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arXiv 2025年

作者： Xu, Xiangyu Zheng, Zhi Wang, Jin Chen, Yikai Huang, Jingyang Wu, Ruixin Yu, Huan 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 College of Control Science and Engineering Zhejiang University Hangzhou310027 China

Flapping-wing robots offer great versatility;however, achieving efficient multi-modal locomotion remains challenging. This paper presents the design, modeling, and experimentation of T3, a novel tailless flapping-wing robot with three pairs of independently actuated wings. Inspired by juvenile water striders, T3 incorporates bio-inspired elastic passive legs that effectively transmit vibrations generated during wing flapping, enabling ground movement without additional motors. This novel mechanism facilitates efficient multi-modal locomotion while minimizing actuator usage, reducing complexity, and enhancing performance. An SE(3)-based controller ensures precise trajectory tracking and seamless mode transition. To validate T3’s effectiveness, we developed a fully functional prototype and conducted targeted modeling, real-world experiments, and benchmark comparisons. The results demonstrate the robot’s and controller’s outstanding performance, underscoring the potential of multi-modal flapping-wing technologies for future aerial-ground robotic applications. Copyright © 2025, The Authors. All rights reserved.

关键词： Antenna grounds

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Collaborative Perception Datasets for Autonomous Driving: A Review

arXiv

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arXiv 2025年

作者： Wang, Naibang Shang, Deyong Gong, Yan Hu, Xiaoxi Song, Ziying Yang, Lei Huang, Yuhan Wang, Xiaoyu Lu, Jianli Beijing100083 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China State Key Laboratory of Intelligent Green Vehicle and Mobility Tsinghua University Beijing100084 China Beijing Key Laboratory of Traffic Data Mining and Embodied Intelligence School of Computer Science and Technology Beijing Jiaotong University China School of Mechanical and Aerospace Engineering Nanyang Technological University Singapore School of Mechatronics Engineering Harbin Institute of Technology 92 West Dazhi St. Harbin China Department of Electronic & Electrical Engineering University of Bath United Kingdom

Collaborative perception has attracted growing interest from academia and industry due to its potential to enhance perception accuracy, safety, and robustness in autonomous driving through multi-agent information fusion. With the advancement of Vehicle-to-Everything (V2X) communication, numerous collaborative perception datasets have emerged, varying in cooperation paradigms, sensor configurations, data sources, and application scenarios. However, the absence of systematic summarization and comparative analysis hinders effective resource utilization and standardization of model evaluation. As the first comprehensive review focused on collaborative perception datasets, this work reviews and compares existing resources from a multi-dimensional perspective. We categorize datasets based on cooperation paradigms, examine their data sources and scenarios, and analyze sensor modalities and supported tasks. A detailed comparative analysis is conducted across multiple dimensions. We also outline key challenges and future directions, including dataset scalability, diversity, domain adaptation, standardization, privacy, and the integration of large language models. To support ongoing research, we provide a continuously updated online repository of collaborative perception datasets and related literature: https://***/frankwnb/Collaborative-Perceptio n-Datasets-for-Autonomous-Driving. © 2025, CC BY-SA.

关键词： Sensor data fusion

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Analysis of Kinematic Relationship of Superposition Cooperative Dual-Industrial Robot 2020

Analysis of Kinematic Relationship of Superposition Cooperat...

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2020 International Conference on Computers, Information Processing and Advanced Education, CIPAE 2020

作者： Kong, Minxiu Wang, Rundong Cheng, Yanchun Yang, Jubo School of Mechatronics Engineering Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9781450372022

With the increasing complexity of manufacturing process, the ability of a single robot is not enough for the current diversified production environment and tasks, so the research on multi-robot technology is increasingly important. This article selects the most widely used superposition cooperative dual robot as the object, studies a base-based calibration algorithm based on the space common target coordinate system, and then establishes the trajectory constraint relationship of the dual robot on this basis, which provides theoretical basis for teaching work. Finally, the correctness of the algorithm is verified by simulation software. © 2020 ACM.

关键词： Industrial robots

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Lightweight 3D bioprinting with point by point photocuring

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Bioactive Materials 2021年第5期6卷 1402-1412页

作者： Peng Zhang Haoxuan Wang Peng Wang Yating Zheng Linxiang Liu Jun Hu Yande Liu Qing Gao Yong He School of Mechatronics&Vehicle Engineering East China Jiaotong UniversityNanchang330013China State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical EngineeringZhejiang UniversityHangzhou 310027China Engineering for Life Group(EFL) Suzhou215000China Zhejiang University Hospital Zhejiang UniversityHangzhouZhejiang 310027China

As photocrosslinkable materials,methacryloyl-modified hydrogels are widely used as bioinks in tissue *** printing methods to use these hydrogels,including changing the viscosity of the material or mixing them with other printing components,have been explored,but their application has been limited due to low printing quality or high *** addition,the complex operation of bulky equipment restricts the application of these existing printing *** study presents a lightweight stereolithography-based three-dimensional(3D)bioprinting system with a smart mechanical and structural *** developed bioprinter dimensions were 300 mm×300 mm×200 mm and it can be placed on a *** equipment has a mini bioink chamber to store a small amount of bioink for each *** systematically investigated the point-by-point curing process in the 3D bioprinting method,which can print mixed cells accurately and have good ***,we provide a compact,low-cost stereolithography bioprinting system with excellent biocompatibility for 3D bioprinting with methacryloyl-modified *** can be potentially used for drug screening,studying pathological mechanisms,and constructing biological disease models.

