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Automation, robotics and Computer Engineering (ICARCE), International Conference on

作者： Chengxu Yang Xiangyu Sun Gangfeng Liu School of Mechatronics Engineering Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

In this paper, for the requirements of image recognition and localization of the obstacles existing on the moving path in the inspection task of FAST cable inspection robot, the deep learning method is used to realize the recognition of multi-kind and multi-scale obstacles. The obstacles on FAST wire rope have not been identified before. By enhancing the data set and improving the network model, the recognition accuracy and speed are both improved, which meets the efficiency and accuracy requirements of obstacle detection on the wire rope, and provides help for the subsequent robot pace planning and overhaul tasks.

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DeepMatcher: A Deep Transformer-based Network for Robust and Accurate Local Feature Matching

arXiv

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arXiv 2023年

作者： Xie, Tao Dai, Kun Wang, Ke Li, Ruifeng Zhao, Lijun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150006 China SenseTime Group Inc. Beijing100080 China

Local feature matching between images remains a challenging task, especially in the presence of significant appearance variations, e.g., extreme viewpoint changes. In this work, we propose DeepMatcher, a deep Transformer-based network built upon our investigation of local feature matching in detector-free methods. The key insight is that local feature matcher with deep layers can capture more human-intuitive and simpler-to-match features. Based on this, we propose a Slimming Transformer (SlimFormer) dedicated for DeepMatcher, which leverages vector-based attention to model relevance among all keypoints and achieves long-range context aggregation in an efficient and effective manner. A relative position encoding is applied to each SlimFormer so as to explicitly disclose relative distance information, further improving the representation of keypoints. A layer-scale strategy is also employed in each SlimFormer to enable the network to assimilate message exchange from the residual block adaptively, thus allowing it to simulate the human behaviour that humans can acquire different matching cues each time they scan an image pair. To facilitate a better adaption of the SlimFormer, we introduce a Feature Transition Module (FTM) to ensure a smooth transition in feature scopes with different receptive fields. By interleaving the self- and cross-SlimFormer multiple times, DeepMatcher can easily establish pixel-wise dense matches at coarse level. Finally, we perceive the match refinement as a combination of classification and regression problems and design Fine Matches Module to predict confidence and offset concurrently, thereby generating robust and accurate matches. Experimentally, we show that DeepMatcher significantly outperforms the state-of-the-art methods on several benchmarks, demonstrating the superior matching capability of DeepMatcher. The code is available at https://***/XT1997/DeepMatcher. © 2023, CC BY.

关键词： Behavioral research

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Study of the shear strength behavior in flip chip under thermo-mechano-electrical coupling and different solder height

Study of the shear strength behavior in flip chip under ther...

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International Conference on (ICEPT) Electronic Packaging Technology

作者： Bin Zhou Jianxin Qiao Yunkang Su Dapeng Liu Wentao Huang Longqiu Li State Key Laboratory of Robotics and System Key Laboratory for Microsystems and Microstructure Manufacturing Harbin Institute of Technology Harbin China School of Mechanical and Electrical Engineering Harbin Institute of Technology Harbin China

Complicated service environment such as thermo-mechano-electrical coupling field and limited solder height have brought great challenges to the reliability of flip chips packaging and hindered the chip integration process. In this work, mechanical properties of 3.0Ag-0.5Cu(SAC305) solder under different service environment and height were investigated at macroscopic and microcosmic level. The flip chip shear test is realized on the universal test machine use the proposed fixture. The shear strength shows declining trend with the increment of coupling fields and solder heights. The underlying mechanism of strength loss is thermal softening effect and reduction rate could reach 42.77% at most. The Scanning Electron Microscopy (SEM) is used to analysis the fracture morphology and intermetallic compound (IMC) layer. The shear strength was negatively correlated with the thickness of IMC layer, and was positively correlated with fractal dimension of fracture morphology. The result shows that the thickness of IMC layer is the highest while the field is thermo-mechano-electrical and the solid height is 398μm. Meanwhile, the fractal dimension of fracture morphology is the lowest.

