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arXiv 2018年

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

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 available1. Copyright © 2018, The Authors. All rights reserved.

关键词： Machine design

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Extraction of Speed-Independent Vibration Features for Terrain Classification in Lugged-Wheel Rovers

Extraction of Speed-Independent Vibration Features for Terra...

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IEEE International Conference on robotics and Biomimetics

作者： Fengtian Lv Haibo Gao Yumeng Bai Nan Li Liang Ding Ruyi Zhou Zongquan Deng Guangjun Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China The High School Remin University of China Beijinz China Department of Aerospace Engineering Ryerson University Toronto Canada

ISBN: (纸本)9781728103785;9781728103778

Vibration characteristics of planetary rovers may contain features that can be effectively used for terrain classification, terrain properties estimation, and terrain traversability assessment. However, the conventional vibration features selected to represent the terrain induced wheel response vary with the wheel speed, which could cause misclassification. In order to extract speed-independent vibration features of wheels, this paper proposes vibration model of wheels traversing different types of terrains with consideration of the dynamics of lug-terrain interaction. Based on the proposed model, low-dimensional vibration features including frequency, amplitude, mean value, and mean square value are extracted from statistical features of vibration acceleration. Nondimensionalization is performed to make them independent on wheel speed. The features can represent the terrain characteristics decoupled from the wheel speed so that they can be used to reduce terrain misclassification in the future. Experimental results show that the vibration features extracted are independent on wheel speed and effective for terrain classification.

关键词： Wheels Vibrations Feature extraction Acceleration Soil Surface waves Robots

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Robust Scalable Part-Based Visual Tracking for UAV with Background-Aware Correlation Filter

Robust Scalable Part-Based Visual Tracking for UAV with Back...

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IEEE International Conference on robotics and Biomimetics

作者： Changhong Fu Yinqiang Zhang Ran Duan Zongwu Xie School of Mechanical Engineering Tongji University Shanghai China Interdisciplinary Division of Aeronautical and Aviation Engineering Hong Kong Polytechnic University HKSAR China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781728103785;9781728103778

Robust visual tracking for the unmanned aerial vehicle (UAV) is a challenging task in different types of civilian UAV applications. Although the classical correlation filter (CF) has been widely applied for UAV object tracking, the background of the object is not learned in the classical CF. In addition, the classical CF cannot estimate the object scale changes, and it is not able to cope with object occlusion effectively. Part-based tracking approach is often used for the visual tracker to solve the occlusion issue. However, its real-time performance for the UAV cannot be achieved due to the high cost of object appearance updating. In this paper, a novel robust visual tracker is presented for the UAV. The object is initially divided into multiple parts, and different background-aware correlation filters are applied for these divided object parts, respectively. An efficient coarse-to-fine strategy with structure comparison and Bayesian inference approach is proposed to locate object and estimate the object scale changes. In addition, an adaptive threshold is presented to update each local appearance model with a Gaussian process regression method. Qualitative and quantitative tests show that the presented visual tracking algorithm reaches real-time performance (i.e., more than twenty frames per second) on an i7 processor with 640×360 image resolution, and performs favorably against the most popular state-of-the-art visual trackers in terms of robustness and accuracy. To the best of our knowledge, it is the first time that this novel scalable part-based visual tracker is presented, and applied for the UAV tracking applications.

关键词： Visualization Correlation Target tracking Unmanned aerial vehicles Object tracking Real-time systems Robustness

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MedShapeNet - A Large-Scale Dataset of 3D Medical Shapes for Computer Vision

