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Mechanical Design and Path Planning of A robotic Arm for GIS Pipeline Inspection 17

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Mechanical Design and Path Planning of A Robotic Arm for GIS...

17th IEEE International Conference on Mechatronics and Automation, ICMA 2020

作者： Liu, Tao Li, Wensheng Sun, Xiangyu Wang, Wei Fang, Yuansheng Zhu, Ximeng Zhong, Liqiang Liu, Gangfeng Zhao, Jie Electric Power Research Institute of Guangdong Power Grid Co. Ltd. Guangzhou510080 China Harbin Institute of Technology State Key Laboratory of Robotic Technology and System Harbin150080 China

ISBN: (纸本)9781728164151

In view of the requirements for detection and obstacle avoidance in GIS pipeline, a robotic arm that can be mounted on a pipeline inspection robot to complete detection task is designed. Firstly, mechanical design for the robotic arm is carried out and structural optimization is implemented. According to the simulation results, the robotic arm has a lightweight structure and good mechanical properties. Then a prototype of the robotic arm is built. Afterwards, a research for obstacle avoidance path planning of the robotic arm is conducted, in which process RRT-Connect algorithm is used. Simulation results show that the robotic arm designed can realize obstacle avoidance path planning well in GIS pipeline. © 2020 IEEE.

关键词： Structural optimization

Tactile-Based Object Pose Estimation Employing Extended Kalman Filter

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Tactile-Based Object Pose Estimation Employing Extended Kalm...

International Conference on Advanced robotics and Mechatronics (ICARM)

作者： Qiguang Lin Chaojie Yan Qiang Li Yonggen Ling Yu Zheng Wangwei Lee Zhaoliang Wan Bidan Huang Xiaofeng Liu Jiangsu Key laboratory of Special Robotic Technology College of IoT Engineering Hohai University Changzhou Jiangsu P.R. China State Key Laboratory of Industrial Control and Technology Zhejiang University Institute of Cyber-System and Control Hangzhou P.R. China Neuroinformatics Group Center for Cognitive Interaction Technology (CITEC) Bielefeld University Bielefeld Germany Tencent Robotics X Shenzhen China School of Computer Science and Engineering Sun Yat-sen University Guangzhou P.R.China

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.

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A Long-focus Camera and Telemetry LiDAR Calibration for Rapid Transit Equipment

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A Long-focus Camera and Telemetry LiDAR Calibration for Rapi...

IEEE International Conference on robotics and Biomimetics

作者： Bo Fu Yanmei Jiao Jian Bai Jinhui Yuan Xin You Qimeng Tan Yue Wang Rong Xiong State Key Laboratory of Industrial Control and Technology Zhejiang University Hangzhou P.R. China UniTTEC Co. Ltd. Beijing Key Laboratory of Intelligent Space Robotic System Technology and Applications Beijing Institute of Spacecraft System Engineering Beijing P.R. China

ISBN: (纸本)9781665405362

The fused use of the long-focus camera and telemetry LiDAR is necessary for advanced long-distance detection requirements in autonomous driving vehicles and unmanned subways, and the extrinsic parameter calibration is a precondition for multi-sensor fusion use. However, the inaccuracy of long-focus camera detection and low accuracy of data association between LiDAR-camera make the calibration a challenging problem. In this paper, we propose a novel calibration method that treat the detection poses as variables in the optimization framework, which significantly reduces the impact of detection errors on calibration accuracy. Furthermore, we construct 3 error terms to obtain better estimation of the variables, and the designed error terms only require plane-to-plane data association, avoiding incorrect data association that leads to failure in extrinsic parameter estimation. Then we made a full comparison with other methods through real-world experiments, which showed that our method achieves the best calibration result.

关键词： Laser radar Parameter estimation Estimation Cameras Laser modes Calibration Telemetry

Compact isolators and waveguides for flexural waves in plates

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Compact isolators and waveguides for flexural waves in plate...

