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3rd International Conference on Computer Science and Communication technology, ICCSCT 2022

作者： Chen, Haidie Li, Xiaoqi State Key Laboratory of Robotics and Systems Harbin Institute of Technology Heilongjiang Harbin China

ISBN: (纸本)9781510661240

Aiming at solving the problem of joint angle measurement during the movement of small robots or robotic arms that cannot be equipped with angle encoders, this paper provides a small, lightweight and detachable measurement system. Compared with traditional magnetic and optical joint angle sensors, the principle of this method has the advantages of flexible installation and non-invasive measurement. By simply binding two inertial measurement units (IMUs) on both sides of the robot joint in any pose, real-time and high-precision robot joint angle measurement can be achieved through wireless transmission. At the same time, the relationship between the IMU and the joint pose changes dynamically with the robot, which can avoid measurement errors due to loose binding or robot vibration. In this paper, experiments were carried out on a knee joint rehabilitation training robot which can realize two rehabilitation actions, and the precise and stable joint angle curve of the robot is obtained. © 2022 SPIE.

关键词： Robots

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Simulation and Experiment of Cardiopulmonary Resuscitation Robot 2

Simulation and Experiment of Cardiopulmonary Resuscitation R...

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2022 2nd International Symposium on Artificial Intelligence and Intelligent Manufacturing, AIIM 2022

作者： Zou, Xianghua Li, Bin Wang, Cong Chang, Jian Li, Yanbin State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Shenyang University of Technology Shenyang China

Aiming at the emergence of patients with outdoor cardiac arrest, to strive for more golden rescue time, a robot suitable for the rescue of patients with outdoor cardiac arrest is proposed. Combined with the medical research on the human thorax, the dynamic model of the human thorax is established, the kinematics and dynamics of the end effector mechanism are analyzed, and the robot is simulated for cardiopulmonary resuscitation in the human thorax with Adams software. The relationship between the stroke, speed, acceleration, driving torque, and time of the end effector is obtained. Second, the dynamic formula theory is simulated with Matlab software. The difference between the theoretical driving torque and the simulation driving torque is 5.2% and 2.3% respectively. Finally, the feasibility of the CPR operation of the robot is preliminarily verified through experiments. © Published under licence by IOP Publishing Ltd.

关键词： Resuscitation

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Design and Implementation of a Control system for Wrist Offset Wheel Hub Polishing Robot 12

Design and Implementation of a Control System for Wrist Offs...

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12th International Conference on CYBER technology in Automation, Control, and Intelligent systems, CYBER 2022

作者： Zhu, Kui Zhao, Lijun Liu, Zhiheng Xia, Yi Harbin Institute of Technology Department of State Key Laboratory of Robotics and Systems Harbin China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

The application of the offset wrist robot meets the needs of wheel hub grinding and polishing, and there is no open motion control system for this solution. This paper proposes a cooperative design method of the software and hardware control system oriented to the grinding and polishing robot with offset wrist, which realizes the hardware bus integration, software modularization and standardized synchronous design, and effectively improves the stability and usability of the control system. Its electronic control system, motion control software system and human-computer interaction system are designed, and the problem of software and hardware co-design of offset grinding and polishing robot is solved. This paper realizes the connection of the non-real-time module of the upper machine through the ADS communication method, and designs the human-computer interaction software interface. At the same time, a grinding and polishing process software package is added to the upper machine to manage the hub and grinding and polishing process, and realize tasks such as motion simulation and trajectory planning, which improves the versatility and can also meet the special requirements for grinding and polishing. Based on the EtherCAT bus technology, this paper realizes the communication between the upper machine and the lower machine, and embeds real-time control modules such as kinematics calculation and joint interpolation calculation in the Beckhoff controller to achieve high speed and real-time control. Finally, the rationality and stability of the control system are verified through an example program. The grinding and polishing path of the wheel hub surface is created through the offline system, and the wheel hub grinding and polishing processing is realized through simulation and experiment, which verifies the software-hardware collaborative design and real-time grinding and polishing performance. © 2022 IEEE.

