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2024 Applied Optics and Photonics China: Optical Sensing, Imaging Technology, and Applications, AOPC 2024

作者： Zhou, Shicheng Yin, Zhaoyang Wang, Bei Zhao, Linjie Cheng, Jian Chen, Mingjun School of Mechatronics Engineering Harbin Institute of Technology Harbin150001 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

ISBN: (数字)9781510687820

ISBN: (纸本)9781510687813

Surface defects on optics seriously affect their service life in high-power laser system. To address this issue, repair technologies for large-aperture optics are extensively employed. However, the operation of high-power laser system generates a large number of optics requiring repair. Currently, microscopic inspection is widely used for target points classification due to its high accuracy, but it has limitations such as small field of view and low efficiency. Utilizing the OTSU algorithm and Convolutional Neural Networks (CNN), a dark-field classification model for optical surface target points has been developed. Upon conducting experiments with several network models, the ResNet model, a probability threshold of 0.998 were determined. In conclusion, the classification accuracy for defects was 99.18% and for contaminants was 90.34%. The outcomes show that target points on the surfaces of optics can be accurately classified using this method. © 2024 SPIE.

关键词： Machine vision

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Full-state Physical Mirroring Method of Space Manipulator Based on the Multiple Decoupling Principles 2

Full-state Physical Mirroring Method of Space Manipulator Ba...

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2nd International Conference on Artificial Intelligence, Human-Computer Interaction and robotics, AIHCIR 2023

作者： Yang, Tao Qin, Shize Xu, Fang Deng, Songbo Zhang, Hao Shi, Yan Shenyang Institute of Automation Institutes for Robotics and Intelligent Manufacturing University of Chinese Academy of Sciences Beijing Institute of Precision Mechatronics Controls Laboratory of Aerospace Servo Actuation and Transmission State Key Laboratory of Robotics Chinese Academy of Sciences Beijing China Beijing Institute of Precision Mechatronics and Controls Laboratory of Aerospace Servo Actuation and Transmission PR Beijing China Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences State Key Laboratory of Robotics PR Shenyang China

ISBN: (纸本)9798350360363

To achieve the goal of an efficient full-state ground test of a 7DOF space manipulator, the kinematic and dynamical coupling characteristics of space manipulator are investigated, and a mirror test method based on the principle of multiple decoupling is proposed to solve the problem of highly dynamic three-dimensional motion conditions of space manipulator that are difficult to verify by ground simulation. It firstly decouples the space manipulator into a 3dof unit,1dof unit and another 3dof unit combination. It achieves joint load reduction through inter-joint dynamics coupling. Afterwards, it designs an air-floating support device to realize the joint space 7DOF motion, and proposes a constant damping joint dynamics compensation control algorithm to eliminate the dynamics disturbances introduced by inter-joint decoupling. Then, an industrial mirror robot arm with consistent kinematic parameters and a highly dynamic mirror control algorithm are designed to map the joint motion states of the space manipulator to the ground robotic arm, and a ground simulation of the Cartesian space motion state of the space robot arm is realized by decoupling the joint space from the Cartesian space motion. Finally, the ground experiment of target grasping based on the physical mirroring method is designed to realize the high-speed full-state ground experiment verification of complex tasks of space manipulator. © 2023 IEEE.

关键词： Robotic arms

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SURROGATE MODELS FOR COMPLIANT JOINTS IN PROGRAMMABLE STRUCTURES

SURROGATE MODELS FOR COMPLIANT JOINTS IN PROGRAMMABLE STRUCT...

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ASME 2024 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2024

作者： Pieber, Michael Zhang, Zhaowei Manzl, Peter Gerstmayr, Johannes University of Innsbruck Department of Mechatronics Innsbruck6020 Austria State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Liaoning Shenyang110016 China

ISBN: (纸本)9780791888438

This work focuses on compliant joints in autonomous cells. These cells are able to preserve the underlying geometry of a mesh and enable self-reconfiguration through the utilization of six-bar linkages. The six-bar linkages, essential for maintaining triangular mesh geometry, are realized as 3D-printable compliant mechanisms. However, challenges arise from compliance in the hinges and deviation from the desired center of rotation which results in positioning errors. To address these issues, a surrogate model which is derived from beam elements, is used to predict positioning errors during self-reconfiguration. Finally, these errors are corrected by solving the inverse kinematics of a hyper-redundant manipulator. Our study illustrates the benefits of utilizing a surrogate model, which reduces computation time compared to beam elements. For the first time, we successfully correct positioning errors within a system of cells. Copyright © 2024 by ASME.

