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3rd International Symposium on Aerospace engineering and Systems, ISAES 2024

作者： Song, Hailong Yang, Shengluo Yin, Shuoxin Wang, Junyi Xu, Zhigang Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China University of Chinese Academy of Sciences Beijing100049 China School of Mechanical Engineering University of Shanghai for Science and Technology Shanghai200093 China

ISBN: (纸本)9798350350418

Due to the wide variety and small number of aerospace products, the assembly process of related products becomes very complicated. In order to achieve the production requirements of safer, more efficient, better production quality and higher resource utilization, we integrate the control system into the assembly line of aerospace products to make it automated. In order to further verify the feasibility of the system, we use 3D virtual reality visualization to design the onsite real-time operation system scheme. © 2024 IEEE.

关键词： Smart manufacturing

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Super-resolution reconstruction algorithm for terahertz imaging below diffraction limit

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Chinese Physics B 2023年第3期32卷 608-612页

作者：王莹祁峰张子旭汪晋宽 School of Communication Science and Engineering Northeastern UniversityShenyang 110819China Key Laboratory of Opto-Electronic Information Processing Chinese Academy of SciencesShenyang 110016China Shenyang Institute of Automation Chinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China University of Technology Sydney NSW 2007Australia

Terahertz(THz)imaging has drawn significant attention because THz wave has a unique capability to transient,ultrawide spectrum and low photon ***,the low resolution has always been a problem due to its long wavelength,limiting their application of fields practical *** this paper,we proposed a complex one-shot super-resolution(COSSR)framework based on a complex convolution neural network to restore superior THz images at 0.35 times wavelength by extracting features directly from a reference measured sample and groundtruth without the measured *** with real convolution neural network-based approaches and complex zero-shot super-resolution(CZSSR),COSSR delivers at least 6.67,0.003,and 6.96%superior higher imaging efficacy in terms of peak signal to noise ratio(PSNR),mean square error(MSE),and structural similarity index measure(SSIM),respectively,for the analyzed ***,the proposed method is experimentally demonstrated to have a good generalization and to perform well on measured *** COSSR provides a new pathway for THz imaging super-resolution(SR)reconstruction below the diffraction limit.

关键词： terahertz image processing complex convolution neural network

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Development and Optimization of a WebGL-Based Mechanical Model Simulation Platform 4th

Development and Optimization of a WebGL-Based Mechanical Mod...

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4th International Conference on Mechanical Design and Simulation, MDS 2024

作者： Wang, Xintong Tian, Hao Fang, Jingzhe Zhang, Hualiang Zhang, Tao Software College Shenyang University of Technology Liaoning Shenyang China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China School of Electrical Engineering Shenyang University of Technology Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China

ISBN: (纸本)9789819778867

The need for mechanical model simulation platforms is growing as a result of the ongoing advancements in digital technology and the mechanical manufacturing sector. The application scope and efficacy of simulation platforms are severely limited by the issue of sluggish rendering performance, which frequently arises when obtaining high-quality rendering. When drawing high demand mechanical models, a lot of processing power is frequently needed, which makes real-time rendering speed unsatisfactory for practical purposes. In order to achieve real-time rendering and simulation of 3D robots, this experiment built and implemented a WebGL-based 3D simulation platform. Additionally, the simulation platform can be optimized by increasing frame rate and rendering speed without sacrificing rendering effect by building a mixed bounding box. © The Author(s) 2025.

关键词： Digital elevation model

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A loading path planning method for co-loading in automatic harvesting system

A loading path planning method for co-loading in automatic h...

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2023 International Conference on Advanced Mechatronic Systems, ICAMechS 2023

作者： Wang, Xiaoxiong Wang, Zhuo Bai, Xiaoping Ge, Zhikang Wang, Jian Man, Zhihong Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Shenyang China University of Chinese Academy of Sciences School of Computer Science and Technology Beijing China Chinese Academy of Sciences Shenyang Institute of Automation Shenyang China Swinburne University of Technology Faculty of Science Engineering and Technology Melbourne Australia

ISBN: (纸本)9798350307474

In this paper, a path planning method is developed for co-loading in master-slave automatic harvesting. It is shown that, the adjustment of the unloading port position relative to the grain tank can be performed jointly by the longitudinal relative position between the vehicles and the angle of the unloading arm. Then the loading path based on the Hamiltonian circuit is designed to guide the motion of the unloading port during the loading process. By improving the loading uniformity, the loading path proposed can maximize the capacity utilization of grain tank which can reduce the round-trip frequency of the transport vehicle and improve the energy and time efficiency of the harvesting operation. Simulation results are provided to validate the excellent performance of presented path planning method. © 2023 IEEE.

