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SSRN 2023年

作者： Xing, Jichun Ning, Chao Zhi, Yuan Howard, Ian School of Mechanical Engineering Yanshan University Qinhuangdao066004 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China School of Civil and Mechanical Engineering Curtin University Perth6001 Australia

Pipeline robots using the conventional driving mode have encountered a bottleneck in miniaturization. To address this problem, a micro piezoelectric pipeline robot based on the inertia stick-slip driving principle is proposed in this paper. The robot is well suited to the inspection needs of micro pipes. However, undesirable design parameters found during the structural optimization phase can lead to unstable operation and reduced load capacity of the robot, and can even cause the drive system to stop with chaotic behavior. Therefore, the nonlinear dynamics model of the four degree of freedom discrete system of the pipeline robot is established. The Runge-Kutta method is used to solve the dynamic response of each nonlinear subsystem. The nonlinear dynamical behavior of the system is analyzed through the bifurcation diagram, time domain diagram, phase diagram, Poincaré map and power spectrum diagram of each subsystem response. The stable operation intervals of the machine and electrical parameters in the drive system are given, and the conditions for the occurrence of chaotic behavior are determined. This research can help to determine and optimize the structural parameters of the piezoelectric stick-slip pipeline robot, thus avoiding chaotic behavior and ensuring that the robot maintains good operational performance. © 2023, The Authors. All rights reserved.

关键词： Stick-slip

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A COMPUTATIONALLY EFFICIENT SOURCE LOCALIZATION METHOD FOR A MIXTURE OF NEAR-FIELD AND FAR-FIELD NARROWBAND SIGNALS

A COMPUTATIONALLY EFFICIENT SOURCE LOCALIZATION METHOD FOR A...

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IEEE International Conference on Acoustics, Speech and Signal Processing

作者： Weiliang Zuo Jingmin Xin Jiasong Wang Nanning Zheng Akira Sano Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University Xi'an 710049 China State Key Laboratory of Astronautic Dynamics Xi'an 710043 China Department of System Design Engineering Keio University Yokohama 223-8522 Japan

ISBN: (纸本)9781479928941

In this paper, we consider the source localization for a mixed near-field (NF) and far-field (FF) narrowband signals impinging on a uniform linear array (ULA) with the symmetrical geometric configuration. A computationally efficient direction-of-arrivals (DOAs) and range estimation method for the mixed NF and FF signals is proposed, where the DOAs of the NF and FF signals are estimated separately, and the computationally burdensome eigendecomposition is avoided. Comparing to some existent methods, the proposed method can separate the NF signals from the FF signals more efficiently, and consequently the estimation performance is improved. The effectiveness of the proposed method is verified though numerical examples.

关键词： signals Narrowband near-field Position measurement network file system uniform linear arrays United states Department of Agriculture Logic arrays

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Closed Loop Control of a Continuum Surgical Manipulator for Improved Absolute Positioning Accuracy

Closed Loop Control of a Continuum Surgical Manipulator for ...

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IEEE International Conference on robotics and Biomimetics

作者： Qi Li Haozhe Yang Yuyang Chen Kai Xu State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Minhang Shanghai Province China RII Lab (Lab of Robotics Innovation and Intervention) Shanghai Jiao Tong University Minhang Shanghai Province China

Robotic assistance in MIS (Minimally Invasive Surgery) has attracted worldwide attention in the past decades. Even though majority of the implemented robotic surgical manipulators have articulated structures, continuum structures have been more widely applied due to their advantages of intra-abdominal dexterity and safe interaction with anatomy. However, absolute positioning accuracy of a continuum surgical manipulator can be low due to its nonlinear bending behaviors under different loads and un-modeled manufacturing clearance. This paper hence presents a proof-of-concept investigation of closed loop control scheme for improving the manipulator's absolute positioning accuracy. system descriptions, kinematics modeling and experimental validations are reported in detail to demonstrate the effectiveness of the proposed control scheme.

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Design and Verification of a Projectile Structure for Main-belt Comets Penetration Exploration

Design and Verification of a Projectile Structure for Main-b...

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IEEE International Conference on robotics and Biomimetics

作者： Junyue Tang He Liang Cheng Chi Junxiao Xiao Zixiao Lu Ziyun Yao Zekun Ha Shengyuan Jiang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin P. R. China National Center for Nanoscience and Technology CAS Center for Excellence in Nanoscience Beijing P. R. China

ISBN: (纸本)9781665481106

Comparing the isotopic composition of the D/H ratio of the water ice in Main-belt Comets (MBCs) to that of the oceans on the Earth can enhance the understanding of where the water comes from and of how the distribution of the water ices in our early solar system. Herein, a jet penetrator with a turbo-blasting explosion device and a high-precision accelerometer has been proposed to realize a 1m class subsurface detection for China next asteroidal exploration mission. Considering the ruggedness of rubble pile structure in the low-gravity environment, the projectile's posture and its overloads determined by its structure and velocity during the penetration is highly uncertain. By establishing the rubble pile structure penetrating mechanism model, the real-time overloads and posture is analyzed to acquire an optimized projectile structure. Finally, a frozen rubble pile simulant penetrating experiment under gas gun system verified the optimized structure.

