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On-orbit real-time robust cooperative target identification in complex background

Chinese Journal of Aeronautics 2015年第5期28卷 1451-1463页

作者： Wen Zhuoman Wang Yanjie Arjan Kuijper Di Nan Luo Jun Zhang Lei Jin Minghe Changchun Institute of Optics Fine Mechanics and Physics Chinese Academy of Sciences University of the Chinese Academy of Sciences Fraunhofer Institute for Computer Graphics Research Technische Universitt Darmstadt State Key Laboratory of Robotics and System Harbin Institute of Technology

Cooperative target identification is the prerequisite for the relative position and orientation measurement between the space robot arm and the to-be-arrested object. We propose an on- orbit real-time robust algorithm for cooperative target identification in complex background using the features of circle and lines. It first extracts only the interested edges in the target image using an adaptive threshold and refines them to about single-pixel-width with improved non-maximum suppression. Adapting a novel tracking approach, edge segments changing smoothly in tangential directions are obtained. With a small amount of calculation, large numbers of invalid edges are removed. From the few remained edges, valid circular arcs are extracted and reassembled to obtain circles according to a reliable criterion. Finally, the target is identified if there are certain numbers of straight lines whose relative positions with the circle match the known target pattern. Experiments demonstrate that the proposed algorithm accurately identifies the cooperative target within the range of 0.3 1.5 m under complex background at the speed of 8 frames per second, regardless of lighting condition and target attitude. The proposed algorithm is very suitable for real-time visual measurement of space robot arm because of its robustness and small memory requirement.

关键词： Circle detection Edge extraction Edge tracking Line detection Robot vision Space robot arm

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Micromanipulation method and experiments of controllable capillary force based on condensation on hydrophobic surface

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Jiqiren/Robot 2015年第6期37卷 648-654页

作者： Fan, Zenghua Rong, Weibin Wang, Lefeng Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

On the basis of the presented micromanipulation method of condensation on hydrophobic surface, the volume of the water droplet on the hydrophobic tip surface can be dynamically varied which helps to obtain appropriate capillary lifting forces using the designed droplet micromanipulator. The single droplet growth model is established to analyze the influence of the minimum radius of droplet, the supercooling degree and the saturation temperature. Accordingly, the operational process of picking up and releasing are discussed by the theoretical models. With the assistance of a customized motion platform, the droplet formation on hydrophobic tip and the capillary lifting force generated during the manipulation process are experimentally characterized. Micromanipulation tasks of pick-and-place the micro silicon chips (1 mm×1 mm×0.52 mm, 12.1 μN) and thin-wall microspheres with diameters of 200 μm, wall thickness of 4 μm (5.069 nN) are conducted to verify the feasibility of the presented method. © 2015, Chinese Academy of Sciences. All right reserved.

关键词： Condensation

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Detection of privacy-sensitive situations for social robots in smart homes

Detection of privacy-sensitive situations for social robots ...

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IEEE International Conference on Automation Science and Engineering (CASE)

作者： Francisco Erivaldo Fernandes Guanci Yang Ha Manh Do Weihua Sheng Oklahoma State University System Stillwater OK US Key Laboratory of Advanced Manufacturing Technology of Ministry of Education Guizhou University Guiyang China School of Electrical and Computer Engineering Shenzhen Academy of Robotics Stillwater Shenzhen OK USA

ISBN: (纸本)9781509024100

The ubiquitous use of cameras in a home environment raises privacy concerns, which is one of the major barriers to the deployment of smart home systems for elderly and disabled care. Social robots are equipped with cameras that can witness embarrassing situations of their owners, such as nakedness during a morning bath. In this paper, our proposed solution is to let the robot detect such privacy-sensitive moments and then turn away to avoid observing the person. We proposed a method based on the Convolutional Neural Networks (CNN) to detect nakedness in a daily living scenario. In this method, two CNNs are used: one detects whether a person is present or not in the current scene, and the other detects privacy-sensitive situations. We implemented the method on the ASCC home service robot developed in our lab. The CNNs were trained with a database composed of more than 2900 pictures collected from the Internet and from our ASCC Smart Home. In our experiments, we considered three human poses: sitting, standing, and lying. If the robot detects a privacy-sensitive situation, it will turn around and verbally announce its intention, which ensures the person that he or she is not being watched. Our experiments validate the proposed privacy preserving method. We also conducted a user study and find that people prefer that the robot takes some actions to avoid directly watching them in privacy-sensitive situations.

