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International Symposium on Chinese Spoken Language Processing

作者： Tong Lee Chung Jianxin Pang Jun Cheng Research Institute of UBTech Robotics Shenzhen Institute of Advanced Technology Chinese Academy of Sciences

ISBN: (数字)9798331516826

ISBN: (纸本)9798331516833

This paper introduces a multimodal language model based agent system for task planning with interaction integrated into a physical robot to facilitate enhanced human-robot interactions. The system architecture integrates textual and visual inputs directly within the system, allowing for seamless transitions between conversational and task-oriented interactions. The agent system comprises a router, a chatbot, and a task planner enabling efficient decision-making and flexibility in real-world applications. We conduct in-depth study with text-only interaction and multimodal interaction, our extensive experiments find that multimodal interaction receives higher score by human evaluation and improves success rates in task planning. Our system simplifies the architecture by incorporating multiple agents for specific tasks while improving both the system's efficiency and cost-effectiveness. The robot's ability to interact using multimodal inputs significantly enhances user experience, as evidenced by evaluations measuring friendliness, usefulness, and task completeness. Practical implications are vast, promising advancements in robotics applications for personal and professional environments.

关键词： Visualization Decision making Human-robot interaction Systems architecture Data models User experience Planning Artificial intelligence Speech processing Robots

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Function-oriented optimization design method for underactuated tendon-driven humanoid prosthetic hand

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Frontiers of Mechanical Engineering 2022年第3期17卷 75-89页

作者： Yue ZHENG Xiangxin LI Lan TIAN Guanglin LI CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced Technology(SIAT)Chinese Academy of Sciences(CAS)Shenzhen518055China Shenzhen College of Advanced Technology University of Chinese Academy of SciencesShenzhen518055China SIAT Branch Shenzhen Institute of Artificial Intelligence and Robotics for SocietyShenzhen518055China Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen518055China

The loss of hand functions in upper limb amputees severely restricts their mobility in daily *** a humanoid prosthetic hand would be an effective way of restoring lost hand *** a prosthetic hand design,replicating the natural and dexterous grasping functions with a few actuators remains a big *** this study,a function-oriented optimization design(FOD)method is proposed for the design of a tendon-driven humanoid prosthetic *** optimization function of different functional conditions of full-phalanx contact,total contact force,and force isotropy was constructed based on the kinetostatic model of a prosthetic finger for the evaluation of grasping *** a genetic algorithm,the optimal geometric parameters of the prosthetic finger could be determined for specific functional *** results reveal that the structure of the prosthetic finger is significantly different when designed for different functional requirements and grasping target sizes.A prosthetic finger was fabricated and tested with grasping *** mean absolute percentage error between the theoretical value and the experimental result is less than 10%,demonstrating that the kinetostatic model of the prosthetic finger is effective and makes the FOD method *** study suggests that the FOD method enables the systematic evaluation of grasping performance for prosthetic hands in the design stage,which could improve the design efficiency and help prosthetic hands meet the design requirements.

关键词： function-oriented tendon driven prosthetic hand optimization humanoid underactuated

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Fast and Accurate 3D Eye-To-hand Calibration for Large-Scale Scene based on HALCON 11

Fast and Accurate 3D Eye-To-hand Calibration for Large-Scale...

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11th IEEE Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2021

作者： Wang, Geng Quan, Wanlong Li, Yaonan Fang, Siwen Chen, Heping Xi, Ning Shenyang110016 China Shenzhen Academy of Robotics Shenzhen518057 China

ISBN: (纸本)9781665425278

The premise of robot executing vision-based tasks is to establish the coordination between robot eye (structured light 3D sensor) and a hand (end effector). However, it is inefficient to perform the 3D eye-To-hand calibration for large-scale scene due to large amounts of point clouds data contained in the scene. This paper describes a fast and accurate 3D eye-To-hand calibration method for large-scale scene. A common tee pipe is used as calibration object. The method presented here comprises the following steps: Firstly, voxel grid filtering method is used for reducing the number of point clouds data. Secondly, employing euclidean cluster extraction method, the point clouds data of the calibration object can be extracted from the large-scale scene. Thirdly, the pose of the calibration object is acquired by surface-based 3D matching. Finally, the 3D eye-To-hand calibration is performed, and robot grasping experiments are carried out on ABB YuMi platform to validate the accuracy of calibration results. The experiments demonstrate that our method can achieve high calibration accuracy and significantly improve the efficiency of calibration. © 2021 IEEE.