关键词： Motion planning

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A Robust Adaptive Terminal Sliding Mode Control for Lane-keeping in Road Vehicles

A Robust Adaptive Terminal Sliding Mode Control for Lane-kee...

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2023 International Conference on Advanced Mechatronic Systems, ICAMechS 2023

作者： Ge, Zhikang Wang, Zhuo Bai, Xiaoping Wang, Xiaoxiong Man, Zhihong Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Shenyang China University of Chinese Academy of Sciences School of Computer Science and Technology Beijing China Chinese Academy of Sciences Shenyang Institute of Automation Shenyang China Swinburne University of Technology Faculty of Science Engineering and Technology Melbourne Australia

ISBN: (纸本)9798350307474

In this paper, a novel adaptive terminal sliding-mode control (ATSMC) method is developed for road vehicles with uncertain dynamics. It is shown that the designed adaptive laws can recursively update the controller parameters based on the estimation values of the unknown parameter bound in the Lyapunov sense, and then the lateral position error can be driven to zero in a finite time. In comparison to the conventional sliding-mode-based vehicle lateral control method, the proposed ATSMC not only ensures fast error convergence, but also eliminates the requirement for known bounded information in controller design. Simulation results are presented to demonstrate the good performance of the proposed ATSMC scheme. © 2023 IEEE.

关键词： Sliding mode control

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High-precision Calibration of Camera and IMU on Manipulator for Bio-inspired Robotic System

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Journal of Bionic engineering 2022年第2期19卷 299-313页

作者： Yinlong Zhang Wei Liang Sichao Zhang Xudong Yuan Xiaofang Xia Jindong Tan Zhibo Pang State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Key Laboratory of Networked Control Systems Chinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China The School of Computer Science and Technology Xidian UniversityXi’an 710071China Department of Mechanical Aerospace and Biomedical EngineeringUniversity of TennesseeKonxville 37996USA Department of Automation Technology ABB Corporate Research Sweden72178 VästerasSweden

Inspired by box jellyfish that has distributed and complementary perceptive system,we seek to equip manipulator with a camera and an Inertial Measurement Unit(IMU)to perceive ego motion and surrounding unstructured *** robot perception,a reliable and high-precision calibration between camera,IMU and manipulator is a critical *** paper introduces a novel calibration ***,we seek to correlate the spatial relationship between the sensing units and manipulator in a joint ***,the manipulator moving trajectory is elaborately designed in a spiral pattern that enables full excitations on yaw-pitch-roll rotations and x-y-z translations in a repeatable and consistent *** calibration has been evaluated on our collected visual inertial-manipulator *** systematic comparisons and analysis indicate the consistency,precision and effectiveness of our proposed calibration method.

关键词： Bio-inspired robotic system Monocular camera IMU Manipulator Calibration

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Monocular Visual-Inertial and Robotic-Arm Calibration in a Unifying Framework

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IEEE/CAA Journal of Automatica Sinica 2022年第1期9卷 146-159页

作者： Yinlong Zhang Wei Liang Mingze Yuan Hongsheng He Jindong Tan Zhibo Pang Key Laboratory of Networked Control Systems Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016 State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016 Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China School of Computing Wichita State UniversityWichita 67260 USA Department of Mechanical Aerospace and Biomedical EngineeringUniversity of TennesseeTN 37996 USA Department of Automation Technology ABB Corporate Research SwedenVasteras 72178Sweden Department of Intelligent Systems Royal Institute of Technology(KTH)Stockholm 11428Sweden

Reliable and accurate calibration for camera,inertial measurement unit(IMU)and robot is a critical prerequisite for visual-inertial based robot pose estimation and surrounding environment ***,traditional calibrations suffer inaccuracy and *** address these problems,this paper proposes a monocular visual-inertial and robotic-arm calibration in a unifying *** our method,the spatial relationship is geometrically correlated between the sensing units and robotic *** decoupled estimations on rotation and translation could reduce the coupled errors during the ***,the robotic calibration moving trajectory has been designed in a spiral pattern that enables full excitations on 6 DOF motions repeatably and *** calibration has been evaluated on our developed *** the experiments,the calibration achieves the accuracy with rotation and translation RMSEs less than 0.7°and 0.01 m,*** comparisons with state-of-the-art results prove our calibration consistency,accuracy and effectiveness.