关键词： Comets Analytical models Projectiles Oceans Ice Real-time systems Solar system

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Robust Scalable Part-Based Visual Tracking for UAV with Background-Aware Correlation Filter

Robust Scalable Part-Based Visual Tracking for UAV with Back...

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IEEE International Conference on robotics and Biomimetics

作者： Changhong Fu Yinqiang Zhang Ran Duan Zongwu Xie School of Mechanical Engineering Tongji University Shanghai China Interdisciplinary Division of Aeronautical and Aviation Engineering Hong Kong Polytechnic University HKSAR China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781728103785;9781728103778

Robust visual tracking for the unmanned aerial vehicle (UAV) is a challenging task in different types of civilian UAV applications. Although the classical correlation filter (CF) has been widely applied for UAV object tracking, the background of the object is not learned in the classical CF. In addition, the classical CF cannot estimate the object scale changes, and it is not able to cope with object occlusion effectively. Part-based tracking approach is often used for the visual tracker to solve the occlusion issue. However, its real-time performance for the UAV cannot be achieved due to the high cost of object appearance updating. In this paper, a novel robust visual tracker is presented for the UAV. The object is initially divided into multiple parts, and different background-aware correlation filters are applied for these divided object parts, respectively. An efficient coarse-to-fine strategy with structure comparison and Bayesian inference approach is proposed to locate object and estimate the object scale changes. In addition, an adaptive threshold is presented to update each local appearance model with a Gaussian process regression method. Qualitative and quantitative tests show that the presented visual tracking algorithm reaches real-time performance (i.e., more than twenty frames per second) on an i7 processor with 640×360 image resolution, and performs favorably against the most popular state-of-the-art visual trackers in terms of robustness and accuracy. To the best of our knowledge, it is the first time that this novel scalable part-based visual tracker is presented, and applied for the UAV tracking applications.

关键词： Visualization Correlation Target tracking Unmanned aerial vehicles Object tracking Real-time systems Robustness

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Simultaneous localization and mapping for mobile robot based on an improved particle filter algorithm

Simultaneous localization and mapping for mobile robot based...

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IEEE International Conference on Mechatronics and Automation

作者： Zhong Min Wang De Hua Miao Zhi Jiang Du State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China College of Mechanical Engineering Tianjin University of Technology and Education Tianjin China College of Mechanical Engineering Tianjin University of Technology and Education 300222 China

Simultaneous localization and mapping (SLAM) is an important topic in the autonomous mobile robot research. An improved Rao-Blackwellised particle filter (IRBPF) algorithm is proposed for the mobile robot to SLAM, which can simultaneously localize the robot and build up the map in the structured indoor environment. Firstly, IRBPF respectively uses particle filters (PF) to estimate the posterior probability distributions of robot postures and landmarks in the environment map. Secondly, an adaptive re-sampling technique is used to reduce the times of re-sampling so as to maintain a reasonable speed of samples, thus it reduce the risk of sample depletion. Finally, a robust motion model and an observation model with only ranging sensor and odometer are constructed. Experiment results indicate that the IRBPF algorithm builds the consistent map and modified the precision and real-time performance of localization and mapping, the SLAM results show the efficiency of this IRBPF algorithm.

关键词： Simultaneous localization and mapping Mobile robots Particle filters state estimation Frequency estimation Mechatronics robotics and automation Laboratories Indoor environments Probability distribution

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A simple algorithm for position and velocity estimation of mobile robots using omnidirectional vision and inertial sensors

A simple algorithm for position and velocity estimation of m...

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IEEE International Conference on robotics and Biomimetics

作者： Luyang Li Yun-Hui Liu Kai Wang Mu Fang Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong State Key Laboratory of Robotics Technology and System Harbin Institute of Technology Harbin China Chinese University of Hong Kong New Territories HK

ISBN: (纸本)9781479973989

Despite of many efforts by researches, real-time localization of mobile robot only using onboard sensor is still an open problem in mobile robotics. To contribute this research area, in this paper, a simple and effective method is proposed based on an adaptive estimator for estimating the position and linear velocity of a mobile robot in an unknown and unstructured environment using measurements of onboard inertial sensors and visual feedback of a catadioptric vision system. This novel method is developed on the basis of a new projection model of catadioptric vision, where the highly nonlinear projection model of catadioptric vision can be represented as a similar form to that of perspective vision. It is proved that this method leads to global exponential convergence of the estimation errors of the robot's position and linear velocity to zero. Experimental results validate the performance of the proposed method.