关键词： Privacy Cameras Robot vision systems Service robots Smart homes Security

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Low-impact motion planning method of hydraulically actuated hexapod robot

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Jixie Gongcheng Xuebao/Journal of Mechanical Engineering 2015年第3期51卷 10-17页

作者： Liu, Yiqun Deng, Zongquan Liu, Zhen Ding, Liang Gao, Haibo Li, Yuchao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China

Foot-terrain contact impact has a significant effect on the movement performance of large-scale heavy legged robot. A low-impact motion planning method of foot trajectory for hydraulically actuated hexapod robot with the goal of smooth movement is proposed. Angle functions of each joint are deduced based on the bionic configuration and kinematics model, and position control functions of hydraulic cylinder piston rod are solved according to the arrangement of hydraulic cylinder hinged points and the geometric relationship of leg. Analysis results indicate that joints and hydraulic cylinders move steady and their velocity and acceleration are continuous. Simulation platform is established based on Vortex, and simulation of walking process by using the proposed method is completed. The vertical fluctuation of body is tiny in the process of stable moving forward, and the lateral migration rates are about 2.1%. This method is applied to the field experiments of hexapod robot prototype. Test results conclude that the joints move smoothly following the desired trajectory, and the foot force is reasonable. The simulation results and experimental results are consistent, and the rationality and feasibility of the foot trajectory planning method is verified. ©, 2015, Editorial Office of Chinese Journal of Mechanical Engineering. All right reserved.

关键词： Trajectories

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Dual-mode video stabilization based on adaptive motion clustering 15

Dual-mode video stabilization based on adaptive motion clust...

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7th International Conference on Internet Multimedia Computing and Service, ICIMCS 2015

作者： Wang, Dong Wang, Bin Zhao, Sicheng Sun, Xiaoshuai Yao, Hongxun Liu, Hong State Key Laboratory of Robotics and System Harbin Institute of Technology China School of Computer Science and Technology Harbin Institute of Technology China

ISBN: (纸本)9781450335287

Many target tracking videos suffer from significant shake due to the undesirable camera motion or target vibration. These degraded video records have a negative impact on viewing experience as well as the follow-up analysis and application. Most existing digital video stabilization methods aim at removing camera shake using the techniques of global motion estimation and compensation between adjacent frames, while paying little attention to motion pattern and the relationship between the foreground and background contents. In this paper, we present a novel approach to stabilize the videos containing large dynamic object, which can realize the normal stabilization task and describe the target motion path at the meantime. We combine K-means and Gaussian mixture model to distinguish the motion modes of background and foreground without applying any prior knowledge about the moving object. The proposed approach gives a flexible choice in stabilizing background motion as traditional algorithms or foreground motion for salient target surveillance. © 2015 ACM.

关键词： Stabilization

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Medical image segmentation based on improved fuzzy clustering in robot virtual surgical system 4

Medical image segmentation based on improved fuzzy clusterin...

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4th International Conference on Information Science and Cloud Computing, ISCC 2015

作者： Bao, Yidong Wu, Dongmei State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China School of Software Pingdingshan University Pingdingshan467000 China

In view of the problems relating to the precision and convergence rate of traditional ant colony algorithm and fuzzy clustering algorithm on the medical image segmentation, a modified selfadaptive threshold ant colony optimization and fuzzy clustering (SAAF) algorithm were proposed here to realize the segmentation of the complex background medical image. As to the complex medical image, Otsu algorithm was firstly performed to obtain the optimal threshold, the local optimal solution of ant colony algorithm was avoided through the intervention of optimal threshold, then the clustering center and the number of cluster classes obtained through the selfadaptive threshold ant colony algorithm were imported into the fuzzy clustering algorithm until the image segmentation was finalized. The doctor can get the diseased organ by SAAF image segmentation algorithm according to the CT scanned images, and can use the segmented organ image to build the 3D virtual organ tissue model. Then, the doctor can achieve virtual surgical before using the real robot surgical to operate on patients. It will greatly improve the success rate of surgery and efficiency. © Copyright owned by the author(s) under the terms of the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License (CC BY-NC-ND 4.0).

