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IEEE International Conference on robotics and Biomimetics

作者： Kun Li Jihua Li Lei Li Shuai Ji Xianju Meng Yili Fu School of Mechanical and Electronic Engineering Shandong Jianzhu University Jinan China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

In order to meet design requirements in minimally invasive surgery (MIS), it is necessary to conduct basic operations in the narrow working space. Taking a grasper for example, a 4DOF MIS instrument driven by servo motors and transmitted by cables is designed. The design of the end of surgical instrument driven by cables is suitable for long-distance transmission, which improves dexterity of the surgical instrument working in narrow space. The mechanism principle including the wrist, graspers and shaft rolling are described. Kinematic coupling between the wrist and grasper are analyzed. Prototype of the surgical instrument is presented. This instrument prototype can be applied in most MIS operations.

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Stairs reconstruction with 3D point cloud for gait generation of lower limb exoskeleton robot

Stairs reconstruction with 3D point cloud for gait generatio...

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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Feng, Yachun Xia, Linqing He, Yong Wang, Can Yan, Zefeng Wu, Xinyu Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology China CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced Technology China Department of Mechanical and Automation Engineering Chinese University of Hong Kong Hong Kong

ISBN: (纸本)9781728163215

With the aging of the population, a considerable number of elderly persons suffer from walking disability. Lower limb exoskeleton robots have been proved to be effective in rehabilitation training and walking assistance. Though significant advancement has been made in the last decade, lacking the ability of adapting to complex terrain is one of the main challenges that restrict the wide application of exoskeleton robots. Thus we focus on the environmental perception and corresponding gait pattern generation of lower limb assistant exoskeleton. In this paper, we introduce a method to generate gait of exoskeleton walking on a stair, which applies the L-0 minimization-based acquisition and reconstruction of stairs information through 3D Point Cloud. The results of experiments show that our method can precisely measure the physical dimension information of stairs. © 2019 IEEE.

关键词： Stairs

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Optimal Reaction Control for the Flexible Base Redundant Manipulator system*

Optimal Reaction Control for the Flexible Base Redundant Man...

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IEEE International Conference on robotics and Biomimetics

作者： Yaowen Zhang Yechao Liu Zongwu Xie Mehrdad Moallem State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China School of Mechatronic Systems Engineering Simon Fraser University Vancouver Canada

The null space of the Jacobian for the redundant manipulators can be utilized to reach dual control goals and optimal effects. For the flexible base redundant manipulator system, the reaction force from the motion of the manipulator should be carefully handled while the end effector is tracking a desired trajectory. Different optimal goals are discussed, including the minimization of base deflection force/torque and base energy dissipation path. Considering the base reaction dynamic, the reaction force/torque is treated as the input of the base and the deflection energy is treated as the output, an integrated optimal goal is built and solved based on the LQR control to get an optimal feedback for the closed-loop dynamics. We discuss the different optimal goals and implement trough the redefined acceleration. We test the different control laws on the three- link manipulators which mounted on a three-DoF flexible base. Simulation results demonstrate that optimal goal in LQR form can be advantageous in terms of flexible base manipulator.

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A deep multi-view learning method for rice grading

A deep multi-view learning method for rice grading

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2019 IEEE International Conference on Real-Time Computing and robotics, RCAR 2019

作者： Chen, Yuqi Wu, Yiqiang Cheng, Jun Tao, Dapeng FIST LAB School of Information Science and Engineering Yunnan University Kunming Yunnan650091 China Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China Chinese University of Hong Kong Hong Kong999077 Hong Kong

ISBN: (纸本)9781728137261

- Rice grading has achieved raising attention in recent years for its importance in food security, whereas progress is limited. The difficulty in this topic says that the rice kernels are crowed in the visual field of, say a camera, which makes the detection of a single kernel hard. In this paper, we are based on a newly designed rice streaming system and propose a novel rice grading model. The streaming system snapshots a kernel from three different visual directions, producing three images of a single kernel. The FIST-Model analyses these images by employing a multi-view learning method which minimizes the information loss and generates an intact representation of the rice kernel. Such a representation remains strong discriminability and is effective to determine the grading level of the rice. Finally, we evaluate the performance of the proposed FIST-Model on the FIST-Rice dataset by setting a series of experiments based on different deep learning models. The result indicates that the FIST-Model has a superior performance over previous rice grading model. © 2018 IEEE.

