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A Bio-inspired Mutual-hook Strategy for the Soft Finger to Improve Load-bearing Capacity and Grasping Stability

Journal of Bionic Engineering 2024年第3期21卷 1290-1304页

作者： Jie Huang Lingjie Gai Xiaofeng Zong Yunquan Li School of Automation China University of GeosciencesWuhan430074China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex System Wuhan430074China The Shien-Ming Wu School of Intelligent Engineering South China University of TechnologyGuangzhou510641China

Soft grippers have great potential applications in daily life,since they can compliantly grasp soft and delicate ***,the highly elastic fingers of most soft grippers are prone to separate from each other while grasping objects due to their low stiffness,thus reducing the grasping stability and load-bearing *** tackle this problem,inspired from the venus flytrap plant,this work proposes a mutual-hook mechanism to restrain the separation and improve the grasping performance of soft *** novel soft gripper design consists of three modules,a soft finger-cot,two Soft Hook Actuators(SHAs)and two sliding ***,the soft finger-cot covers on the soft finger,increasing the contact area with the target object,two SHAs are fixed to the left and right sides of the finger-cot,and the sliding mechanisms are designed to make SHAs stretch *** demonstrate that the proposed design can restrain the separation of soft fingers substantially,and the soft fingers with the finger-cots can grasp objects three times heavier than the soft fingers without the proposed *** proposed design can provide invaluable insights for soft fingers to restrain the separation while grasping,thus improving the grasping stability and the load-bearing capacity.

关键词： Soft robotics Soft bionic finger-cot Soft hook actuator Grasping stability Load-bearing capacity

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Large-scale 3D Semantic Mapping Using Stereo Vision

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International Journal of Automation and computing 2018年第2期15卷 194-206页

作者： Yi Yang Fan Qiu Hao Li Lu Zhang Mei-Ling Wang Meng-Yin Fu School of Automation and National Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing 100081 China Nanjing University of Science and Technology Nanjing 210094 China

In recent years, there have been a lot of interests in incorporating semantics into simultaneous localization and mapping （SLAM） systems. This paper presents an approach to generate an outdoor large-scale 3D dense semantic map based on binocular stereo vision. The inputs to system are stereo color images from a moving vehicle. First, dense 3D space around the vehicle is constructed, and tile motion of camera is estimated by visual odometry. Meanwhile, semantic segmentation is performed through the deep learning technology online, and the semantic labels are also used to verify tim feature matching in visual odometry. These three processes calculate the motion, depth and semantic label of every pixel in the input views. Then, a voxel conditional random field （CRF） inference is introduced to fuse semantic labels to voxel. After that, we present a method to remove the moving objects by incorporating the semantic labels, which improves the motion segmentation accuracy. The last is to generate tile dense 3D semantic map of an urban environment from arbitrary long image sequence. We evaluate our approach on KITTI vision benchmark, and the results show that the proposed method is effective.

关键词： Semantic map stereo vision motion segmentation visual odometry simultaneous localization and mapping （SLAM）.

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Preliminary Study on the Method of Generating Infrared Image Based on CycleGAN 19th

Preliminary Study on the Method of Generating Infrared Image...

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19th Chinese intelligent systems Conference, CISC 2023

作者： Sun, Baiping Tong, Jiahui Geng, Huapin Beijing Electromechanical Engineering Institute Beijing China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China

ISBN: (纸本)9789819968855

Traditional infrared scene simulation method mainly includes the establishment of 3D geometric model of the target, the establishment of scene radiation model, the relationship mapping between infrared radiation and infrared image gray value and other steps. The whole process is tedious, and contain more calculated parameters. This paper introduce CycleGAN network, draw on its ring network structure and unpaired data or paired data as a training set, realize the advantages of domain image conversion effect, explore the visible light image conversion into corresponding infrared image, solve the problems such as samples in the process of infrared imaging simulation is limited, fidelity is low, and coverage is limited. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Infrared radiation

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A GPR-Aided Method for Collaborative Relative Navigation for Multiple Unmanned Aerial Vehicles During Ranging Measurement Outages 6

A GPR-Aided Method for Collaborative Relative Navigation for...

