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Chinese Automation Congress (CAC)

作者： Ruiyu Tan Xueai Li Fenglei Ni Dong Zhou Yi Ji Xiangyu Shao Key Laboratory of Autonomous Intelligent Unmanned Systems Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China

ISBN: (数字)9798350368604

ISBN: (纸本)9798350368611

Versatile jumping is crucial for agile and adaptive behavior of humanoid robots in complex environments. However, humanoid robots have to manage impact forces while maintaining balance and stability throughout the take-off, flight, and landing phases, which imposes significant challenges for motion planning and controller design. This paper proposes a curriculum-assisted reinforcement learning framework for the humanoid robot to achieve various jumping tasks. The curriculum learning divides the jump training process into multi-stages and design different episodes in each stage to guarantee the training feasibility and generalize learned skills. Simulations on a 28 DOFs humanoid robot verify the excellent diverse jumping capability of the proposed policy. This exploration of different tasks also proves the policy's robustness, allowing the robot quickly recover from perturbations using a variety of learned maneuvers.

关键词： Training Automation Perturbation methods Humanoid robots Reinforcement learning Robustness Stability analysis Planning

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Contact Force Guidance Assembly towards Unknown-Shaped Dual Peg-in-Hole

Contact Force Guidance Assembly towards Unknown-Shaped Dual ...

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IEEE International Conference on Automation Science and Engineering (CASE)

作者： Ninglong Jin Wei Du Jianhua Wu Zhenhua Xiong The School of Mechanical Engineering State Key Laboratory of Mechanical System and Vibration Institute of Robotics Shanghai Jiao Tong University Shanghai China

ISBN: (数字)9798350358513

ISBN: (纸本)9798350358520

The automatic assembly of dual peg-in-hole often relies on the concrete CAD model, either explicitly or implicitly. However, especially in daily life, the shapes of pegs vary, and the robot cannot always obtain an accurate CAD model of the peg before performing the insertion task. Therefore, inspired by the force constraint during contact, we used contact force as the completion indicator of the assembly and proposed a novel two-stage assembly strategy for unknown-shaped dual peg-in-hole. Additionally, a variable remote compliance center method is employed to decouple the contact forces of two pegs and their adjustments. Three types of unidirectional movement modes—exploration, compliance, retention—are utilized to guide the peg to contact with the hole under large initial offsets. The performance of the proposed assembly strategy was evaluated through a series of experiments using various shapes of pegs. The results show that our method effectively completes arbitrary mixed-shaped dual peg-in-hole task under large initial offsets in terms of orientation error (>20°) and position error (>30mm) acorss all test cases.

关键词： Solid modeling Shape Force Process control Switches Robustness Assembly Admittance control Robots Oscillators

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Improved Crow Search Algorithm and XGBoost for Transformer Fault Diagnosis 3

Improved Crow Search Algorithm and XGBoost for Transformer F...

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2023 3rd International Conference on Electrical Engineering and Computer technology, ICEECT 2023

作者： Jiang, Jinyang Liu, Zhi Wang, Pengbo Yang, Fan State Grid Chongqing Electric Power Research Institute Chongqing401123 China State Key Laboratory of Power Transmission Equipment & System Security and New Technology Chongqing University Chongqing400044 China

To enhance the accuracy of transformer fault diagnosis, this study proposes an enhanced transformer fault diagnosis model incorporating the Improved Crow Search Algorithm (ICSA) and XGBoost. The dissolved gas analysis in oil (DGA) technique is employed to extract 9-dimensional fault features of transformers as model inputs, in conjunction with the codeless ratio method for training. The output layer utilizes a gradient boosting-based decision tree addition model to obtain the fault diagnosis type. Furthermore, the Golden Sine Algorithm (GSA) is employed for improvement, and the ICSA's performance is tested by using typical test functions, demonstrating faster convergence and stronger merit-seeking capabilities. The obtained results reveal that the comprehensive diagnostic accuracy of the proposed model reaches 94.4056%, marking an improvement of 8.3916%, 6.2937%, 4.1958%, and 2.0979% compared to the original base XGBoost, PSO-XGBoost, GWO-XGBoost, and CSA-XGBoost fault diagnosis models, respectively. These findings validate the effectiveness of the proposed method in enhancing the fault diagnosis performance of transformers. © Published under licence by IOP Publishing Ltd.

