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arXiv 2020年

作者： Hu, Hanjiang Wang, Hesheng Liu, Zhe Chen, Weidong Autonomous Robot Lab Department of Automation Key Laboratory of System Control and Information Processing Ministry of Education Shanghai Jiao Tong University Shanghai200240 China The State Key Laboratory of Robotics and System HIT The Department of Computer Science and Technology University of Cambridge United Kingdom

Visual localization is a crucial component in the application of mobile robot and autonomous driving. Image retrieval is an efficient and effective technique in image-based localization methods. Due to the drastic variability of environmental conditions, e.g. illumination, seasonal and weather changes, retrieval-based visual localization is severely affected and becomes a challenging problem. In this work, a general architecture is first formulated probabilistically to extract domain-invariant feature through multi-domain image translation. And then a novel gradient-weighted similarity activation mapping loss (Grad-SAM) is incorporated for finer localization with high accuracy. We also propose a new adaptive triplet loss to boost the contrastive learning of the embedding in a self-supervised manner. The final coarse-to-fine image retrieval pipeline is implemented as the sequential combination of models without and with Grad-SAM loss. Extensive experiments have been conducted to validate the effectiveness of the proposed approach on the CMU-Seasons dataset. The strong generalization ability of our approach is verified on RobotCar dataset using models pre-trained on urban part of CMU-Seasons dataset. Our performance is on par with or even outperforms the state-of-the-art image-based localization baselines in medium or high precision, especially under the challenging environments with illumination variance, vegetation and night-time images. The code and pretrained models are available on https://***/HanjiangHu/DISAM. Copyright © 2020, The Authors. All rights reserved.

关键词： Image retrieval

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Study on the equilibrium of the assembling two-unit tensegrity structure

Study on the equilibrium of the assembling two-unit tensegri...

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作者： Luo, Ani Ji, Wanwei Liu, Heping Guo, Hongwei Liu, Rongqiang College of Mechanical and Electrical Engineering Harbin Engineering University Harbin150001 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China

When the tensegrity units are assembled into the complex tensegrity structures, relations between structural and force parameters determine equilibrium of the tensegrity structures and contribute to more topological configurations, so the relations will be investigated here. Firstly, equilibrium equations of the tensegrity structure which two tensegrity units are assembled into are set up. Then analytical solutions of the equations are obtained by solving the equilibrium equations. Finally, with the analytical solutions, influences of the deflection angle inside the unit and number of the bars on other parameters are investigated. © 2019, Springer Nature Switzerland AG.

关键词： Analytical solutions Equilibrium equations Tensegrity structures Tensegrity unit

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Mechanical design of a 4-DOF minimally invasive surgical instrument

Mechanical design of a 4-DOF minimally invasive surgical ins...

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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Li, Kun Li, Jihua Li, Lei Ji, Shuai Meng, Xianju Fu, Yili Shandong Jianzhu University School of Mechanical and Electronic Engineering Jinan250101 China Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150080 China

ISBN: (纸本)9781728163215

In order to meet design requirements in minimally invasive surgery (MIS), it is necessary to conduct basic operations in the narrow working space. Taking a grasper for example, a 4DOF MIS instrument driven by servo motors and transmitted by cables is designed. The design of the end of surgical instrument driven by cables is suitable for long-distance transmission, which improves dexterity of the surgical instrument working in narrow space. The mechanism principle including the wrist, graspers and shaft rolling are described. Kinematic coupling between the wrist and grasper are analyzed. Prototype of the surgical instrument is presented. This instrument prototype can be applied in most MIS operations. © 2019 IEEE.

关键词： Cables

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Design and kinematics analysis of parallel collision detection mechanisms for rocket tank polishing robot

Design and kinematics analysis of parallel collision detecti...

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2019 IEEE International Conference on Real-Time Computing and robotics, RCAR 2019

作者： Wang, Li Dong, Fengbo Ren, Fei Xu, Tian Fang, Qianqian Fan, Jizhuang Shanghai aerospace equipments manufacturer Co. ltd Shanghai200000 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

