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8th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2023

作者： Lin, Qiguang Yan, Chaojie Li, Qiang Ling, Yonggen Zheng, Yu Lee, Wangwei Wan, Zhaoliang Huang, Bidan Liu, Xiaofeng College of IoT Engineering Hohai University Jiangsu Key Laboratory of Special Robotic Technology Jiangsu Changzhou213022 China Zhejiang University Institute of Cyber-System and Control State Key Laboratory of Industrial Control and Technology Hangzhou China Bielefeld33619 Germany Tencent Robotics X Shenzhen China School of Computer Science and Engineering Sun Yat-sen University Guangzhou China

ISBN: (纸本)9798350300178

In this paper, we present a new approach to estimate the pose of an object being manipulated by a multi-fingered robotic hand. The method utilizes advanced tactile sensors with high spatial resolution to optimize the estimation of the object's pose using an Extended Kalman Filter (EKF) based approach. We defined and derived the state and measurement equations, as well as evaluated the estimation accuracy in grasping tasks. The approach is able to effectively account for the pose transition caused by tactile pushing, and the mapping from the object's pose to the contact position and normal direction as measured by the tactile sensor. The method was evaluated in multiple grasping experiments in simulation scenarios. Results show that the estimation can converge towards the ground truth in a relatively short period of time, with displacement and rotation errors remaining within acceptable levels. This new method has the potential to improve the accuracy and reliability of robotic grasping and manipulation tasks. © 2023 IEEE.

关键词： Extended Kalman filters

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Primitive-Planner: An Ultra Lightweight Quadrotor Planner with Time-optimal Primitives

arXiv

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arXiv 2025年

作者： Hou, Jialiang Pan, Neng Wang, Zhepei Ji, Jialin Guan, Yuxiang Gan, Zhongxue Gao, Fei Academy for Engineering and Technology Fudan University Shanghai200433 China State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou310027 China Huzhou Institute of Zhejiang University Huzhou313000 China

It is a significant requirement for a quadrotor trajectory planner to simultaneously guarantee trajectory quality and system lightweight. Many researchers focus on this problem, but there’s still a gap between their performance and our common wish. In this paper, we propose an ultra lightweight quadrotor planner with time-optimal primitives. Firstly, a novel motion primitive library is proposed to generate time-optimal and dynamical feasible trajectories offline. Secondly, we propose a fast collision checking method with a deterministic time consumption, independent of the sampling resolution of the primitives. Finally, we select the minimum cost trajectory to execute among the safe primitives based on user-defined requirements. The propsed transformation relation between the local trajectories ensures the smoothness of the global trajectory. The planner reduces unnecessary online computing power consumption as much as possible, while ensuring a high-quality trajectory. Benchmark comparisons show that our method can generate the shortest flight time and distance of trajectory with the lowest computation overload. Challenging real-world experiments validate the robustness of our method. Copyright © 2025, The Authors. All rights reserved.

关键词： Flight paths

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A DCD-chip designed for digital and ultra-precise quantification of copy number variation 26

A DCD-chip designed for digital and ultra-precise quantifica...

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26th International Conference on Miniaturized systems for Chemistry and Life Sciences, MicroTAS 2022

作者： Zou, Zheyu Xia, Liping Yin, Juxin Mu, Ying Research Centre for Analytical Instrumentation Institute of Cyber-Systems and Control State Key Laboratory of Industrial Control Technology Zhejiang University China College of Life Sciences Zhejiang University China School of information and Electrical Engineering Zhejiang University City College China

ISBN: (纸本)9781733419048

Copy number variation (CNV) has been associated with many kinds of disease. It is crucial to precisely quantified copy number variation of samples among patients which may could guide treatment. Digital PCR (dPCR) enables high-resolution CNV analysis through ultraprecise, absolute quantification of specific nucleic acid sequence. We explored a platform named digital CNV detection chip (DCD-chip), which can simultaneously and absolutely quantified GPR146 and RPPH1 genes. We even verified that DCD-chip was more accurate than qPCR when the samples were diluted to a certain extent, which indicated the powerful quantification capacity of our DCD-chip. © 2022 MicroTAS 2022 - 26th International Conference on Miniaturized systems for Chemistry and Life Sciences. All rights reserved.

