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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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IMU-based joint angle measurement for robot joint angle analysis 3

IMU-based joint angle measurement for robot joint angle anal...

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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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Tailoring a Back-Contact Barrier for a Self-Powered Broadband Kesterite Photodetector With Ultralow Dark Current Enabling Ultra-Weak-Light Detection

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Carbon Energy 2025年第5期7卷 39-48页

作者： Qianfeng Wu Chuanhao Li Shuo Chen Zhenghua Su Muhammad Abbas Chao Chen Qianqian Lin Jingting Luo Liming Ding Guangxing Liang Shenzhen Key Laboratory of Advanced Thin Films and Applications Key Laboratory of Optoelectronic Devices and Systems of Ministry of Education and Guangdong Province State Key Laboratory of Radio Frequency Heterogeneous Integration College of Physics and Optoelectronic Engineering Shenzhen University Wuhan National Laboratory for Optoelectronics (WNLO) and School of Optical and Electronic Information (SOEI) Huazhong University of Science and Technology Key Lab of Artificial Micro-and Nano-Structures of Ministry of Education of China Hubei Luojia Laboratory School of Physics and Technology Wuhan University School of Chemical Engineering and Light Industry Guangdong University of Technology

Visible and near-infrared photodetectors are widely used in intelligent driving, health monitoring, and other fields. However, the application of photodetectors in the near-infrared region is significantly impacted by high dark current, which can greatly reduce their performance and sensitivity, thereby limiting their effectiveness in certain applications. In this work, the introduction of a C60back interface layer successfully mitigated back interface reactions to decrease the thickness of the Mo（S,Se）2layer, tailoring the back-contact barrier and preventing reverse charge injection, resulting in a kesterite photodetector with an ultralow dark current density of 5.2 × 10-9m A/cm2and ultra-weak-light detection at levels as low as 25 p W/cm2. Besides, under a self-powered operation, it demonstrates outstanding performance, achieving a peak responsivity of 0.68 A/W, a wide response range spanning from 300 to 1600 nm, and an impressive detectivity of 5.27 × 1014Jones. In addition, it offers exceptionally rapid response times,with rise and decay times of 70 and 650 ns, respectively. This research offers important insights for developing high-performance self-powered near-infrared photodetectors that have high responsivity, rapid response times, and ultralow dark current.

关键词： detectivity kesterite photodetector thin film weak light detection

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Magnetic Tracking System with Capability of Automatic Magnetic Moment Measurement

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Journal of Shanghai Jiaotong University (Science) 2024年 1-12页

作者： Tian, Siyu Gao, Jinyang Huang, Peng Ma, Xinyu Ma, Ziyu State Key Laboratory of Dynamic Measurement Technology North University of China Taiyuan030051 China Key Laboratory of Micro/Nano Devices and Systems of Ministry of Education North University of China Taiyuan030051 China

Magnetic tracking technologies have a promising application in detecting the real-time position and attitude of a capsule endoscope. However, most of them need to measure the magnetic moment of a permanent magnet (PM) embedded in the capsule accurately in advance, which can cause inconvenience to practical application. To solve this problem, this paper proposes a magnetic tracking system with the capability of measuring the magnetic moment of the PM automatically. The system is constructed based on a 4 × 4 magnetic sensor array, whose sensing data is analyzed to determine the magnetic moment by referring to a magnetic dipole model. With the determined magnetic moment, a method of fusing the linear calculation and Levenberg-Marquardt algorithms is proposed to determine the 3D position and 2D attitude of the PM. The experiments verified that the proposed system can achieve localization errors of 0.48 mm, 0.42 mm, and 0.83 mm and orientation errors of 0.66°, 0.64°, and 0.87° for a PM (∅10 mm × 10 mm) at vertical heights of 5 cm, 10 cm, and 15 cm from the magnetic sensor array, respectively. © Shanghai Jiao Tong University 2024.