关键词： Inverse kinematics

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Introspective Perception for Long-Term Aerial Telemanipulation With Virtual Reality

Field Robotics

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Field robotics 2025年 3卷 323-367页

作者： Jongseok Lee Ribin Balachandran Konstantin Kondak Andre Coelho Marco De Stefano Matthias Humt Jianxiang Feng Tamim Asfour Rudolph Triebel Institute of Robotics and Mechatronics German Aerospace Center (DLR) Institute for Anthropomatics and Robotics Karlsruhe Institute of Technology (KIT) Robotics and Mechatronics Laboratory University of Twente (UT) Institute for Anthropomatics and Robotics Karlsruhe Institute of Technology (KIT) Chair of Computer Vision and Artificial Intelligence Technical University of Munich (TUM)

This paper presents a novel telepresence system for advancing aerial manipulation in dynamic and unstructured environments. The proposed system not only features a haptic device, but also a virtual reality (VR) interface that provides real-time 3D displays of the robot's workspace as well as a haptic guidance to its remotely located operator. To realize this, multiple sensors, namely, a LiDAR, cameras, and IMUs are utilized. For processing of the acquired sensory data, pose estimation pipelines are devised for industrial objects of both known and unknown geometries. We further propose an active learning pipeline in order to increase the sample efficiency of a pipeline component that relies on a Deep Neural Network (DNN) based object detector. All these algorithms jointly address various challenges encountered during the execution of perception tasks in industrial scenarios. In the experiments, exhaustive ablation studies are provided to validate the proposed pipelines. Methodologically, these results commonly suggest how an awareness of the algorithms' own failures and uncertainty (“introspection”) can be used to tackle the encountered problems. Moreover, outdoor experiments are conducted to evaluate the effectiveness of the overall system in enhancing aerial manipulation capabilities. In particular, with flight campaigns over days and nights, from spring to winter, and with different users and locations, we demonstrate over 70 robust executions of pick-and-place, force application and peg-in-hole tasks with the DLR cable-Suspended Aerial Manipulator (SAM). As a result, we show the viability of the proposed system in future industrial applications. 1

关键词： Robots Service robots Sensors Pipelines Active learning Pose estimation Haptic interfaces Telepresence Visualization Virtual reality

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Strain sensor on a chip for quantifying the magnitudes of tensile stress on cells

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Microsystems & Nanoengineering 2024年第3期10卷 305-315页

作者： Yuyin Zhang Yue Wang Hongze Yin Jiahao Wang Na Liu Songyi Zhong Long Li Quan Zhang Tao Yue School of Mechatronics Engineering and Automation Shanghai UniversityShanghaiChina School of Future Technology Shanghai UniversityShanghaiChina Key Laboratory of Advanced Manufacturing Technology of Zhejiang Province School of Mechanical EngineeringZhejiang UniversityHangzhouChina Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai UniversityShanghaiChina Shanghai Institute of Intelligent Science and Technology Tongji UniversityShanghaiChina

During cardiac development,mechanotransduction from the in vivo microenvironment modulates cardiomyocyte growth in terms of the number,area,and arrangement ***,the response of cells to different degrees of mechanical stimuli is ***-on-a-chip,as a platform for investigating mechanical stress stimuli in cellular mimicry of the in vivo microenvironment,is limited by the lack of ability to accurately quantify externally induced ***,previous technology lacks the integration of external stimuli and feedback sensors in microfluidic platforms to obtain and apply precise amounts of external ***,we designed a cell stretching platform with an in-situ *** in-situ liquid metal sensors can accurately measure the mechanical stimulation caused by the deformation of the vacuum cavity exerted on *** platform was applied to human cardiomyocytes(AC16)under cyclic strain(5%,10%,15%,20 and 25%),and we found that cyclic strain promoted cell growth induced the arrangement of cells on the membrane to gradually unify,and stabilized the cells at 15%amplitude,which was even more effective after 3 days of *** platform’s precise control and measurement of mechanical forces can be used to establish more accurate in vitro microenvironmental models for disease modeling and therapeutic research.