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OAMatcher: An Overlapping Areas-based Network for Accurate Local Feature Matching

arXiv

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arXiv 2023年

作者： Dai, Kun Xie, Tao Wang, Ke Jiang, Zhiqiang Li, Ruifeng Zhao, Lijun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150006 China SenseTime Group Inc. Beijing100080 China

Local feature matching is an essential component in many visual applications. In this work, we propose OAMatcher, a Tranformer-based detector-free method that imitates humans behavior to generate dense and accurate matches. Firstly, OAMatcher predicts overlapping areas to promote effective and clean global context aggregation, with the key insight that humans focus on the overlapping areas instead of the entire images after multiple observations when matching keypoints in image pairs. Technically, we first perform global information integration across all keypoints to imitate the humans behavior of observing the entire images at the beginning of feature matching. Then, we propose Overlapping Areas Prediction Module (OAPM) to capture the keypoints in co-visible regions and conduct feature enhancement among them to simulate that humans transit the focus regions from the entire images to overlapping regions, hence realizeing effective information exchange without the interference coming from the keypoints in non-overlapping areas. Besides, since humans tend to leverage probability to determine whether the match labels are correct or not, we propose a Match Labels Weight Strategy (MLWS) to generate the coefficients used to appraise the reliability of the ground-truth match labels, while alleviating the influence of measurement noise coming from the data. Moreover, we integrate depth-wise convolution into Tranformer encoder layers to ensure OAMatcher extracts local and global feature representation concurrently. Comprehensive experiments demonstrate that OAMatcher outperforms the state-of-the-art methods on several benchmarks, while exhibiting excellent robustness to extreme appearance variants. The source code is available at https://***/DK-HU/OAMatcher. © 2023, CC BY.

关键词： Image enhancement

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Exploring Eye-tracking based Biomarkers to Assess Cognitive Abilities in Autistic Children: A Feasibility Study

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IEEE Journal of Biomedical and Health Informatics 2025年第6期PP卷 PP页

作者： Zhang, Hanlin Hu, Chunchun Wang, Zhiyong Zhou, Bingrui Wang, Xinming Nie, Wei Ye, Qinyi Lin, Ruihan Xu, Xiu Liu, Honghai Children's Hospital of Fudan University Department of Child Health Care Shanghai201102 China Harbin Institute of Technology State Key Laboratory of Robotics and System School of Mechanical Engineering and Automation Shenzhen518055 China Peng Cheng Laboratory Shenzhen518000 China

Cognitive assessment can reveal a person's cognitive processing and behavioral patterns, making it an indispensable component of autism intervention and prognosis. Existing machine-assisted cognitive assessment methods primarily focus on children's performance outcomes, overlooking distinctive behavioral models, particularly characteristics of eye movement behavior, which have been demonstrated as the most direct indicators of cognitive abilities. In this study, we explore eye-tracking biomarkers for assisting cognitive assessment through a series of meticulously designed multi-level human-computer interaction protocols, encompassing three cognitive abilities: pairing and categorization, emotion recognition, and social interaction. A platform embedded with an eye-tracking module has been developed to reliably collect and analyze eye movement data, even in the presence of unrestricted large head movements in children. Experimental results indicate that there are significant group differences between autism and typically developing children in the eye-tracking features of total fixation duration, response latency, time to first fixation, mean fixation duration, and visit count in the absence of significant intergroup differences in the Wechsler Preschool and Primary Scale of Intelligence (WPPSI) and Wechsler Intelligence Scale for Children (WISC) assessment results. In addition, certain eye movement features in each group are correlated with WPPSI/WISC scale scores, enabling clinical cognitive assessments within each group based on these eye movement features. This study suggests that using eye-tracking features as biomarkers to assist detailed cognitive assessments holds significant potential for the intervention and prognosis of autism. © 2013 IEEE.