关键词： Grading

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A Legged Device Based on Active Buffering for Probe Landing on Micro-gravitational Asteroid*

A Legged Device Based on Active Buffering for Probe Landing ...

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IEEE International Conference on robotics and Biomimetics

作者： Canhui Yin Yilin Shen Xiaolin Zhang Fan Guo Qiquan Quan Dewei Tang Zongquan Deng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China Beijing Institute of Spacecraft System Engineering Beijing China China Academy of space technology Beijing China

The landing of the probe on the asteroid surface provides the technical basis for in-situ exploration and sampling return and promotes to maximize the value of the probe. The micro-gravitation and the uncertainty in topography and geology on the asteroid surface pose challenges to the landing of the probe. To develop the asteroid landing technology, the legged landing device of asteroid probe based on active buffering mode is studied in this paper. The landing device adopts a three-legged structure to possess higher adaptability to the surface topography of asteroids and get the light and simple configuration. Besides, a buffering unit is designed based on the active mode of the damping motor which has obvious advantages in self-adaptability and autonomy. Through the comparison of various schemes, the slider-legged landing device is determined and designed in detail. On this basis, the co-simulation of the probe landing on the asteroid surface is completed, which shows the satisfaction of this device to reliability and efficiency. Finally, a prototype of the landing device is constructed and the micro-gravitational simulated test platform is developed to implement the landing buffering test of asteroid probe. The test results validate the performance of the landing device.

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Development of an assist upper limb exoskeleton for manual handling task

Development of an assist upper limb exoskeleton for manual h...

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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Yan, Zefeng Yi, Haoyuan Du, Zihao Huang, Tiantian Han, Bin Zhang, Lufeng Peng, Ansi Wu, Xinyu State Key Laboratory of Digital Manufacturing Equipment and Technology School of Mechanical Science and Engineering Huazhong University of Science and Technology China CAS Key Laboratory of Human-Manchine-Intelligence Synergic Systems Shenzhen Institutes of Advanced Technology Chinese Academy of Science Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences China

ISBN: (纸本)9781728163215

In this paper we describe the construction of a wearable upper arm exoskeleton to provide support for industrial workers who engaged in repetitive handling tasks and patients who full or partial loss of function in their upper limb due to accident injuries, spinal cord and strokes. We use flexible rope driven by a motor to realize the shoulder and elbow joints linkage, use ball screw to realize the self-locking in any position to providing assist for users. This novel design not only saves energy but also make the whole system portable. The total weight of the prototype is only 2 kg. The exoskeleton is connected upper limb with 3 bandages, and users take about 30 seconds to put it on and 20 seconds to put the exoskeleton off without any help. The PD adaptive control method is applied to the proposed exoskeleton to track expected trajectories. Five healthy people participated in data acquisition. Upper limb muscle integrated electromyography (IEMG) of the deltoid muscle(DM), the biceps femoris muscle (BFW), the femoral muscle (FM), the femoral wrist flexor (FWF) were compared in continuous handling for four different loads (0, 1.5, 3, 4.5kg). The average assistance efficiency were 39.1%, 41.5%, 36.5% and 40.6% for the DM, BFM, FM and FWF respectively. The experimental data show that the upper limb exoskeleton can provide assist for workers and protect their upper limbs injuries in long-term handling task. © 2019 IEEE.

关键词： Muscle

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Multi-class classification method for strip steel surface defects based on support vector machine with adjustable hyper-sphere

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Journal of Iron and Steel Research International 2018年第7期25卷 706-716页

作者： Mao-xiang Chu Xiao-ping Liu Rong-fen Gong Jie Zhao School of Electronic and Information Engineering University of Science and Technology Liaoning Anshan 114051 Liaoning China Department of Electrical Engineering Lakehead University Thunder Bay P7B 5E1 ON Canada State Key Laboratory of Robotics and System (HIT) Harbin 150001 Heilongjiang China

Focusing on strip steel surface defects classification, a novel support vector machine with adjustable hyper-sphere （AHSVM） is formulated. Meanwhile, a new multi-class classification method is proposed. Originated from support vector data description, AHSVM adopts hyper-sphere to solve classification problem. AHSVM can obey two principles： the margin maximization and inner-class dispersion minimization. Moreover, the hyper-sphere of AHSVM is adjustable, which makes the final classification hyper-sphere optimal for training dataset. On the other hand, AHSVM is combined with binary tree to solve multi-class classification for steel surface defects. A scheme of samples pruning in mapped feature space is provided, which can reduce the number of training samples under the premise of classification accuracy, resulting in the improvements of classification speed. Finally, some testing experiments are done for eight types of strip steel surface defects. Experimental results show that multi-class AHSVM classifier exhibits satisfactory results in classification accuracy and efficiency.

