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4th International Conference on Industrial Artificial Intelligence, IAI 2022

作者： Yu, Changshuai Zhu, Yun-Peng Luo, Haitao Luo, Zhong Shenyang Institute of Automation Chinese Academy of Sciences Key Laboratory of Robotics Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China Queen Mary University of London School of Engineering and Material Science London United Kingdom Northeastern University School of Mechanical Engineering and Automation Liaoning Shenyang110819 China

ISBN: (数字)9781665451208

ISBN: (纸本)9781665451208

Damage detection of the spacecraft equipment is required in vibration test to avoid the costly spacecraft equipment worsening of damage. The current method is to compare the change of the natural frequencies, which may be failure because linear feature is usually not sensitive to some damage. The objective of this study is to develop a novel structural damage detection method of spacecraft equipment to address the current method problem. To achieve this goal, use regularization FROLS (Forward Regression Orthogonal Least Squares) algorithm to identify the NARX (Nonlinear Autoregressive with Exogenous Input) model of the spacecraft equipment. After that, use the theory of NOFRF (Nonlinear Output Frequency Response Function) under harmonic input to obtain the NOFRFs, which can be used to detect the damage of spacecraft equipment in vibration test. Finally, an experimental study is carried out to conduct damage detection for a cantilever plate structure to demonstrate the effectiveness of the proposed method in engineering. © 2022 IEEE.

关键词： Damage detection

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Dynamic Object Removal of Static 3D Point-Cloud Map Building in Casualty Collection Point

Dynamic Object Removal of Static 3D Point-Cloud Map Building...

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International Conference on Control, automation, robotics and Vision (ICARCV)

作者： Haidong Wang Wanlei Li Yijie Dai Xiaogang Xiong Yunjiang Lou State Key Laboratory of Robotics and System School of Mechanical Engineering and Automation Harbin Institute of Technology ShenZhen Shenzhen China

ISBN: (数字)9798331518493

ISBN: (纸本)9798331518509

Understanding the environment is crucial for the autonomous navigation of vehicles. Accurately identifying and removing dynamic objects that cause occlusions and noisy pose issues is crucial to the task. The casualty collection point (CCP) is a designated location for treating casualties during disasters. These sites are commonly located in open fields to ensure that the injured receive timely and appropriate care. Therefore, the construction of a 3D map in CCP may encounter additional challenges. In this paper, we introduces a novel algorithm that integrates a learning-based multi-object detection network with a Kalman Filter tracking framework to remove dynamic object traces from the 3D map building, particularly in CCP scenarios, and it redirects attention on the velocity attribute of dynamic objects at the object-level scale. Additionally, we contribute a new dataset specifically designed for the CCP scenario. Comparative experiments conducted on the SemanticKITTI dataset and CCP dataset show that our proposed method achieves the state-of-the-art performance in removing traces of dynamic objects on 3D Map. Dataset is available at https://***/haidongwang96/ccp_dataset.

关键词： Point cloud compression Three-dimensional displays Simultaneous localization and mapping Heuristic algorithms Buildings Object detection Kalman filters Object recognition Noise measurement Vehicle dynamics

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Automated Guided Vehicle Robot Localization with Sensor Fusion 1

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International Conference on Computational Intelligence in Machine Learning, ICCIML 2021

作者： Dares, Marvin Goh, Kai Woon Koh, Ye Sheng Yeong, Che Fai Su, Eileen L. M. Tan, Ping Hua School of Electrical Engineering Universiti Teknologi Malaysia Johor Bahru Malaysia DF Automation and Robotics Sdn. Bhd. Johor Bahru Malaysia

ISBN: (数字)9789811684845

ISBN: (纸本)9789811684838

Robot localization is vital for the operation of an automated guided vehicle (AGV) but is susceptible to problems such as wheel slip. With more sensors fused together, the more environmental information can be collected by the AGV, which helps with the localization of AGV. Inertial measurement unit (IMU) and global positioning unit (GPS) are usually implemented to improve robot localization but are susceptible to noise and are effective outdoors. Indoors, however, are more suitable with light detection and ranging (lidar) device. This paper implements extended Kalman filter (EKF) and unscented Kalman filter (UKF) for robot localization on AGV. AGV localization was tested with EKF and UKF on three different test tracks with different turn conditions. The performance of the EKF and UKF was compared to each other. Different sensors were implemented along with sensor fusion. UKF generates better odometry estimation than EKF with 24.07% better accuracy. With the usage of lidar, wheel slip was compensated. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Extended Kalman filters

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Collaborative Path Planning for Agricultural Mobile Robots: A Review

Collaborative Path Planning for Agricultural Mobile Robots: ...

