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12th International Conference on CYBER Technology in Automation, Control, and Intelligent systems, CYBER 2022

作者： Zheng, Xin-Hui Wang, Cong Yang, Xue-Jiao Tian, Qi-Yan Zhang, Qi-Feng Zhai, Bao-Qi State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China Guangzhou511458 China Key Laboratory of Marine Robotics Liaoning Province Shenyang110169 China University of Chinese Academy of Sciences Beijing100049 China Guangdong Institute of Intelligent Unmanned System Guangzhou511458 China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

Underwater vehicles with normal thruster configuration methods are unsatisfying in position-keeping tasks because of their limited manoeuvrability. To this end, this paper proposes an underwater ve-hicle with a novel thruster configuration method and solves the thrust allocation problem by the sequential quadratic programming(SQP) algorithm. Comparisons between the performance of the proposed thruster configuration method and the most widely used config-uration method are given based on the UUVSimulator and Gazebo. Numerical simulations show that vehicle with the proposed thrust configuration method has better performance in manoeuvrability and energy consumption. © 2022 IEEE.

关键词： Energy utilization

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Simulation and Experimental Study of Piezoelectric Stack Energy Harvester with Arch Beam Applied to the Railway system

SSRN

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SSRN 2022年

作者： Min, Zhaowei Hou, Chengwei Sui, Guangdong Shan, Xiaobiao Xie, Tao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

As one of the most important modes of transportation, the safety of running vehicles and railway track is significant. It is essential to power sensors that detect and track health in remote areas. The vibration energy of the track structure is enormous and stable, which is not limited by weather factors such as solar and wind power. A new type of arch beam piezoelectric stack energy harvester for railway systems is studied in this paper. Through simulation analysis and experimental verification of the energy harvester, the influences of external resistance, load, pre-pressure, and load frequency on the energy harvesting performance of the piezoelectric energy harvester are discussed. When the frequency is less than 6Hz, the energy capture efficiency is greatly affected by the frequency. When the frequency exceeds 6Hz, the frequency has little effect, and the load dramatically affects the energy capture efficiency. The pre-pressure is not the more significant, the better, but there is an optimal value at 4.5kN. The energy capture circuit can be combined with the supercapacitor to power the sensor, forming a self-power device for real-time monitoring of track health and driving safety. © 2022, The Authors. All rights reserved.

关键词： Arches

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Sensorless End-Effector Force Estimation of Multi-DOF Manipulators Using Semiparametric Joint Model and Generalized Momentum Observer

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IEEE Sensors Journal 2025年

作者： Xing, Hongjun Ding, Liang Xia, Kerui Chen, Jinbao Gao, Haibo Deng, Zongquan Nanjing University of Aeronautics and Astronautics National Key Laboratory of Aerospace Mechanism Nanjing210016 China Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150001 China International Institute for Research and Innovation Hefei230000 China

With end-effector force estimation, manipulators can safely interact with the environment or operators, eliminating the need for conventional wrist sensors that measure force and torque. This paper introduces a new approach to estimating the force exerted by the end-effector, utilizing a two-step method. The first step is to build an accurate semiparametric joint model. The joint model integrates a harmonic drive parametric model with a local Gaussian process regression (LGPR)-based learning model. A combined parametric model of the harmonic drive offers the analytical joint torque component, which is employed in the LGPR process to reconstruct the unmodeled portion. This reconstruction is based on the motor-side joint angle, the link-side joint angle, and the controlled motor current. Compared to the parametric or learning models alone, this semiparametric joint model considerably improves modeling precision. In the second step, an external force observer is developed by estimating joint torque. The force observer developed in this paper is based on generalized momentum. Multi-DOF manipulators benefit from this design because joint dynamics are separated from link dynamics, thereby reducing the complexity of dynamic modeling. In addition to joint torque sensors, a wrist force/torque sensor is utilized to compare the estimated joint torques and end-effector forces with the actual measured values. Experimental results obtained using a custom-built manipulator have demonstrated the advantages and effectiveness of this approach. © 2001-2012 IEEE.