关键词： Polymerase chain reaction

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Multi-Objective Optimization of Operation of Power-Traffic systems Considering Dynamic Wireless Charging

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IFAC-PapersOnLine 2023年第2期56卷 6654-6659页

作者： Ze Zhou Zhitao Liu Hongye Su Liyan Zhang Wenhai Wang State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou 310027 China School of Automation Wuhan University of Technology Wuhan 430070 China Zhejiang University NGICS Platform Hangzhou 310027 China

To reduce the consumption of fossil fuels, improve the environment, and optimize the energy structure, electric vehicles (EVs) have been developed rapidly. At the same time, to alleviate the range anxiety of EV users, the corresponding dynamic wireless charging (DWC) technology has also attracted extensive attention. Driven by EVs and DWC, the interdependency between the power system and transportation system becomes tighter. To improve the operation of the power-traffic system, we propose a multi-objective optimization problem incorporating transportation system congestion, power system generation cost, and total EV user charging cost. Assuming that the energy provided by the DWC can meet the consumption in EV travel, we construct a power demand model for grid buses. Furthermore, we model the microscopic characteristics of vehicle behaviors and propose an adaptive route recommendation algorithm. To solve the multi-objective problem, we adopt a non-dominated sorting genetic algorithm II. Finally, the case studies demonstrate the feasibility of the proposed multi-objective optimization problem and the effectiveness and superiority of the proposed algorithm.

关键词： Dynamic wireless charging electric vehicles multi-objective optimization power-traffic systems route recommendation algorithm

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CHANNEL-INTEGRATED DIGITAL MICROFLUIDIC CHIP FOR NUCLEIC ACID EXTRACTION AND DIGITAL PCR DETECTION 26

CHANNEL-INTEGRATED DIGITAL MICROFLUIDIC CHIP FOR NUCLEIC ACI...

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26th International Conference on Miniaturized systems for Chemistry and Life Sciences, MicroTAS 2022

作者： He, Yu Lu, Zefan Liu, Ke Fan, Hongliang Zhang, Tao Research Center for Analytical Instrumentation Institute of Cyber-Systems and Control State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou China School of Public Health Hangzhou Medical College Hangzhou China Huzhou Institute of Zhejiang University Huzhou China

ISBN: (纸本)9781733419048

Digital PCR (dPCR) is a powerful technique capable of absolute quantification of nucleic acids. However, the indispensable process, i.e., nucleic acid extraction (NAE), remains left off-chip. To address this issue, we have developed a channel-integrated digital microfluidic chip (CDMF) by merging channel-based microfluidics (CMF) with digital microfluidics (DMF). Through a composite elastomer-enabled photofabrication method, CDMF can be made into the desirable two-plate configuration, thereby, allowing for all basic functions of DMF. Meanwhile, the DMF-CMF integration enables both automatic NAE and subsequent droplet dPCR in a single device. As a proof of concept, sample-to-answer digital assay of Salmonella has been demonstrated. © 2022 MicroTAS 2022 - 26th International Conference on Miniaturized systems for Chemistry and Life Sciences. All rights reserved.

关键词： Digital microfluidics

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Optimal Velocity control of Spherical Robots Based on Offset-free Linear Model Predictive control

Optimal Velocity Control of Spherical Robots Based on Offset...

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IEEE International Conference on Robotics and Biomimetics

作者： Tao Hu Xiaoqing Guan Boyu Lin Yixu Wang Yifan Liu You Wang Guang Li State Key Laboratory of Industrial Control Technology Institute of Cyber Systems and Control Zhejiang University Hangzhou China

ISBN: (纸本)9781665481106

Since the sensors of spherical robots rotate with the longitudinal axis, an efficient velocity controller must also account for robot's attitude. Therefore, this paper proposed an optimal velocity controller for spherical robots based on the offset-free linear model predictive control (LMPC), which controls the velocity while considering robot's attitude, motor's current and other variables. The prediction model of LMPC was generated by linearizing and discretizing the dynamic model and introducing the disturbance model. Then the kalman filter (KF) was used to estimate the states and disturbance. After that, combined with LMPC, the offset-free tracking of different velocities under different terrains was achieved by fully considering velocity, attitude and current in the target function. Finally, a series of physical experiments show that the proposed controller ensures fast convergence, strong stability and no bias, while the velocity changes more smoothly, the attitude changes less and the current output is more stable.

关键词： Target tracking Attitude control Biological system modeling Velocity control Predictive models Robot sensing systems Stability analysis

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CT-NeRF: Incremental Optimization of Neural Radiance Field and Camera Poses with Complex Trajectory

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IEEE Transactions on Circuits and systems for Video technology 2025年

作者： Ran, Yunlong Li, Yanxu Ye, Qi Huo, Yuchi Cui, Zhaopeng Bai, Zechun Sun, Jiahao Chen, Jiming Zhejiang University College of Control Science and Engineering Hangzhou China Zhejiang University College of Control Science and Engineering State Key Laboratory of Industrial Control Technology China Key Laboratory of Collaborative Sensing and Autonomous Unmanned Systems of Zhejiang Province China Zhejiang University State Key Lab of CAD and CG China

