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International Conference on Computer Vision (ICCV)

作者： Yi Wei Linqing Zhao Wenzhao Zheng Zheng Zhu Jie Zhou Jiwen Lu Beijing National Research Center for Information Science and Technology China Department of Automation Tsinghua University China School of Electrical and Information Engineering Tianjin University China PhiGent Robotics

3D scene understanding plays a vital role in vision-based autonomous driving. While most existing methods focus on 3D object detection, they have difficulty describing real-world objects of arbitrary shapes and infinite classes. Towards a more comprehensive perception of a 3D scene, in this paper, we propose a SurroundOcc method to predict the 3D occupancy with multi-camera images. We first extract multi-scale features for each image and adopt spatial 2D-3D attention to lift them to the 3D volume space. Then we apply 3D convolutions to progressively upsample the volume features and impose supervision on multiple levels. To obtain dense occupancy prediction, we design a pipeline to generate dense occupancy ground truth without expansive occupancy annotations. Specifically, we fuse multi-frame LiDAR scans of dynamic objects and static scenes separately. Then we adopt Poisson Reconstruction to fill the holes and voxelize the mesh to get dense occupancy labels. Extensive experiments on nuScenes and SemanticKITTI datasets demonstrate the superiority of our method. Code and dataset are available at https://***/weiyithu/SurroundOcc.

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Programmable Multi-Stimulus-Responsive Whirligig Beetle Inspired Microrobot and its Multifunctional Applications

SSRN

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SSRN 2023年

作者： Yang, Wenguang Wang, Xiaowen Wang, Wenhao Liu, Huibin Guo, Qinghao Yu, Haibo Liu, Lianqing School of Electromechanical and Automotive Engineering Yantai University Yantai264005 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China

In nature, surfaces are evolutionarily designed to allow species to adapt to their environments. Nowadays, more and more researchers have paid attention to microrobots based on superhydrophobic surfaces. Inspired by the swimming characteristics of whirligig beetles on the surface of water, we propose in this study a multi-stimulus-responsive microrobot that can be driven by light, magnetism and chemistry to achieve fast straight-line motions, turns and rotations on the surface of water. The microrobot is made of a composite material based on graphene oxide (GO) and polydimethylsiloxane (PDMS), which has high hydrophobicity and excellent photothermal properties. With a multi-stimulus-responsive driving mechanism, the microrobot can be used in applications such as oil recovery, cargo transportation, obstacle avoidance, and material dispersion. It is envisioned that this study can guide the development of multi-stimulus-responsive microrobots and offer some useful reference for their applications in water quality monitoring and oil recovery. © 2023, The Authors. All rights reserved.

关键词： Silicones

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Motion-Guided Dual-Camera Tracker for Endoscope Tracking and Motion Analysis in a Mechanical Gastric Simulator

arXiv

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arXiv 2024年

作者： Zhang, Yuelin Yan, Kim Lam, Chun Ping Fang, Chengyu Xie, Wenxuan Qiu, Yufu Tang, Raymond Shing-Yan Cheng, Shing Shin Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong Shenzhen International Graduate School Tsinghua University China Department of Medicine and Therapeutics Institute of Digestive Disease The Chinese University of Hong Kong Hong Kong Department of Mechanical and Automation Engineering T Stone Robotics Institute Shun Hing Institute of Advanced Engineering Multi-Scale Medical Robotics Center Institute of Medical Intelligence and XR The Chinese University of Hong Kong Hong Kong