关键词： Failure analysis

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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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A Nanoparticle Dispersion Detection system Based on Fuzzy Evaluation Constructed by Liquid-Solid Triboelectric Nanogenerator

A Nanoparticle Dispersion Detection System Based on Fuzzy Ev...

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2022 IEEE International Conference on High Voltage Engineering and Applications, ICHVE 2022

作者： Luo, Hao Wang, Hanqing Yang, Lijun Wang, Jiyu Chongqing University State Key Laboratory of Power Transmission Equipment & System Security and New Technology Chongqing400044 China

ISBN: (数字)9781665407502

ISBN: (纸本)9781665407502

N anoparticles are promising modification materials that can be utilized to develop advanced insulations with good thermophysical and dielectric properties. However, nanoparticle dispersion detection methods are currently restricted to online and non-destructive measurements. Herein, we report a novel measurement system that utilizes a liquid-solid triboelectric nanogenerator (LS- TENG) to detect the nanoparticle dispersion. The electric double layer model based characteristic at the liquid-solid interface enables the LS- TENG as an online probe to measure the nanoparticle equivalent capacitance (C-{np}) with ultra-high accuracy. Meanwhile, the particle sizes of different samples are measured by dynamic light scattering (DLS), whose results are combined to the calculated C-{np}, and they are commonly in the database. Integrated with the fuzzy evaluation algorithm, a nanoparticle dispersion detection system is utilized for the designated new samples detection, while the average particle size of nanoparticles can be eventually obtained by the Euclid closeness of C-{np}. The average particle size detected by the system achieves good agreement with the SEM statistical results. Therefore, the nanoparticle dispersion measurement by LS-TENG is a feasible, low-cost, online non-destructive testing method, which has the potential to the application of online monitoring of nanoparticle dispersion in the engineering field. © 2022 IEEE.

关键词： Phase interfaces

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Characterizing the Bending Response of Forward Stimulated Brillouin Scattering in Photonic Crystal Fiber

Characterizing the Bending Response of Forward Stimulated Br...

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CLEO: Science and Innovations in CLEO 2024, CLEO: S and I 2024 - Part of Conference on Lasers and Electro-Optics

作者： Zou, Xuan Wei, Weilun Chen, Shuyan Zhao, Zhiyong Yang, Chen Tang, Ming National Engineering Laboratory for Next Generation Internet Access System School of Optical and Electronic Information Huazhong University of Science and Technology Wuhan430074 China State Key Laboratory of Optical Fiber and Cable Manufacture Technology Yangtze Optical Fibre and Cable Joint Stock Limited Company Optics Valley Laboratory Wuhan430074 China

We characterize the bending response of forward stimulated Brillouin scattering (FSBS) in photonic crystal fiber (PCF). Thanks to the unique air-core geometry, high curvature sensitivity (-1.7790 MHz/cm) and high stab... 详细信息

关键词： Stimulated Brillouin scattering

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Motion Planning of Mobile Robot with Non-holonomic Constraints 18

Motion Planning of Mobile Robot with Non-holonomic Constrain...

