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检索条件"机构=School of Robotics and Automation Engineering"

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Design of a Novel Force Controlled Polishing Device Based on a Coupled Active-Passive Compliant Mechanism

Design of a Novel Force Controlled Polishing Device Based on...

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IEEE International Conference on Mechatronics and automation

作者： Zhiyun He Jian Li Yisheng Guan Chuanwu Cai Yufeng Yang Tao Zhang Biomimetic and Intelligent Robotics Lab (BIRL) School of Electromechanical Engineering Guangdong University of Technology Guangzhou China School of Intelligent Engineering Shaoguan University Shaoguan China Foshan Biowin Robot and Automation Ltd. Foshan China

Aiming at the demand for a low-cost and precision robotic polishing force control device, this paper proposes a new polishing device driven by a coupled active-passive compliant mechanism, whose active compliant mechanism is composed of a cylinder, while the passive compliant mechanism is formed by three springs. The active-passive compliant mechanism is designed between a cylindrical dynamic/static platform, and the stiffness of this device is analyzed by the finite element method. Based on this, the static model of this device was analyzed, the relationship model between the cylinder air pressure and the output force of the device was obtained, and a real-time polishing force obtaining model based on a one-dimensional force sensor was proposed. Finally, the principle prototype of this device was developed to establish a polishing test platform, and a series of contact force-obtaining comparison experiments were conducted with a 6-D force sensor under different postures, and good experiment results were obtained to verify the accuracy of the proposed polishing force obtaining model and the practicality of the active-passive compliant coupling polishing device.

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Design of Operational UAV Scheme for High-Altitude Passenger Ropeway Inspection

Design of Operational UAV Scheme for High-Altitude Passenger...

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IEEE International Conference on Unmanned Systems (ICUS)

作者： Junshuang Liul Liying Yang Siliang Li Xintian Du Yuqing He School of Mechanical Engineering Shenyang Ligong University 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

The operational UAV is a new equipment for high-altitude facility detection, especially for high-altitude long-span ropeway. Compared to traditional manual inspection methods, the operational UAV can provide many advantages such as high inspection efficiency, low safety risks, and comprehensive coverage. In this paper, the current application status of UAV inspection is discussed firstly. Then, the technical characteristics of operational UAVs for high-altitude ropeway inspection are analyzed. Thirdly, the schemes of the operation UAV for high-altitude passenger ropeway inspection is proposed. Finally, simulation results verify the effectiveness and feasibility of the proposed method.

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Design and implementation of dual-mode mobile LiDAR measurement system

Design and implementation of dual-mode mobile LiDAR measurem...

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2022 Applied Optics and Photonics China: Advanced Laser Technology and Applications, AOPC 2022

作者： Xian, Ren Ming, Guo Cai, Chen Yuquan, Zhou Dengke, Li Peng, Cheng School of Surveying and Urban Spatial Information Beijing University of Civiling Engineering And Architecture Beijing102616 China School of Automation and Electrical Engineering Zhejiang University of Science and Technology Zhejiang310023 China Key Institute of Robotics Industry of Zhejiang Province Zhejiang310023 China Engineering Research Center of Ministry of Education for Representative Building and Ancient Building Data Beijing100044 China Key Laboratory of National Surveying and Mapping Geographic Information Bureau of Modern City Surveying and Mapping Beijing100044 China

ISBN: (纸本)9781510662223

Most of the existing mobile LiDAR measurement systems adopt GNSS/INS combination method. This method requires GNSS signal to correct IMU positioning and attitude determination continuously. When GNSS signal is not received, IMU positioning and attitude determination accuracy rapidly increases from centimeter level to sub-meter level or even meter level. In order to solve the positioning defect of mobile measurement system when there is no GNSS signal, In this paper, a dual-mode mobile LiDAR measurement system integrating GNSS/INS positioning and INS/odometer positioning is proposed. It mainly judges whether there is GNSS signal input through the time synchronization controller and automatically switches between the two mode When there is GNSS signal, GNSS/INS positioning is used. When there is no GNSS signal, it automatically switches to INS/odometer positioning mode When there is no GNSS signal, The time synchronization controller simulate GNSS signal, collects its own high-precision quartz crystal oscillator to record time, and converts it into NEMA standard time signal and PPS signal for time synchronization of each sensor. The dual-mode mobile LiDAR measurement system can not only be used in highway measurement, but also solve the pose error in the case of GNSS unlocking such as subway and tunnel. It can be applied to point cloud measurement in a variety of scenes. © 2023 SPIE.