关键词： Fuzzy clustering

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Optimization and preoperative adjustment design of remote center motion mechanism for minimally invasive surgical robot

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robotics and Biomimetics 2015年第1期2卷 1-14页

作者： Guojun Niu Bo Pan Yili Fu Shuguo Wang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

In this paper, a new remote center motion (RCM) mechanism called triangle is proposed; this mechanism is simple and with high stiffness. A complete kinematic analysis and optimization algorithm implying AHP which is a combination of quantitative and qualitative analysis method incorporating the requirements for minimally invasive surgery (MIS) are performed to find the optimal link lengths of the manipulator. The results show that for the serial triangle two-link manipulator used to guide the surgical tool, the optimization link angles are 74° and 51°. Prior preoperative adjustment is usually realized by electromagnetic clutch. However, the disadvantage of this method is that the joint is complex, big, and heavy because of gravity balance mechanism. A new preoperative adjustment method realized by resistance compensation is proposed without electromagnetic clutch; the joint is simpler and lighter than the conventional joint.

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Motion control for a single-legged robot

Motion control for a single-legged robot

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International Conference on Advanced robotics and Mechatronics (ICARM)

作者： Ming Liu Xingneng Zhong Xin Wang Fei Chen Fusheng Zha Wei Guo State Key laboratory of Robotics and System Harbin Institute of Technology Harbin Province China College of Mechanic and Electronic Engineering Northeast Forestry University Harbin Heilongjiang Province China China Aerospace Science Shenzhen academy of aerospace technology Shenzhen Guangdong Province China Department of Advanced Robotics Istituto Italiano di Tecnologia Genoa Italy

New control methods are presented in this paper for a hopping single-legged robot in the 2D plane. It is aimed to keep the robot's movement stably, namely kinematic parameters oscillating in a small range. Body angle, hopping height and horizontal velocity respectively represent the control parameters of three degrees of freedom. Finally, a series of simulation experiments show that all the kinematic parameters are within the specified range.

关键词： Legged locomotion Springs Actuators Motion control Gravity

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Ground micro-gravity emulation system for space robot capturing the target satellite

Ground micro-gravity emulation system for space robot captur...

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IEEE International Conference on robotics and Biomimetics

作者： Haitao Yang Zongwu Xie Xiaoyu Zhao Minghe Jin State Key Laboratory of Robotics and System (HIT) China

ISBN: (纸本)9781467396769

Ground micro-gravity verification and test is vitally important for space robot. This paper mainly introduces a kind of ground micro-gravity emulation system, which can be used to verify the process of space robot capturing the target satellite in the 3-dimensional space. The system adopts the hardware-in-the-loop simulation, which mainly includes the real hardware system and the simulation software. The dynamics of space robot and the target satellite are modelled, respectively. The motion emulation of the servicing satellite base and that of the target satellite are realized by the dynamics simulation and the motion of two industrial robots. Then, the gravity compensation methods of force sensor for space manipulator and the target satellite are described, respectively. Finally, the ground micro-gravity emulation system is built and the base motion emulation of space manipulator capturing the target satellite is realized.

关键词： Satellites Space vehicles Manipulator dynamics Robot sensing systems Dynamics

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A simulator for swarm AUVs acoustic communication networking 11

A simulator for swarm AUVs acoustic communication networking

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11th ACM International Conference on Underwater Networks and systems, WUWNet 2016

作者： Li, Guannan Liu, Jun Wang, Xue Xu, Hongli Cui, Jun-Hong Shenyang Institute of Automation CAS University of Chinese Academy of Sciences No. 114 Nanta Street Shenhe District Shenyang China College of Computer Science and Technology Jilin University State Key Laboratory of Robotics Key Laboratory of System Control and Information Processing Ministry of Education of China Changchun China Shenyang Institute of Automation CAS Northeast University No. 114 Nanta Street Shenhe District Shenyang China Shenyang Institute of Automation CAS No. 114 Nanta Street Shenhe District Shenyang China College of Computer Science and Technology Jilin University Changchun China Underwater Sensor Network Lab. University of Connecticut StorrsCT06269 United States

ISBN: (纸本)9781450346375

This paper presents a simulator for swarm operations designed to verify algorithms for a swarm of autonomous underwater robots (AUVs), specifically for constructing an underwater communication network with AUVs carrying acoustic communication devices. This simulator consists of three nodes: a virtual vehicle node (VV), a virtual environment node (VE), and a visual showing node (VS). The modular design treats AUV models as a combination of virtual equipment. An expert acoustic communication simulator is embedded in this simulator, to simulate scenarios with dynamic acoustic communication nodes. The several simulations we have performed demonstrate that this simulator is easy to use and can be further improved.

关键词： Simulators

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