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7th International Conference on Automation, Control and Robots, ICACR 2023

作者： Li, Xu Fu, Yili Cheng, Zuolun Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150001 China Zhejiang Laboratory Intelligent Robot Research Center Hangzhou311100 China

ISBN: (纸本)9798350302882

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. © 2023 IEEE.

关键词： Degrees of freedom (mechanics)

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Design memristor-based computing-in-memory for AI accelerators considering the interplay between devices, circuits, and system

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Science China(Information Sciences) 2023年第8期66卷 243-253页

作者： Junjie AN Linfang WANG Wang YE Weizeng LI Hanghang GAO Zhi LI Zhidao ZHOU Jinghui TIAN Jianfeng GAO Chunmeng DOU Qi LIU School of Microelectronics University of Science and Technology of China State key Lab of Fabrication Technologies for Integrated Circuits Institute of MicroelectronicsChinese Academy of Sciences School of Microelectronics University of Chinese Academy of Sciences Frontier Institute of Chip and System State Key Laboratory of ASIC and System Fudan University

Recent advances in developing beyond von Neumann architectures have moved the memristive devices to the forefront as one of the key enablers to realizing memristive computing-in-memory(m CIM)structures, which shows a great promise to boost the energy-efficiency and the performance of artificial intelligence(AI) chips. In this study, by considering the interactions between devices, circuits, and systems in the m CIM design, we propose several cross-layer design techniques, including(1) the BL-SL interactive forming protection(BSIFP) circuit that can reduce the voltage drop on the selected transistor, suppress the current overshoot by 65.96%, and improve the bit-cell density by more than 10.19%,(2) the clamping transistor trimming scheme(CTTS) to prevent the multiply-and-accumulate(MAC) signal margin degradation from chip-to-chip resistance variations, and(3) dynamic input-parallelism and output-precision(DIPOP) that can reduce the energy cost by 22.92% in a typical inference task with negligible accuracy loss. The results demonstrate the significant role of the cross-layer-interactive approach and provide a preliminary guideline for highly-efficient m CIM design.

关键词： memristor resistive memory computing-in-memory artificial intelligence cross-layer co-design

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A Real-Time Hardware-Accelerator-Aided MJ-EKF SLAM Algorithm for Large-Scale Map Based on Heterogeneous Multi-Core SoC 49

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

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

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

ISBN: (纸本)9798350331820

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. © 2023 IEEE.

关键词： system-on-chip

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Dynamical Modeling and Numerical Simulation of Water Discharge Process of Spherical Objects 20

Dynamical Modeling and Numerical Simulation of Water Dischar...

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

作者： Zhong, Lin Dong, Jiawei Liu, Jiabin Wang, Wei Wu, Riyue Wang, Shuqi Zhang, Tao Guangdong University of Technology State Key Laboratory of Precision Electronic Manufacturing Technology and Equipment Guangzhou China Guangdong University of Technology School of Electromechanical Engineering Guangzhou China Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9798350320831

The process of an object leaping out of the water is very similar to the jumping process of an aquatic animal during prey or avoid predators. The study of the process of an object leaping out of the water is beneficial to the design of robots jumping out of water. In this work, the free jump of a sphere out of the water is successfully simulated based on the Computational Fluid Dynamics (CFD) software Fluent, with User-Defined Functions to control the motion of the sphere, the volume of Fluid model, dynamic meshing, and Detached Eddy Simulation. The velocity of the sphere at the water-air interface and the height of the sphere leaping out from the water surface obtained from the numerical simulation are compared with experimental results. The maximum error between the experimental and the simulated results is 2.28% in the water-discharge velocity and 2.65% in the leaping height from the water surface. In addition, this paper model the dynamics of the sphere during the water discharge process. The paper also analyses the free deformation of water surface, the water film rupture process on the surface of the sphere, the variation of fluid drag on the sphere, and the variation of the fluid velocity field during the free ascent of the sphere after acquiring an initial velocity of 2.81 m/s. © 2023 IEEE.