arXiv

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arXiv 2023年

作者： Li, Jianning Zhou, Zongwei Yang, Jiancheng Pepe, Antonio Gsaxner, Christina Luijten, Gijs Qu, Chongyu Zhang, Tiezheng Chen, Xiaoxi Li, Wenxuan Wodzinski, Marek Friedrich, Paul Xie, Kangxian Jin, Yuan Ambigapathy, Narmada Nasca, Enrico Solak, Naida Melito, Gian Marco Vu, Viet Duc Memon, Afaque R. Schlachta, Christopher De Ribaupierre, Sandrine Patel, Rajnikant Eagleson, Roy Chen, Xiaojun Mächler, Heinrich Kirschke, Jan Stefan de la Rosa, Ezequiel Christ, Patrick Ferdinand Li, Hongwei Bran Ellis, David G. Aizenberg, Michele R. Gatidis, Sergios Küstner, Thomas Shusharina, Nadya Heller, Nicholas Andrearczyk, Vincent Depeursinge, Adrien Hatt, Mathieu Sekuboyina, Anjany Löffler, Maximilian Liebl, Hans Dorent, Reuben Vercauteren, Tom Shapey, Jonathan Kujawa, Aaron Cornelissen, Stefan Langenhuizen, Patrick Ben-Hamadou, Achraf Rekik, Ahmed Pujades, Sergi Boyer, Edmond Bolelli, Federico Grana, Costantino Lumetti, Luca Salehi, Hamidreza Ma, Jun Zhang, Yao Gharleghi, Ramtin Beier, Susann Sowmya, Arcot Garza-Villarreal, Eduardo A. Balducci, Thania Angeles-Valdez, Diego Souza, Roberto Rittner, Leticia Frayne, Richard Ji, Yuanfeng Ferrari, Vincenzo Chatterjee, Soumick Dubost, Florian Schreiber, Stefanie Mattern, Hendrik Speck, Oliver Haehn, Daniel John, Christoph Nürnberger, Andreas Pedrosa, João Ferreira, Carlos Aresta, Guilherme Cunha, António Campilho, Aurélio Suter, Yannick Garcia, Jose Lalande, Alain Vandenbossche, Vicky Van Oevelen, Aline Duquesne, Kate Mekhzoum, Hamza Vandemeulebroucke, Jef Audenaert, Emmanuel Krebs, Claudia van Leeuwen, Timo Vereecke, Evie Heidemeyer, Hauke Röhrig, Rainer Hölzle, Frank Badeli, Vahid Krieger, Kathrin Gunzer, Matthias Chen, Jianxu van Meegdenburg, Timo Dada, Amin Balzer, Miriam Fragemann, Jana Jonske, Frederic Rempe, Moritz Malorodov, Stanislav Bahnsen, Fin H. Seibold, Constantin Jaus, Alexander Marinov, Zdravko Jaeger, Paul F. Stiefelhagen, Rainer Santos, Ana Sofia Lindo, Mariana Ferreira, André Alves, Victor Kamp, Michael Abourayya, Amr Nensa, Felix Hörst, Fabian Brehmer, Alexander Hein Girardetstraße 2 Essen45131 Germany Graz University of Technology Inffeldgasse 16c Graz8010 Austria Graz Austria The Department of Computer Science Johns Hopkins University Malone Hall 3400 N Charles St BaltimoreMD21218 United States Rte Cantonale Lausanne1015 Switzerland The Department of Measurement and Electronics AGH University of Science and Technology Krakow Poland Sierre Switzerland Department of Biomedical Engineering University of Basel Hegenheimermattweg Allschwil167C CH-4123 Switzerland The Boston College 140 Commonwealth Ave Chestnut HillMA02467 United States University Hospital B7-200 339 Windermere Road LondonN6A 5A5 Canada The Department of Radiology Renji Hospital School of Medicine Shanghai Jiao Tong University Shanghai200240 China The Research Center for Connected Healthcare Big Data ZhejiangLab Zhejiang Hangzhou311121 China The Faculty of Statistics Technical University Dortmund August-Schmidt-Straße 1 Dortmund44227 Germany The Institute of Mechanics Graz University of Technology Kopernikusgasse 24/IV Graz8010 Austria The Institute of Biomedical Manufacturing and Life Quality Engineering State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University 800 Dongchuan Road Shanghai200240 China The Department of Cardiac Surgery Medical University Graz Auenbruggerplatz 29 Graz8036 Austria The Department of Diagnostic and Interventional Radiology University Hospital Giessen Justus-Liebig-University Giessen Klinikstraße 33 Giessen35392 Germany The Department of Mechanical Engineering Mehran University of Engineering and Technology Jamshoro Sindh76062 Pakistan The Institute of Medical Robotics Shanghai Jiao Tong University Shanghai China The Geschäftsführender Oberarzt Abteilung für Interventionelle und Diagnostische Neuroradiologie Universitätsklinikum der Technischen Universität München Ismaningerstr. 22 München81675 Germany icometrix Kolonel Be

