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15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Ma, Liulong Liu, Yanjie Gao, Yibo Zhu, Chuanming State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang15000 China School of Mechanical Engineering Tongji University 4800 Cao'an Highway Shanghai201804 China

ISBN: (纸本)9781538660720

In recent years, the Robot Operating system (ROS) is developing rapidly and has been widely used in robotics research because of its flexible, open source, and easy-to-expand advantages. In scientific research, the corresponding hardware platform is indispensable for the experiment. In the field of mobile robots, PR2, Turtlebot2, and Fetch are commonly used as research platforms. Although these platforms are fully functional and widely used, they are expensive and bulky. What's more, these robots are not easily redesigned and expanded according to requirements. To overcome these limitations, we propose Plantbot, an easy-building, low-cost robot platform that can be redesigned and expanded according to requirements. It can be applied to not only fast algorithm verification, but also simple factory inspection and ROS teaching. This article describes this robot platform from several aspects such as hardware design, kinematics, and control methods. At last two experiments, SLAM and Navigation, on the robot platform are performed. The source code of this platform is available: https://***/marooncn/plantbot. © 2018 IEEE.

关键词： Robot Operating system

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Walking of Biped Robot with Variable Stiffness at the Ankle Joint*

Walking of Biped Robot with Variable Stiffness at the Ankle ...

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IEEE International Conference on robotics and Biomimetics

作者： Qing Bi Yixiang Liu Xizhe Zang Rui Song Haibin Wang Weimin Li Shandong Institute of Advanced Technology Chinese Academy of Sciences Jinan China School of Control Science and Engineering Shandong University Jinan China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Achieving versatile and efficient walking on biped robots is an important research objective. The impact between the foot and the ground has significant effects on the walking stability of biped robots. Research on human walking indicates that the joints in human lower limbs show different stiffness values in different phases of walking. Inspired by humans, this paper presents the realization of biped robot walking with variable stiffness at the ankle joint. A walking control scheme which combines PD control and variable impedance control is designed for the biped robot. Results of dynamic walking simulation verified that variable stiffness at the ankle joint could contribute to the improvement of walking stability and energy efficiency.

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Collision detection based on octree for virtual surgery system

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IOP Conference Series: Materials Science and engineering 2020年第7期768卷

作者： Yanrong Hu Zhiyuan Yan Zhenlun Yin Zhijiang Du State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China School of Naval Architecture and Ocean Engineering Harbin Institute of Technology Harbin China

In the virtual surgery system, the organ is always non-convex and deforms over time which makes the collision detection problem more difficult to handle. In this case, we put forward an innovative collision detection algorithm based on octree. This algorithm can perfectly apply to deal with non-convex organs and organ deformation scenario. In addition, it can achieve high run-time efficiency.

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Front Cover: A Strain-engineered Helical Structure as a Self-adaptive Magnetic Microswimmer (ChemNanoMat 6/2021)

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ChemNanoMat 2021年第6期7卷

作者： Xiaojie Shi Jinrun Liu Ye Kong Dr. Borui Xu Prof. Tianlong Li Prof. Alexander A. Solovev Prof. Yongfeng Mei Department of Materials Science & State Key Laboratory of ASIC and Systems Fudan University 220 Handan Road Shanghai 200433 P. R. China School of Mechatronics Engineering & State Key Laboratory of Robotics and System Harbin Institute of Technology 92 Xi Da Zhi Jie Haerbin 150001 P. R. China

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Research on Stereo Vision Technology Based on Improved Region Growing Method

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Journal of Physics: Conference Series 2021年第1期2024卷

作者： Shilong Dai Xinghua Xia Hualiang Zhang School of Information and Control Engineering Shenyang Jianzhu University Shenyang 110168 China. Industrial Control Network and System Laboratory Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China. Institudes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang 110169 China.

Image segmentation is the cornerstone of image analysis and image processing, its main difficulty is the ill-posedness of image segmentation. The region growing method is the most commonly used method in image segmentation. Its advantages are fast calculation speed, lower algorithm difficulty, and easy understanding. This article uses the area growing algorithm and TOF combined with binocular fusion technology. Discussed how to select the seed points in the region growing method. The algorithm proposed in this paper has high accuracy and high matching quality in the boundary area of the object and the area with large difference in depth. It has both matching time and reliability. It has good results and overcomes the limitations of the active and passive distance methods in the vision system.

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Exploiting offset-guided network for pose estimation and tracking

arXiv

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arXiv 2019年

作者： Zhang, Rui Zhu, Zheng Li, Peng Wu, Rui Guo, Chaoxu Huang, Guan Xia, Hailun Bejing Key Laboratory of Network System Architecture and Convergence School of Information and Communication Engineering Beijing University of Posts and Telecommunications Beijing China Beijing Laboratory of Advanced Information Networks Beijing Institute of Automation Chinese Academy of Sciences Beijing China Horizon Robotics Beijing

Human pose estimation has witnessed a significant advance thanks to the development of deep learning. Recent human pose estimation approaches tend to directly predict the location heatmaps, which causes quantization errors and inevitably deteriorates the performance within the reduced network output. Aim at solving it, we revisit the heatmap-offset aggregation method and propose the Offset-guided Network (OGN) with an intuitive but effective fusion strategy for both two-stages pose estimation and Mask R-CNN. For two-stages pose estimation, a greedy box generation strategy is also proposed to keep more necessary candidates while performing person detection. For mask R-CNN, ratio-consistent is adopted to improve the generalization ability of the network. State-of-the-art results on COCO and PoseTrack dataset verify the effectiveness of our offset-guided pose estimation and tracking. Copyright © 2019, The Authors. All rights reserved.