关键词： Calibration

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Depth Image Super-resolution via Two-Branch Network 6th

Depth Image Super-resolution via Two-Branch Network

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6th International Conference on Cognitive Systems and Signal Processing, ICCSIP 2021

作者： Guo, Jiaxin Xiong, Rong Ou, Yongsheng Wang, Lin Liu, Chao Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China Shenzhen China

ISBN: (纸本)9789811692468

With the continuous development of sensors, a number of inexpensive and effective depth cameras have shown up, which have greatly contributed to the development of autonomous driving and 3D reconstruction technologies. However, the depth images captured by low-cost depth cameras are low-resolution, which is difficult to meet the needs of practical applications. We propose a two-branch network to achieve depth map super-resolution with high-resolution guidance image, which can be viewed as a prior to guide the low-resolution depth map to restore the missing high-frequency details of structures. To emphasize the guidance role of high-resolution images, we use spatially-variant kernels based on the guidance feature map to replace the original convolution kernels. In addition, in order to extract the feature maps of the depth images more effectively, we add the channel attention mechanism between convolution layers. Our network is trained end-to-end, supporting various sizes of input images because the network backbone uses full convolution and no fully connected layers. The proposal model is trained only on a certain dataset under three super-resolution factors and utilized directly on other datasets without fine-tuning. We show the effectiveness of our model by comparing it with state-of-art methods. © 2022, Springer Nature Singapore Pte Ltd.

关键词： Convolution

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A Fault-tolerant Control Method for USV Trajectory-tracking with Sensor Faults

A Fault-tolerant Control Method for USV Trajectory-tracking ...

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2023 IEEE International Conference on Real-Time Computing and robotics, RCAR 2023

作者： Guo, Weilun Li, Weimin Wu, Xinyu Wang, Haibin Mu, Xinxing Wang, Qiang Xu, Yi Shandong Zhongke Advanced Technology Co. Ltd Jinan250098 China Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen518055 China

ISBN: (纸本)9798350327182

This paper studies the trajectory tracking problem of the unmanned surface vehicle with sensor deviation faults. Firstly, the trajectory tracking controller based on model predictive control is designed according to the physical characteristics of the unmanned vehicle system. Moreover, an event trigger mechanism is explored in the controller to reduce the waste of computing resources. Then, a H∞ fault estimator is designed to accurately estimate the value of sensor deviation faults. Finally, the influence of sensor faults on the designed controller is analyzed. At the same time, the faults information was used for improving the tracking performance. The proposed trajectory tracking method with the fault-tolerant algorithm is verified by simulation examples. © 2023 IEEE.

关键词： Controllers

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Optimization of a Piezoelectric Bending Beam-based Human Knee Energy Harvester 20

Optimization of a Piezoelectric Bending Beam-based Human Kne...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Liao, Haisu Wang, Yidi Shi, Qiuyu Huang, Ruisen Gao, Fei Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy System

ISBN: (纸本)9798350320831

The concept of extracting energy from the human body to recharge depleted energy sources has gained significant attention. Recently, scientists have focused on harnessing biomechanical energy from the human body while walking. The aim of this study is to optimize a piezoelectric bending beam-based human knee energy harvester to enhance performance. Specifically, the shape of the bending beam (the substrate: a carbon fiber plate) is optimized to modulate the deformation, such that the average strain of the piezoelectric macro fiber composites (MFC) attached to the bending beam is improved to generate more electricity. In addition, the effects of the substrate's thickness and the hinge base's height for the bending beam on the output power are also analyzed. Experimental testing on a subject is conducted to validate our design and test the performance. The harvester generates an average power output of 24.55 mW when walking at 4 km/h on a treadmill. The harvester's total weight is 278g. © 2023 IEEE.

关键词： Energy harvesting

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A Wearable Flexible Exoskeleton for Upper Limb Assistance

A Wearable Flexible Exoskeleton for Upper Limb Assistance

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2023 IEEE International Conference on Real-Time Computing and robotics, RCAR 2023

作者： Wang, Qiang Chen, Chunjie Li, Weimin Wang, Haibin Mu, Xinxing Guo, Weilun Wu, Xinyu Shandong Zhongke Advanced Technology Co. Ltd Jinan250098 China Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Shenzhen518055 China

ISBN: (纸本)9798350327182

In this paper, a wearable upper limb flexible power assist exoskeleton is proposed, which can be used to assist workers in carrying, provide auxiliary force for upper limbs, and reduce physical damage. The exoskeleton uses flexible ropes to transmit motion power, with the ropes directly connected to the forearm of the person via a shoulder anchor point. The motion power is directly applied to the forearm, thereby reducing the complexity of the system. The system uses a PID control strategy to track the movement posture of the human body, provide torque assistance to the upper limbs during operation. Four healthy men participated in the trial to assess muscle activity in four muscles of the upper limbs: deltoid muscle (DM), biceps femoris (BFM), femoral muscle (FM), and wrist flexor (FWF). Compared with the case without using the designed exoskeleton, the test results showed that the average decrease in muscle activity, during lifting action was 28.4% (DM), 27.85% (BFM), 32.64% (FM), 35.22% (FWF), during keeping action was 24.92% (DM), 29.47% (BFM), 20.89% (FM), 28.24% (FWF). The experiments verify the effectiveness of the newly designed exoskeleton system. © 2023 IEEE.