关键词： stress deformation arrangement

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Obstacle Identification Based on Deep Learning for Inspection Robot of FAST Wire Rope 2

Obstacle Identification Based on Deep Learning for Inspectio...

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2nd International Conference on Automation, robotics and Computer Engineering, ICARCE 2023

作者： Yang, Chengxu Sun, Xiangyu Liu, Gangfeng School of Mechatronics Engineering Harbin Institute of Technology Harbin China Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9798350308341

In this paper, for the requirements of image recognition and localization of the obstacles existing on the moving path in the inspection task of FAST cable inspection robot, the deep learning method is used to realize the recognition of multi-kind and multi-scale obstacles. The obstacles on FAST wire rope have not been identified before. By enhancing the data set and improving the network model, the recognition accuracy and speed are both improved, which meets the efficiency and accuracy requirements of obstacle detection on the wire rope, and provides help for the subsequent robot pace planning and overhaul tasks. © 2023 IEEE.

关键词： Inspection

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Investigating Neural Network Hyperparameter Variations in Robotic Arm Inverse Kinematics for Different Arm Lengths 3

Investigating Neural Network Hyperparameter Variations in Ro...

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3rd International Conference on Power, Control and Computing Technologies, ICPC2T 2024

作者： Bouzid, Rania Narayan, Jyotindra Gritli, Hassene Borj Cedria Tunis1164 Tunisia Indian Institute of Technology Guwahati Mechatronics and Robotics Laboratory Department of Mechanical Engineering Assam Guwahati781039 India Tunis1002 Tunisia

ISBN: (纸本)9798350349207

This research delves into the evaluation of Artificial Neural Networks (ANNs) in tackling the intricate domain of inverse kinematics problems within the context of robotic systems. Compared to direct kinematics, inverse kinematics presents significant challenges, especially when dealing with different arm lengths, which can impact the system's overall functionality. In this study, we conduct a comprehensive comparative analysis to assess the performance of ANNs across various robotic arm lengths. Following the forward kinematics of a simple 2-DoF robotic manipulator, three distinct datasets (fixed step size, random step size, and sinusoidal step size) are generated for training, testing, and validation phases. For every dataset, three optimizers, namely Levenberg Marquardt, Bayesian Regularization, and Scaled Conjugate Gradient, are considered with different hyperparameters to investigate the performance of the ANN models. Based on the validation of MSE values, ANN models with different hyperparameters are found to be a promising approach in estimating the inverse kinematic solutions for different arm lengths with data complexities. Such solutions can be further extended to higher DoF robotic solutions and save the computational burden of evaluating analytical solutions. © 2024 IEEE.

关键词： Inverse kinematics

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Target Tracking Control of Space-Manipulators on Lie Groups

Target Tracking Control of Space-Manipulators on Lie Groups

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2023 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2023

作者： Moghaddam, Borna Monazzah Chhabra, Robin Carleton University Autonomous Space Robotics and Mechatronics Laboratory Mechanical and Aerospace Engineering Department OttawaONKIS 5B6 Canada

ISBN: (纸本)9798350337020

We present a full-pose end-effector control approach on Lie groups for free-floating space manipulators with non-zero momentum while tracking a moving target during proximity operations. We model space-manipulators as open-chain multi-body systems with 1-degree-of-freedom joints where the configuration space of the spacecraft is isomorphic to the Special Euclidean group SE(3). We formulate the dynamics of the spacecraft-manipulator via the Lagrange-Poincare equations and the dynamics of its target via Euler-Poincare equations to avoid kinematic singularities associated with parametrization of their poses. This model reduces the phase space of the space-manipulator by exploiting its inherent independence of the spacecraft's pose. We consider the full pose of the end-effector relative to the target as the system output, which transforms the output-tracking control problem into an output-regulation problem. To avoid parametrization singularities of this output, we perform feedback linearization on the matrix Lie group SE (3) in the reduced phase space of the space-manipulator. We then propose a feedback/feedforward proportional-integral-derivative workspace controller, based on coordinate-free pose and velocity error functions defined on the matrix Lie group associated with the target's relative pose. We provide analytical proof of the almost-global stability of the presented controller when regulating the end-effector's pose relative to the target towards identity. © 2023 IEEE.