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International Conference on Autonomous Unmanned Systems, ICAUS 2021

作者： Wang, Xinyuan Yang, Liying Huang, Zhaoxiong Ji, Zhenping He, Yuqing School of Automation and Electrical Engineering Shenyang Ligong University Shenyang110159 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

ISBN: (纸本)9789811694912

In the past decade, Chinese agriculture has been transforming from a small-scale fragmented smallholder economy to large-scale modern agriculture, which has prompted the development of mobile robot systems in agriculture. Multi-robot autonomous navigation has become the most fundamental and daunting challenge in this development process, involving autonomous control, path planning and other aspects. In this paper, the cooperative control strategies and path planning methods for agricultural mobile robots are described, and the application of path planning methods in different agricultural scenarios is analyzed in detail from the perspectives of both online and offline planning. The conclusions show that multi-robot collaborative path planning has been successfully applied to the navigation of agricultural robotic operation scenarios, and the future development should be towards the direction of scale, autonomy, and intelligence. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Mobile robots

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Quantitative Progress Evaluation of Post-stroke Patients Using a Novel Bimanual Cable-driven Robot

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Journal of Bionic engineering 2021年第6期18卷 1331-1343页

作者： Thiago Alves Rogério Sales Gonçalves Giuseppe Carbone Laboratory of Automation and Robotics School of Mechanical EngineeringFederal University of UberlândiaUberlândia38400-902Brazil Department of Mechanical Energy and Management EngineeringUniversity of Calabria87036RendeItaly

Rehabilitation is the most effective way to reduce motor impairments in post-stroke *** process demands several hours with a specialized *** resources and personnel shortages,the literature reports a high interest in robotic assisted rehabilitation ***,cable-driven robotic architectures are attracting significant research interest for post-stroke ***,the existing cable-driven robots are mostly unilateral devices allowing the rehabilitation only of the most affected *** leaves unaddressed the rehabilitation of bimanual activities,which are predominant within the common Activities of Daily Living(ADL).Thus,this paper presents a specific novel design to achieve bimanual rehabilitation tasks that has been named as BiCAR ***,this paper provides a full insight on the BiCAR system as well as on its dedicated developed software *** particular,BiEval software has been developed as based on a serious game strategy and a virtual reality environment to track the patient exercising duration,motion ranges,speeds,and forces over time for achieving a quantitative assessment of the rehabilitation ***,the paper presents the BiCAR/BiEval capabilities by referring to a pilot Randomized Controlled Trial(RCT).The clinical trials have been used to validate the BiCAR/BiEval in terms of engineering feasibility and user acceptance to achieve an innovative cost-oriented integrated hardware/software device for the bimanual assistive rehabilitation of post-stroke patients.

关键词： Cable-driven robots Low cost Stroke rehabilitation Bimanual Progress tracking Serious games

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Design of a Mesh Crawling Robot with Beetle-Inspired Variable Stiffness Tarsus

Design of a Mesh Crawling Robot with Beetle-Inspired Variabl...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Chen, Hao Hu, Kai Hu, Longlong Zhou, Ziqi Li, Yao Li, Bing Key University Laboratory of Mechanism & Machine Theory and Intelligent Unmanned Systems of Guangdong Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Shenzhen518055 China School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen518055 China

ISBN: (纸本)9781665481090

Compared with large robots, micro-robots have the advantages of small size, low power consumption, and high concealment. For complex terrain, the crawling performance of micro-robots will be significantly reduced. In this study, the mesh surface was used as the crawling base of the robot, and a variable stiffness tarsus was designed with the beetle as a reference. This tarsus composed of multiple bending parts achieves a large range of stiffness changes, 0.070.495 N/mm. We have achieved stiffness control of the tarsus in a single actuation by trajectory planning of the claw ends. The proposed robot can achieve a big stiffness of the tarsus to resist the deformation of the tarsus due to external forces, which means that the robot can increase the adhesion ability when crawling at the stance phase. Therefore, even when the load was increased from 10g to 40g, the average crawling speed of the robot was not significantly reduced. This new tarsus can improve the crawling performance of the micro-robot on the mesh. © 2024 IEEE.