关键词： Optical radar

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Automated Non-invasive Analysis of Motile Sperms Using Cross-scale Guidance Network

Automated Non-invasive Analysis of Motile Sperms Using Cross...

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IEEE International Conference on robotics and automation (ICRA)

作者： Wei Dai Zixuan Wu Jiaqi Wang Rui Liu Min Wang Tianyi Wu Junxian Zhou Zhuoran Zhang Jun Liu Centre for Robotics and Automation City University of Hong Kong Hong Kong China Department of Mechanical Engineering City University of Hong Kong Hong Kong China School of Science and Engineering The Chinese University of Hong Kong (Shenzhen) Shenzhen China

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Unbiased measurement of sperm morphometric and motility parameters is essential for assessing fertility potential and guiding visual feedback for microrobotic manipulation. Automated analysis of multiple sperms and selection of an optimal sperm is crucial for in vitro fertilisation treatment such as robotic intracytoplasmic sperm injection. However, conventional image processing methods have limitations in analysing small sperm objects under microscopic imaging. The emergence of convolutional neural networks (CNNs) has offered promising advancements in microscopic image analysis. However, previous CNN methods have struggled to accurately segment tiny objects, requiring staining or fluorescence techniques to enhance visual contrast between sperm and culture medium, leading to clinical impracticality. To address these limitations, we introduce a novel segmentation network named the cross-scale guidance (CSG) network for accurate and efficient segmentation of minute sperm objects. The CSG network employs innovative modules, including collateral multi-scale convolution, cross-scale feature map guide, and multi-scale feature fusion, to preserve essential sperm details despite their small size. Experimental results indicate that the CSG network surpassed the state-of-the-art models designed for small object segmentation, achieving a significant increase up to 18.62% higher mean intersection over union (mIoU). Additionally, the CSG network excelled in sperm morphometric analysis, achieving errors below 20%. Moreover, sperm motility parameters were further derived from the segmentation results for comprehensive sperm fertility analysis.

关键词： Visualization Image segmentation Accuracy Image analysis Microscopy Morphology Object segmentation

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Joint-Loss Enhanced Self-Supervised Learning for Refinement-Coupled Object 6D Pose Estimation

Joint-Loss Enhanced Self-Supervised Learning for Refinement-...

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IEEE International Conference on robotics and automation (ICRA)

作者： Fengjun Mu Shixiang Sun Rui Huang Chaobin Zou Wenjiang Li Huayi Zhan Hong Cheng Center for Robotics School of Automation Engineering University of Electronic Science and Technology of China Chengdu China Changhong AI Research (CHAIR) Sichuan Changhong Electronic (Group) Co. Ltd. Mianyang China

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

6D object pose estimation plays a crucial role in robot grasping and manipulation. However, the prevalent methods for 6D object pose estimation heavily rely on 6D annotated data to train deep neural networks, which poses challenges due to the difficulty in obtaining sufficient pose annotations. To address this limitation, this paper presents a self-supervised pose estimation method based on a novel pixelwise weighted dense fusion architecture. This method allows for direct learning from unannotated RGB-D data facilitated by an Iterative Annotation Resolver. Furthermore, a self-supervised pose refinement method based on joint loss is proposed to enhance the pose estimation accuracy. This refinement method employs a differentiable renderer to construct joint optimization constraints. The experimental results demonstrate that our approach achieves a level of pose estimation accuracy that closely rivals that of supervised methods.