Prior to the deep learning era, shape was commonly used to describe the objects. Nowadays, state-of-the-art (SOTA) algorithms in medical imaging are predominantly diverging from computer vision, where voxel grids, meshes, point clouds, and implicit surface models are used. This is seen from numerous shape-related publications in premier vision conferences as well as the growing popularity of ShapeNet (about 51,300 models) and Princeton ModelNet (127,915 models). For the medical domain, we present a large collection of anatomical shapes (e.g., bones, organs, vessels) and 3D models of surgical instrument, called MedShapeNet, created to facilitate the translation of data-driven vision algorithms to medical applications and to adapt SOTA vision algorithms to medical problems. As a unique feature, we directly model the majority of shapes on the imaging data of real patients. As of today, MedShapeNet includes 23 datasets with more than 100,000 shapes that are paired with annotations (ground truth). Our data is freely accessible via a web interface and a Python application programming interface (API) and can be used for discriminative, reconstructive, and variational benchmarks as well as various applications in virtual, augmented, or mixed reality, and 3D printing. Exemplary, we present use cases in the fields of classification of brain tumors, skull reconstructions, multi-class anatomy completion, education, and 3D printing. In future, we will extend the data and improve the interfaces. The project pages are: https://***/ and https://***/Jianningli/*** Codes 68T01 © 2023, CC BY.

关键词： Large dataset

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Design and Experiments of a Redundantly Actuated Cable-Driven Parallel Robot

Design and Experiments of a Redundantly Actuated Cable-Drive...

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IEEE International Conference on robotics and Biomimetics

作者： Han YUAN Yongqing ZHANG Wenfu XU School of Mechanical Engineering and Automation Harbin Institute of Technology (Shenzhen) Shenzhen P.R. China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin P.R. China

ISBN: (纸本)9781728103785;9781728103778

Cable-driven parallel robots have attracted lots of interests in the past few decades due to their unique advantages. This paper presents a redundantly actuated cable-driven parallel robot, which achieves 6 DOFs by 8 driving cables. Moreover, the proposed cable robot employs modular design, realizing fast reconfigurability. Detailed design of the robot has been presented including the delicate winch module, the cable transmission module, and the sensors together with the motion controller. Besides hardware design, inverse and forward kinematics of the robot are formulated, based on which trajectory planning is done including straight lines and splines. Finally, prototype of the robot is fabricated and preliminary experiments are made through writing tests. Results prove the validity of the proposed cable-driven parallel robot.

关键词： Winches Kinematics Parallel robots Trajectory Robot sensing systems

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Experiments on the relationship between the structural parameters of contraposition transducers and the acoustic levitation transportation trajectory

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Proceedings of Meetings on Acoustics 2019年第1期38卷

作者： Huijuan Dong Mingyang Sui Chuncheng Mao Guanyu Mu Jie Zhao 1School of Mechatronics Engineering Harbin Institute of Technology Harbin Hei Longjiang 150001 CHINA dhj@*** 2State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 150001 CHINA 954479126@*** ***@*** mu-guanyu@*** jzhao@***

Standing wave acoustic levitation transportation technique has been widely used in many research areas. In this work, two Langevin-type piezoelectric transducers’ central lines are mounted at a certain angle which is named a contraposition transducer array. The levitator developed in this work is constructed using the array and a reflector. Accordingly, a standing wave acoustic field is formed to levitate and transport particles by optimizing the angle between central lines of the two transducers, the distance between the two transducers’ output and their reflectors, the exciting phase differential on the two transducers. In this standing wave acoustic field, the trapped objects can be levitated and transported by modulating the exciting phase difference of the two transducers. In this work, the locations of the levitated particles are acquired by a high speed video camera and are clarified using the Hough Circle algorithm. The experiments carried out by the authors have demonstrated the effects of the levitator’s structure parameters (including the angle between central lines of the two transducers, the distance between the two transducers’ output and the reflector) on the transportation trajectory.

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COMSOL-based simulations and experiments on the classifying trajectory of the mixed particles levitated in standing wave field

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Proceedings of Meetings on Acoustics 2019年第1期38卷

作者： Huijuan Dong Fanbin Meng Bin Lan Guanyu Mu Jie Zhao 1School of Mechatronics Engineering Harbin Institute of Technology Harbin Hei Longjiang 150001 CHINA dhj@*** 2State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 CHINA mengfanbin96@*** ***@*** mu-guanyu@*** jzhao@***

In this work, a standing wave acoustic field formed by using two contraposition transducers is used to classify the mixed powder. COMSOL-based simulations reveal the influence of the factors on the drop trajectories of the particles within an acoustic field. Then the experiments are carried out to demonstrate those obtained using COMSOL-based simulations. Finally, the separation experiments of the mixed powder of iron and dioxide silica are achieved, including the mixed powder both in the same diameter and the different diameter respectively.