关键词： Microrobots

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Analysis of the Attachment Process of Bionic Spines Based on the Coupling of Discrete Elements and Multi-body Dynamics

Analysis of the Attachment Process of Bionic Spines Based on...

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2022 International Conference on Aerospace, Aerodynamics and Mechatronics engineering, AAME 2022

作者： Liu, Ran Li, Yu Xin Luo, Haitao Yu, Miao School of Mechanical Engineering Shenyang Ligong University Shenyang China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China

As the only natural satellite of the Earth, the Moon has profound significance for deep space research, and the undifferentiated lunar rock core plays a key role in the investigation of the origin of the Moon. In recent years, there have been numerous deep space sampling techniques, but all of them are at the cost of destroying the sample, while drilling can retain the sample in its original state to the maximum extent. In this paper, based on the reference of the claw spine attachment device at home and abroad, the theoretical modeling of the claw spine piece which plays the role of grasping and attaching is carried out, and the simulation analysis is carried out by the coupling method of discrete element and multi-body dynamics, which provides important guidance for the subsequent experi-ments and the optimized design. © Published under licence by IOP Publishing Ltd.

关键词： Moon

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T-Bot: A Programmable Platform for Morphogenesis in Robot Swarms

T-Bot: A Programmable Platform for Morphogenesis in Robot Sw...

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IEEE International Conference on robotics and Biomimetics

作者： Yu Wang Mengyun Pan Xiaoyang Qin Lina Hao Yongliang Yang State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China School of Mechanical Engineering and Automation Northeastern University Shenyang China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

The field of robotic self-organizing morphogenesis has traditionally relied on sensing and feedback mechanisms, limiting the robustness of robotic systems in dynamic environments. Recently, the swarms of robots with minimum computational and perceptional capabilities have been developed to achieve global morphogenesis through physical interactions among robots. The automation level of these systems, however, is still limited. Here, we developed the T-bot platform, which is capable of automatic programming. The T-bot system adopts a rule-based control strategy utilizing programmable, automatically switched magnetic shells. These shells mimic differences in cell adhesion by altering the magnetic distribution along the shell, achieving morphogenesis without external sensors or feedback mechanisms. This design improves the robustness of the robotic system. The T-bot assembles pieces to form specific shapes and automatically adjusts its morphology according to task requirements. The T-bot system demonstrates morphogenesis by transitioning between predefined shapes and maintaining effectiveness even when some components fail. The successful application of DAH-inspired programmable magnetic shells opens new avenues for the design of intelligent robotic systems, potentially transforming their applications in various dynamic and unpredictable environments.

关键词： automation Shape Magnetic sensors Switches Self-organizing networks Robot sensing systems Robustness Biology Sensor systems Modeling

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Design and Control of High Precision Buoyancy Adjustment System for Small AUVs

Design and Control of High Precision Buoyancy Adjustment Sys...

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Computer Science, Electronic Information engineering and Intelligent Control Technology (CEI), IEEE International Conference on

作者： Yongyao Wang Tao Sui Shuxue Yan Cong Chen Zhigang Li School of Automation and Electrical Engineering Shenyang Ligong University Shenyang China Marine Robotics Department Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China

ISBN: (数字)9798350378542

ISBN: (纸本)9798350378559

This paper addresses the issue of buoyancy variation caused by differences in seawater density at varying operational depths for small AUVs working within 200 meters. To tackle this, a buoyancy adjustment system is designed that uses a piston-type oil cylinder to take in and release oil. The system integrates a digital-to-analog converter with a cable sensor to achieve precise measurement and control of the oil volume by accurately measuring the piston position. A mathematical model of the buoyancy adjustment system is established, and a fuzzy PID control strategy optimized by the Beetle Antennae Search (BAS) algorithm is proposed. Through Simulink simulation analysis, the system's precision adjustment capability and stability are validated. The simulation results demonstrate that the system exhibits good control performance in terms of adjustment time, overshoot, and disturbance rejection, thereby proving its reliability and feasibility.

关键词： Pistons PI control Oils Volume measurement Sea measurements Buoyancy Position measurement Bladder Stability analysis PD control

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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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