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6th International Symposium on Autonomous systems, ISAS 2023

作者： Ding, Xin Hao, Mingrui Gong, Baichun Chen, Linxiu Zhuang, Zhixing Nanjing University of Aeronautics and Astronautics Nanjing China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China

ISBN: (纸本)9798350316155

To maintain reliable relative navigation accuracy of unmanned aerial vehicles (UAVs) during range measurement outages, a GPR-aided ranging method is proposed to assist the extended Kalman filter for measurement updates. Specifically, when the on-board ranging measurement is available, a Gaussian process regression (GPR) algorithm is used to train the mapping model between acceleration, angular velocity of the inertial navigation system (INS), relative position, and the ranging distance. When ranging measurement is unavailable, the trained GPR algorithm is used for distance prediction, replacing the ranging measurement and being used for consensus extended Kalman filter (CEKF) measurement update to reduce the degree of relative navigation error divergence. Numerical simulation was conducted with three UAVs performing cooperative flight, the results show that the proposed algorithm can provide reliable distance prediction during ranging outage and effectively reduce the divergence of relative state estimation error. © 2023 IEEE.

关键词： Inertial navigation systems

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Research on general system level training simulation technology of mid-and high-end military uav

Research on general system level training simulation technol...

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Chinese intelligent systems Conference, CISC 2020

作者： Zhang, Qing Tong, Jiahui Li, Haifeng Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China Beijing Electromechanical Engineering Institute Beijing China

ISBN: (纸本)9789811584497

A common training simulation system is proposed for the general-purpose and efficient control training needs of the mid-and highend military UAV system. The general modeling technology and processconfigurable interface protocol modeling method are adopted to realize the rapid construction of flight simulation subsystem of various aircraft models. A scheme based on general bus monitoring and fast extraction equipment is designed to realize the fast embedded real-time control training of UAV with different physical devices. A self-correctable control and evaluation method of UAV training based on multi-sample statistics is proposed to enhance the targeted strengthening setting of training subjects for trainees, so as to improve training efficiency and training effect. © The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2021.

关键词： Extraction

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Online Weapon-target Assignment based on Distributed Auction Mechanism 2

Online Weapon-target Assignment based on Distributed Auction...

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2nd International Conference on Robotics, Automation and intelligent control, ICRAIC 2022

作者： Si, Jiashuai Hao, Mingrui Sci. and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing Beijing China

To solve the problem of online weapon-target assignment (OWTA) in the integration of large-scale search and attack in unknown environment, an OWTA algorithm based on distributed auction mechanism is presented. Aiming at the problem that the traditional combinatorial optimization algorithm needs to set up the global battlefield situation in advance, considering the consumability of resources in the attack process, the integrated search and attack task flow is established. Considering the communication restricted environment, the unmanned aerial vehicles (uavs) are grouped, with centralized architecture within the group and distributed structure between the groups, and the corresponding distributed auction mechanism is constructed to achieve OWTA within the communication range limited. In order to solve the problem that it is difficult to ensure the time consistency of the coordinated attack target, a dubins cooperative path planning based on cooperative particle swarm optimization (CPSO) algorithm is proposed. Particle swarm optimization algorithm is used to adjust the radius of the dubins path of each bomb, so that the uav in the same group can hit the target simultaneously without collision and have the shortest flight range. The simulation results show that the designed distributed auction algorithm takes into account the consumption of attack resources, and quickly redistributes the firepower to the new targets in the dynamic uncertain environment, which ensures the maximization of the execution efficiency of the multi-machine cluster fire allocation task. © Published under licence by IOP Publishing Ltd.

关键词： Combinatorial optimization

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Task allocation of multiple UAVs and targets using improved genetic algorithm

Task allocation of multiple UAVs and targets using improved ...

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International Conference on intelligent control and Information Processing

作者： Zuo, Yong Peng, Zhihong Liu, Xin Key Laboratory of Complex System Intelligent Control and Decision School of Automation Beijing Institute of Technology China

ISBN: (纸本)9781457708145

In this paper, task allocation of multi-Unmanned Aerial Vehicles (UAVs) is studied, that is, multi-UAVs from different bases should be allocated to attack multiple targets. Based on the existing task allocation model, which just take the values of targets, UAVs and weapons into account, the fuel consumption is added into consideration to make the model much more practical. An improved genetic algorithm is proposed for such a multi-UAVs multi-targets task allocation. Simulation results show that the algorithm is significantly effective and the allocation result is reasonable. © 2011 IEEE.

关键词： Genetic algorithms

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Development of hydraulically driven shaking table for damping experiments on shock absorbers

Development of hydraulically driven shaking table for dampin...