关键词： Strip steel surface defect Multi-class classification Supporting vector machine Adjustable hyper-sphere

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Multi-Objective Optimization of Less-Rare-Earth Interior Permanent Magnet Synchronous Machines Used for Electric Vehicles

Multi-Objective Optimization of Less-Rare-Earth Interior Per...

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International Conference on Electrical Machines and systems (ICEMS)

作者： Weinan Wang Mingqiao Wang Jiaxu Guo Yong Liu Ping Zheng Zhenxing Fu School of Electrical Engineering & Automation Harbin Institute of Technology Harbin China School of Electrical Engineering & Automation State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781728133997

The less-rare-earth interior permanent-magnet synchronous machines (LRE-IPMSM), which have the advantages of high electromagnetic performance and low cost, draw more and more attention nowadays in the field of the electric vehicles. The requirements of the machines used for electric vehicles include high torque and high efficiency. Hence, the multi-objective optimization is crucial to LRE-IPMSM. In this paper, firstly, the effects of the permanent magnet (PM) thickness and width on the torque and efficiency are studied. Then, the PM widths are selected as the optimization variables based on the performance analysis. Lastly, the optimized design is obtained by the multi-objective optimization analysis.

关键词： Torque Optimization Electric vehicles Permanent magnet machines Synchronous machines

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Local Pose optimization with an Attention-based Neural Network

Local Pose optimization with an Attention-based Neural Netwo...

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2019 IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Yiling Liu Hesheng Wang Fan Xu Yong Wang Weidong Chen Qirong Tang Department of Automation Shanghai Jiao Tong University Shanghai China State Key Laboratory of Robotics and System (HIT) Beijing Institute of Control Engineering Tongii University

In this paper, we propose a novel pose optimizer which can be inserted into either supervised or unsupervised end-to-end visual odometry for the purpose of local pose optimization. The pose optimizer is an analogue of the pose graph optimization used in traditional VSLAM algorithms. Local pose optimization is performed by an attention-based neural network which iteratively refines the predicted pose estimates of an image snippet. Instead of complicated graph convolutional network, the attention mechanism based on geometric consistency of trajectory constraint is utilized because pose features whose spatial distribution is not important can be flattened to vectors and then processed. The pose optimizer is aimed at improving pose estimation accuracy by redistributing errors of pose estimates. Quantitative and qualitative evaluation of the proposed approach on the KITTI Odometry dataset [1] is presented to demonstrate its effectiveness in improving pose estimation accuracy and minimizing pose drift.

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A Local Dynamic Path Planning Approach for WMRs Based on Fuzzy Dual CHOMP

A Local Dynamic Path Planning Approach for WMRs Based on Fuz...

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IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent systems

作者： Zhi Li Liang Ding Bo You Haibo Gao Mechanical & Power Engineering College Harbin University of Science and Technology Harbin China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (数字)9781728107707

ISBN: (纸本)9781728107714

Wheeled mobile robots (WMRs) are widely utilized in exploration tasks on different planets. The path planning technique is required to guide a WMR to a target point or region. A new path planning method in a dynamic environment is proposed. The method improves the original dual Covariant Hamiltonian Optimization for Motion Planning (CHOMP) method by a fuzzy reasoning module and Nonmonotone Gradient Projection Algorithm (NGPA). Thus, this method can achieve low cost paths while maintaining the accessibility of each path nodes. The method to establish local dynamic cost map based on a new velocity-based artificial potential field (VAPF) is proposed as the environment for path planning. Thus, the low cost paths can guide a WMR away from obstacles. Results of the simulations show that the path planning method can dynamically generate a smooth path for a WMR to avoid obstacles.

关键词： Path planning Fuzzy reasoning Task analysis Mobile robots Cost function Planets

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