关键词： Accuracy Annotations Pose estimation Self-supervised learning Grasping Artificial neural networks Iterative methods

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BLIP-Adapter: Bridging Vision-Language Models with Adapters for Generalizable Face Anti-spoofing 18

BLIP-Adapter: Bridging Vision-Language Models with Adapters ...

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18th IEEE International Joint Conference on Biometrics, IJCB 2024

作者： Zhang, Bin Zhu, Xiangyu Gao, Li Zhang, Xiaoyu Lei, Zhen Chinese Academy of Sciences Institute of Information Engineering China University of Chinese Academy of Sciences School of Cyber Security China China Mobile Financial Technology Co. Ltd. China Chinese Academy of Sciences State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation China University of Chinese Academy of Sciences School of Artificial Intelligence China Chinese Academy of Sciences Centre for Artificial Intelligence and Robotics Hong Kong Institute of Science & Innovation Hong Kong

ISBN: (纸本)9798350364132

Face anti-spoofing is essential for ensuring the security of facial recognition systems against spoofing attacks. Recent methods have transferred Vision-Language models to face anti-spoofing (e.g., FLIP and CLIPC8), demonstrating that learning perception from supervision in natural language can enhance the model's detection performance. However, such methods exhibit limited depth in the interaction between images and texts, resulting in poor performance on fine-grained understanding tasks such as face anti-spoofing. Besides, the lack of diversity in image-text pairs for face anti-spoofing further hinders such methods from playing their best. To address these issues, we propose a novel fine-tuning strategy for Vision-Language models in face anti-spoofing. This strategy introduces the Bootstrapping Language-Image Pre-training model (BLIP), known for its novel interaction mechanisms and superior image-text comprehension, to construct a more generalized feature representation for face anti-spoofing. Furthermore, we propose an Adapter module for the text branch to reduce the negative impact of insufficient data diversity and catastrophic forgetting. Extensive experiments conducted on various cross-domain testing benchmarks demonstrate the significant superiority of our method over the state-of-the-art, highlighting its effectiveness and robustness. © 2024 IEEE.

关键词： Visual languages

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Ospreys-inspired Self-takeoff Strategy of An Eagle-scale Flapping-wing Robot: System Design and Flight Experiments

Ospreys-inspired Self-takeoff Strategy of An Eagle-scale Fla...

引用

IEEE International Conference on robotics and automation (ICRA)

作者： Haoyu Wang Wenfu Xu Linpo Hou Erzhen Pan School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen China Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robots and Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

In this work, we achieved a self-takeoff of an eagle-scale flapping-wing robot for the first time. Inspired by the takeoff process of Ospreys, we propose a bio-inspired takeoff strategy, then discuss the dynamic model and the requirements for self-takeoff. Based on the requirements of flight strategy, we designed a system with two parts, including a flapping-wing aircraft with a wingspan of 1.8m and a take-off weight of 870g, and an auxiliary platform with an initial pitch angle adjustment function. In order to explore the differences in the take-off process under different conditions, we conduct the flight experiments under different time-averaged thrust-to-weight ratios (0.745-0.876) and launch angles (45°-90°). The results of flight experiments confirmed the theoretical analysis that the flapping-wing robot can achieve self-takeoff with no potential energy cost and maintain high maneuverability (The video shows a rapid climb immediately after takeoff) even when the time-averaged thrust-to-weight ratio is smaller than 1. This is significantly different from conventional rotary-wing and vertical take-off and landing (VTOL) UAVs. This work solves the challenge of self-takeoff for large-scale flapping-wing robots using a designable method and demonstrates the superior performance potential of flapping-wing robots compared to conventional UAVs.

关键词： Potential energy Legged locomotion Energy consumption Costs Aerodynamics Aircraft Robots

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Lunar Exploration Robot Mobility and Stability: A Comprehensive Analysis and Simulation Study

Lunar Exploration Robot Mobility and Stability: A Comprehens...

