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2023 International Conference on Frontiers of robotics and Software Engineering, FRSE 2023

作者： Yin, Hong Jin, Hongzhe Zhao, Jie Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9798350301113

Solving time-varying linear equations is a common problem in many fields. In this article, a novel approach is proposed based on the cost function constructed by the mixed error, which is made up of the residual error and its integration. The merits of the novel approach include high accuracy, noise immunity, and asymptotic convergence. Since the derivative information of time-varying signals is used in the proposed method, a proportional-integral differentiator is designed based on the mixed estimation error for the first derivative estimation. The proposed differentiator has a high degree of precision, asymptotic convergence, and no chattering. In addition, theoretical analyses prove the convergence of the proposed optimal strategy and differentiator. Simulation results validate the effectiveness and superiority of the proposed strategy and the designed differentiator. Finally, the proposed approach is employed in the motion tracking of redundant robots. © 2023 IEEE.

关键词： Errors

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GCA-Net: A Global Context Aggregation Network for Effective Optical Flow 49

GCA-Net: A Global Context Aggregation Network for Effective ...

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49th Annual Conference of the IEEE Industrial Electronics Society, IECON 2023

作者： Xie, Tao Gao, Jinghan Wang, Ke Li, Ruifeng Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9798350331820

Optical flow seeks to estimate the per-pixel 2D motion between two frames by identifying corresponding pixels. Current flow estimators typically involve per-pixel feature extraction, multi-scale 4D correlation volume construction, and iterative flow field updates through a Conv-GRU module. However, the locality of convolutional features in these methods renders the calculated correlations vulnerable to different noises. In addition, the Conv-GRU module of these methods is only executed with a convolution layer, which is incapable of exploiting context clues from larger window sizes even inside the image being queried itself, thus raising it more difficult for the model to process images with challenging regions, e.g., textureless areas. To this end, we introduce GCA-Net, a global context aggregation network for credible yet effective optical flow estimation. More specifically, we propose a highly efficient multi-scale transformer (MSFormer) layer which enables the per-pixel feature to aggregate long-range information from other features, hence building more accurate 4D correlation volumes. Besides, we develop an attention-enhanced Conv-GRU block (AttGRU) that can incorporate information alongside a larger context window even within itself empowering our network to estimate optical flow in even the most challenging regions. Experimentally, we demonstrate that GCA-Net outperforms previous state-of-the-art methods by large margins on Sintel (Final) and KITTI 2015 (background and foreground) benchmarks. © 2023 IEEE.

关键词： Optical flows

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An Effective Rotor-Shape Optimization Method for IPM Motor with 1/2 Slot per Phase per Pole

An Effective Rotor-Shape Optimization Method for IPM Motor w...

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2023 IEEE International Conference on Applied Superconductivity and Electromagnetic Devices, ASEMD 2023

作者： Yu, Guodong Sun, Shuqi Li, Junlong Xiao, Lijun Xu, Yongxiang Zou, Jibin Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9798350301571

Although IPM motor with 1/2 slot per phase per pole has a relatively less rotor loss in comparison with other fractional slot concentrated winding (FSCW), the problems of THD of back-EMF and cogging torque are worse, which limits its application in electric vehicles and other industry fields. This paper proposes an effective rotor-shape optimization method to suppress both THD of back-EMF and cogging torque for improving torque ripple problem. Different from the prevalent rotor optimization methods, the proposed rotor-shape optimization method associates both shape function optimization of rotor surface with PM shaping, which can effectively decrease optimization parameters, and enhance optimization efficiency. To clarify the optimization strategy, the back-EMF and cogging torque for this PM motor with 1/2 slot per phase per pole are analyzed firstly. Then, the proposed optimization method is presented in detail. Finally, the optimized IPM motor is prototyped and its experimental results verifies the effectiveness of the proposed optimization method. © 2023 IEEE.

关键词： back-EMF cogging torque IPM motor optimization method

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Dual-Arm Dynamic Planning with Considering Arm Reachability Constraint in Task Space 16th

Dual-Arm Dynamic Planning with Considering Arm Reachability ...

