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International Conference on Control, Automation, robotics and Vision (ICARCV)

作者： Yili Lin Yifan Fei Yunhan Gao Hang Shi Yangmin Xie School of Mechatronics Engineering and Automation Shanghai University China Shanghai Key Laboratory of Intelligent Manufacturing and Robotics China

ISBN: (纸本)9781665476881

This article presents a multi-sensor calibration and fusion work for a dense reconstruction and colorization system. Unlike previous research, it explicitly addresses the edge effect in LiDAR measurements in both calibration and sensor fusion. The proposed calibration method can accomplish LiDAR-motor and LiDAR-camera calibration at a one-time experiment. The feature extraction algorithm for the point cloud automatically eliminates the edge-effect-induced noises in the calibration process. The experiment results show that it can achieve even better results than work without edge effect elimination in terms of calibration errors. As a result, it has achieved a calibration accuracy superior to previous researches. The system is testified by an indoor scene, which shows a desirable color point cloud generation with dense and clean data.

关键词： Point cloud compression Surface reconstruction Strips Laser radar Image color analysis Shape Sensor fusion

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Static Force-Based Modeling and Parameter Estimation for a Deformable Link Composed of Passive Spherical Joints With Preload Forces

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IEEE/CAA Journal of Automatica Sinica 2021年第11期8卷 1817-1826页

作者： Gaofeng Li Dezhen Song Lei Sun Shan Xu Hongpeng Wang Jingtai Liu Nankai University Tianjin 300350China Humanoids and Human Centered Mechatronics Research Line Italian Institute of Technology16163 GenovaItaly Department of Computer Science and Engineering Texas A&M UniversityCollege StationTexas 77843 USA Institute of Robotics and Automatic Information System Nankai UniversityTianjin 300350China Tianjin Key Laboratory of Intelligent Robotics Nankai UniversityTianjin 300350China

To balance the contradiction between higher flexibility and heavier load bearing capacity,we present a novel deformable manipulator which is composed of active rigid joints and deformable *** deformable link is composed of passive spherical joints with preload forces between socket-ball *** estimate the load bearing capacity of a deformable link,we present a static force-based model of spherical joint with preload force and analyze the static force propagation in the deformable *** yields an important result that the load bearing capacity of a spherical joint only depends on its radius,preload force,and static friction *** further develop a parameter estimation method to estimate the product of preload force and static friction *** experimental results validate our model.80.4%of percentage errors on the maximum payload mass prediction are below 15%.

关键词： Deformable link parameters identification spherical joint with preload force static force-based model

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Diffusion-Based mmWave Radar Point Cloud Enhancement Driven by Range Images

arXiv

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arXiv 2025年

作者： Wu, Ruixin Li, Zihan Wang, Jin Xu, Xiangyu Yu, Huan Zheng, Zhi Huang, Kaixiang Lu, Guodong The State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical Engineering Zhejiang University Hangzhou310058 China Zhejiang Key Laboratory of Industrial Big Data and Robot Intelligent Systems Zhejiang University Hangzhou310058 China Robotics Research Center of Yuyao City Ningbo315400 China State Key Laboratory of Robotics and Systems Department of Mechatronics Engineering Harbin Institute of Technology Harbin150001 China

Millimeter-wave (mmWave) radar has attracted significant attention in robotics and autonomous driving. However, despite the perception stability in harsh environments, the point cloud generated by mmWave radar is relatively sparse while containing significant noise, which limits its further development. Traditional mmWave radar enhancement approaches often struggle to leverage the effectiveness of diffusion models in super-resolution, largely due to the unnatural range-azimuth heatmap (RAH) or bird’s eye view (BEV) representation. To overcome this limitation, we propose a novel method that pioneers the application of fusing range images with image diffusion models, achieving accurate and dense mmWave radar point clouds that are similar to LiDAR. Benefitting from the projection that aligns with human observation, the range image representation of mmWave radar is close to natural images, allowing the knowledge from pre-trained image diffusion models to be effectively transferred, significantly improving the overall performance. Extensive evaluations on both public datasets and self-constructed datasets demonstrate that our approach provides substantial improvements, establishing a new state-of-the-art performance in generating truly three-dimensional LiDAR-like point clouds via mmWave radar. Copyright © 2025, The Authors. All rights reserved.