关键词： Muscle

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Nerve function restoration following targeted muscle reinnervation after varying delayed periods

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Neural Regeneration Research 2023年第12期18卷 2762-2766页

作者： Yuanheng Li Jiangping Huang Yuling Chen Shanshan Zhu Zhen Huang Lin Yang Guanglin Li Key Laboratory of Human-Machine Intelligence-Synergy Systems and Branch of Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen Institutes of Advanced TechnologyChinese Academy of SciencesShenzhenGuangdong ProvinceChina Department of Rehabilitation Medicine Guangzhou University of Chinese MedicineGuangzhouGuangdong ProvinceChina Department of Rehabilitation Medicine Yibin Hospital of Traditional Chinese MedicineYibinSichuan ProvinceChina

Targeted muscle reinnervation has been proposed for reconstruction of neuromuscular function in ***,it is unknown whether performing delayed targeted muscle reinnervation after nerve injury will affect restoration of *** this rat nerve injury study,the median and musculocutaneous nerves of the forelimb were *** proximal median nerve stump was sutured to the distal musculocutaneous nerve stump immediately and 2 and 4 weeks after surgery to reinnervate the biceps *** targeted muscle reinnervation,intramuscular myoelectric signals from the biceps brachii were *** amplitude gradually increased with *** brachii myoelectric signals and muscle fiber morphology and grooming behavior did not significantly differ among rats subjected to delayed target muscle innervation for different *** muscle reinnervation delayed for 4 weeks can acquire the same nerve function restoration effect as that of immediate reinnervation.

关键词： biceps brachii delayed nerve repair delayed targeted muscle reinnervation functional reconstruction grooming test implanted electrode intramuscular myoelectric signals median nerve motor function nerve transfer

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Discovering Syntactic Interaction Clues for Human-Object Interaction Detection

Discovering Syntactic Interaction Clues for Human-Object Int...

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Conference on Computer Vision and Pattern Recognition (CVPR)

作者： Jinguo Luo Weihong Ren Weibo Jiang Xi'ai Chen Qiang Wang Zhi Han Honghai Liu Harbin Institute of Technology Shenzhen State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang University

ISBN: (数字)9798350353006

ISBN: (纸本)9798350353013

Recently, Vision-Language Model (VLM) has greatly ad-vanced the Human-Object Interaction (HOI) detection. The existing VLM-based HOI detectors typically adopt a hand-crafted template (e.g., a photo of a person [action] a/an [object]) to acquire text knowledge through the VLM text encoder. However, such approaches, only encoding the action-specific text prompts in vocabulary level, may suffer from learning ambiguity without exploring the fine-grained clues from the perspective of interaction context. In this paper, we propose a novel method to discover Syntactic Interaction Clues for HOI detection (SICHOI) by using VLM. Specifically, we first investigate what are the essen-tial elements for an interaction context, and then establish a syntactic interaction bank from three levels: spatial relationship, action-oriented posture and situational condition. Further, to align visual features with the syntactic interaction bank, we adopt a multi-view extractor to jointly aggre-gate visual features from instance, interaction, and image levels accordingly. In addition, we also introduce a dual cross-attention decoder to perform context propagation be-tween text knowledge and visual features, thereby enhancing the HOI detection. Experimental results demonstrate that our proposed method achieves state-of-the-art performance on HICO-DET and V-COCO.

关键词： Visualization Vocabulary Computer vision Aggregates Detectors Syntactics Feature extraction

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3D Source Tracking Using a Position-Unknown AOA Sensor with Measurement Drift and UAV Moving Direction Optimization

3D Source Tracking Using a Position-Unknown AOA Sensor with ...

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IEEE International Conference on Real-time Computing and robotics (RCAR)

作者： Rongrong Xu Sheng Xu Kaimin Cao Xianliang Li Jialiang Wang Wujing Cao Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China University of Chinese Academy of Sciences Beijing China Robotics Laboratory China Nanhu Academy of Electronics and Information Technology China

ISBN: (数字)9798350372601

ISBN: (纸本)9798350372618

This work solves the angle-of-arrival (AOA) source tracking problem in 3-dimensional (3D) space utilizing a position-unknown unmanned aerial vehicle (UAV). An AOA sensor is carried by a mobile UAV, and the conventional self-positioning module, such as the global positioning system (GPS), is not allowed due to environmental limitations. Thus, to guarantee the feasibility of this source tracking problem, at least two position-known landmarks are required. Firstly, the detailed problem formulation is provided with the consideration of measurement drift caused by sensor-vehicle installation errors. Secondly, all the unknown states are estimated using a proposed extended Kalman filter (EKF). Thirdly, a UAV moving direction optimization algorithm is developed to promote the estimation accuracies of the source, UAV and measurement drift. Finally, simulation examples demonstrate the characteristics of the proposed method.

关键词： Three-dimensional displays Accuracy Measurement uncertainty Estimation Autonomous aerial vehicles Robot sensing systems Velocity measurement

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