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18th IEEE Conference on Industrial Electronics and Applications, ICIEA 2023

作者： Zhang, Kewen Liu, Weilong Wang, Jin Chen, Leijie Lu, Guodong Zhejiang University of Technology Key Laboratory of Special Purpose Equipment and Advanced Processing Technology Ministry of Education College of Mechanical Engineering Hangzhou310023 China Robotics Institute of Zhejiang University Hangzhou310027 China Zhejiang University State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical Engineering Hangzhou310027 China Robotics Research Center of Yuyao City Ningbo315400 China

ISBN: (纸本)9798350312201

This paper proposes a modified spatio-temporal A∗ path planning algorithm for the trajectory planning of mobile robots with non-holonomic constraints. Most path planning algorithms treat mobile robots as to be with holonomic constraints. However, wheeled mobile robots are affected by non-holonomic constraints, which leads to trajectory unreachability. To solve this problem, an improved spatio-temporal A∗ algorithm based on non-holonomic constraints is given, which considers the efficiency, completeness and smoothness of the path. At the same time, by improving the construction form of collision constraint and adding spatio-temporal constraints to the path, the success rate and solving speed of the path planning algorithm for non-holonomic constrained mobile robot are increased. Finally, simulation experiments are given to indicate that the proposed planning algorithm provides an optimized path, while improving the planning success rate and reducing the computational time. © 2023 IEEE.

关键词： Motion planning

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A Real-Time Hardware-Accelerator-Aided MJ-EKF SLAM Algorithm for Large-Scale Map Based on Heterogeneous Multi-Core SoC

A Real-Time Hardware-Accelerator-Aided MJ-EKF SLAM Algorithm...

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Annual Conference of Industrial Electronics Society

作者： Zhendong Fan Ke Wang Minjie Bao Ruifeng Li State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China

As a classic SLAM algorithm, LIDAR-based EKF SLAM still remains a problem. An open issue is high computational complexity, which leading a very limited map size to sufficient real-time requirements. To address this problem, in this paper, we propose an MJ-EKF SLAM system that is fully implemented on a Heterogeneous Multi-Core SoC(HMS). To limit the EKF SLAM computation complexity, the Map Joining algorithm participates in the framework. The most computation cost step in EKF SLAM and Map Joining algorithms is implemented on an MJ-EKF dedicated accelerator. Meanwhile, several hardware optimization methods are proposed to save logic resources, avoid redundant computation and reduce data communication between on-chip memory and off-chip main memory. Field experiments demonstrate the HMS-based MJ-EKF algorithm achieved high real-time performance (over 30Hz) in a large-scale map with 500 landmarks.

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Characterizing the Bending Response of Forward Stimulated Brillouin Scattering in Photonic Crystal Fiber

Characterizing the Bending Response of Forward Stimulated Br...

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2024 Conference on Lasers and Electro-Optics, CLEO 2024

ISBN: (纸本)9781957171395

关键词： Stimulated Brillouin scattering

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Research on Multi-sensor Fusion Localization of Wheel-Legged Robots in Dynamic Scenarios

Research on Multi-sensor Fusion Localization of Wheel-Legged...

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Automation, Control and Robots (ICACR), International Conference on

作者： Xu Li Yili Fu Zuolun Cheng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China Intelligent Robot Research Center Zhejiang Laboratory Hangzhou 311100 China

With the rapid development of human beings in motion control and localization perception, intelligent mobile robots are widely used in various scenarios, such as industrial production, medical care, logistics and distribution. Among them, wheel-legged robots have both the high mobility of wheeled robots and the high adaptability of legged robots, which can not only move fast on platform terrain, but also adapt to rugged and complex ground with the multiple degrees of freedom of their legs. Wheel-legged robots face the following main problems in high-precision robust localization in multiple scenarios: there are a lot of dynamic factors in daily indoor and outdoor scenarios, such as vehicles, pedestrians, etc., which require specific processing of dynamic environment in the visual front-end part to improve the effect of visual factor constraints; as ground mobile robots, the localization framework of visual inertial fusion (VIO) will show scale degeneration phenomenon, resulting in long-distance localization accuracy decline. In addition, as a two wheeled inverted pendulum robot, the ground constraint form will undergo corresponding changes. Aiming at the above problems, this paper takes the hydraulic-driven wheel-legged robot as the object and proposes a multi-sensor fusion localization method in dynamic scenarios.

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