关键词： Manipulators

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An RRT-Based Motion Planning Method for Hyper-Redundant Manipulators in Confined Spaces

An RRT-Based Motion Planning Method for Hyper-Redundant Mani...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Deng, Jiangqin Li, Ziqing Zheng, Yang Gu, Guoying School of Mechanical Engineering State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai200240 China Meta Robotics Institute Shanghai Jiao Tong University Shanghai200240 China

ISBN: (纸本)9781665481090

Hyper-redundant manipulators have redundant degrees of freedom, bringing additional difficulties to the motion planning. Generally, existing motion planning methods generate paths without considering joint angle limitation of hyper-redundant manipulators. And the generated paths are discretized, leading to discrete errors. In this paper, we present an autonomous motion planner to generate paths, which can be followed by hyper-redundant manipulators with analytical solutions. Starting from the ending pose in the workspace, the rapidly exploring random tree can expand to multiple entrances with limited curvature of arc segments, which ensures that the joint angle limitation is satisfied. Meanwhile, the generated path consists of arc segments, which makes the generated paths can be followed with analytical solutions. Several simulations are conducted to demonstrate the aforementioned advantages. For further validation of the planner's effectiveness, a hyper-redundant manipulator system is used to follow the generated path with follow-the-leader motion. © 2022 IEEE.

关键词： Motion planning

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Laser Implicit Interaction Technology Based on Object Affordance for Wmra

SSRN

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SSRN 2022年

作者： Liu, Yaxin Liu, Yan Yao, Yufeng Zhong, Ming State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

It is particularly important for the disabled to operate the wheelchair mounted robotic arm (WMRA) with as few limb movements as possible. This human-robot implicit interaction problem for the elderly and handicapped has attracted extensive attention. Several studies have documented that laser pointer interaction is an attractive method enabling humans to unambiguously point out objects and pick them up. However, how to further convey user intention and instruct the robot to complete complex tasks based on this method has yet to be studied. Therefore, based on the idea of object affordance, this paper proposes an implicit intention interaction technology using a laser pointer. The user could point to the object in the scene through the residual limb movement ability and the WMRA will reason the action intention and assemble the task content according to the intention. Firstly, a laser semantic identification algorithm based on the YOLOv4 & the SVM is proposed to identify laser points in the scene, which can effectively avoid the error operation caused by hand twitch. Then, an automatic execution technology based on the concept of object affordance is proposed to perform household tasks, which would identify the implicit action intention of the selected objects based on the conditional random field and assemble the mapping action of intention based on the finite state machine. Finally, the feasibility of the proposed implicit interaction technology is verified on the WMRA platform. The evaluation results show that the user only needs a simple operation and the WMRA can recognize the user's desired intentions and perform household tasks automatically. Compared with previous methods, the proposed method can output the desired intention faster and significantly reduce the user's limb involvement time (about 85%) in operating the WMRA under the same task. © 2022, The Authors. All rights reserved.

关键词： Random processes

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Centra-Net: A Centralized Network for Visual Localization Spanning Multiple Scenes

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IEEE Transactions on Multimedia 2025年

作者： Jiang, Zhiqiang Dai, Kun Wang, Ke Xie, Tao Fan, Zhendong Li, Ruifeng Kang, Peng Zhao, Lijun Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150006 China Harbin Institute of Technology Zhengzhou Research Institute Zhengzhou450000 China Jianghuai Advance Technology Center Hefei230000 China

We present Centra-Net, a centralized network that concurrently optimizes visual localization over numerous scenes under heterogeneous dataset domains. Centra-Net exemplifies storage efficiency by amalgamating multiple models with task-shared parameters into a singular cohesive structure. Technically, we develop a basic feature extraction unit (BFEU) with two parallel branches: one dedicated to local feature extraction and the other adept at adaptively generating a task-specific attention mask for feature calibration, thus bolstering its feature extraction capability across diverse scenes. Based on the BFEU, we introduce a filter-wise sharing mechanism (FSM) that adaptively determines parameter sharing within the unit, thus facilitating fine-grained parameter allocation. The key insight of FSM resides in reconceptualizing the parameter sharing of the unit as a learnable paradigm, enabling the determination of shared parameters to be made post-training. Finally, we suggest a complexity-prioritized gradient algorithm (CPGA) that capitalizes on task complexity to attain a harmonious learning space for various tasks, thus safeguarding optimal performances across all tasks. Through rigorous experiments on numerous benchmarks, Centra-Net demonstrates a notable edge over existing state-of-the-art works while operating with a significantly reduced parameter footprint. © 1999-2012 IEEE.