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16th International Conference on Intelligent robotics and Applications, ICIRA 2023

作者： Shu, Xin Fan, Xinyang Min, Kang Ji, Zhu Ni, Fenglei Liu, Hong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9789819964888

This paper aims to address the issue of planning dual-arm motions in scenarios involving tracking dynamic desired pose and obstacle avoidance. In situations where dual-arm motion requires synchronous behavior, inflexible planning, encountering obstacles, and beyond-the-arm motion capability may lead to task failure. To overcome these issues, we propose a dynamic-system-based method for dual-arm collaborative planning. The method can coordinate the motions of dual arms while keeping synchronous behavior in tracking the moving target and avoiding obstacles. Meanwhile, we incorporate the reachability by modeling the motion boundary to ensure that the arms moving within the reachable space. The experiment successfully verified the above scenarios, showcasing its adaptability in dual-arm planning and its potential applicability in dual-arm applications such as transportation. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Target tracking

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A Braille Reading system Based on Electrotactile Display With Flexible Electrode Array

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IEEE/CAA Journal of Automatica Sinica 2022年第4期9卷 735-737页

作者： Ziliang Zhou Yicheng Yang Honghai Liu IEEE the State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University the State Key Laboratory of Robotics and Systems Harbin Institute of Technology Shenzhen

Dear editor,Due to visual impairment and lack of social attention,the reading problem of the blind has not been well *** existing Braille reading devices still have many problems and are not accepted by the *** paper developed a portable Braille reading system based on electrotactile display *** proposed system is composed of a six-channel electrotactile stimulator,a flexible electrode array for Braille display and a graphical user interface(GUI)for monitoring and *** on the flexibility of the system,two Braille reading strategies have been designed:spatial mode and sequential *** system was preliminary tested by six sighted *** results showed that subjects were able to recognize Braille characters with more than 80%accuracy within less than 10 seconds for the initial *** to existing Braille reading systems,this system is portable,wearable and flexible in control.

关键词： portable editor Bra

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Reinforcement Learning Navigation for Robots Based on Hippocampus Episode Cognition

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Journal of Bionic Engineering 2024年第1期21卷 288-302页

作者： Jinsheng Yuan Wei Guo Zhiyuan Hou Fusheng Zha Mantian Li Pengfei Wang Lining Sun State Key Laboratory of Robotics and System Harbin Institute of Technology(HIT)Harbin 150001China Shenzhen Academy of Aerospace Technology Shenzhen 518057China School of Mechanical and Electrical Engineering Lanzhou University of TechnologyLanzhou 730050China

Artificial intelligence is currently achieving impressive success in all ***,autonomous navigation remains a major challenge for *** learning is used for target navigation to simulate the interaction between the brain and the environment at the behavioral level,but the Artificial Neural Network trained by reinforcement learning cannot match the autonomous mobility of humans and *** hippocampus–striatum circuits are considered as key circuits for target navigation planning and *** paper aims to construct a bionic navigation model of reinforcement learning corresponding to the nervous system to improve the autonomous navigation performance of the *** ventral striatum is considered to be the behavioral evaluation region,and the hippocampal–striatum circuit constitutes the position–reward *** this paper,a set of episode cognition and reinforcement learning system simulating the mechanism of hippocampus and ventral striatum is constructed,which is used to provide target guidance for the robot to perform autonomous *** with traditional methods,this system reflects the high efficiency of learning and better Environmental *** research is an exploration of the intersection and fusion of artificial intelligence and neuroscience,which is conducive to the development of artificial intelligence and the understanding of the nervous system.

关键词： Episode cognition Reinforcement learning Hippocampus Robot navigation

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Structural Design and Experiment of a Small Wheel-legged Mobile Robot with Variable Configuration 20

Structural Design and Experiment of a Small Wheel-legged Mob...

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

作者： Cui, Xiulong Fan, Jizhuang Dong, Zhihui Ou, Yue Zhao, Jie Harbin Institute of Technology The State Key Laboratory of Robotics and System Harbin150001 China

ISBN: (纸本)9798350320831

In this paper, we made an improved design on the traditional quadruped robot structure and developed a new small wheel-legged mobile robot structure. It has four legged configurations, which can be selected according to different situations, improving the mobility and operability of the robot. In wheeled mode, the robot can adjust its center of gravity according to actual needs. Including the rotational degree of freedom of the wheel, each leg has four degrees of freedom. Each leg adopts a series structure and moves the knee drive motor to the fuselage position using a parallel four-link mechanism and is symmetrically arranged with the hip drive motor. A wheel is installed at the end of the shank, and a DC brushless motor is built inside it, enabling the robot to have the function of wheeled motion. This article introduces the details of the wheel-legged robot, emphasizing the innovative design of the physical structure and the diversity of deformation. The forward kinematics was analyzed. Based on the full-elbow configuration (a type of legged configuration), a cycloidal motion optimization simulation was completed for the single leg structure. Simulation experiment has proven that the optimized robot's single leg motion is smoother. Finally, we conducted a typical experiment using an embedded controller to control single leg motion. The experimental results verify that the optimized cycloidal motion of the robot meets the desired motion effect. © 2023 IEEE.