关键词： Radar imaging

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Buckling-Inspired Triboelectric Sensor for Multifunctional Sensing of Soft robotics and Wearable Devices

SSRN

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SSRN 2024年

作者： Xu, Jinsui Pan, Xueting Xu, Boyi Yue, Honghao Lu, Yifan Ying, Kai Wang, Zheping Yang, Fei State Key Laboratory of Robotics and System School of Mechatronics Engineering Harbin Institute of Technology Harbin150001 China Wu Xianming School of Intelligent Engineering South China University of Technology Guangzhou510641 China

Amidst the rapid development of intelligent robotics and wearable health monitoring devices, there is an urgent demand for flexible sensor systems with high sensitivity and precise feedback. In this paper, a multifunctional triboelectric sensor inspired by the phenomenon of buckling is introduced, which integrates kirigami structures with triboelectric nanogenerator principles to accurately detect one-dimensional (1D) and two-dimensional (2D) deformations. The sensor employs a contact-separating structure, with its friction layers consisting of 2D laser-cut kirigami electrodes, which deform into three-dimensional (3D) structures through tensile or compressive buckling. The tensile buckling sensor (BS) developed is capable of sensing the bending angle of soft grippers, allowing the detection of the size of grasped objects with a high recognition rate of 93.75%. Additionally, in its 1D compressive buckling form, the sensor can be used to recognize various human motion patterns effectively, while the 2D compressive version can be used to measure the expansion of curved surfaces with a sensitivity of 1.3307 V/mm. By combining the unique properties of buckling structures, the innovative triboelectric multifunctional sensor proposed offers a new solution for high-precision motion feedback control with potential application in soft robotics and health monitoring. © 2024, The Authors. All rights reserved.

关键词： Buckling

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Quantized Periodic Event-triggered Control for LTI Systems with 1-bit Data Transmission

Quantized Periodic Event-triggered Control for LTI Systems w...

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European Control Conference (ECC)

作者： Mahmoud Abdelrahim Dhafer Almakhles Abdalla Swikir Renewable Energy Laboratory College of Engineering Prince Sultan University Riyadh Saudi Arabia Department of Mechatronics Engineering Assiut University Assiut Egypt Munich Institute of Robotics and Machine Intelligence München Germany

ISBN: (数字)9783907144107

ISBN: (纸本)9798331540920

This paper presents a novel framework for periodic event-triggered control (PETC) coupled with dynamic quantization for linear systems. Unlike traditional time-driven control methods, our approach leverages event-based mechanisms to judiciously update control actions, thus minimizing computational load and network traffic. We introduce a two-level dynamic quantizer for encoding feedback information with a single bit, thereby enhancing resource efficiency. The proposed PETC mechanism decides the transmission instants based on the quantized output samples. The resulting system is modeled as a hybrid dynamical system to capture both continuous and discrete dynamics. Sufficient conditions for ensuring the stability of the closed-loop system are presented in the form of a linear matrix inequality. Through numerical simulations, we demonstrate that our approach captures the initial output within a finite time and significantly reduces data transmissions compared to traditional methods. This paper makes key contributions in the integration of dynamic quantization with PETC, leading to resource-efficient and stable control systems.

关键词： Linear systems Sufficient conditions Quantization (signal) Telecommunication traffic Dynamic scheduling Stability analysis Numerical models

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Potentiodynamic study and microstructural evaluation of the corrosion behavior of mill scale and alumina reinforced aluminium metal matrix composites

Potentiodynamic study and microstructural evaluation of the ...