关键词： Robot sensing systems Machine vision Estimation error Mobile robots Sensor systems

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Research on ZnO nanowire manipulation method in scanning electron microscope

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ICIC Express Letters, Part B: Applications 2012年第5期3卷 1077-1084页

作者： Li, Dongjie Wang, Jinyu You, Bo Rong, Weibin Zou, Jiaou School of Automation Harbin University of Science and Technology No. 52 Xuefu Road Nangang Dist. Harbin 150080 China State Key Laboratory of Robotics and System Harbin Institute of Technology No. 92 West Da-Zhi Street Harbin 150001 China

In order to realize nano-component manipulation, the contacting mechanism and operating methods during ZnO nanowire manipulation process are researched both in theory and experiments in scanning electron microscope (SEM). Models of manipulation objects are built in nano scale combined with tribology. The adhesion phenomenon and influence of manipulation angle and point are analyzed according to the simulation results and experiments. Then, method of moving ZnO nanowire by fixed operating angle and suitable operating point is proposed. At the same time, the influence of operating distance and the roughness of the substrate are analyzed. Finally, experiments of ZnO nanowire moving, positioning and picking up are carried out with the new method. © 2012 ICIC International.

关键词： Scanning electron microscopy

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Multi-stage Objective Function Optimized Hand-Eye Self-calibration of Robot in Autonomous Environment 1

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17th International Conference on Bio-Inspired Computing: Theories and Applications, BIC-TA 2022

作者： Liu, Kaibo Zheng, Wangli Min, Huasong Lin, Yunhan School of Computer Science and Technology Wuhan University of Science and Technology Hubei Wuhan430065 China Hubei Province Key Laboratory of Intelligent Information Processing and Real-Time Industrial System Wuhan University of Science and Technology Hubei Wuhan430065 China State Grid Electric Power Research Institute Jiangsu Nanjing211106 China Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology Hubei Wuhan430081 China

ISBN: (数字)9789819915491

ISBN: (纸本)9789819915484

In the application scenario of robot autonomous tasks, the robot needs to be able to complete calibration online and automatically to achieve self-maintenance, which differs from traditional robot hand-eye calibration in that the traditional robot hand-eye calibration requires a dedicated calibration board to assist offline completion. Aiming at the problem that the existing self-calibration methods cannot be optimized as a whole, which leads to low accuracy and instability of the solution, a multi-stage objective function optimization self-calibration algorithm is proposed, which describes the solution of hand-eye self-calibration as a minimization objective function problem involving multiple stages. An optimization method based on the minimization of re-projection error is designed to compensate for the results, which uses an efficient Oriented fast and rotated brief (ORB) feature extraction algorithm and introduces a scoring mechanism to retain more correct matching points in the feature matching stage. Two different types of experiments were designed to validate our method. One is a single camera dataset experiment, which shows that our method is more accurate and robust than the existing self-calibration method;the other is an application platform experiment, which verifies the feasibility and availability of our method. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Calibration

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Singularity-Robust Hybrid Visual Servoing Control for Aerial Manipulator

Singularity-Robust Hybrid Visual Servoing Control for Aerial...

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IEEE International Conference on robotics and Biomimetics

作者： Fengyu Quan Haoyao Chen Yanjie Li Yunjiang Lou Jian Chen Yunhui Liu School of Mechanical Engineering and Automation State Key Laboratory of Robotics and System China State Key Laboratory (SKL) of PhotoVoltaic Science and Technology (PVST) Trinasolar Co. Ltd Changzhou Jiangsu P.R. China Department of Mechanical and Automation Engineering Chinese University of Hong Kong Hong Kong P. R. China

ISBN: (纸本)9781728103785;9781728103778

Control of aerial manipulation has attracted increasing attention in robotics these years. It is still a challenge to precisely control the manipulator under the influence of dynamical motion coupling between the aerial platform and manipulator. In this paper we develop a hybrid visual servoing approach for aerial manipulators to complete aerial manipulations. The hybrid controller integrates both advantages of the image-based and position-based visual servoing controllers; it ensures the target features staying in the field of view as well as guaranteeing the global convergence of error. Furthermore, to address the singularity problem existing in the flexible aerial manipulator, a SVD-based variant damped least square solution is developed. Experiments are performed on a custom-built aerial manipulator which consists of a 6-DoF serial manipulator and a coaxial octocopter. The experimental results have illustrated the effectiveness of the proposed approach.

关键词： Manipulator dynamics Cameras Visual servoing End effectors Kinematics Convergence

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