关键词： Permanent magnets

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A general Boolean semantic modelling approach for complex and intelligent industrial systems in the framework of DES

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Journal of systems Engineering and Electronics 2024年第5期35卷 1219-1230页

作者： XU Changyi WANG Yun DUAN Yiman ZHANG Chao Key Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education School of Control Science and EngineeringDalian University of TechnologyDalian 116024China State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical EngineeringZhejiang UniversityHangzhou 310027China

Discrete event system(DES)models promote system engineering,including system design,verification,and *** advancement in manufacturing technology has endowed us to fabricate complex industrial ***,the adoption of advanced modeling methodologies adept at handling complexity and scalability is ***,industrial systems are no longer quiescent,thus the intelligent operations of the systems should be dynamically specified in the *** this paper,the composition of the subsystem behaviors is studied to generate the complexity and scalability of the global system model,and a Boolean semantic specifying algorithm is proposed for generating dynamic intelligent operations in the *** traditional modeling approaches,the change or addition of specifications always necessitates the complete resubmission of the system model,a resource-consuming and error-prone *** with traditional approaches,our approach has three remarkable advantages:(i)an established Boolean semantic can be fitful for all kinds of systems;(ii)there is no need to resubmit the system model whenever there is a change or addition of the operations;(iii)multiple specifying tasks can be easily achieved by continuously adding a new ***,this general modeling approach has wide potential for future complex and intelligent industrial systems.

关键词： industrial complex system operation specifying Boolean semantic discrete event system(DES)theory intelligent operation

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LF-PGVIO: A Visual-Inertial-Odometry Framework for Large Field-of-View Cameras using Points and Geodesic Segments

IEEE Transactions on Intelligent Vehicles

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IEEE Transactions on Intelligent Vehicles 2024年 1-13页

作者： Wang, Ze Yang, Kailun Shi, Hao Zhang, Yufan Xu, Zhijie Gao, Fei Wang, Kaiwei State Key Laboratory of Extreme Photonics and Instrumentation School of Robotics and the National Engineering Research Center of Robot Visual Perception and Control Technology Hunan University Changsha China School of Computing and Engineering University of Huddersfield Huddersfield U.K State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou China

In this paper, we propose LF-PGVIO, a Visual-Inertial-Odometry (VIO) framework for large Field-of-View (FoV) cameras with a negative plane using points and geodesic segments. The purpose of our research is to unleash the potential of point-line odometry with large-FoV omnidirectional cameras, even for cameras with negative-plane FoV. To achieve this, we propose an Omnidirectional Curve Segment Detection (OCSD) method combined with a camera model which is applicable to images with large distortions, such as panoramic annular images, fisheye images, and various panoramic images. The geodesic segment is sliced into multiple straight-line segments based on the radian and descriptors are extracted and recombined. Descriptor matching establishes the constraint relationship between 3D line segments in multiple frames. In our VIO system, line feature residual is also extended to support large-FoV cameras. Extensive evaluations on public datasets demonstrate the superior accuracy and robustness of LF-PGVIO compared to state-of-the-art methods. The source code will be made publicly available at https://***/flysoaryun/LF-PGVIO. IEEE

关键词： Feature extraction

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Power Consumption Characteristics Research on Mobile System of Electrically Driven Large-Load-Ratio Six-Legged Robot

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Chinese Journal of Mechanical Engineering 2023年第1期36卷 237-267页

作者： Hongchao Zhuang Ning Wang Haibo Gao Zongquan Deng School of Mechanical Engineering Tianjin University of Technology and EducationTianjin300222China School of Information Technology Engineering Tianjin University of Technology and EducationTianjin300222China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150001China

The electrically driven large-load-ratio six-legged robot with engineering capability can be widely used in outdoor and planetary ***,due to the particularity of its parallel structure,the effective utilization rate of energy is not high,which has become an important obstacle to its practical *** research the power consumption characteristics of robot mobile system is beneficial to speed up it toward *** on the configuration and walking modes of robot,the mathematical model of the power consumption of mobile system is set *** view of the tripod gait is often selected for the six-legged robots,the simplified power consumption model of mobile system under the tripod gait is established by means of reducing the dimension of the robot’s statically indeterminate problem and constructing the equal force ***,the power consumption of robot mobile system is solved under different working *** variable tendencies of the power consumption of robot mobile system are respectively obtained with changes in the rotational angles of hip joint and knee joint,body height,and *** articulated rotational zones and the ranges of body height and span are determined under the lowest power *** to the walking experiments of prototype,the variable tendencies of the average power consumption of robot mobile system are respectively acquired with changes in duty ratio,body height,and ***,the feasibility and correctness of theory analysis are verified in the power consumption of robot mobile *** proposed analysis method in this paper can provide a reference on the lower power research of the large-load-ratio multi-legged robots.