关键词： Three-dimensional(3D)bioprinting Stereolithography bioprinting system Compact Low-cost Tissue engineering Cell printing

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Data-based Stabilization of Unknown Discrete-time 2-D Roesser systems

Data-based Stabilization of Unknown Discrete-time 2-D Roesse...

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International Conference on Machine Learning and Cybernetics (ICMLC)

作者： Runmin Yang Rongni Yang Renjie Ma Yanzheng Zhu Peng Shi School of Control Science and Engineering Shandong University Jinan China State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China College of Electrical Engineering and Automation Shandong University of Science and Technology Qingdao China School of Electrical and Mechanical Engineering University of Adelaide Adelaide SA Australia

ISBN: (数字)9798331528041

ISBN: (纸本)9798331528058

This paper studies the stabilization problem of discrete-time two-dimensional (2-D) systems represented by Roesser based on available data. First of all, based on the pre-collected input-state data, the original system is transformed into a data-based form. Then a set is established to represent all systems capable of generating the given data, thereby indirectly stabilizing the original system by stabilizing all systems within this set. Next, by utilizing the S-procedure, sufficient conditions are established for the resultant closed-loop systems that incorporate a state feedback controller based on collected data. Finally, an example is given to demonstrate the effectiveness of the proposed approach.

关键词： Sufficient conditions state feedback Two-dimensional displays Transforms Machine learning Stability analysis Data models Numerical models Closed loop systems Numerical stability

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AGV state Monitoring Based on Global and First-person View Fusion in Digital Workshops 12

AGV State Monitoring Based on Global and First-person View F...

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12th International Conference on CYBER Technology in Automation, Control, and Intelligent systems, CYBER 2022

作者： Zhang, Sichao Liang, Wei Li, Gengyu Yuan, Xudong An, Haibo Zhang, Yinlong State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Key Laboratory of Networked Control Systems 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 Science Beijing100049 China School of Information and Control Engineering Shenyang Jianzhu University Shenyang110168 China Science and Technology on Information Systems Engineering Laboratory The 28th Research Institute of Cetc Jiangsu Nanjing210007 China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

AGV state monitoring is becoming increasingly important for production system safety in digital workshops. This paper develops a global and first-person view fusion to monitor the AGV (Automated Guided Vehicle) running state in the complex digital workshops. Based on the affine transformation model, the AGV running states, i.e., position, velocity and orientation are estimated by the global camera with the assistance of ArUco markers, which are pasted on the front side of the AGV. Besides, the first-person view camera is used to implement pedestrian detection and distance measurement based on the YOLOv3 model. It is noticeable that the pitch angle is considered for distance measurement, and an improved triangular model for distance measurement is proposed. The effectiveness of the proposed method has been verified in our built platform. © 2022 IEEE.

关键词： Cameras

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Energy Efficiency Optimization for Full-Duplex D2D Communications Underlaying Distributed Antenna systems

IEEE Transactions on Green Communications and Networking

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IEEE Transactions on Green Communications and Networking 2024年

作者： Liu, Zhan Liao, Zhiyuan Li, Chunquan Zhang, Zhijun Yu, Junzhi Liu, P.X. Hunan University of Humanities Science and Technology School of Information Loudi417000 China Nanchang University School of Information Engineering Nanchang330031 China Jiangxi Provincial Key Laboratory of Intelligent Systems and Human-Machine Interaction Nanchang330031 China South China University of Technology School of Automation Science and Engineering Guangzhou510640 China Peking University State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and Robotics College of Engineering Beijing100871 China Carleton University Department of Systems and Computer Engineering OttawaONK1S 5B6 Canada

In this paper, we investigate the total system energy efficiency (EE) of full-duplex (FD) device-to-device (D2D) communications underlaying distributed antenna systems (DAS), where remote access units (RAUs), D2D users (DUs), and cellular users (CUs) are all capable of FD operation. Specifically, we jointly optimize subcarrier assignment and power allocation under the quality of service (QoS) requirements of CUs and DUs and the maximum power constraints of RAUs, CUs, and DUs. In addition, we propose a novel spectrum sharing strategy that allows each subcarrier to be assigned to multiple CUs and/or multiple D2D pairs (DPs) for flexibility. To solve the formulated non-convex optimization problem, we first employ fractional programming to transform the objective function in the optimization problem from the fractional form into the equivalent subtractive form. Then, an efficient iterative resource allocation algorithm is proposed, which needs to solve an inner problem in each iteration. After relaxing the variables and introducing penalty factors, the non-convex inner problem is transformed into a convex problem through the successive convex approximation (SCA) method and solved by iterative algorithm. Simulation results demonstrate that the proposed algorithm can considerably improve the system EE compared to other benchmark schemes. Furthermore, the proposed spectrum sharing strategy is superior to the existing sharing strategies. © 2017 IEEE.