关键词： Computer software

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Analysis of SF6 decomposed products by fibre-enhanced Raman spectroscopy for gas-insulated switchgear diagnosis

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High Voltage 2024年第1期9卷 206-216页

作者： Jianxin Wang Weigen Chen Pinyi Wang Fu Wan Zhixian Zhang Shoufei Gao Yingying Wang School of Electrical Engineering Chongqing UniversityChongqingChina State Key Laboratory of Power Transmission Equipment&System Security and New Technology Chongqing UniversityChongqingChina Institute of Photonics Technology Jinan UniversityGuangzhouChina

Sulphur hexafluoride(SF6)decomposed products analysis is highly critical in the earlystage fault diagnosis of gas-insulated switchgear(GIS).Spectrum technology outperforms traditional methods on non-invasiveness,no sample preparation,and no ***,the authors present an improved fibre-enhanced Raman spectroscopy(FERS)as a comprehensive analytical tool to detect a suite of SF_(6)decomposed products(SO_(2)F_(2),SOF_(2),SO_(2),H_(2)S,CF_(4),OCS,CO_(2),and CO).The FERS approach is combined with two iris diaphragms for spatial filtering and a rear-end reflector for additional Raman signal *** of detection down to 1×10^(−6)–8×10^(−6)are achieved for different SF6 decompositions,and quantification of an undefined multigas,sampled from an 800 kV GIS in service,is realised utilising SF6 as the internal standard gas and with a maximum error of 5.5%.The GIS is diagnosed according to the results and confirmed by an on-site *** authors foresee that this technique will provide a route for trace gas analysis in the power industry.

关键词： SF6 diagnosis fibre

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Theoretical and experimental research on static stiffness,performance,and lift-off characteristics of multi-layer gas foil thrust bearings

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Friction 2024年第11期12卷 2458-2479页

作者： Yang HU Pengjing DING Fangling WU Xiaojing WANG Bo LIANG Yonggang MENG School of Mechatronic Engineering and Automation Shanghai UniversityShanghai 200072China Aviation Key Laboratory of Science and Technology on Aero Electromechanical System Integration Nanjing Engineering Institute of Aircraft SystemsNanjing 211106China State Key Laboratory of Tribology Tsinghua UniversityBeijing 100084China

In this study,a new comprehensive fully coupled elastic–hydrodynamic model is developed for a multi-layer gas foil thrust bearing(GFTB).The interaction effects among the top foil,back board,middle foil,and bottom foil,as well as the Coulomb friction effect,are *** stiffness and static characteristics obtained by the experimental and theoretical approaches are in good agreement,which verifies the accuracy of the *** contribution of each foil layer to the overall stiffness and the load-carrying mechanism are *** effects of the load,preload,and rotational speed on the static performance are investigated ***,start–stop tests are performed to achieve the lift-off speed,start-up torque,and shut-down torque under various operating conditions.

关键词： multi-layer gas foil thrust bearing(GFTB) load carrying mechanism static performance

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Influence of positive DC electric field on rime icing on the insulator and its experimental verification in the natural environment

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High Voltage 2023年第5期8卷 954-966页

作者： Zongyuan Liu Yuyao Hu Xingliang Jiang Lei Chen Mingchen Chi Feiyan Han Chong Zhao College of Electrical and Electronic Engineering Shandong University of TechnologyZiboChina State Key Laboratory of Power Transmission Equipment&System Security and New Technology Chongqing UniversityChongqingChina

The electric field imposes a significant effect on ice accretion on the *** impact of an AC electric field on insulator icing in an artificial climate chamber has been *** with AC,DC electric field exerts an attraction on supercooled water droplets,which is more detrimental to the power ***,the icing on energised insulators is rarely studied in the natural *** the present research,an electrical,fluid coupled‐field simulation was carried out on the *** force characteristics and motion deviation features of water droplets at different positive DC electric field strengths were *** this basis,rime icing on the insulator energised with different positive DC voltages was investigated in the *** show that the charged droplet shifts along the electric field line under a positive DC *** deviation degree of the droplet increases with the increment of the voltage and droplet size and decreases with an increase in wind *** the voltage rises,the surface roughness,icing amount and icing length of rime ice‐covered insulator ***,compared with that without energisation,the local collision coefficient,icing amount and icing length increase by 17.6%,46.4%and 63.9%,respectively,under a 40 kV DC voltage.

关键词： insulator field positive

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An adjustable time slice process scheduling algorithm based on feature similarity clustering 4

An adjustable time slice process scheduling algorithm based ...

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4th International Conference on Artificial Intelligence and Electromechanical Automation, AIEA 2023

作者： Xiao, Gong Liang, Ding State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China China Software Testing Center Beijing100000 China

ISBN: (纸本)9781510666412

In order to improve the efficiency of the operating system scheduler, this paper proposes an adjustable time slice process scheduling algorithm ATSPS (Adjustable Time Slice Process Scheduling) based on feature similarity clustering, which can reduce the cost of the operating system process scheduling time, reduce the process turnaround time, and improve the process execution efficiency. ATSPS forms different process clusters by clustering the characteristics of process burst time, time slice, weight, and context switching times. It uses the same specification time slice for each type of process cluster. Through queue scheduling adjustment, it accelerates the execution efficiency of computationally intensive processes, reduces the number of contexts switching times caused by the expiration of time slice, and saves scheduling time. The scheduling process of robot grabbing program in the operating system is simulated by MATLAB, and the ready queue, blocking queue and execution queue of the operating system are simulated. The robot grabbing program is simulated, including visual process, force control process and posture process. ATSPS is compared with five classical scheduling algorithms. The experimental results show that on the scheduling criteria of three CPU scheduling algorithms, namely, waiting time, turnaround time and context switching times, ATSPS algorithm reduces the time cost of process scheduling, realizes the real-time scheduling of operating system process, and provides guarantee for the real-time control of robot. © 2023 SPIE.