Flexible endoscope motion tracking and analysis in mechanical simulators have proven useful for endoscopy training. Common motion tracking methods based on electromagnetic tracker are however limited by their high cost and material susceptibility. In this work, the motion-guided dual-camera vision tracker is proposed to provide robust and accurate tracking of the endoscope tip’s 3D position. The tracker addresses several unique challenges of tracking flexible endoscope tip inside a dynamic, life-sized mechanical simulator. To address the appearance variation and keep dual-camera tracking consistency, the cross-camera mutual template strategy (CMT) is proposed by introducing dynamic transient mutual templates. To alleviate large occlusion and light-induced distortion, the Mamba-based motion-guided prediction head (MMH) is presented to aggregate historical motion with visual tracking. The proposed tracker achieves superior performance against state-of-the-art vision trackers, achieving 42% and 72% improvements against the second-best method in average error and maximum error. Further motion analysis involving novice and expert endoscopists also shows that the tip 3D motion provided by the proposed tracker enables more reliable motion analysis and more substantial differentiation between different expertise levels, compared with other trackers. Project page: https://***/PieceZhang/MotionDCTrack © 2024, CC BY.

关键词： Motion tracking

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Switching-Like Event-Based Formation Control for Multi-Agent Systems Against Denial of Service Attacks

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IEEE Transactions on Control of Network Systems 2025年

作者： Ru, Tingting Cai, Chenxiao Lin, Hong Rudas, Imre Shi, Peng Nanjing University of Science and Technology School of Automation Nanjing210094 China Shenzhen Polytechnic University Institute of Intelligence Science and Engineering Shenzhen518055 China University Research Innovation and Service Center Óbuda University Antal Bejczy Center for Intelligent Robotics Budapest1034 Hungary University of Adelaide School of Electrical and Mechanical Engineering AdelaideSA5005 Australia

This paper studies formation control for multi-agent systems in the presence of denial-of-service (DoS) attacks. The challenge is to address secure formation tracking and communication bandwidth-saving issues simultaneously. To tackle this, we propose a switching- like event-triggered mechanism that reduces excessive bandwidth consumption during interactions among multiple followers under DoS attacks. The triggering condition is allowed to be switched during the intervals when attacks are activated, ensuring that triggering can normally occur throughout the overall time interval by introducing an auxiliary variable depending on the success of the latest trigger moment. Based on this approach, we construct an event-based time-varying formation control scheme. Additionally, we establish sufficient conditions that reveal the relationship between exponential stability and the frequency/duration of the DoS attacks. Unlike other single-leader methods, a significant feature of the formation control scheme is its ability to achieve the desired formation tracking for multi-agent systems with multiple leaders. Finally, the validity of the proposed method is demonstrated through simulation and experimental results. © 2014 IEEE.

关键词： Multi agent systems

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A Soft Micro-Robotic Catheter for Aneurysm Treatment: A Novel Design and Enhanced Euler-Bernoulli Model with Cross-Section Optimization

A Soft Micro-Robotic Catheter for Aneurysm Treatment: A Nove...

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IEEE International Conference on robotics and automation (ICRA)

作者： Emanuele Nicotra Chi Cong Nguyen James Davies Phuoc Thien Phan Trung Thien Hoang Bibhu Sharma Adrienne Ji Kefan Zhu Trung Dung Ngo Van Anh Ho Hung Manh La Nigel H. Lovell Thanh Nho Do Graduate School of Biomedical Engineering Faculty of Engineering UNSW Sydney Kensington Campus Australia More-Than-One Robotics Laboratory Faculty of Sustainable Design Engineering University of Prince Edward Island Charlottetown Canada Soft Haptics Laboratory School of Materials Science Japan Advanced Institute of Science and Technology Kawaguchi Saitama Japan Department of Computer Science and Engineering Advanced Robotics and Automation (ARA) Lab University of Nevada Reno NV USA

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Aneurysms, balloon-like bulges in blood vessels, present a significant health risk due to their potential to rupture, leading to life-threatening internal bleeding. Current treatments often involve delivering embolic materials or metal coils to fill these bulges, occluding them from the pressure of blood flow. However, clinical micro-catheters that deploy embolic materials used today face limitations, primarily their rigidity and the lack of active control over the bending tip of the catheter. This paper introduces a new soft micro-robotics catheter, with diameter of only 0.8 mm, equipped with a hollow channel. With this new design, the new device can induce bending motions at its tip for active steerability to reach desired aneurysm targets and then perform the delivery of embolic materials and tools. To enhance the control and precise navigation during procedures, a robust mathematical model and image processing techniques are also introduced and validated. Experiments are also performed to characterise and validate the model’s accuracy and the steerability and navigation capabilities of the new micro-catheter.