关键词： Deep learning Feature extraction Task complexity Visual localization

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Full Resolution Repetition Counting

arXiv

引用

arXiv 2023年

作者： Li, Jianing Chen, Bowen Wang, Zhiyong Liu, Honghai School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen State Key Laboratory of Robotics and System Harbin Institute of Technology China

Given an untrimmed video, repetitive actions counting aims to estimate the number of repetitions of class-agnostic actions. To handle the various length of videos and repetitive actions, also optimization challenges in end-to-end video model training, down-sampling is commonly utilized in recent state-of-the-art methods, leading to ignorance of several repetitive samples. In this paper, we attempt to understand repetitive actions from a full temporal resolution view, by combining offline feature extraction and temporal convolution networks. The former step enables us to train repetition counting network without down-sampling while preserving all repetition regardless of the video length and action frequency, and the later network models all frames in a flexible and dynamically expanding temporal receptive field to retrieve all repetitions with a global aspect. We experimentally demonstrate that our method achieves better or comparable performance in three public datasets, i.e., TransRAC, UCFRep and QUVA. We expect this work will encourage our community to think about the importance of full temporal *** Codes 68 © 2023, CC BY-NC-ND.

关键词： Convolution

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YOWO-Plus: An Incremental Improvement

arXiv

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arXiv 2022年

作者： Yang, Jianhua State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

In this technical report, we would like to introduce our updates to YOWO, a real-time method for spatio-temporal action detection. We make a bunch of little design changes to make it better. For network structure, we use the same ones of official implemented YOWO, including 3D-ResNext-101 and YOLOv2, but we use a better pretrained weight of our reimplemented YOLOv2, which is better than the official YOLOv2. We also optimize the label assignment used in YOWO. To accurately detection action instances, we deploy GIoU loss for box regression. After our incremental improvement, YOWO achieves 84.9% frame mAP and 50.5% video mAP on the UCF101-24, significantly higher than the official YOWO. On the AVA, our optimized YOWO achieves 20.6% frame mAP with 16 frames, also exceeding the official YOWO. With 32 frames, our YOWO achieves 21.6 frame mAP with 25 FPS on an RTX 3090 GPU. We name the optimized YOWO as YOWO-Plus. Moreover, we replace the 3D-ResNext-101 with the efficient 3D-ShuffleNet-v2 to design a lightweight action detector, YOWO-Nano. YOWO-Nano achieves 81.0 % frame mAP and 49.7% video frame mAP with over 90 FPS on the UCF101-24. It also achieves 18.4 % frame mAP with about 90 FPS on the AVA. As far as we know, YOWO-Nano is the fastest state-of-the-art action detector. Our code is available on https://***/yjh0410/PyTorch_YOWO. © 2022, CC BY.

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Prototype Design and Efficiency Analysis of a Novel Robot Drive Based on 3K-H-V Topology

arXiv

引用

arXiv 2022年

作者： Qi, Le Yang, Dapeng Cao, Baoshi Li, Zhiqi Gu, Yikun Xie, Zongwu Liu, Hong The State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China

Robot actuators directly affect the performance of robots, and robot drives directly affect the performance of robot actuators. With the development of robotics, robots have put higher requirements on robot drives, such as high stiffness, high accuracy, high loading, high efficiency, low backlash, compact size, and hollow structure. In order to meet the demand development of robot actuators, this research base proposes a new robot drive based on 3K-H-V topology using involute and cycloidal gear shapes, planetary cycloidal drive, from the perspective of drive topology and through the design idea of decoupling. In this study, the reduction ratio and the efficiency model of the 3K-H-V topology were analyzed, and a prototype planetary cycloidal actuator was designed. The feasibility of the drive is initially verified by experimentally concluding that the PCA has a hollow structure, compact size, and high torque density (69 Nm/kg). Copyright © 2022, The Authors. All rights reserved.

关键词： Topology

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Feature Extraction and Matching of Humanoid-Eye Binocular Images Based on Susan-Sift Algorithm

SSRN

引用

SSRN 2023年

作者： Xia, Xiaohua Xiang, Haoming Cao, Yusong Ge, Zhaokai Jiang, Zainan Key Laboratory of Road Construction Technology and Equipment MOE Chang’an University Xi’an710064 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

Imitating the visual characteristics of human eyes is one of the important tasks of digital image processing and computer vision. Feature correspondence of humanoid-eye binocular images is a fundamental step. However, in some scenes, due to a lack of edge features and mismatching problems, the performance of humanoid-eye binocular images in feature matching is greatly limited. To address the aforementioned challenges, a method of feature extraction and matching based on SUSAN-SIFT algorithm is proposed in this paper. The SUSAN detector is utilized in the feature detection stage for its outstanding edge feature extraction capability like human eyes. Then we build a multi-scale SIFT descriptor, to provide the neighborhood information at different resolutions for each feature and guide feature points to generate the corresponding pairs. Compared with state-of-the-art algorithms, the method can improve matching accuracy while retaining more edge features, and its resulting feature pairs are more evenly distributed. © 2023, The Authors. All rights reserved.

关键词： Binoculars

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