第八届国际振动工程会议

作者： Yunhao Zhang Guangyuan Su Hao Zhou Bing Li Yongquan Liu State Key Laboratory for Strength and Vibration of Mechanical Structures School of Aerospace EngineeringXi'an Jiaotong University Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System EngineeringChina Academy of Space Technology School of Aeronautics Northwestern Polytechnical University

Manipulation of flexural waves in plates has attracted extensive attention for vibration isolation and structural health monitoring. However, existing methods are difficult to be applied in practical engineering due to their bulky size, complex structure, and damage to the overall carrying capacity. In this work, we introduce a different way to steer flexural waves in plates to realize arbitrary isolators and waveguides without fabrication limitations and destruction of *** to appropriate impedance mismatch, periodic and sparse array of subwavelength and unitary units are preliminarily devised to isolate flexural waves, in a way of omnidirectional reflection. We then utilize this feature to realize various ultrathin isolators and waveguides. As verification, a circular isolator and a Z-shaped waveguide are designed and tested, respectively. They numerically and experimentally show excellent isolating and waveguiding performance. It opens up a range of opportunities to mitigating and guiding the energy in plate-like bearing structures.

关键词： Compact isolators and waveguides for flexural waves in plates

Scientific Exploration of Challenging Planetary Analog Environments with a Team of Legged Robots

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arXiv 2023年

作者： Arm, Philip Waibel, Gabriel Preisig, Jan Tuna, Turcan Zhou, Ruyi Bickel, Valentin Ligeza, Gabriela Miki, Takahiro Kehl, Florian Kolvenbach, Hendrik Hutter, Marco Robotic Systems Lab ETH Zurich Zurich Switzerland State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Laboratory of Hydraulics Hydrology and Glaciology ETH Zurich Zurich Switzerland Center for Space and Habitability University of Bern Bern Switzerland Department of Environmental Sciences University of Basel Basel Switzerland University of Zurich Dübendorf Switzerland Center for Theoretical Astrophysics and Cosmology University of Zurich Zurich Switzerland Institute of Medical Engineering Space Biology Group Lucerne University of Applied Sciences and Art Hergiswil Switzerland

The interest in exploring planetary bodies for scientific investigation and in-situ resource utilization is ever-rising. Yet, many sites of interest are inaccessible to state-of-the-art planetary exploration robots because of the robots’ inability to traverse steep slopes, unstructured terrain, and loose soil. Additionally, current single-robot approaches only allow a limited exploration speed and a single set of skills. Here, we present a team of legged robots with complementary skills for exploration missions in challenging planetary analog environments. We equipped the robots with an efficient locomotion controller, a mapping pipeline for online and post-mission visualization, instance segmentation to highlight scientific targets, and scientific instruments for remote and in-situ investigation. Furthermore, we integrated a robotic arm on one of the robots to enable high-precision measurements. Legged robots can swiftly navigate representative terrains, such as granular slopes beyond 25 degrees, loose soil, and unstructured terrain, highlighting their advantages compared to wheeled rover systems. We successfully verified the approach in analog deployments at the BeyondGravity ExoMars rover testbed, in a quarry in Switzerland, and at the Space Resources Challenge in Luxembourg. Our results show that a team of legged robots with advanced locomotion, perception, and measurement skills, as well as task-level autonomy, can conduct successful, effective missions in a short time. Our approach enables the scientific exploration of planetary target sites that are currently out of human and robotic reach. Copyright © 2023, The Authors. All rights reserved.

关键词： Robots

Meta-fences: Blocking waves utilizing a layer of identical tiny scatters

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arXiv 2021年

作者： Zhang, Yunhao Sha, Zhendong Su, Guangyuan Zhou, Hao Yang, Jiangzhong Jiang, Peng Liu, Yongquan Li, Bing Wang, Tiejun State Key Laboratory for Strength and Vibration of Mechanical Structures School of Aerospace Engineering Xi’an Jiaotong University Xi’an710049 China Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System Engineering China Academy of Space Technology Beijing100094 China School of Aeronautics Northwestern Polytechnical University Shaanxi Xi'an710072 China

Wave steering by artificial materials (for example, phononic crystals and acoustic metamaterials) is a fascinating frontier in modern physics and engineering, but suffers from bulky sizes and intractable challenges in fabrication. Here, a sparse layer of identical tiny scatters, which we call meta-fences, is presented with a non-destructive way to omnidirectionally block flexural waves in plates. The underlying mechanism is that the restraining force and moment of the scatter are tuned simultaneously to counter-balance the incident wave. Both our experimental results and numerical analysis have demonstrated that broadband wave sources ranging from 3 to 7 kHz can be segregated from the protected area by the meta-fence. In addition, the meta-fence is further assembled into a waveguide routing with an arbitrary configuration. Compared with previous isolators and waveguides, our meta-fences exhibit absolute advantages in compact size, flexible configuration, and high structural strength. The current scenario sheds light on the design of lightweight-and-strong architectures for vibration control and energy harvesting with a high efficiency, and can be extended to microfluidics, acoustics, seismology and other fields. Copyright © 2021, The Authors. All rights reserved.