关键词： Performance evaluation Navigation Metals Aneurysm Bending Mathematical models Rigidity

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Research on Multiple Automated Guided Vehicles Path Planning to Reduce Default Time 2

Research on Multiple Automated Guided Vehicles Path Planning...

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2nd IEEE International Conference on Data Science and Computer Application, ICDSCA 2022

作者： Liu, Yiyang Yan, Shuaihua Hou, Zheng Zhao, Yang Chinese Academy of Sciences Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences China Kunshan Intelligent Equipment Research Institute Key Laboratory of Networked Control Systems Shenyang China Chinese Academy of Sciences Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences China University of Chinese Academy of Sciences Key Laboratory of Networked Control Systems Shenyang China College of Information Science and Engineering Northeastern University Shenyang China School of Automation and Electrical Engineering Shenyang Ligong University Shenyang China

ISBN: (数字)9781665472005

ISBN: (纸本)9781665472005

This paper studies the path planning problem of multiple automated guided vehicles (multi-AGV) in a matrix manufacturing workshop. We proposed the multi-AGV path planning problem with default time, which is a variant of the classic path planning problem. In order to ensure the timely completion of each task, the default time of the task is explicitly considered. The goal is to obtain a conflict-free path with the minimum total default time, total time, and total path length. For these three goals, this problem is NP-hard. In order to solve this problem better, we established a multi-objective optimization model of total default time, total time and total path length of multi-AGV in flexible manufacturing environment. This paper proposes a multi-AGV path planning method that integrates game theory and A∗ algorithm. This method regards each AGV as a participant in the game model, through the default time obtained from each game dynamically adjusts the probability of each AGV planning the next path, and uses game theory to help the system dynamically select the most suitable AGV to plan the next path to improve the on-time delivery rate of tasks. Finally, the simulation results show that the multi-AGV path planning method integrating game theory and A∗ algorithm further reduces the total default time, total time and total path length of all AGVs. © 2022 IEEE.

关键词： Motion planning

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Precise LiDAR SLAM in Structured Scene Using Finite Plane and Prior Constraint

Precise LiDAR SLAM in Structured Scene Using Finite Plane an...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Xie, Yuhui Zhao, Wentao Wang, Jiahao Wang, Jingchuan Chen, Weidong Institute of Medical Robotics and Department of Automation Key Laboratory of System Control and Information Processing Ministry of Education Shanghai Jiao Tong University Shanghai200240 China School of Mechanical Engineering Shanghai Jiao Tong University Ministry of Education Shanghai200240 China

ISBN: (纸本)9781665481090

In this paper, we propose a precise LiDAR SLAM in optimization framework using plane-like object as landmark. Compared to general methods, finite plane feature is used to represent landmark and a new residual model is designed, making constraint from edge of landmark can be used to limit the parallel position between LiDAR and landmark, leading to a more accurate result. Moreover, floor plan is used to provide global pose for reduction of drift, and additionally feature orientation prior is used to prevent map distortion when updating the inaccurate part of floor plan. Experiments are conducted using data collected in real environment. The result qualitatively shows that proposed method can build a corrected map from floor plan without distortion, and quantitatively verifies that proposed method can outperform other baseline methods in accuracy. © 2022 IEEE.

关键词： Optical radar

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Case Study on an Experimental Autonomous Vehicle and Evaluation of its System Reliability

Case Study on an Experimental Autonomous Vehicle and Evaluat...