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2024 International Conference on Science, Engineering and Business for Driving Sustainable Development Goals, SEB4SDG 2024

作者： Adediran, Adeolu A. Mosadomi, Oreofeoluwa A. Ikubanni, Peter P. Nana, Achile Ikumapayi, Omolayo Nwaeju, Cynthia C. Ojji, Immanuel O. Afolalu, Sunday A. Landmark University Department of Mechanical Engineering Kwara State Omu-Aran Nigeria Science University of Johannesburg Mechanical Engineering South Africa CSIR-National Metallurgical Laboratory Jamshedpur831007 India Afe Babalola University Department of Mechanical Engineering Ado-Ekiti Nigeria Nigeria Maritime University Department of Mechanical Engineering Delta State Okerenkoko Nigeria Demontfort University Department of Mechatronics and Robotics Leicester United Kingdom

ISBN: (纸本)9798350358155

The current study reports the corrosion behavior of aluminium metal matrix composites (AMMCs) reinforced with mill scale (MS) and alumina (Al2O3) in a simulated marine environment (3.5 % NaCl solution). Electrochemical technique and optical microscopy were used to evaluate the corrosion behavior of the composites developed at varying weight ratios of MS (0, 2, 4, 6, 8) and Al2O3 (0, 2, 4, 6, 8) respectively. From the results obtained, the average grain size of the composites after exposure to the marine environment varies significantly. Sample A showed an average grain size of 55.02 μm, B - 26.85 μm, C - 28.12 μm, D - 27.03 μm, E - 32.31 μm and F (control) - 37.02 μm. The contributory influence of the reinforcing materials is evident in the variation noted in the average grain sizes. Their presence acts as active sites for corrosion initiation. The oxidation of metal ions causes severe pitting with sample C having the optimum corrosion rate of 0.9532 mm/yr and sample D showing the least corrosion rate of 0.6188 mm/yr. The morphology of the corroded surfaces confirms the presence of pitting corrosion on the composites developed. © 2024 IEEE.

关键词： Pitting

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An Improved Dual Quaternion-based Dynamic Movement Primitives Formulation for Obstacle Avoidance Kinematics in Human- Robot Collaboration System of Systems

An Improved Dual Quaternion-based Dynamic Movement Primitive...

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IEEE International Conference on System of Systems Engineering (SoSE)

作者： Freddy Liendo Alessandro Bozzi Camilo Hernández Christine Galez Roberto Sacile José Jiménez Laboratory System And Materials For Mechatronics (SYMME) Université Savoie Mont Blanc Annecy France Department of Informatics Bioengineering Robotics and Systems Engineering (DIBRIS) University of Genoa Genoa Italy

In the context of Human-Robot Collaboration (HRC) as System of Systems (SoS), motion planning and learning are a highly important subsystem. Dynamic Movement Primitives (DMP) are an elegant and efficient method for learning complex behaviours and representing them as stable, well understood dynamical systems. When applied for encoding a task by considering the behaviour of the end-effector of a robotic manipulator in Cartesian space, the common solution is to represent and to encode the pose separately as position and orientation using different but phase-coupled DMP formulations; resulting mathematically and algorithmically inefficient. Dual Quaternions are a mathematical tool capable of representing pose in a unified variable. Literature shows the interest of such a representation for rigid body kinematics, given its mathematical flexibility, efficiency and robustness. This article presents an existing formulation for Dual Quaternion Dynamic Movement Primitives based on screw theory. Then, we expand on our proposed improved formulation which considers obstacle avoidance as a contribution for the layer of Awareness and Intelligence in the context of Human-Robot Collaboration as a System of Systems.

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Reliability Evaluation of Emergent Behaviour in a Flexible Manufacturing Problem

Reliability Evaluation of Emergent Behaviour in a Flexible M...