关键词： Electrically driven Large-load-ratio six-legged robot Power consumption Mobile system

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EM-Gaze:eye context correlation and metric learning for gaze estimation

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Visual Computing for Industry,Biomedicine,and Art 2023年第1期6卷 97-108页

作者： Jinchao Zhou Guoan Li Feng Shi Xiaoyan Guo Pengfei Wan Miao Wang State Key Laboratory of Virtual Reality Technology and Systems Beihang UniversityBeijing 100191China Kuaishou Technology Beijing 100085China

In recent years,deep learning techniques have been used to estimate gaze-a significant task in computer vision and human-computer *** studies have made significant achievements in predicting 2D or 3D gazes from monocular face *** study presents a deep neural network for 2D gaze estimation on mobile *** achieves state-of-the-art 2D gaze point regression error,while significantly improving gaze classification error on quadrant divisions of the *** this end,an efficient attention-based module that correlates and fuses the left and right eye contextual features is first proposed to improve gaze point regression ***,through a unified perspective for gaze estimation,metric learning for gaze classification on quadrant divisions is incorporated as additional ***,both gaze point regression and quadrant classification perfor-mances are *** experiments demonstrate that the proposed method outperforms existing gaze-estima-tion methods on the GazeCapture and MPIIFaceGaze datasets.

关键词： Computer vision Gaze estimation Metric learning Attention Multi-task learning

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Design and Implementation of Quasi-Direct-Drive Legs for a Frog-Like Jumping Robot 3

Design and Implementation of Quasi-Direct-Drive Legs for a F...

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3rd International Conference on Computer, Control and robotics, ICCCR 2023

作者： Zhihui, Dong Jizhuang, Fan Qilong, Du Jie, Zhao Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150001 China

ISBN: (纸本)9781665492126

This study aims to design and optimize a motor-driven frog-like jumping robot leg for efficient vertical jumps and multiple consecutive horizontal jumps. We have conducted bionic research on frog legs' structure and motion characteristics and further explored their motion mechanism, providing new ideas and methods for designing and manufacturing robots with high mobility and adaptability. First, our research team designed a robot leg prototype based on the frog's body structure, optimized the robot using computer-Aided design software, and selected a suitable motor-driven actuator. Secondly, the weight reduction optimization of the robot body is carried out regarding material selection and topology optimization to improve the robot's maneuverability and jump height. Finally, after manufacturing the prototype of the robot legs, the robot is experimentally verified. The results show that the robot legs can achieve efficient vertical jumps (the maximum height is 1.40 meters, about 7.8 times the length of the leg link). It can also jump multiple times consecutively, which is significant for applying robots in dangerous environments, search and rescue, and other fields. © 2023 IEEE.

关键词： Machine design

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RGB-D Camera Based Map Building and Path Planning of Snake Robot 16th

RGB-D Camera Based Map Building and Path Planning of Snake R...

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16th International Conference on Intelligent robotics and Applications, ICIRA 2023

作者： Sun, Yongjun Wang, Qiang Xue, Zhao Liu, Rongqiang Liu, Hong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

ISBN: (纸本)9789819964826

Snake robot is a robot that can move freely in a small and complex space with super-redundant DOF and motion flexibility, and it has been proven to have a wide range of application prospects. RGB-D camera is a new type of visual sensor that can directly obtain color images and depth information. To enable the snake robot to work in some special task environments, we developed an orthogonal modular snake robot using RGB-D cameras, and conducted research on snake robot map building and path planning. An improved Batch Informed Tree (BIT*) algorithm is proposed. Finally, to verify the effectiveness of the proposed method, a corresponding experimental program is designed and related experimental analysis is carried out. The results show that our designed snake robot can complete the task of map building and path planning. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Motion planning

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