关键词： Diseases

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PetLock:A Genderless and Standard Interface for the Future On-orbit Construction

arXiv

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arXiv 2022年

作者： Li, Yuntao Xu, Zichun Yang, Xiaohang Zhao, Zhiyuan Zhao, Jingdong Liu, Hong State Key Laboratory of Robotics and System Harbin Institute of Technology Heilong Jiang Harbin China

Modular design is the foundation of on orbit construction technology of large space facilities in the future. Standard interface is the key technology of modular design of the future space robotic systems and space facilities. This paper presents the designed and tested of PetLock, a standard and genderless interface which can transfer mechanical loads, power and data between the future modular space robotic manipulator and spacecraft. PetLock adopts a completely genderless design, including connection face, locking mechanism, data and power interface. The connection surface provides a large translation and rotation misalignment tolerance, due to its 120-degree symmetrical and 3D shape design. The locking mechanism features the three locking pins retraction structure design, which is simple and reliable. POGO pin connectors in the center of the interface provides the power and data transfer capabilities. Due to the advantages of high locking force, large tolerance, high reliability and low cost, PetLock has the very big application potential in future on orbit construction missions. Copyright © 2022, The Authors. All rights reserved.

关键词： Fits and tolerances

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Towards Efficient Intermittent-Propulsion Mode of a Novel Bioinspired Underwater Vehicle

IEEE Transactions on Intelligent Vehicles

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IEEE Transactions on Intelligent Vehicles 2024年 1-13页

作者： Li, Sijie Wu, Zhengxing Wang, Jian Feng, Yukai Tan, Min Yu, Junzhi School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China State Key Laboratory for Turbulence and Complex System Department of Advanced Manufacturing and Robotics BIC-ESAT College of Engineering Peking University Beijing China

In nature, the bottlenose dolphin employs a prevalent intermittent-flapping behavioral strategy to enhance swimming efficiency during long-distance journeys. Taking inspiration from this natural mechanism, a newly-designed bioinspired underwater vehicle (BUV) based on dorsoventral propulsion is developed to investigate the specific intermittent-propulsion mode. First, a BUV prototype is designed, incorporating morphological characteristics resembling those of adult bottlenose dolphins, which features robust sensing capabilities, redundant actuation surfaces, and a passive peduncle joint for mitigation of the head-nodding motion. Second, a dynamic model for assessing the intermittent propulsion's cost of transport and velocity in a balanced perspective is established. In-depth investigations are conducted to analyze the impact of parameters in the intermittent-propulsion mode under varying flapping and gliding drag coefficients, which offer a novel and reasonable explanation for the exceptional duty cycle observed in bottlenose dolphins by biologists. Finally, numerous aquatic experiments are conducted to validate the remarkable energy-saving advantages of the proposed intermittent-propulsion mode of the BUV. These results present a new solution for efficient and sustainable long-distance navigation of BUVs, highlighting their potential for effective marine exploration. IEEE

关键词： Secondary batteries

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Layered structural engineering of Bi 2 O 3 /PP and WO 3 /PP composites for γ-ray shielding in high energy range: anisotropic attenuation mechanisms via Monte Carlo simulation and experiments

引用

Journal of Materials Research and Technology 2025年 36卷 10324-10336页

作者： Xiangjie Duan Jie Zhao Shuaida Song Na Zhou Jizhuang Fan Bo Tian Yunchen Du State Key Laboratory of Space Power-Sources School of Chemistry and Chemical Engineering Harbin Institute of Technology Harbin 150001 People's Republic of China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150006 People's Republic of China Heilongjiang Institute of Atomic Energy Heilongjiang Academy of Sciences Harbin 150081 People's Republic of China

The development of non-toxic and flexible polymer-based shielding composites has become a research hotspot due to the severe harm of γ ray to living organisms, mechanical equipment, and environment. However, the γ-ray shielding performance of polymer-based composites in high-energy range remains unsatisfactory. Herein, FLUKA Monte Carlo simulations capable of visualizing γ-photon transport behaviors are investigated in Bi 2 O 3 /PP and WO 3 /PP multi-layer composites with various layered configurations. The simulation results reveal significant anisotropic attenuation effects on shielding characteristics caused by layered configurations and incident path of γ-photons relative to the interface position. Subsequently, single-layer, AB, and sandwich-like ABA composites with a fixed thickness of 2.0 mm are experimentally fabricated via melt-mixing and hot press methods. At 1332 keV, sandwich-like WPPBPPWPP composite (WO 3 /PP outer layers + Bi 2 O 3 /PP core) achieves linear attenuation coefficients and radiation protection efficiency of 0.31 cm −1 and 6 %, respectively, which are 29 % higher than those of single-layer composite. These improvements originate from multiple scattering induced by interlayer interface. Additionally, layered configurations with externally placed high-density fillers (WO 3 ) and internally placed high atomic number fillers (Bi 2 O 3 ) further promote γ-photon attenuation in high-energy range. Experimental results validate the anisotropic shielding trends observed in MC simulations. Moreover, multi-layer composites demonstrate significantly improved energy storage capacity, thermal stability, and oxidation resistance while maintaining comparable to those of single-layer composites. This work provides a scalable strategy for developing non-toxic and flexible shielding materials applicable in nuclear protection, medical devices, and aerospace systems, where lightweight and efficient radiation attenuation are critical.

