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IEEE International Conference on robotics and Biomimetics

作者： Pengfei Lu Kun Xu Xilun Ding Shuiqing Jiang Zixin Tang Yaobing Wang Robotics Institute of School of Mechanical Engineering and Automation Beihang University Beijing China Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System Engineering Beijing China

A novel spherical robot named flying-crawling spherical robot is designed in this paper. It can fly or roll on ground with its single rotor and eight tail fins. When its limbs stretch out it can crawl on the supporting surface. Besides, with its limbs the robot can realize carrying objects, landing on uneven ground and walking on the supporting surface. Dynamic model of the robot in flight mode is established and the motion characteristics are analyzed. A PID control system is designed to enable the robot to achieve stable flight. Trot gait planning of the robot is given and a PID controller is designed for tail fins assistant in crawling mode. Corresponding simulations are carried out and the simulation results verify the proposed methods.

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A Colony Picking Control system Based on Machine Vision

A Colony Picking Control System Based on Machine Vision

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作者： Lu CHEN Guo-gang SUN Hai-tao FANG Kai HE Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences China University of Petroleum Shenzhen Key Laboratory of Minimally Invasive Surgical Robotics and System Shenzhen Key Laboratory of Precision Engineering The Chinese University of Hong Kong

With rapid growth of the number of genomic sequences,researchers are faced with the task of managing huge clone libraries.A single experiment may involve classifying tens of thousands of bacterial,yeast or phage ***,repetitive manual operation is followed by a lower efficiency and accuracy of colony picking and inoculating,leading to the fail in high *** order to improve the efficiency and accuracy of colony picking process,this paper introduces a prototype,which picks colonies *** analysis of colony picking process,we develop a colony picking control system based on industrial computer and CCD *** that,we put forward the design of hardware and software of ***,picking and inoculating colonies,as well as cleaning and heating needles come true.

关键词： Colony picking Machine vision Control system

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Haptic and visual enhance-based motor imagery BCI for rehabilitation lower-limb exoskeleton

Haptic and visual enhance-based motor imagery BCI for rehabi...

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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Duan, Shengcai Wang, Can Li, Mengyao Long, Xingguo Wu, Xinyu Feng, Wei Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Shenzhen518055 China CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced Technology China University of Chinese Academy of Sciences China Department of Mechanical and Automation Engineering Chinese University of Hong Kong Hong Kong

ISBN: (纸本)9781728163215

The motor imagery (MI) based on electroencephalogram (EEG) via non-invasive Brain Computer Interface (BCI) is a promising interactive method to provide effective communication between the disabled and rehabilitation robotic device. Interactive efficiency of MI-based BCI largely relies on the performance of subject's motor imagery. In this work, we proposed a simple and effective paradigm based on visual and haptic modalities for a high-quality initialized and calibrated MI-BCI model. Five healthy male subjects participated in motor imagery experiments with two paradigms. The proposed paradigm utilized mixed cues based on the visual and haptic modalities where the haptic cues were provided by the mini vibration motors, and a traditional paradigm utilized the ordinary arrow visual cues. The analysis of the topographic maps was conducted to illustrate the differences of the EEG in both paradigms. The average classification accuracy of motor imagery in the proposed paradigm improved about 14% compared to the traditional paradigm. Furthermore, a subject completed the qualitative verification experiment of the trained model on a rehabilitation lower-limb exoskeleton which proved the feasibility of the proposed paradigm. © 2019 IEEE.

关键词： Brain computer interface

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Approach for imitation of manned lunar rover acceleration using a prototype vehicle with imitation handling ratio on the earth

Approach for imitation of manned lunar rover acceleration us...

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作者： Liang, Zhongchao Chen, Jie Wang, Yongfu Ding, Liang Gao, Haibo Deng, Zongquan School of Mechanical Engineering and Automation Northeastern University Shenyang110819 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China

The lunar surface is a complicated and unknown terrain, and hence, astronauts must be trained to travel on that surface by using a prototype vehicle on the Earth's terrain. However, the gravity of the Earth is six times that of the Moon;thus, the acceleration of a prototype vehicle on the Earth will differ from that of a manned lunar rover on the Moon, when the same acceleration handling input is provided. To obtain the same acceleration in the prototype vehicle on the Earth as that obtained on the Moon, an imitation handling ratio describing the relationship between the acceleration handling input and the wheel rolling speed is proposed in order to replicate the lunar gravitational conditions on the Earth. First, a whole-vehicle acceleration model was established based on the mechanical model of a deformable wheel with a mesh surface. Thereby an acceleration imitation algorithm was derived. A prototype vehicle for use on the Earth is proposed for the purpose of imitating the manned lunar rover under four different vehicle conditions. Fitted functions were used in order to obtain the imitation handling ratio. Finally, experiments were conducted to verify the imitation method;the results revealed that the prototype vehicle on the Earth could effectively approximate the same accelerations experienced by a manned lunar rover, when equivalent acceleration handling inputs were provided. © 1967-2012 IEEE.

