and accuracy of unbounded scene reconstruction. Extensive experiments conducted on the KITTI and Waymo datasets demonstrate the superior performance of our method in dynamic scene modeling for autonomous driving. Our implementation will be available at https://***/IRMVLab/FreeDriveRF. Copyright © 2025, The Authors. All rights reserved.

关键词： Optical flows

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