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作者： Wang, Shou-Kun Wang, Jun-Zheng Xie, Wen Zhao, Jiang-Bo Key Laboratory of Intelligent Control and Decision for Complex System Beijing Institute of Technology Beijing100081 China

The hydraulically driven shaking table has been developed for damping characteristic experiments on shock absorbers in this paper. The damping characteristics and corresponding experiments on the double-tube hydraulic absorber are analyzed firstly, and its damping force model is also built. Then the working principle is introduced, and the structure and components of the physical shaking table are described, especially the hydraulic actuator, composed of servo valve controlled asymmetric cylinder with damping load, is analyzed. Considering parameter uncertainty, nonlinearity, asymmetry and time-variation of such hydraulic system, as well as repeatability of desired trajectory, an open-closed-loop ILC scheme is designed to solve the challenging control issue. The simulation and experiments are developed to verify the feasibility of working principle and the superiority of proposed control method. The hydraulically driven shaking table developed by discussed electro-hydraulic control technology has been applied in actual damping characteristic experiments for a serial of shock absorbers, and achieved satisfactory testing performance. © 2014 Elsevier Ltd.

关键词： Shock absorbers

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Preface——Special Issue to Celebrate the 30th Anniversary of Journal of systems science and complexity

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Journal of systems science & complexity 2017年第1期30卷 1-3页

作者： GAO Xiao-Shan CHEN Jie SHAO Jun WANG Shouyang Academy of Mathematics and Systems Science Chinese Academy of Sciences Key Laboratory of Intelligent Control and Design of Complex Systems Beijing Institute of Technology Department of Statistics University of Wisconsin-Madison

This special issue is dedicated to the 30th anniversary of Journal of systems science and complexity(JSSC)which is under the auspices of the Institute of systems science,Chinese Academy of *** of systems science,Chinese Academy of sciences was established in 1979 by scientists Chao-Chih Kwan,Wen-Tsun Wu,Guo-Zhi *** 1981,the Journal of systems

关键词：系统科学复杂性杂志中国科学院序言科学研究所

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PATCH: Empowering Large Language Model with Programmer-Intent Guidance and Collaborative-Behavior Simulation for Automatic Bug Fixing

arXiv

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arXiv 2025年

作者： Zhang, Yuwei Jin, Zhi Xing, Ying Li, Ge Liu, Fang Zhu, Jiaxin Dou, Wensheng Wei, Jun Affiliated with Nanjing Institute of Software Technology University of Chinese Academy of Sciences Nanjing China Key Laboratory of System Software Chinese Academy of Sciences Institute of Software Chinese Academy of Sciences University of Chinese Academy of Sciences Beijing China Key Laboratory of High Confidence Software Technologies Peking University Ministry of Education School of Computer Science Peking University Beijing China School of Computer Science Wuhan University Wuhan China School of Intelligent Engineering and Automation Beijing University of Posts and Telecommunications Beijing China State Key Laboratory of Complex & Critical Software Environment School of Computer Science and Engineering Beihang University Beijing China

Bug fixing holds significant importance in software development and maintenance. Recent research has made substantial strides in exploring the potential of large language models (LLMs) for automatically resolving software bugs. However, a noticeable gap in existing approaches lies in the oversight of collaborative facets intrinsic to bug resolution, treating the process as a single-stage endeavor. Moreover, most approaches solely take the buggy code snippet as input for LLMs during the patch generation stage. To mitigate the aforementioned limitations, we introduce a novel stage-wise framework named PATCH. Specifically, we first augment the buggy code snippet with corresponding dependence context and intent information to better guide LLMs in generating the correct candidate patches. Additionally, by taking inspiration from bug management practices, we decompose the bug-fixing task into four distinct stages: bug reporting, bug diagnosis, patch generation, and patch verification. These stages are performed interactively by LLMs, aiming to simulate the collaborative behavior of programmers during the resolution of software bugs. By harnessing these collective contributions, PATCH effectively enhances the bug-fixing capability of LLMs. We implement PATCH by employing the powerful dialogue-based LLM ChatGPT. Our evaluation on the widely used bug-fixing benchmark BFP demonstrates that PATCH has achieved better performance than state-of-the-art LLMs. Copyright © 2025, The Authors. All rights reserved.

关键词： Computer software maintenance

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