关键词： Lunar missions

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A Design and Ealuation of Hand-held Mechatronic Laparoscopic Surgical Robot

A Design and Ealuation of Hand-held Mechatronic Laparoscopic...

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2018 International Conference on Control and Robots, ICCR 2018

作者： Xue, Renfeng Du, Zhijiang Yan, Zhiyuan Ren, Bingyin State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China School of Mechatronics Engineering Harbin Institute of Technology Harbin150001 China

ISBN: (纸本)9781538682432

This paper presents a new hand-held mechatronic laparoscopic surgical robot, which is intuitie and ergonomic as its accurate master-slae motion mapping and precise position control. The displacement transmission characteristics of cable-pulley system in laparoscope surgical robot is modelled which considers the bending rigidity of the cable. Based on the model, a position compensation algorithm of feedforward control is presented to reduce the tracking errors. To erify the effectieness and alue for real clinical application, position compensation and suturing experiments are performed. Experiments results show position tracking errors are reduced significantly. The aerage time of fie continuous suturing is about 90s and the insertion and piercing position errors are 1mm and 2mm respectiely. © 2018 IEEE.

关键词： Robotic surgery

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Localization of Deep Inpainting Using High-Pass Fully Convolutional Network

Localization of Deep Inpainting Using High-Pass Fully Convol...

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International Conference on Computer Vision (ICCV)

作者： Haodong Li Jiwu Huang Guangdong Key Laboratory of Intelligent Information Processing and Shenzhen Key Laboratory of Media Security National Engineering Laboratory for Big Data System Computing Technology Shenzhen University Shenzhen China Shenzhen Institute of Artificial Intelligence and Robotics for Society China

ISBN: (数字)9781728148038

ISBN: (纸本)9781728148045

Image inpainting has been substantially improved with deep learning in the past years. Deep inpainting can fill image regions with plausible contents, which are not visually apparent. Although inpainting is originally designed to repair images, it can even be used for malicious manipulations, e.g., removal of specific objects. Therefore, it is necessary to identify the presence of inpainting in an image. This paper presents a method to locate the regions manipulated by deep inpainting. The proposed method employs a fully convolutional network that is based on high-pass filtered image residuals. Firstly, we analyze and observe that the inpainted regions are more distinguishable from the untouched ones in the residual domain. Hence, a high-pass pre-filtering module is designed to get image residuals for enhancing inpainting traces. Then, a feature extraction module, which learns discriminative features from image residuals, is built with four concatenated ResNet blocks. The learned feature maps are finally enlarged by an up-sampling module, so that a pixel-wise inpainting localization map is obtained. The whole network is trained end-to-end with a loss addressing the class imbalance. Extensive experimental results evaluated on both synthetic and realistic images subjected to deep inpainting have shown the effectiveness of the proposed method.

关键词： Forensics Feature extraction Convolution Kernel Machine learning Computer vision Probability

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Development of a 4H-SiC Piezoresistive Pressure Sensor for High Temperature Applications

Development of a 4H-SiC Piezoresistive Pressure Sensor for H...

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IEEE International Conference on Nano/Micro Engineered and Molecular systems

作者： Xudong Fang Libo Zhao Chen Wu Yulong Zhao Xin Guo Zhuangde Jiang State Key Laboratory of Robotics and System (HIT) State Key Laboratory for Manufacturing Systems Engineering International Joint Laboratory for Micro/Nano Manufacturing and Measurement Technologies Xi’an Jiaotong University 710049 Xi’an China State Key Laboratory for Manufacturing Systems Engineering Xi’an Jiaotong University 710049 Xi’an China

A piezoresistive pressure sensor based on 4H-SiC was developed for working over 500℃. The designed pressure range is 0-7MPa for special aviation applications. As demonstrated with experimental results, in this pressure range, the sensor shows excellent accuracy and repeatability from 30℃ to 500℃. Compared with previous studies, in MEMS processing of the sensor chip, a suitable alloy system was determined to form a stable high-temperature ohmic contact. Besides, the chip was packaged with mechanical structure and ceramic glue of similar thermal expansion coefficient to avoid thermal stress induced when increasing temperature. With the above measures taken, the sensor performance can be significantly improved. The design, fabrication, and package of this sensor provide support for high-temperature use. Additionally, this work can be a reference for future research in this field.