Neural radiance field (NeRF) has achieved impressive results in high-quality 3D scene reconstruction. However, NeRF heavily relies on precise camera poses. While recent works like BARF have introduced camera pose optimization within NeRF, their applicability is limited to simple trajectory scenes. Existing methods struggle while tackling complex trajectories involving large rotations. To address this limitation, we propose CT-NeRF, an incremental reconstruction and optimization pipeline using only RGB images without pose and depth input. In this pipeline, we first propose a local-global bundle adjustment under a pose graph connecting neighboring frames to enforce the consistency between poses to escape the local minima caused by only pose consistency with the scene structure. Further, we instantiate the consistency between poses as a reprojection error constraint resulting from pixel-level correspondences between input image pairs. Through the incremental reconstruction, CT-NeRF enables the recovery of both camera poses and scene structure and is capable of handling scenes with complex trajectories. We evaluate the performance of CT-NeRF on two real-world datasets, NeRF-Buster and Free-Dataset, which feature complex trajectories. Results show CT-NeRF outperforms existing methods in novel view synthesis and pose estimation accuracy. © 1991-2012 IEEE.

关键词： 3D Reconstruction bundle adjustment NeRF novel view synthesis structure from motion

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Open-Set Object Detection Using Classification-free Object Proposal and Instance-level Contrastive Learning

arXiv

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arXiv 2022年

作者： Zhou, Zhongxiang Yang, Yifei Wang, Yue Xiong, Rong The State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Zhejiang China

Detecting both known and unknown objects is a fundamental skill for robot manipulation in unstructured environments. Open-set object detection (OSOD) is a promising direction to handle the problem consisting of two subtasks: objects and background separation, and open-set object classification. In this paper, we present Openset RCNN to address the challenging OSOD. To disambiguate unknown objects and background in the first subtask, we propose to use classification-free region proposal network (CF-RPN) which estimates the objectness score of each region purely using cues from object’s location and shape preventing overfitting to the training categories. To identify unknown objects in the second subtask, we propose to represent them using the complementary region of known categories in a latent space which is accomplished by a prototype learning network (PLN). PLN performs instance-level contrastive learning to encode proposals to a latent space and builds a compact region centering with a prototype for each known category. Further, we note that the detection performance of unknown objects can not be unbiasedly evaluated on the situation that commonly used object detection datasets are not fully annotated. Thus, a new benchmark is introduced by reorganizing GraspNet-1billion, a robotic grasp pose detection dataset with complete annotation. Extensive experiments demonstrate the merits of our method. We finally show that our Openset RCNN can endow the robot with an open-set perception ability to support robotic rearrangement tasks in cluttered environments. More details can be found in https://***/view/openset-rcnn/ Copyright © 2022, The Authors. All rights reserved.

关键词： Object detection

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Research on cooperative scheduling of AGV transportation and charging in intelligent warehouse system based on dynamic task chain

Research on cooperative scheduling of AGV transportation and...

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IEEE International Conference on Networking, Sensing and control

作者： Chao Li Weimin Wu The State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou China

ISBN: (纸本)9781665472449

Multi-task assignment of multiple Automated Guided Vehicles (AGV) is one of the main processes in an intelligent warehouse. This paper models a dynamic task chain scheduling to improve the energy and time utilization of the system. The charging pile competition prevention mechanism is introduced to solve the problem of unbalanced charging resources allocation in the system. A joint scheduling strategy of charging tasks is proposed to make full use of the information of the destination of the task and shorten the driving distance of AGV. Aiming at the shortcoming of poor local search ability of genetic algorithm, an improved genetic algorithm based on genome is designed. Numerical and simulation experiments show that the proposed algorithm and model perform better than traditional methods.

关键词： Transportation Predictive models System recovery Dynamic scheduling Search problems Multitasking Numerical models

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Research on real-time export container allocation considering loading efficiency

Research on real-time export container allocation considerin...

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IEEE International Conference on Networking, Sensing and control

作者： Jianlin Qian Weimin Wu Yangfei Zhu The State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou China

ISBN: (纸本)9781665472449

Determining where to stack the containers on the storage yard of a container terminal is an important problem, because it will make a great importance on the loading efficiency. In order to minimize the container relocation times and the average transportation distance of containers, we propose a penalty based strategy for real-time container allocation. When the sequence of containers arriving at the storage yard is uncertain, this strategy can allocate the location for a single container when it arrives, so as to minimize the container relocation times and transportation distance during shipment as a whole. Experiments show that this strategy can get a relatively good result.

关键词： Loading Stacking Decision making Transportation Containers Real-time systems Sensors

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