关键词： Convex optimization

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A Lightweight De-confounding Transformer for Image Captioning in Wearable Assistive Navigation Device

A Lightweight De-confounding Transformer for Image Captionin...

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IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Zhengcai Cao Ji Xia Yinbin Shi MengChu Zhou State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China College of Information Science and Technology Beijing University of Chemical Technology Beijing China School of Information and Electronic Engineering Zhejiang Gongshang University Hangzhou China

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Image captioning is a multi-modal task that enables the transformation from scene images to natural language, providing valuable insights for visually impaired individuals to understand their environment. Therefore, its application to wearable navigation devices for visually impaired individuals holds immense potential. However, in practical applications, confusion between scene visuals and semantics, coupled with model complexity, often leads to performance degradation, resulting in inaccurate environmental interpretation. In light of this, we introduce a Lightweight De-confounding Transformer Network (LDTNet) for image captioning equipped with a Causal Adjustment module to eliminate confounders. Moreover, we design a Suppression Gate Unit that efficiently integrates fine-grained information from shallow features, while reducing the number of network layers to have a lightweight model. Experimental results demonstrate that our approach not only addresses the visual-semantic confusion issue effectively but also improves the response speed of wearable devices in comparison with the state of the art. Twenty volunteers are recruited to evaluate LDTNet’s efficacy in real-world settings in terms of both response speed and generated outputs by wearing the resulting assistive navigation devices. The outcomes well show its outstanding performance and great potential for visualy impaired individuals to use.

关键词： Performance evaluation Hands Visualization Navigation System performance Semantics Natural languages Logic gates Transformers Wearable devices

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SSRN

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SSRN 2024年

作者： Gao, Mingyu Song, Peng Liang, Zhipeng Huo, Liang Gao, Yulong Yang, Guohui Xie, Yunji Song, Yinghao Wang, Fei Liu, Junyan School of Mechatronics Engineering Harbin Institute of Technology Harbin150001 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China The 41st Institute of the Sixth Academy of CASIC Hohhot010010 China School of Electronics and Information Engineering Harbin Institute of Technology Harbin150001 China

This paper proposes a microwave defect characterization algorithm based on Convolutional Neural Networks (CNN). A defect dataset derived from reflection microwave signals, was manually compiled by detecting samples with critical defects. The CNN framework was utilized for precise classification of microwave signals, employing a classification encoding strategy to extract two-dimensional defect information and achieve automatic localization and imaging of defects. Multiple deep learning models were compared in both simulations and experiments, revealing that the proposed CNN exhibited significant advantages in feature extraction, enabling highly effective identification of internal defects even with a limited dataset. Compared with traditional algorithms, the detection accuracy of the proposed 1D-SENet has been improved by 53.35% and 50.66%, respectively, and can achieve detection of defects with a minimum size of Φ6mm. These validate the effectiveness of algorithm in intelligent and automated microwave characterization of delamination defects within composite materials. © 2024, The Authors. All rights reserved.

关键词： Composite materials

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I2EKF-LO: A Dual-Iteration Extended Kalman Filter Based LiDAR Odometry

arXiv

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arXiv 2024年

作者： Yu, Wenlu Xu, Jie Zhao, Chengwei Zhao, Lijun Nguyen, Thien-Minh Yuan, Shenghai Bai, Mingming Xie, Lihua State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin150001 China The School of Electrical and Electronic Engineering Nanyang Technological University 639798 Singapore Hangzhou Guochen Robot Technology Company Limited Hangzhou311200 China State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou310000 China

LiDAR odometry is a pivotal technology in the fields of autonomous driving and autonomous mobile robotics. However, most of the current works focus on nonlinear optimization methods, and still existing many challenges in using the traditional Iterative Extended Kalman Filter (IEKF) framework to tackle the problem: IEKF only iterates over the observation equation, relying on a rough estimate of the initial state, which is insufficient to fully eliminate motion distortion in the input point cloud;the system process noise is difficult to be determined during state estimation of the complex motions;and the varying motion models across different sensor carriers. To address these issues, we propose the Dual-Iteration Extended Kalman Filter (I2EKF) and the LiDAR odometry based on I2EKF (I2EKF-LO). This approach not only iterates over the observation equation but also leverages state updates to iteratively mitigate motion distortion in LiDAR point clouds. Moreover, it dynamically adjusts process noise based on the confidence level of prior predictions during state estimation and establishes motion models for different sensor carriers to achieve accurate and efficient state estimation. Comprehensive experiments demonstrate that I2EKF-LO achieves outstanding levels of accuracy and computational efficiency in the realm of LiDAR odometry. Additionally, to foster community development, our code is open-sourced. Copyright © 2024, The Authors. All rights reserved.

关键词： state estimation

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