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2018 IEEE Intelligent Vehicles Symposium, IV 2018

作者： Zhu, Jianliang Ai, Yunfeng Tian, Bin Cao, Dongpu Scherer, Sebastian School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100190 China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China Cloud Computing Center Chinese Academy of Sciences Dongguan523808 China Department of Mechanical and Mechatronics Engineering University of Waterloo WaterlooONN2L 3G1 Canada Robotics Institute Carnegie Mellon University PittsburghPA15213 United States

ISBN: (纸本)9781538644522

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. © 2018 IEEE.

关键词： Hamming distance

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Improving energy utilization efficiency of electrical discharge milling in titanium alloys machining

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Journal of Central South University 2016年第10期23卷 2550-2557页

作者：郭成波韦东波狄士春 School of Mechatronics Engineering Harbin Institute of Technology State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University

Electrical discharge milling(ED-milling) can be a good choice for titanium alloys machining and it was proven that its machining efficiency can be improved to compete with mechanical cutting. In order to improve energy utilization efficiency of ED-milling process, unstable arc discharge and stable arc discharge combined with normal discharge were implemented for material removal by adjusting servo control strategy. The influence of electrode rotating speed and dielectric flushing pressure on machining performance was investigated by experiments. It was found that the rotating of electrode could move the position of discharge plasma channel, and high pressure flushing could wash melted debris out the discharge gap effectively. Both electrode rotating motion and high pressure flushing are contributed to the improvement of machining efficiency.

关键词： electrical discharge milling electrode rotating dielectric flushing energy utilization efficiency material removal rate tool electrode wearing rate

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Experiments and simulations of the standing wave acoustic field produced by two transducers mounted in contraposition 6

Experiments and simulations of the standing wave acoustic fi...

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2017 ICU Honolulu: 6th International Congress on Ultrasonics

作者： Dong, Huijuan Jia, Longfei Guan, Yingzi Zhao, Jie School of Mechatronics Engineering Harbin Institute of Technology Harbin Hei Longjiang150001 China Chongqing Vocational College of Transportation Chongqing China School of Astronautics Harbin Institute of Technology Harbin Hei Longjiang150001 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Hei Longjiang150001 China

Acoustic standing wave levitation transmission technique has been widely used in many research areas. In this work, two Langevin-type piezoelectric transducers' output are assembled face to face at a certain angle. Each transducer's output acts as both its radiator and another transducer's reflector. The authors termed it as contraposition transducer array. Standing acoustic wave in the cavity between the radiator and the reflector is formed when optimizing the angle between the central lines of the two transducers, the distance of the cavity, and the phase differential of the generator being used to excite the two transducers. Accordingly, the object during the acoustic field can be levitated, moved and manipulated. Not only the standing acoustic field pressure is theoretically derived, but also its potential location is Ansys-programmed simulated and illustrated. As a result, the restrictions are detailed which are necessary to form the standing acoustic wave. The corresponding experiments are carried out to demonstrate the proposed method by the authors. Finally, the influences of geometrical parameters and exciting phase differential on the formed acoustic field are numerically simulated. © 2018 Acoustical Society of America.

关键词： Acoustic fields

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Soft Robots: Fast‐Response, Stiffness‐Tunable Soft Actuator by Hybrid Multimaterial 3D Printing (Adv. Funct. Mater. 15/2019)

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Advanced Functional Materials 2019年第15期29卷

作者： Yuan‐Fang Zhang Ningbin Zhang Hardik Hingorani Ningyuan Ding Dong Wang Chao Yuan Biao Zhang Guoying Gu Qi Ge Digital Manufacturing and Design Centre Singapore University of Technology and Design Singapore 487372 Singapore Soft Robotics and Biodesign Lab Robotics Institute School of Mechanical Engineering Shanghai Jiao Tong University Shanghai 200240 China State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai 200240 China Science and Math Cluster Singapore University of Technology and Design Singapore 487372 Singapore

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Neural Adaptive Tracking Control via Chained Transform for Wheeled Mobile Robot 35

Neural Adaptive Tracking Control via Chained Transform for W...