关键词： Polymer-based composites Multi-layer structural engineering γ-Ray shielding Monte Carlo simulation Anisotropy attenuation Heterogeneous interface

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High-density Baropodometry Platform Based on Vision Based Tactile Sensing 46

High-density Baropodometry Platform Based on Vision Based Ta...

引用

46th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2024

作者： Dong, Yueshi Ren, Jieji Zhang, Ningbin Zhao, Weijing Zhou, Jian Gu, Guoying Shanghai Jiao Tong University School of Mechanical Engineering The State Key Laboratory of Mechanical System and Vibration Shanghai200240 China Department of Endocrinology and Metabolism Sixth People's Hospital Affiliated Shanghai Jiao Tong University School of Medicine Shanghai200240 China The Robotics Institute School of Mechanical Engineering Shanghai Jiao Tong University Shanghai200240 China

ISBN: (纸本)9798350371499

Plantar pressure distribution measurement is significant for healthy monitoring and disease diagnosis. However, existing equipment lack of high-density resolution and may lead under-diagnosed of small abnormal regions. To address problem, we propose a special high resolution and low cost Baropodometry based on vision based tactile sensing (VBTS). Specially, we design a measurement platform with larger-scale sensing range (280 mm x 150 mm) and high-density resolution (440 ppi). To achieve the homogeneous illumination for the measure area, we also propose normally distributed light sources around the platform, and delicately adjust the incident angle to optimize the reconstruction performance. Besides, we design a example-based method to calibrate the platform and build a look-up table to reconstruct the plantar geometry from observed image. Experiments show the high lateral resolution that can discriminate the details ( © 2024 IEEE.

关键词： Barometers

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High-Precision Tracking Control of Modular Dielectric Elastomer Actuators Through Kalman Filter Base Self-Adaptive Direct Inverse Hysteresis Compensation

High-Precision Tracking Control of Modular Dielectric Elasto...

引用

International Conference on Control and Automation (ICCA)

作者： Bohao Xiao Guoying Gu Jiang Zou State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai China Robotics Institute School of Mechanical Engineering Shanghai Jiao Tong University Shanghai China

ISBN: (数字)9798350354409

ISBN: (纸本)9798350354416

This work proposes a Kalman filter based direct inverse hysteresis compensation approach for modularized dielectric elastomer actuators (DEAs) with rate-dependent viscoelasticity, mechanical vibration, and individual variation. To this end, we firstly investigate the dynamics of three modularized DEAs, including viscoelasticity, mechanical vibration, and their individual variation. Then, based on a rate-independent phenomenological hysteresis model, a direct inverse hysteresis compensation (DIHC) is established to eliminate the hysteresis effect. Further, a feedback controller is adopted to remove the creep and model uncertainty. Lastly, a Kalman filter is employed to automatically adjust the parameter of the DIHC, capable of achieving high-precision tracking control of modular DEAs within a wide frequency range. To verify the effectiveness of our control strategy, three modularized DEAs are employed to track periodical trajectories with different frequencies (in a range of 0.1Hz to 10Hz). The experimental results demonstrate that the Kalman filter based controller can fully eliminate the rate-dependent viscoelasticity, mechanical vibration, and individual difference, achieving high-precision tracking control of modular DEAs in a wide frequency range. The maximum error and root mean square error are reduced from 20.16% and 11.44% to 9.87% and 5.22%, respectively.

关键词： Vibrations Uncertainty Creep Soft robotics Trajectory Kalman filters Root mean square

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