ISBN: (纸本)9781728137261

To ensure applications requirements of rocket storage tank precision polishing, a 6-dof parallel collision detection mechanisms mounted on the end of rocket tank polishing robot used for heavy load condition is designed in this paper. Its each branch chain consists of spherical joint, revolute joint and prismatic joint, in which the prismatic joint is driven by the cylinder. The collision detection principle is to judge whether an external collision occurs by real-time detecting the changes of cylinder pressure and cylinder displacement. Besides, the kinematics of parallel mechanisms is analyzed and a numerical iteration algorithm for forward kinematics based-on our previous work is proposed here. The proposed algorithm can be not only used for 6-dof parallel mechanism but also for more or less than 6-dof ones in which Jacobian matrix is not square. Moreover, it is not sensitive to the iteration initial value. Then, a linear trajectory is simulated to verify the effectiveness of the proposed algorithm. Finally, the simulation results prove the accuracy of the proposed algorithm. © 2018 IEEE

关键词： Kinematics

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Using permanent magnetic array device to detumble and despin defunct spacecraft

Using permanent magnetic array device to detumble and despin...

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作者： Zongwu Xie Pixu Gong Mengde Liang Qi Zhang Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology

For the mission of detumbling and despinning the space debris,like defunct satellites,it is highly reliable and safe to use the permanent magnetic array device(PMAD).Based on the electromagnetic principle,the target's attitude dynamics is analysed,the electromagnetic torque is studied,the formula of electromagnetic force is simplified,and the stability of the nutation Angle is *** rotation speed and attitude of PMAD are controlled by a dual-manipulator space robot to ensure that the component of the torque on the spin axis is *** the target will be only affected by the transverse component of the torque,and then the nutation angle decreases gradually to *** mission completed,the dualmanipulator space robot can deorbit or maintain on-orbit servicing,which is a significant exploration.

关键词： Using permanent magnetic array device to detumble and despin defunct spacecraft

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Trajectory planning for robot-assisted laminectomy decompression based on CT images

Trajectory planning for robot-assisted laminectomy decompres...

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作者： Qian Li Zhijiang Du Hongjian Yu State Key Laboratory of Robotics and System Harbin Institute of Technology

Laminectomy decompression is one of the most complex spinal operations,with a high surgical risk and surgeon *** introduction of robots into surgery is expected to effectively solve these problems,but the complex and time-consuming grinding planning hinders the research and application of robot-assisted *** paper proposes a robot grinding path automatic generation method for this operation to simplify the planning ***,a neural network is designed to obtain the central positions of laminae in a CT *** the laminar center,a series of sparse robotic motion control points are obtained and adjusted based on bone *** experiments based on some spine CT datasets indicate that the proposed method can effectively generate a reasonable planned path from spine CT images.

关键词： image Trajectory planning for robot-assisted laminectomy decompression based on CT images

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C-Balls:A Modular Soft Robot Connected and Driven via Magnet Forced

C-Balls:A Modular Soft Robot Connected and Driven via Magnet...

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2019 3rd International Conference on Control Engineering and Artificial Intelligence (CCEAI 2019)

作者： Zhuxiang Chen Chuanwu Zhao Yu Zhang Yanhe Zhu Jizhuang Fan Jie Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology

This paper describes a cellular robot(C-Balls) consisting of soft spherical modules with on-board actuation,power,computation and wireless control *** robot modules maintain connection and realize relative movement by utilizing magnetic force and friction force between driving units inside the soft *** tests of locomotion and deformation of the robot are *** rolling experiment displays the mobility of the robot of two spherical *** deforming experiments indicate that the robot with five spherical modules deforms from linear to circular configuration *** more,a climbing experiment is conducted,which shows the robot can climb on various surfaces including soft materials.

关键词： C-Balls:A Modular Soft Robot Connected and Driven via Magnet Forced

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Foot terrain impact modeling and motion performance research of hexapod robot based on passive elastic leg 2

Foot terrain impact modeling and motion performance research...

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2nd Spring International Conference on Defence Technology, ICDT 2020

作者： Liu, Y.F. Su, B. Zhou, L. Gao, H.B. Ding, L. Jiang, L. Zou, F.Q. Ma, C.Y. China North Vehicle Research Institute Beijing100072 China Equipment Project Management Center Beijing100072 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China MEMS Center Harbin Institute of Technology Harbin150080 China College of Mechanical Engineering Jiamusi University Jiamusi154007 China

In order to improve the performance of the multi-legged robot, the impact of foot-terrain is an important target to measure the performance of the robot. In order to ensure the compliance contact of foot-terrain for the legged robot, it is essential to add passive spring between the calf and foot. The mechanical structure makes the leg of hexapod robot retractable passive elastic structure. For multi-legged robots with passive elastic legs, the foot-terrain impact model is presented to measure the dynamic performance and provide theoretical support for the low impact force motion planning. The traditional planning method will cause additional impact for the switching case between the swing and stance phase. This paper presents a motion planning method that considers the deformable leg structure and impact performance. The experiments have been carried out, and the results have demonstrated the effectiveness of the foot terrain impact model and motion planning method in comparison with a conventional method. © Published under licence by IOP Publishing Ltd.