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第35届中国控制会议

作者： SONG Xingguo GAO Hongli GAO Haibo Ding Liang Mechanical Engineering school Southwest Jiaotong University State Key Laboratory of Robotics and System Harbin Institute of Technology

ISBN: (纸本)9781509009107

In this paper,an adaptive stable control method is proposed for the trajectory tracking of nonholonomic wheeled mobile robots with *** control method is designed at the dynamical *** kinematic constraints of the mobile robot are transformed into the chained equations,and the desired trajectory is assumed to meet the nonholonomic *** adaptive control law is presented for the globally tracking purpose,and the stability of the control system is guaranteed by the standard Lyapunov *** particular,a radial basis function(RBF) neural network is applied to adaptively approximate the uncertain function within the dynamics *** weights of RBF neural network can be training,which is used to minimizing the tracking errors and guarantee the global *** superior simulation results demonstrate that the proposed control method can achieve the trajectory tracking accurately.

关键词： Nonholonomic constraints wheeled mobile robots chained transform neural networks Lyapunov theorem

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Correction to: Fabrication of high-strength polyoxymethylene fibers by gel spinning

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Journal of Materials Science 2018年第18期53卷 13316-13316页

作者： Xudong Fang Tom Wyatt Jing Shi Donggang Yao School of Mechanical Engineering Xi’an Jiaotong University Xi’an China School of Materials Science and Engineering Georgia Institute of Technology Atlanta USA State Key Laboratory for Manufacturing Systems Engineering Xi’an China State Key Laboratory of Robotics and System (HIT) Harbin China

In the original article, the name of author Donggang Yao was misspelled. It is correct here.

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Condition directed multi-domain adversarial learning for loop closure detection

arXiv

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arXiv 2017年

作者： Yin, Peng He, Yuqing Liu, Na Han, Jianda Xu, Weiliang State Key Laboratory of Robotics Chinese Academy of Sciences Shenyang China School of Mechatronics Engineering and Automation Shanghai University Shanghai China Department of Mechanical Engineering University of Auckland Auckland New Zealand

Loop closure detection (LCD) is the key module in appearance based simultaneously localization and mapping (SLAM). However, in the real life, the appearance of visual inputs are usually affected by the illumination changes and texture changes under different weather conditions. Traditional methods in LCD usually rely on handcraft features, however, such methods are unable to capture the common descriptions under different weather conditions, such as rainy, foggy and sunny. Furthermore, traditional handcraft features could not capture the highly level understanding for the local scenes. In this paper, we proposed a novel condition directed multi-domain adversarial learning method, where we use the weather condition as the direction for feature inference. Based on the generative adversarial networks (GANs) and a classification networks, the proposed method could extract the high-level weather-invariant features directly from the raw data. The only labels required here are the weather condition of each visual input. Experiments are conducted in the GTAV game simulator, which could generated lifelike outdoor scenes under different weather conditions. The performance of LCD results shows that our method outperforms the state-of-arts significantly. Copyright © 2017, The Authors. All rights reserved.

关键词： Generative adversarial networks

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Robot Teaching by Teleoperation Based on Visual Interaction and Neural Network Learning

Robot Teaching by Teleoperation Based on Visual Interaction ...