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Recursive Input-Output Linearization for Slow-Fast Realization of Nonholonomic Hamiltonian Control Systems

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IEEE Transactions on Automatic Control 2024年第6期70卷 3571-3586页

作者： Gzenda, Vaughn Chhabra, Robin Carleton University Autonomous Space Robotics Laboratory OttawaONK1S 5B6 Canada Toronto Metropolitan University Department of Mechanical Industrial and Mechatronics Engineering TorontoONM5B 2K3 Canada

In this paper, we study a slow-fast realization of nonholonomic Hamiltonian control systems mediated by strong friction forces which is viewed as a singular perturbation of the nonholonomic system. We propose a systematic decomposition of the perturbed dynamics into slow and fast directions using the kinetic energy metric and the geometry of friction forces. The (slow) invariant manifold is identified by a set of invariance conditions resulting in partial differential equations that generally do not have an analytic solution. We approximate the invariant manifold along with the control inputs with power series and show that using this approximation the invariance conditions admit an inherent recursion. Accordingly, we develop a recursive procedure to perform dynamic input-output linearization of the approximated slow system. We consider the output trajectory tracking problem using a PD control law on the Nth order approximation of the invariant manifold. Closed-loop stability analysis is performed on both the invariant manifold and the full phase space of the system. We prove that if the internal dynamics of the nonholonomic system is exponentially stable, then the perturbed system remains asymptotically stable. Moreover, we prove that the output error dynamics is uniformly bounded when applying the approximated control law, with bounds dependent on the control gains and strength of the friction force. Our approach is illustrated through a numerical case study on a differential robot. © 1963-2012 IEEE.

关键词： Kinetic energy

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An exploratory user study towards developing a unified, comprehensive assessment apparatus for deaf signers, specifically tailored for signing avatars evaluation: challenges, findings, and recommendations

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Multimedia Tools and Applications 2024年 1-38页

作者： Imashev, Alfarabi Oralbayeva, Nurziya Sandygulova, Anara Department of Robotics and Mechatronics School of Engineering and Digital Sciences Nazarbayev University 53 Kabanbay Batyr ave. Astana010000 Kazakhstan National Laboratory Astana Nazarbayev University 53 Kabanbay Batyr ave. Astana010000 Kazakhstan

Sign Languages (SL) are natural languages used by those who are deaf or have hearing impairments, as well as by hearing persons, including interpreters, family members, and friends of deaf individuals. Spoken languages rely primarily on verbal and written communication, whereas sign language focuses mainly on visual-gestural communication. In their daily lives, unimodal users (deaf people who only use sign language) cannot always rely solely on textual communication. Research on SL recognition and generation has shown enormous promise in addressing concerns related to inclusivity and accessibility. The research on using signing avatars in human-computer interaction is relatively new. The currently available information suggests that the research strategies used to develop sign language-interpreting avatars have drawbacks that hinder the establishment of a strong, dependable, and persuasive signing system. Therefore, to ensure the meaningful involvement of the deaf population in user studies, it is essential to design a standardized procedure for surveying them and acquiring significant insights to assist future improvements. In order to accomplish this objective, we undertook a thorough examination of several scales and metrics, which we endeavored to precisely customize and modify to suit the subjective assessment of SL agents by deaf signers. We conducted this analysis as an exploratory case study involving deaf signers and individuals who use sign language oftentimes. We aimed to address the question: "What should a methodological framework for evaluating sign language agents by deaf signers entail?" The data obtained from both rounds of this preliminary exploratory user study, as outlined in the current paper, became essential for our future work. During the COVID-19 lockdown period in 2020-2021, we conducted the first iteration solely online. We held the second iteration after a year, still adhering to the limitations imposed by the pandemic. © The Author(s), u

关键词： Audition

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