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IEEE International Conference on Control Science and Systems engineering (CCSSE)

作者： Yansong Xu Junlin Li Haitao Luo Yuming Dong Yaowei Wang State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Shenyang China School of Mechanical Engineering Shenyang University of Technology Shenyang China

ISBN: (数字)9798331517199

ISBN: (纸本)9798331517205

This paper conducts an in-depth study on the mobility and stability of lunar exploration robots in the complex lunar environment. By defining the robot's primary geometric parameters and two typical motion configurations, the paper analyzes the distribution of wheel loads, mobility performance, and stability performance. Specifically, considering the characteristics of the soft lunar soil, a contact dynamics model between the wheels and the soft lunar soil is established. The discrete element method (DEM) was used to simulate the lunar soil surface, and multi-body dynamics and DEM coupled simulation experiments were conducted. The experimental results indicate that the robot's mobility and stability are significantly affected by the height of the center of mass and ground clearance. The analysis of traction torque, sinkage, and slip ratio further verifies the accuracy and practicality of the model. This research provides theoretical foundations and technical support for the design and operation of lunar exploration robots.

关键词： Torque Moon Dynamics Wheels Soil Stability analysis Safety Finite element analysis Mobile robots Load modeling

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Sensorless Control of Permanent-Magnet Linear Synchronous Motor Based on Modified Linear Extended State Observer 13

Sensorless Control of Permanent-Magnet Linear Synchronous Mo...

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13th International Symposium on Linear Drives for Industry Applications, LDIA 2021

作者： Qu, Yue Lu, Junwei Li, Hui Niu, Xitong School of Engineering Griffith University Brisbane Australia College of Automation Engineering Shanghai University of Electric Power Shanghai China KUKA Robotics China Co. Ltd Shanghai China

ISBN: (纸本)9781728172101

Permanent-Magnet Linear Synchronous Motor (PMLSM) transforms electric energy into linear mechanical kinetic energy without transmission mechanism which is widely used in rail transmit due to its merits of high efficiency, relatively low losses and simple mechanism. In the field oriented control of the linear motor, high-precision speed and position information are required. However, the installation of the linear grating increases the cost and complexity of the system, reduces anti-disturbance ability for mechanical structures, which may directly affect the control performance. In this paper, based on the sensorless control method, a modified linear extended state observer (MLESO) is proposed and utilized to estimate the back electromotive force. Then, the linear active rejection disturbance control (LADRC) is used to estimate and compensate system dynamics and disturbances to enhance disturbance rejection and stability of the PMLSM system. Moreover, the feedforward controller (FFC) is introduced to improve the response speed of the PMLSM. The simulation results certify that the proposed strategy has the superiority to the conventional sensorless control method. © 2021 IEEE

关键词： Linear motors

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Research on Robot Path Planning Algorithm for Filter Plate Cleaning of Plate and Frame Filter Press

Research on Robot Path Planning Algorithm for Filter Plate C...

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Artificial Intelligence and Intelligent Manufacturing (AIIM), International Symposium on

作者： Jie Xu Long Cui Yongguo Zhao Xincheng Tian Center for Robotics School of Control Science and Engineering Shandong University Jinan China Engineering Research Center of Intelligent Unmanned System Ministry of Education Jinan China Shandong Academy of Sciences Institute of Automation Qilu University of Technology Jinan China

ISBN: (数字)9798331541729

ISBN: (纸本)9798331541736

Plate and frame filter press is an important solid-liquid separation equipment that plays an important role in many fields. The filter plate is one of the core components of the frame filter press, and its main function is to support the filter cloth and form a filter chamber. After the filtration process of the filter press is completed, a large number of impurities are often attached to the filter plate, so it is of great value to study the impurity cleaning problem of the filter plate of the plate and frame filter press. In this paper, aiming at the cleaning process of the filter plate of the plate and frame filter press, the image information of the filter plate is obtained by visual means, and then the image is analyzed and processed to obtain the position information of the impurities of the filter plate, the path planning of the obtained position information is carried out, and finally the robot is made to complete the cleaning task efficiently and accurately according to the planned path, which has certain practical value.

关键词： Presses Visualization Impurities Image processing Filtering algorithms Information filters Cleaning Path planning Manufacturing Robots

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