关键词： Grinding (machining)

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A Novel Sensor Scheduling Algorithm Based on Deep Reinforcement Learning for Bearing-Only Target Tracking in UWSNs

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IEEE/CAA Journal of Automatica Sinica 2023年第4期10卷 1077-1079页

作者： Linyao Zheng Meiqin Liu Senlin Zhang Jian Lan Institute of Artificial Intelligence and Robotics Xi’an Jiaotong UniversityXi’an 710049 State Key Laboratory of Industrial Control Technology Zhejiang UniversityHangzhou 310027China College of Electrical Engineering Zhejiang UniversityHangzhou 310027China

Dear Editor,This letter is concerned with the energy-aware multiple sensor coscheduling for bearing-only target tracking in the underwater wireless sensor networks(UWSNs).Considering the traditional methods facing with the problems of strong environment dependence and lack flexibility,a novel sensor scheduling algorithm based on the deep reinforcement learning is ***,the sensors’co-scheduling strategy in UWSNs is formulated as Markov decision process(MDP).

关键词： Deep networks underwater

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Crosstalk-Free Dual-Mode Tactile Skin Based on 3D-Constrained Electric Field and Isolated Porous Iontronic Dielectric

Crosstalk-Free Dual-Mode Tactile Skin Based on 3D-Constraine...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Zhao, Yanchao Guo, Weichao Sheng, Xinjun School of Mechanical Engineering Shanghai Jiao Tong University State Key Laboratory of Mechanical System and Vibration Shanghai200240 China Meta Robotics Institute Shanghai Jiao Tong University Shanghai200240 China

ISBN: (纸本)9781665481090

Proximity-pressure dual-mode capacitive sensor is a novel sensing form to simultaneously detect distance and pressure information through a single device. In recent years, much effort has been devoted to improve its performance. However, it still suffers from robustness issues such as crosstalk and noise in practical applications. Electromagnetic coupling crosstalk caused by the outward electric fields as well as the response from unexpected directions also limit its distributed or array arrangements. In this regard, this paper proposes 3D-shielding structure as well as isolated iontronic dielectric designs to reduce the effects of electromagnetic/mechanical crosstalk. Through simulations and experiments, we demonstrate the effectiveness of the proposed design and optimise the structural parameters. The finally obtained sensing skin has an excellent crosstalk rejection ratio (15.68 dB, approximately three times improvement) while maintaining high response sensitivity. © 2024 IEEE.

关键词： Crosstalk

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Multi-DoF Continuous Estimation for Wrist Torques Using Convolutional Neural Network

Multi-DoF Continuous Estimation for Wrist Torques Using Conv...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Fang, Yun Yu, Yang Guo, Weichao Sheng, Xinjun School of Mechanical Engineering Shanghai Jiao Tong University State Key Laboratory of Mechanical System and Vibration Shanghai200240 China Meta Robotics Institute Shanghai Jiao Tong University Shanghai200240 China

ISBN: (纸本)9781665481090

Using surface electromyography (sEMG) signals for simultaneous and proportional control (SPC) is appealing for natural control in human-machine interaction (HMI). Introducing spatial information across sEMG channels in the decoding process provides a more complete approach than methods that focus only on time and frequency domain features. In this article, we proposed an sEMG-based model for thesi-multaneous estimation of two degree-of-freedom (DoF) wrist torques, namely, Pro-Sup and Fle-Ext. Specifically, the 8 × 24 channels sEMG signals were transformed into images, which further served as inputs in a 29-layer convolutional neural network to estimate multi-DoF wrist torques. To prove the superiority of the CNN-based model, comparisons with other regression methods were performed on eight healthy subjects and two amputees in terms of the determination coefficient (R2) and normalized root mean square error (nRMSE). The results demonstrated that the CNN-based model (CNN-WAF) outperformed two conventional regression methods on estimation accuracy (R2: 0.851 ± 0.024 for Pro-Sup and 0.863 ± 0.016 for Fle-Ext;nRMSE: 6.933% ± 0.872% for Pro-Sup and 6.830% ± 0.856% for Fle-Ext). The average filtering in data preprocessing greatly improves (p © 2024 IEEE.

关键词： Convolutional neural networks

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Effect of Voltage Rise Rate on Partial Discharge Characteristics of BOPP Film Under Positive Nanosecond Pulse Voltage

Effect of Voltage Rise Rate on Partial Discharge Characteris...