关键词： Energy harvesting

RSG-Net: Towards Rich Sematic Relationship Prediction for Intelligent Vehicle in Complex Environments

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arXiv 2022年

作者： Tian, Yafu Carballo, Alexander Li, Ruifeng Takeda, Kazuya Graduate School of Informatics Nagoya University Furo-cho Chikusa-ku Nagoya464-8603 Japan Institute of Innovation for Future Society Nagoya University Furo-cho Chikusa-ku Nagoya464-8601 Japan Tier IV Inc. Nagoya University Open Innovation Center 1-3 Mei-eki 1-chome Nakamura-Ward Nagoya450-6610 Japan State Key Laboratory of Robotic and Intelligent System Harbin Institute of Technology Heilongjiang China

Behavioral and semantic relationships play a vital role on intelligent self-driving vehicles and ADAS systems. Different from other research focused on trajectory, position, and bounding boxes, relationship data provides a human understandable description of the object's behavior, and it could describe an object's past and future status in an amazingly brief way. Therefore it is a fundamental method for tasks such as risk detection, environment understanding, and decision making. In this paper, we propose RSG-Net (Road Scene Graph Net): a graph convolutional network designed to predict potential semantic relationships from object proposals, and produces a graph-structured result, called "Road Scene Graph". The experimental results indicate that this network, trained on Road Scene Graph dataset, could efficiently predict potential semantic relationships among objects around the ego-vehicle. © 2022, CC BY.

关键词： Forecasting

Globally optimal consensus maximization for robust visual inertial localization in point and line map

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arXiv 2020年

作者： Jiao, Yanmei Wang, Yue Fu, Bo Tan, Qimeng Chen, Lei Wang, Minhang Huang, Shoudong Xiong, Rong State Key Laboratory of Industrial Control and Technology Zhejiang University Hangzhou China Beijing Key Laboratory of Intelligent Space Robotic System Technology and Applications Beijing Institute of Spacecraft System Engineering Beijing China Application Lab Huawei Incorporated Company China University of Technology Sydney Australia

Map based visual inertial localization is a crucial step to reduce the drift in state estimation of mobile robots. The underlying problem for localization is to estimate the pose from a set of 3D-2D feature correspondences, of which the main challenge is the presence of outliers, especially in changing environment. In this paper, we propose a robust solution based on efficient global optimization of the consensus maximization problem, which is insensitive to high percentage of outliers. We first introduce translation invariant measurements (TIMs) for both points and lines to decouple the consensus maximization problem into rotation and translation subproblems, allowing for a two-stage solver with reduced search space. Then we show that (i) the rotation can be estimated by minimizing TIMs using only 1-dimensional branch-and-bound (BnB), (ii) the translation can be estimated by running 1-dimensional search for each of the three axes with prioritized progressive voting. Compared with the popular randomized solver, our solver achieves deterministic global convergence without requiring an initial value. Furthermore, ours is exponentially faster compared with existing BnB based methods. Finally, our experiments on both simulation and real-world datasets demonstrate that the proposed method gives accurate pose estimation even in the presence of 90% outliers (only 2 inliers). Copyright © 2020, The Authors. All rights reserved.

关键词： Statistics

Mechanical Design and Path Planning of A robotic Arm for GIS Pipeline Inspection

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Mechanical Design and Path Planning of A Robotic Arm for GIS...

IEEE International Conference on Mechatronics and Automation

作者： Tao Liu Wensheng Li Xiangyu Sun Wei Wang Yuansheng Fang Ximeng Zhu Liqiang Zhong Gangfeng Liu Jie Zhao Electric Power Research Institute of Guangdong Power Grid Co. Ltd. Guangzhou China State Key Laboratory of Robotic Technology and System Harbin Institute of Technology Harbin China

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

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