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Visual Place Recognition in Long-term and Large-scale Environment based on CNN Feature

Visual Place Recognition in Long-term and Large-scale Enviro...

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IEEE Intelligent Vehicles Symposium

作者： Jianliang Zhu Yunfeng Ai Bin Tian Dongpu Cao Sebastian Scherer School of Artificial Intelligence University of Chinese Academy of Sciences State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Department of Mechanical & Mechatronics Engineering University of Waterloo Robotics Institute Carnegie Mellon University

ISBN: (纸本)9781538644539

With the universal application of camera in intelligent vehicles, visual place recognition has become a major problem in intelligent vehicle localization. The traditional solution is to make visual description of place images using hand-crafted feature for matching places, but this description method is not very good for extreme variability, especially for seasonal transformation. In this paper, we propose a new method based on convolutional neural network (CNN), by putting images into the pre-trained network model to get automatically learned image descriptors, and through some operations of pooling, fusion and binarization to optimize them, then the similarity result of place recognition is presented with the Hamming distance of the place sequence. In the experimental part, we compare our method with some state-of-the-art algorithms, FABMAP, ABLE-M and SeqSLAM, to illustrate its advantages. The experimental results show that our method based on CNN achieves better performance than other methods on the representative public datasets.

关键词： Hamming distance Intelligent vehicles binarization Recognition (Psychology) Visualization network model Cameras images

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Singularity-Robust Hybrid Visual Servoing Control for Aerial Manipulator

Singularity-Robust Hybrid Visual Servoing Control for Aerial...

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IEEE International Conference on robotics and Biomimetics

作者： Fengyu Quan Haoyao Chen Yanjie Li Yunjiang Lou Jian Chen Yunhui Liu School of Mechanical Engineering and Automation State Key Laboratory of Robotics and System China State Key Laboratory (SKL) of PhotoVoltaic Science and Technology (PVST) Trinasolar Co. Ltd Changzhou Jiangsu P.R. China Department of Mechanical and Automation Engineering Chinese University of Hong Kong Hong Kong P. R. China

ISBN: (纸本)9781728103785;9781728103778

Control of aerial manipulation has attracted increasing attention in robotics these years. It is still a challenge to precisely control the manipulator under the influence of dynamical motion coupling between the aerial platform and manipulator. In this paper we develop a hybrid visual servoing approach for aerial manipulators to complete aerial manipulations. The hybrid controller integrates both advantages of the image-based and position-based visual servoing controllers; it ensures the target features staying in the field of view as well as guaranteeing the global convergence of error. Furthermore, to address the singularity problem existing in the flexible aerial manipulator, a SVD-based variant damped least square solution is developed. Experiments are performed on a custom-built aerial manipulator which consists of a 6-DoF serial manipulator and a coaxial octocopter. The experimental results have illustrated the effectiveness of the proposed approach.

关键词： Manipulator dynamics Cameras Visual servoing End effectors Kinematics Convergence

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Effect of head swing motion on hydrodynamic performance of fishlike robot propulsion

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Journal of Hydrodynamics 2016年第4期28卷 637-647页

作者：夏丹陈维山刘军考吴泽 School of Mechanical Engineering Southeast University State Key Laboratory of Robotics and System Harbin Institute of Technology

This paper studies the effect of the head swing motion on the fishlike robot swimming performance numerically. Two critical parameters are employed in describing the kinematics of the head swing： the leading edge amplitude of the head and the trailing edge amplitude of the head. Three-dimensional Navier-Stokes equations are used to compute the viscous flow over the robot. The user-defined functions and the dynamic mesh technology are used to simulate the fishlike swimming with the head swing motion The results reveal that it is of great benefit for the fish to improve the thrust and also the propulsive efficiency by increasing the two amplitudes properly. Superior hydrodynamic performance can be achieved at the leading edge amplitudes of 0.05L （ L is the fish length） and the trailing edge amplitudes of 0.08L. The unsteady flow fields clearly indicate the evolution process of the flow structures along the swimming fish. Thrust-indicative flow structures with two pairs of pressure cores in a uniform mode are generated in the superior performance case with an appropriate head swing, rather than with one pair of pressure cores in the case of no head swing. The findings suggest that the swimming biological device design may improve its hydrodynamic performance through the head swing motion.

关键词： fishlike swimming head swing motion hydrodynamic performance biological device design

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