关键词： Scheduling algorithms

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Evetac Meets Sparse Probabilistic Spiking Neural Network: Enhancing Snap-Fit Recognition Efficiency and Performance

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IEEE robotics and Automation Letters 2025年第6期10卷 5353-5360页

作者： Fang, Senlin Ding, Haoran Liu, Yangjun Liu, Jiashu Zhang, Yupo Li, Yilin Kong, Hoiio Yi, Zhengkun Faculty of Data Science City University of Macau 999078 China Chinese Academy of Sciences Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Shenzhen518055 China City University of Hong Kong Hong Kong University of Macau 999078 China Shenzhen Institute of Advanced Technology Shenzhen518055 China City University of Macau 999078 China Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China City University of Macau Faculty of Data Science 999078 China Chinese Academy of Sciences Key Laboratory of Biomedical Imaging Science and System Shenzhen518055 China

Snap-fit peg-in-hole assembly is common in industrial robotics, particularly for 3 C electronics, where fast and accurate tactile recognition is crucial for protecting fragile components. Event-based optical sensors, such as Evetac, are well-suited for this task due to their high sparsity and sensitivity in detecting small, rapid force changes. However, existing research often converts event data into dense images and processing them with dense methods, leading to higher computational complexity. In this letter, we propose a Sparse Probabilistic Spiking Neural Network (SPSNN) that utilizes sparse convolutions to extract features from the event data, avoiding computations on non-zero cells. We introduce the Forward and Backward Propagation Through Probability (FBPTP) method, which enables simultaneous gradient computation across all time steps, eliminating the need for the step-by-step traversal required by traditional Forward and Backward Propagation Through Time (FBPTT). Additionally, the Temporal Weight Prediction (TWP) method dynamically allocates weights for different time outputs, enhancing recognition performance with minimal impact on model efficiency. We integrate the Evetac sensor compactly into our robotic system and collected two datasets, named Tactile Event Ethernet (TacEve-Eth) and Tactile Event Type-C (TacEve-TC), corresponding to cantilever and annular snap-fit structures. Experiments show that the SPSNN achieves the superior trade-off between recognition performance and efficiency compared to other widely used methods, achieving the highest average recognition performance while reducing inference time by over 90% compared to FBPTT-based dense SNN baselines. © 2016 IEEE.

关键词： Robotic assembly

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A Sample Repetitive Manipulation Mechanism (SRMM) for Lunar Regolith In-Situ Analysis: Design and Validation

A Sample Repetitive Manipulation Mechanism (SRMM) for Lunar ...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Liu, Yi Tang, Junyue Liu, Yafang Ma, Gongbo Sun, Feng Li, Ye Jiang, Shengyuan Shenyang University of Technology Shenyang China Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China Beijing Institute of Spacecraft System Engineering Beijing China Beijing China

ISBN: (纸本)9798350325706

To exactly detect the water ice of the South Pole of the moon, a lunar regolith in-situ analysis payload deploying a mass spectrometer is proposed for China future lunar exploration missions. In order to receive the lunar regolith sample from a robotic arm with a soil sampler and transfer it into a furnace for further analysis, a sample manipulation mechanism is required during the above work flow. To solve the problems of adapting the sampler's docking accuracy, receiving and transferring two different types of lunar soil sample under times of in-situ analysis, etc., a sample repetitive manipulation mechanism (SRMM) is proposed in this paper. By using a floating adjustable docking components and a flexible hopper, two types of encapsulated regolith sample and bulk material sample can be received with minimal sample loss, respectively. In order to receive and transfer two types of samples multiple times, two sample receiving methods have been designed that can be repeatedly transferred. A worm and worm wheel combined with a ball screw is designed in SRMM. To verify the above mechanism design, validation experiments were conducted. It indicates that this novel SRMM can be deployed in the future mission after further environmental tests. © 2023 IEEE.

关键词： Lunar exploration Repeated transfer Sample type sampler's docking sealing force

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