关键词： Calibration inertial measurement unit(IMU) monocular camera robotic arm spiral moving trajectory

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Preparation and 3D printing of high-thermal-conductivity continuous mesophase-pitch-based carbon fiber/epoxy composites

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Journal of Zhejiang university-Science A(Applied Physics & engineering) 2023年第2期24卷 162-172页

作者： Haiguang ZHANG Kunlong ZHAO Qingxi HU Jinhe WANG Rapid Manufacturing Engineering Center School of Mechatronical Engineering and AutomationShanghai UniversityShanghai 200444China Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai UniversityShanghai 200072China National Demonstration Center for Experimental Engineering Training Education Shanghai UniversityShanghai 200444China Nano-Science&Technology Research Center School of ScienceShanghai UniversityShanghai 200444China

To meet the requirements of spacecraft for the thermal conductivity of resins and solve the problem of low thermal conduction efficiency when 3D printing complex parts,we propose a new type of continuous mesophase-pitch-based carbon fiber/thermoplastic polyurethane/epoxy(CMPCF/TPU/epoxy)composite filament and its preparation process in this *** composite filament is based on the high thermal conductivity of CMPCF,the high elasticity of TPU,and the high-temperature resistance of *** tensile strength and thermal conductivity of the CMPCF/TPU/epoxy composite filament were *** CMPCF/TPU/epoxy composites are formed by 3D printing technology,and the composite filament is laid according to the direction of heat conduction so that the printed part can meet the needs of directional heat *** experimental results show that the thermal conductivity of the printed sample is 40.549 W/(m·K),which is 160 times that of pure epoxy resin(0.254 W/(m·K)).It is also approximately 13 times better than that of polyacrylonitrile carbon fiber/epoxy(PAN-CF/epoxy)*** study breaks through the technical bottleneck of poor printability of *** provides a new method for achieving directional thermal conductivity printing,which is important for the development of complex high-performance thermal conductivity products.

关键词： Thermal conductivity 3D printing Continuous mesophase-pitch-based carbon fiber(CMPCF) Thermoplastic polyurethane(TPU) Epoxy composite filament

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Object Tracking Algorithm Based on Dual Layer Attention 16th

Object Tracking Algorithm Based on Dual Layer Attention

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16th International Conference on Intelligent robotics and Applications, ICIRA 2023

作者： Li, Ziwan Liu, Shiben Cheng, Zhuxuan Yu, Zhencheng Fan, Huijie School of Information Engineering Shenyang University of Chemical Technology Shenyang110142 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China University of Chinese Academy of Sciences Beijing100049 China

ISBN: (纸本)9789819964857

The attention mechanism is an important part of the Transformer trackers. But the attention mechanism has some limitations in calculating the correlation. When the attention mechanism calculates the wrong correlation, it affects the quality of the final correlation and affects the overall tracking performance. To solve the above problems, we designed a dual layer attention module to improve the accuracy of correlation by dual layer attention, so that the attention mechanism can accomplish feature augmentation and fusion more effectively, thus improving the performance of the tracking algorithm. The proposed algorithm consists of a Swin-Transformer-based backbone network, a dual layer attention-based fusion module and a prediction branch. Experiments indicate that our algorithm achieves robust results on five publicly available datasets, running at approximately 35 FPS on the GPU, allowing for real-time tracking. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Attention Feature fusion Object tracking Transformer

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Nanosecond pulsed laser-assisted modified copper surface structure:Enhanced surface microhardness and microbial corrosion resistance

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Journal of Materials Science & technology 2022年第12期107卷 111-123页

作者： Boxin Wei Jin Xu Liqun Gao Hui Feng Jiajun Wu Cheng Sun Zhenyao Wang Wei Ke School of Materials Science and Engineering University of Science and Technology of ChinaShenyang 110016China Liaoning Shenyang Soil and Atmosphere Material Corrosion National Observation and Research Station Institute of Metal ResearchChinese Academy of SciencesShenyang 110016China State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110169China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China

Microbiologically influenced corrosion(MIC) is an unavoidable problem in several industries. Copper(Cu)and its alloys are widely used engineering materials. However, MIC of Cu remains a persistent challenge to their performance and functional lifetime under aggressive environments. This study investigated nanosecond pulsed laser processing(LP), which may enhance the corrosion resistance of Cu. The microstructural evolution and corrosion behavior of LP-Cu in the presence of sulfate-reducing bacteria(SRB) were evaluated. Typical deformation-induced microstructural features of high-density dislocations were analyzed on the top surface of LP-Cu coupon. Electrochemical measurements suggested that LP-Cu coupons exhibited better corrosion resistance in SRB-inoculated solution compared with their original counterpart. The enhanced corrosion resistance by LP primarily resulted from the combined influences of compressive residual stress and work hardening in the surface. However, overlap percentage played a key role in improving corrosion resistance. LP produced optimal corrosion resistance at 50% overlap. Therefore, this study introduces a unique and an option for anticorrosion control in manufacturing processes and potentially implements it onto other materials to improve its microbial corrosion resistance through LP.

关键词： Pure copper Laser processing Microbiologically influenced corrosion Pitting Severe plastic deformation

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