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Electrical, Computer, Communications and Mechatronics engineering (ICECCME), International Conference on

作者： Marius Misaros Clément Robier Ovidiu-Petru Stan Szilárd Enyedi Anca Stan Dan Ioan Gota Liviu Miclea Automation Department Technical University of Cluj-Napoca Cluj-Napoca Romania Generalist Department Cesi Ingineering School of Lyon Lyon France Industrial Engineering Robotics and Production Management Technical University of Cluj Napoca Romania

ISBN: (数字)9798350391183

ISBN: (纸本)9798350391190

The ability of a vehicle to move without the input of a human operator marks its transition into the domain of the autonomous vehicle. This concept is gaining increasing popularity with the objective of enhancing navigational safety and facilitating the transmission and reception of information from other road users, thereby facilitating more efficient navigation. It was thus resolved to construct a partially autonomous vehicle that employs sensors and Li-Fi technology to receive and process external stimuli approaching the control side of the vehicle. The prototype in the proposed and analyzed case study is steered by means of a steering wheel that has been specially configured for this application and is connected by radio. Additionally, the case study examined the reliability of the vehicle, which is a crucial factor in determining the potential causes of malfunction or even complete failure of the prototype under test. The principal objective of the case study is to construct a prototype and conduct a reliability analysis of the system, examining each component to ascertain the strengths and weaknesses of the prototype under test. The findings of the study underscore the significance of assessing the hardware elements of the proposed autonomous vehicle, culminating in a favorable assessment of its reliability.

关键词： Mechatronics Navigation Roads Prototypes Wheels Process control Sensors Safety Reliability Autonomous vehicles

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Review on Development Status, Challenges and Development Trends of Surgical Robots

Review on Development Status, Challenges and Development Tre...

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IEEE International Conference on Mechatronics and automation

作者： Liyuan Zhang Xiaoxuan Qi Yige Peng Sheng Bao Jianjun Yuan Shijie Guo Shanghai IC Technology & Industry Promotion Center Shanghai China Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai China School of Mechatronic Engineering and Automation Shanghai University Shanghai China Academy for Engineering and Technology Fudan University Shanghai China

ISBN: (数字)9798350388077

ISBN: (纸本)9798350388084

Surgical robots are an important branch of medical robots. This paper analyzes the current development status of surgical robots from the perspective of application field classification, summarizes the challenges of various surgical robots such as laparoscopic surgical robots, orthopedic surgical robots, vascular intervention surgical robots, natural orifice transluminal endoscopic surgery (NOTES), and other specialized surgical robots, and predicts and prospects the future development of surgical robots, which provides intelligent support for domestic companies to develop the surgical robot industry. The research results indicate that surgical robot technology is in a period of rapid development, which has helped improve surgical accuracy and treatment effectiveness.

关键词： Industries Medical robotics Minimally invasive surgery Mechatronics automation Service robots Reviews

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Research on Predictive Control Method of Permanent Magnet Synchronous Motor Based on Using Ultra-local Model

Research on Predictive Control Method of Permanent Magnet Sy...

引用

第43届中国控制会议

作者： Yiqiang Zhang Tao Zhang Yong Li Hualiang Zhang Guopeng Zhang Hao Wang School of Electrical Engineering Shenyang University of Technology Shenyang Institute of Automation Chinese Academy of Sciences Key Laboratory of Networked Control Systems Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

The traditional finite set model predictive control has the advantages of fast response and strong robustness. The threevector model predictive current control(TV-MPCC) improves the problem of large current ripple based on single-vector model predictive current control(MPCC) and can realize deadbeat current control. Still, it cannot avoid the influence of parameter disturbance. To solve this problem, this paper constructs an ultra-local model based on the input and output information of the motor and designs an adaptive sliding mode observer to estimate the unknown part of the model. Finally, the designed threevector model-free predictive current control with adaptive sliding mode observer(TV-MFPCC-ASMO) is simulated and compared with the traditional three-vector model predictive control. It has been proved that the proposed method can effectively suppress the system disturbance when the motor parameters are mismatched and improve the motor's steady-state and dynamic performance during operation.

关键词： Permanent magnet synchronous motor Three-vector model predictive control Ultra-local model Adaptive sliding mode observer

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