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2017 9th International Conference on Modelling, Identification and Control (ICMIC 2017)

作者： Yang Xu Chenguang Yang Junpei Zhong Hongbin Ma Lijun Zhao Min Wang Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and EngineeringSouth China University of Technology National Institute of Advanced Industrial Science and Technology School of Automation Beijing Institution of Technology State Key Laboratory of Robotics and System Harbin Institute of Technology

Traditional methods of Robot teaching require human demonstrators to program with a teaching pendant,which is a complex and time-consuming *** this paper,we propose a novel method based on teleoperation which allows a demonstrator to train robot in an intuitive *** specifically,at the beginning the demonstrator controls a robot by visual *** then a learning algorithm based on radial basis function(RBF) network is used to transfer the demonstrator's motions to the *** verify the effectiveness of this developed methods,several simulation experiments have been carried out which based on Microsoft Kinect Sensor and the Virtual Robot Experimentation Platform(V-REP).The experimental results show that this method has achieved satisfactory *** the help of this method,the robot can not only complete the task autonomously after teaching,but also can learn the details of demonstrator's behavior.

关键词： Robot Teaching Teleoperation radial basis function(RBF) network

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Type Synthesis of fully-Decoupled 2T2R Parallel Mechanisms Based on Driven - Chain Principle

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Journal of Harbin Institute of Technology(New Series) 2016年第5期23卷 45-52页

作者： Yi Cao School of Mechanical Engineering Jiangnan University Wuxi Jiangsu 214122 China State Key Laboratory of Robotics and System Harbin 150080 China State Key Laboratory of Mechanical System and Vibration Shanghai 200240 China Jiangsu Key Laboratory of Advanced Food Manufacturing Equipment and Technology Wuxi Jiangsu 214122 China

Based on the screw theory and the driven-chain principle,a methodology of structural synthesis for fully-decoupled two-translational(2T) and two-rotational(2R) parallel mechanism is proposed by analyzing the characteristics of the input-output relations for fully-decoupled parallel ***,according to the desired kinematic characteristics of fully-decoupled parallel mechanisms,a method is proposed by virtue of screw theory to synthesize the desired forms for both the direct and the inverse Jacobian ***,according to the feature of the direct and the inverse Jacobian matrices,the effective screws,the actuated screws and the mobile un-actuated screws of each leg are established based on the reciprocal screw theory and all possible topology structures fulfilling the requirements are ***,the desired fully-decoupled parallel mechanisms can be synthesized by using the structural synthesis rule and structural synthesis of fullydecoupled 2T2R parallel mechanisms can be obtained exploiting the abovementioned *** particular,the direct Jacobian matrix of each synthesized fully-decoupled 2T2R parallel mechanism is a non-zero diagonal matrix throughout the entire *** are mounted on each leg and each one of them actuates one degree-of-freedom(Do F) of the fully-decoupled parallel mechanism through a one-to-one velocity relation.

关键词： type synthesis fully-decoupled parallel mechanisms driven-chanin principle screw theory

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Design and simulation of a cable-pulley-based transmission for artificial ankle joints

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Frontiers of Mechanical engineering 2016年第2期11卷 170-183页

作者： Huaxin LIU Marco CECCARELLI Qiang HUANG Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology Beijing 100081 China Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology) Ministry of Education Beijing 100081 China Laboratory of Robotics and Mechatronics (LARM) DICeM University of Cassino and South Latium Cassino 03043 Italy Beijing Innovation Center for Intelligent Robots and Systems Beijing 100081 China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing 100081 China

In this paper, a mechanical transmission based on cable pulley is proposed for human-like actuation in the artificial ankle joints of human-scale. The anatomy articular characteristics of the human ankle is discussed for proper biomimetic inspiration in designing an accurate, efficient, and robust motion control of artificial ankle joint devices. The design procedure is presented through the inclusion of conceptual considerations and design details for an interactive solution of the transmission system. A mechanical design is elaborated for the ankle joint angular with pitch motion. A multi-body dynamic simulation model is elaborated accordingly and evaluated numerically in the ADAMS environment. Results of the numerical simulations are discussed to evaluate the dynamic performance of the proposed design solution and to investigate the feasibility of the proposed design in future applications for humanoid robots.

关键词： biomimetic designs ankle joints cable-pulleytransmissions multi-body dynamic simulation numericalcharacterization

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