关键词： Motion planning

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Collaborative Perception Datasets for Autonomous Driving: A Review

arXiv

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arXiv 2025年

作者： Wang, Naibang Shang, Deyong Gong, Yan Hu, Xiaoxi Song, Ziying Yang, Lei Huang, Yuhan Wang, Xiaoyu Lu, Jianli Beijing100083 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China State Key Laboratory of Intelligent Green Vehicle and Mobility Tsinghua University Beijing100084 China Beijing Key Laboratory of Traffic Data Mining and Embodied Intelligence School of Computer Science and Technology Beijing Jiaotong University China School of Mechanical and Aerospace Engineering Nanyang Technological University Singapore School of Mechatronics Engineering Harbin Institute of Technology 92 West Dazhi St. Harbin China Department of Electronic & Electrical Engineering University of Bath United Kingdom

Collaborative perception has attracted growing interest from academia and industry due to its potential to enhance perception accuracy, safety, and robustness in autonomous driving through multi-agent information fusion. With the advancement of Vehicle-to-Everything (V2X) communication, numerous collaborative perception datasets have emerged, varying in cooperation paradigms, sensor configurations, data sources, and application scenarios. However, the absence of systematic summarization and comparative analysis hinders effective resource utilization and standardization of model evaluation. As the first comprehensive review focused on collaborative perception datasets, this work reviews and compares existing resources from a multi-dimensional perspective. We categorize datasets based on cooperation paradigms, examine their data sources and scenarios, and analyze sensor modalities and supported tasks. A detailed comparative analysis is conducted across multiple dimensions. We also outline key challenges and future directions, including dataset scalability, diversity, domain adaptation, standardization, privacy, and the integration of large language models. To support ongoing research, we provide a continuously updated online repository of collaborative perception datasets and related literature: https://***/frankwnb/Collaborative-Perceptio n-Datasets-for-Autonomous-Driving. © 2025, CC BY-SA.

关键词： Sensor data fusion

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Diffusive nonreciprocity and thermal diode

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Physical Review B 2021年第1期103卷 014307-014307页

作者： Ying Li Jiaxin Li Minghong Qi Cheng-Wei Qiu Hongsheng Chen Interdisciplinary Center for Quantum Information State Key Laboratory of Modern Optical Instrumentation College of Information Science and Electronic Engineering Zhejiang University Hangzhou 310027 China ZJU-Hangzhou Global Science and Technology Innovation Center Key Lab. of Advanced Micro/Nano Electronic Devices & Smart Systems of Zhejiang Zhejiang University Hangzhou 310027 China International Joint Innovation Center ZJU-UIUC Institute The Electromagnetics Academy at Zhejiang University Zhejiang University Haining 314400 China Department of Electrical and Computer Engineering National University of Singapore Singapore 117583 Singapore State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

Wave propagation and diffusion in linear materials preserve local reciprocity in terms of a symmetric Green's function. For wave propagations, the relation between the fields entering and leaving a system is more relevant than the detailed information about the fields inside it. In such cases, the global reciprocity of the scattering off a system through several ports is more important, which is defined as the symmetric transmission between the scattering channels. When a two-port system supports nonreciprocal (electromagnetic, acoustic) wave propagation, it is a (optical, phonon) diode directly following the definition. However, to date no concrete definition or discussion has been made on the global reciprocity of diffusive processes through a multiple-port system. It thus remains unclear what are the differences and relations between the three concepts, namely, local nonreciprocity, global nonreciprocity, and diode effect in diffusion. Here, we provide theoretical analysis on the frequency-domain Green's function and define the global reciprocity of heat diffusion through a two-port system, which has a different setup from that of a thermal diode. We further prove the equivalence between a heat transfer system with broken steady-state global reciprocity and a thermal diode, assuming no temperature-dependent heat generation. The validities of some typical mechanisms in breaking the diffusive reciprocity and making a thermal diode have been discussed. Our results set a general background for future studies on symmetric and asymmetric diffusive processes.

关键词： Diffusion Heat transfer Metamaterials Diodes Green's function methods

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