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2023 IEEE Pulsed Power Conference, PPC 2023

作者： Chen, Yong Mi, Yan Liu, Canhui Zhu, Yakui Liao, Ruijin Chongqing University State Key Laboratory of Power Transmission Equipment & System Security and New Technology Chongqing400044 China

ISBN: (纸本)9798350332339

This paper aims to study the impact of slew rate on partial discharge (PD) characteristics of BOPP film under nanosecond pulse voltage. To achieve this, experiments were conducted to detect partial discharges in BOPP films subjected to high rise rate (slew rate) nanosecond pulse voltages. The study found that the repetitive partial discharge inception voltage (RPDIV) initially increased and then reached a stable level as the rise time increased. Additionally, the PD amplitude and the number of RSD increased with higher slew rates, while the PD time-lag decreased gradually. Similarly, for FSD, the PD amplitude, PD numbers, and PD time-lag all increased as the slew rate increased. Furthermore, the study observed that when the slew rate was below 50 V/ns, the PD characteristics exhibited rapid changes with increasing slew rate. However, when the slew rate exceeded 50 V/ns, the PD characteristics showed slower variations as the slew rate increased. These presented results contribute to a better understanding of the behavior of PD in film capacitors under nanosecond pulse voltage with high slew rates. They also provide valuable guidance for evaluating the insulation performance of film capacitors. © 2023 IEEE.

关键词： Partial discharges

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An Efficient Planner for Dual-Arm Massage Robots in Constrained state

An Efficient Planner for Dual-Arm Massage Robots in Constrai...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Xu, Yuan Wang, Wenxiao Zhou, Lechuan Guo, Weichao Sheng, Xinjun Shanghai Jiao Tong University State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai200240 China Shanghai Jiao Tong University Meta Robotics Institute Shanghai200240 China

ISBN: (纸本)9781665481090

Dual-arm massage robots necessitate reaching the massage pose along an optimal collision-free path in constrained state, where traditional path planning methods often exhibit inefficiency. This paper proposes a sampling-based planning algorithm that integrates lazy evaluation, transition testing, and bidirectional Rapidly-exploring Random Tree to reduce computational load, enhance planning efficiency, and improve the planner's ability to effectively explore the state space, avoid local minima, and converge to high-quality solutions. Comparative experiments conducted on a simulation platform across multiple algorithms have demonstrated the efficacy of the proposed planner, achieving a 95 % planning success rate within 1 second. The paths generated by the algorithm exhibit superior quality and enhanced consistency. In summary, the proposed algorithm is capable of producing asymptotically optimal, collision-free paths for a dual-arm massage robot. © 2024 IEEE.

关键词： Robot programming

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Optimal Scheduling of Integrated Energy system Considering Gas Pipeline Leakage Failure 5th

Optimal Scheduling of Integrated Energy System Considering G...

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5th International Conference on Energy Storage and Intelligent Vehicles, ICEIV 2022

作者： Cao, Maosen Hu, Bo Shao, Changzheng Xie, Kaigui The State Key Laboratory of Power Transmission Equipment & System Security and New Technology Chongqing University Chongqing400044 China

ISBN: (纸本)9789819910267

The integrated energy system (IES) has seen widespread application in the energy production as a result of the advancement of energy intelligent technology. While significantly increasing energy efficiency, small hole leakage failures of gas pipelines bring operational risks to the energy supply. Gas pipeline leakage may cause explosions, threatening people and buildings. Therefore, based on the one-dimension gas flow equation and dynamic gas flow model, a system network model that considers the change of pipeline topology caused by leakage failure is proposed. The process of gas leakage in the operation of gas pipelines is illustrated in the system network model. Then, an optimal scheduling model for IES is established, which includes the dynamic characteristics of gas system and leakage failure. The integrated gas and electricity testing systems are used to validate the suggested model. © 2023, Beijing Paike Culture Commu. Co., Ltd.

关键词： Topology

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Extrinsic Parameter Calibration and Dynamic Objects Coping Strategy for Multi-camera SLAM 3

Extrinsic Parameter Calibration and Dynamic Objects Coping S...

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3rd International Conference on Computer Science and Management technology, ICCSMT 2022

作者： Dong, Yunlong Guo, Wei Zha, Fusheng Wang, Pengfei Harbin Institute of Technology State Key Laboratory of Robotics and Systems Harbin150080 China

ISBN: (纸本)9798350320404

Perceiving the surrounding environment timely and accurately is very essential to improve the safety of mobile robots. To obtain rich information and increase the visual field of mobile robots, the development of multi-camera simultaneous localization and mapping (SLAM) system has become a hot research field. In the current research, multi-camera extrinsic parameter calibration and multi-camera dynamic SLAM are still challenging. Therefore, this paper proposes a dynamic environment-oriented multi-camera SLAM system. This system not only presents an accurate multi-camera extrinsic parameter calibration method but also can achieve accurate localization in the environment with dynamic objects. The effectiveness of the algorithm is verified through comprehensive experiments. © 2022 IEEE.

关键词： Mobile robots

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