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IEEE International Conference on System of Systems Engineering (SoSE)

作者： Alessandro Bozzi Simone Graffione José Jiménez Roberto Sacile Enrico Zero Department of Informatics Bioengineering Robotics and Systems Engineering (DIBRIS) University of Genoa Genoa Italy Laboratory System And Materials For Mechatronics (SYMME) Université Savoie Mont Blanc Annecy France

Scheduling is a key component of manufacturing systems. In general, it describes how multiple jobs or workloads are processed within a limited set of resources to achieve certain manufacturing objectives, such as minimizing the makespan or weighted tardiness. Nevertheless, as the demand for customized and versatile products increased, these systems became more flexible by incorporating flexible manufacturing processes. As a result, it is possible to vary either the machine operations or the product route within highly automated and connected material handling systems. Therefore, the scheduling process is more complex as it involves solving the routing problem within different alternatives and sharing redundant resources between multiple production processes, thereby increasing workload and bottlenecks within the system. Thus, it is imperative to address the scheduling problem while taking into account the physical constraints caused by shared machines and product routing. This paper proposes a Mixed Integer Linear Programming algorithm to solve the flow-shop scheduling problem and minimize the makespan while balancing the machine usage to limit emergent behaviours due to over-utilization. The robustness of the approach is then verified in the case of delays which alter the processing time on machines. Experiments on a limited instance of a flexible manufacturing system confirm the effectiveness of the solution, with a small increase in completion time even for high-magnitude delays.

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Topological classification of population activity in spiking neural network

Topological classification of population activity in spiking...

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Saratov Fall Meeting 2020 - Computations and Data Analysis: From Molecular Processes to Brain Functions

作者： Lobov, Sergey A. Zharinov, Alexey I. Semenova, Olga Kazantsev, Victor B. Lobachevsky State University Nizhny Novgorod Russia Neuroscience and Cognitive Technology Laboratory Center for Technologies in Robotics and Mechatronics Components Innopolis University Laboratory of Neuromodeling Samara Russia

ISBN: (数字)9781510645332

ISBN: (纸本)9781510645325

The role of propagating waves of neuronal activity in different brain areas, particularly in cerebral cortex, is still debated in modern neuroscience. We consider spiking neural network (SNN) model with spike timing dependent plasticity (STDP). It is shown that in the SNN the topological type of neural activity depends on the average length of connections between neurons - the connectivity radius. At the small radius (mostly local connections), the activity spreads in the form of traveling waves with well shaped leading and trailing edge. Such simple wave activity can be treated as a network spike. With increase in the connectivity radius, blurring of the leading and trailing edges is observed up to the "instant"activation of the network. In this case, the sparse neurons first generate spikes, and then all neurons in the network generate multiple spikes. This type of activity can be considered as a network burst. We also analyze the velocity of neural activity propagation depending on the connectivity radius. In the case of the network burst mode, the velocity is predominantly limited by axonal delays. In turn, in the case of the network spike mode it is defined by synaptic delays. In addition, we found that the STDP facilitates network synchronization in SNNs with a predominance of local connections. © COPYRIGHT SPIE. Downloading of the abstract is permitted for personal use only.

关键词： Neurons

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Synchronization in the inhibitory coupled Hodgkin-Huxley neural networks

Synchronization in the inhibitory coupled Hodgkin-Huxley neu...

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Saratov Fall Meeting 2020 - Computations and Data Analysis: From Molecular Processes to Brain Functions

作者： Andreev, Andrei V. Maksimenko, Vladimir A. Neuroscience and Cognivite Technology Laboratory Center for Technologies in Robotics and Mechatronics Components Innopolis University Universitetskaya Str. 1 Innopolis420500 Russia

ISBN: (数字)9781510645332

ISBN: (纸本)9781510645325

We consider two small-world networks of Hodgkin-Huxley neurons interacting via inhibitory coupling. We found that synchronization indices (SI) in both networks oscillate periodically in time, so that time intervals of high SI alternate with time intervals of low SI. Depending on the coupling strength, the two coupled networks can be in the regime of either in-phase or anti-phase synchronization. We suppose that the inherent mechanism behind such a behavior lies in the cognitive resource redistribution between neuronal ensembles of the brain. © COPYRIGHT SPIE. Downloading of the abstract is permitted for personal use only.

关键词： Synchronization

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