关键词： Pressure sensors Temperature sensors Piezoresistance Micromechanical devices Silicon carbide Conferences Thermal stresses

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Doublet Thermal Metadevice

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Physical Review Applied 2019年第4期11卷 044021-044021页

作者： Jiaxin Li Ying Li Tianlong Li Wuyi Wang Longqiu Li Cheng-Wei Qiu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China Department of Electrical and Computer Engineering National University of Singapore Singapore 117583 Singapore Department of Analytical Physical and Colloidal Chemistry Institute of Pharmacy Sechenov University Moscow 119991 Russia

Thermal metamaterials have served as a practical way to manipulate heat flow thanks to their judiciously designed structures, which achieve various functionalities. However, the connection and interplay between various possible structural configurations and their functions’ switchability have long been neglected and this is usually perceived as “one configuration, one function.” Here, we propose a doublet thermal metadevice in which we utilize the local configuration of two unequal conductivity phases to manipulate global temperature distribution. Based on effective medium theory, we apply the phase interchange identity to show that the functionalities of transparency, cloaking, concentrating, and rotating can be unified. The doublet thermal metadevice is capable of realizing tunable multifunctions by simply adjusting the angular displacement of specific sublayers of the assembly. The functional diversity of the device can be further extended in two ways. One way is to use a secondary transformation and the other way is to alter the shape parameter of the unit phase. This work provides a different framework to understand and design thermal metamaterials, which might be extended to other disciplines such as optics, electromagnetics, and acoustics.

关键词： Heat transfer Thermal conductivity Energy applications Metamaterials

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Neural Network Based Terminal Sliding Mode Control for WMRs Affected by an Augmented Ground Friction With Slippage Effect

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IEEE/CAA Journal of Automatica Sinica 2017年第3期4卷 498-506页

作者： Ming Yue Linjiu Wang Teng Ma School of Automotive Engineering Dalian University of Technology State Key Laboratory of Robotics and System Harbin Institute of Technology

Wheeled mobile robots(WMRs) encounter unavoidable slippage especially on the low adhesion terrain such that the robots stability and accuracy are reduced *** overcome this drawback,this article presents a neural network(NN) based terminal sliding mode control(TSMC) for WMRs where an augmented ground friction model is reported by which the uncertain friction can be estimated and compensated according to the required *** contrast to the existing friction models,the developed augmented ground friction model corresponds to actual fact because not only the effects associated with the mobile platform velocity but also the slippage related to the wheel slip rate are concerned ***,the presented control approach can combine the merits of both TSMC and radial basis function(RBF) neural networks techniques,thereby providing numerous excellent performances for the closed-loop system,such as finite time convergence and faster friction estimation *** results validate the proposed friction model and robustness of controller;these research results will improve the autonomy and intelligence of WMRs,particularly when the mobile platform suffers from the sophisticated unstructured environment.

关键词： Ground friction radial basis function(RBF) neural network(NN) slippage effect terminal sliding mode control(TSMC) wheeled mobile robot(WMR)

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Design and Safety Control of a High-Payload Nursing Robotic Arm with Tactile Skin

Design and Safety Control of a High-Payload Nursing Robotic ...

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IEEE International Conference on robotics and Biomimetics

作者： Jiahao Wu Yanshu Song Hailin Huang Fei Liu Junan Chen Bing Li School of Mechanical Engineering and Technology Harbin Institute of Technology Shenzhen China School of Electronic and Information Engineering Harbin Institute of Technology Shenzhen China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Service robots are being increasingly used to replace human beings in carrying out various sophisticated, heavy and even dangerous tasks. In order to solve the problem of labor shortage in the medical and nursing industry, this paper proposes a novel high-payload robotic arm for nursing tasks, which can help caregivers to lift and transfer patients. Firstly, we simulate and analyze the specific nursing tasks and application scenarios, and determine its kinematics configuration and load capacity parameters of each joint. Then we design and fabricate the modular and low flexibility robotic joints for the prototype. To avoid the occurrence of safety accidents while lifting patients, we design a new kind of tactile skin based on the resistance characteristic of varistor materials, using which a safety control algorithm is proposed. Experiments show that it can meet the requirements of load capacity and position control accuracy, and the proposed safety control method can effectively avoid many dangerous situations.

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