关键词： Mobile robots

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RGB-D Camera Based Map Building and Path Planning of Snake Robot 16th

RGB-D Camera Based Map Building and Path Planning of Snake R...

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16th International Conference on Intelligent robotics and Applications, ICIRA 2023

作者： Sun, Yongjun Wang, Qiang Xue, Zhao Liu, Rongqiang Liu, Hong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

ISBN: (纸本)9789819964826

Snake robot is a robot that can move freely in a small and complex space with super-redundant DOF and motion flexibility, and it has been proven to have a wide range of application prospects. RGB-D camera is a new type of visual sensor that can directly obtain color images and depth information. To enable the snake robot to work in some special task environments, we developed an orthogonal modular snake robot using RGB-D cameras, and conducted research on snake robot map building and path planning. An improved Batch Informed Tree (BIT*) algorithm is proposed. Finally, to verify the effectiveness of the proposed method, a corresponding experimental program is designed and related experimental analysis is carried out. The results show that our designed snake robot can complete the task of map building and path planning. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Motion planning

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Design and Implementation of Quasi-Direct-Drive Legs for a Frog-Like Jumping Robot 3

Design and Implementation of Quasi-Direct-Drive Legs for a F...

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3rd International Conference on Computer, Control and robotics, ICCCR 2023

作者： Zhihui, Dong Jizhuang, Fan Qilong, Du Jie, Zhao Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150001 China

ISBN: (纸本)9781665492126

This study aims to design and optimize a motor-driven frog-like jumping robot leg for efficient vertical jumps and multiple consecutive horizontal jumps. We have conducted bionic research on frog legs' structure and motion characteristics and further explored their motion mechanism, providing new ideas and methods for designing and manufacturing robots with high mobility and adaptability. First, our research team designed a robot leg prototype based on the frog's body structure, optimized the robot using computer-Aided design software, and selected a suitable motor-driven actuator. Secondly, the weight reduction optimization of the robot body is carried out regarding material selection and topology optimization to improve the robot's maneuverability and jump height. Finally, after manufacturing the prototype of the robot legs, the robot is experimentally verified. The results show that the robot legs can achieve efficient vertical jumps (the maximum height is 1.40 meters, about 7.8 times the length of the leg link). It can also jump multiple times consecutively, which is significant for applying robots in dangerous environments, search and rescue, and other fields. © 2023 IEEE.

关键词： Machine design

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Aerodynamic Analysis and Deployment Mechanism of A Foldable Mars Quadrotor 20

Aerodynamic Analysis and Deployment Mechanism of A Foldable ...

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

作者： Zhu, Kaijie Tang, Dewei Quan, Qiquan Wang, Kaiyi Dong, Yachao Deng, Zongquan Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150001 China

ISBN: (纸本)9798350320831

The Mars quadrotor is a vertical take-off and landing aerial platform developed to enhance the efficiency of Mars exploration. The four-blade rotor has a high thrust coefficient due to its high solidity, which enables the quadrotor to navigate the Martian atmospheric environment efficiently. This paper proposes a payload-carrying Mars quadrotor featuring four four-bladed rotors that can fold along the rotor arms. The computational fluid dynamics (CFD) method is employed to perform numerical hovering simulations, exploring the propulsion capability and aerodynamic efficiency of rotors with different diameters. The mass distribution and hovering time are estimated when the quadrotor consists of the rotors with the highest figure of merit. The results demonstrate that a larger rotor diameter of the quadrotor yields greater payload capacity and shorter hovering time. During the launch, the quadrotor is folded and constrained within an envelope to protect it from vibrations and shocks. A lifting mechanism with shape-constraint slides is utilized for quadrotor deployment. © 2023 IEEE.

关键词： Efficiency

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