关键词： Deep learning

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Dynamic obstacle tracking based on high-definition map in urban scene

Dynamic obstacle tracking based on high-definition map in ur...

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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Li, Yuxiao Wang, Can Su, Zhilong Duan, Shengcai Wu, Xinyu 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 Shenzhen518055 China Shenzhen College of Advanced Technology University of Chinese Academy of Sciences Beijing100049 China Department of Mechanical and Automation Engineering Chinese University of Hong Kong Hong Kong

ISBN: (纸本)9781728163215

The application of High-Definition map can realize centimeter-level position in urban scenes, the development of deep learning has made great breakthrough in the point cloud dynamic obstacle recognition. All these technologies make obstacle detection and tracking based on High-Definition map effectively realize in the modern smart city scene. It is different from the previous obstacle detection and tracking methods based purely on vision the using of High-Definition map can provide high-precision positioning and reduce the difficulty of point cloud classification. The using of lidar also solves the problem of up-to-scale in dynamic detection. In this paper, we put forward a new Multi-camera Lidar Point Cloud Map, we complete the map at normal speed on the highway and get a satisfactory result. At the same time, we also find a robust combination of traditional kalman filter, Hungary algorithm and current deep learning to solve dynamic obstacle tracking and detection. The experimental results show that our system can effectively complete the special problem of generating map and target tracking on urban scene. © 2019 IEEE.

关键词： Optical radar

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An Improved Scan Matching Method Based on Laser Reflection Intensity

An Improved Scan Matching Method Based on Laser Reflection I...

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International Conference on Intelligent Control and Information Processing (ICICIP)

作者： Guojing Wu Jingchuan Wang Hesheng Wang Le Xie Peng Li Key Laboratory of System Control and Information Processing Ministry of Education of China Institute of Medical Robotics SEIEE School Shanghai Jiao Tong University Shanghai China Institute of Medical Robotics Shanghai Jiao Tong University Shanghai China School of Mechanical Engineering and Automation Harbin Institute of Technology (Shenzhen) Shenzhen China

ISBN: (数字)9781728100159

ISBN: (纸本)9781728100166

High-precision localization performance of mobile robots in featureless environments plays an important role in the field of navigation. This paper describes an effective localization solution using a landmark whose surface is covered with two different materials resulting in different laser reflection intensities. Based on the landmark, a feature extraction algorithm is proposed and an improved scan matching method for mobile robot localization in featureless environments is described. Unlike traditional scan matching methods which only use geometric features, the proposed method mixes geometric information extracted from environment and laser reflection intensity extracted from the landmark to achieve accurate pose estimation. Experiments show that our method has higher precision than previous methods.

关键词： Reflection Sensors Feature extraction Data mining Iterative closest point algorithm Surface emitting lasers

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LED Visible Light Localization Based on Illuminance Analysis

LED Visible Light Localization Based on Illuminance Analysis

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

作者： Chenting Gu Xiaofeng Liu Yongsheng Ou Chao Liu Hao Tao Tianyun Shi HoHai University Nanjing China Chinese Academy of Sciences Shenzhen Institutes of Advanced Technology Shenzhen China Key Laboratory of Special Robots Changzhou China Changzhou Key Laboratory of Robots and Intelligent Technology Changzhou China College of IoT Engineering Hohai University Changzhou China Key Laboratory of Human-Machine-Intelligence Synergic Systems Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen China Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen China China Ship Development and Design Center Wuhan Tian-yun Shi China Academy of Railway Sciences Corporation Limited Beijing China

ISBN: (数字)9781728172934

ISBN: (纸本)9781728172941

LED based positioning technology has recently become a popular choice due to the low cost, convenience for maintenance and strong adaptability to the environment. In this paper, we introduce an illuminance-distance analysis method with a rolling shutter camera, for a low-cost indoor positioning system to improve robustness in the case of insufficient LEDs. Firstly, the binary threshold method is used to decode the light signals. Then the gray value information of image is extracted to analyze the depth of LEDs, using the illuminance attenuation theorem. It provides potential solution to the position of devices with the camera by combining depth information, image and camera intrinsic. Our proposed method reduced the minimum number of LEDs observed by the camera from three to two, using only the camera. We evaluated the proposed method with real scene data and demonstrated the effectiveness of illumination-distance model based localization.

关键词： Light emitting diodes Cameras Receivers Light sources Robots Mathematical model Image sensors

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engineering Roles and Information Modeling for Industry 4.0 Production system engineering

Engineering Roles and Information Modeling for Industry 4.0 ...

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Petr Novák Jiří Vyskočil Petr Kadera Lukas Kathrein Kristof Meixner Dietmar Winkler Stefan Biffl Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Prague Czech Republic Christian Doppler Laboratory for Security and Quality Improvement in the Production System Lifecycle Institute for Information Systems Engineering Technische Universität Wien Austria

Industrial production systems are complex automated systems-of-systems. Especially in case of Industry 4.0 production systems, their design phase relies on parallel cooperative work of engineers coming from several disciplines. This paper identifies key engineering roles and their interactions in the design phase. Based on the analysis of shared information among engineers, this paper contributes to the specification of an information model of shared common concepts. Such an information model is useful for designing a central repository in production system engineering projects as well as a basis for standardization processes and engineering tool evaluation. The roles and relevant information are based on lessons learned from the use case of an Industry 4.0 Testbed environment.

关键词： Industries Production systems Robot kinematics Service robots Unified modeling language

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