检索结果-内蒙古大学图书馆

Fuzzy steering control to serpentine tracked robots in unknown environment

High Technology Letters 2013年第1期19卷 1-6页

作者：赵杰 Han Zhenfeng Liu Gangfeng Liu Gang Zhu Lei State Key Laboratory of Robotics and System Harbin Institute of Technology

To solve the problem of multi-turning attitudes,unknown ground parameters and complex skidsteering control for serpentine tracked robots(STR),a fuzzy control method based on the estimation of track curvature and side slip angles is *** on the track-ground interaction,mathematical models are established for stable turning in the way of recursive homogeneous *** navigation parameters such as rack curvature and side slip angles have approximately linear relationship with the yaw angles of articulate *** attitude models in turning control are studied and *** strategies of attitude models are *** on the strategies,an adjustable fuzzy controller is *** the controller,an estimator is set to solve the problem of unknown and variable *** estimator predicts the track curvature by metabolic linear least squares *** have verified the feasibility and validity of the controller.

关键词： serpentine tracked robot （STR） steering control track curvature side slip angles stable turning modes

来源：评论

学校读者我要写书评

暂无评论

Extraction of coastline in high-resolution remote sensing images based on the active contour model

引用

Journal of Harbin Institute of Technology(New Series) 2011年第4期18卷 13-18页

作者：邢坤付宜利王树国韩现伟 State Key Laboratory of Robotics and System Harbin Institute of Technology

While executing tasks such as ocean pollution monitoring,maritime rescue,geographic mapping,and automatic navigation utilizing remote sensing images,the coastline feature should be *** methods are not satisfactory to extract coastline in high-resolution panchromatic remote sensing *** contour model,also called snakes,have proven useful for interactive specification of image contours,so it is used as an effective coastlines extraction ***,coastlines are detected by water segmentation and boundary tracking,which are considered initial contours to be optimized through active contour *** better energy functions are developed,the power assist of snakes becomes *** internal energy has been done to reduce problems caused by convergence to local minima,and new external energy can greatly enlarge the capture region around features of *** normalization processing,energies are iterated using greedy algorithm to accelerate convergence *** experimental results encompassed examples in images and demonstrated the capabilities and efficiencies of the improvement.

关键词： remote sensing images coastline extraction active contour model greedy algorithm

来源：评论

学校读者我要写书评

暂无评论

Tremor suppression strategy of the tremor suppression robot

引用

Journal of Harbin Institute of Technology(New Series) 2012年第1期19卷 1-6页

作者：赵杰李军强樊继壮臧希喆 State Key Laboratory of Robotics and System Harbin Institute of Technology

Based on the development of the performance of magnetorheological damper,the tremor suppression strategy that uses angle displacement sensor and force sensor to sense the information of the tremor and uses the fuzzy neural network as the control algorithm is presented. The information of the maximum tremor torque can be achieved exactly by means fusing the data of displacement sensor and the data of force sensor. Due to the slow change of the maximum tremor torque,the fuzzy neural network with single input variable and single output variable is adopted as the control algorithm,and the mathematic model of fuzzy neural network is worked out. The elbow tremor suppression model is established to provide tremor information for fuzzy neural network training and tremor suppression strategy simulation,then the off-line fuzzy neural network training is finished with the selected training data set,and the tremor suppression strategy is simulated. Simulation results show that the tremor suppression strategy has presented is effectually for the tremor suppression.

关键词： magnetorheological damper fuzzy neural network data fusion tremor suppression strategy

来源：评论

学校读者我要写书评

暂无评论

Collaborative Perception Datasets for Autonomous Driving: A Review

arXiv

引用

arXiv 2025年

作者： Wang, Naibang Shang, Deyong Gong, Yan Hu, Xiaoxi Song, Ziying Yang, Lei Huang, Yuhan Wang, Xiaoyu Lu, Jianli Beijing100083 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China State Key Laboratory of Intelligent Green Vehicle and Mobility Tsinghua University Beijing100084 China Beijing Key Laboratory of Traffic Data Mining and Embodied Intelligence School of Computer Science and Technology Beijing Jiaotong University China School of Mechanical and Aerospace Engineering Nanyang Technological University Singapore School of Mechatronics Engineering Harbin Institute of Technology 92 West Dazhi St. Harbin China Department of Electronic & Electrical Engineering University of Bath United Kingdom

Collaborative perception has attracted growing interest from academia and industry due to its potential to enhance perception accuracy, safety, and robustness in autonomous driving through multi-agent information fusion. With the advancement of Vehicle-to-Everything (V2X) communication, numerous collaborative perception datasets have emerged, varying in cooperation paradigms, sensor configurations, data sources, and application scenarios. However, the absence of systematic summarization and comparative analysis hinders effective resource utilization and standardization of model evaluation. As the first comprehensive review focused on collaborative perception datasets, this work reviews and compares existing resources from a multi-dimensional perspective. We categorize datasets based on cooperation paradigms, examine their data sources and scenarios, and analyze sensor modalities and supported tasks. A detailed comparative analysis is conducted across multiple dimensions. We also outline key challenges and future directions, including dataset scalability, diversity, domain adaptation, standardization, privacy, and the integration of large language models. To support ongoing research, we provide a continuously updated online repository of collaborative perception datasets and related literature: https://***/frankwnb/Collaborative-Perceptio n-Datasets-for-Autonomous-Driving. © 2025, CC BY-SA.

关键词： Sensor data fusion

来源：评论

学校读者我要写书评

暂无评论

Research progress of space non-pyrotechnic low-shock connection and separation technology(SNLT):A review

引用

Chinese Journal of Aeronautics 2022年第11期35卷 113-154页

作者： Honghao YUE Yifei YANG Yifan LU Fei YANG Jun WU Qi RUAN Zongquan DENG State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 15000lChina

Space missions have become diversified in recent years, where connection and separation devices play a crucial role as key components of various spacecraft. Traditional pyrotechnic devices have the advantages of large carrying capacity, rapid motion and functional reliability. However,their shortcomings such as great release shock, poor safety, unrepeatability and other prominent defects make them unsuitable for new generation spacecraft such as microsatellites to separate at low shock or lock repeatedly, etc. Therefore, it is necessary to develop space non-pyrotechnic low-shock connection and separation devices(SNLD) which are required for advanced aerospace missions. In this paper, the progress of the research on space non-pyrotechnic low-shock connection and separation technology(SNLT) is summarized and reviewed. Proceed from the principle of reducing shock for non-pyrotechnic devices, present studies are classified from the perspective of actuating technology and systematic designing methods. For non-pyrotechnic actuating techniques,according to different driving sources, the separation devices are classified into several main categories: electric, magnetic, gas and thermal actuating devices. The actuation principle and application prospect of separation techniques are introduced and the working process, dimension and mechanical properties of typical devices are compared and evaluated. For the systematic designing method, the common mechanism types of SNLDs are summarized according to the designing concept of reducing shock. Then connection configurations are classified according to the structural forms of connection devices, of which the principles, bearing capacities and general applications are discussed. This paper systematically summarizes the key problems, puts forward the future development trend of SNLT, and points out the breakthrough direction for related scholars.

关键词： Connection Low-shock Non-pyrotechnic Separation Space

来源：评论

学校读者我要写书评

暂无评论

Service Robot Localization Based on Global Vision and Stereo Vision

引用

Journal of Donghua University(English Edition) 2012年第3期29卷 197-202页

作者：于清晓闫维新付庄赵言正 State Key Laboratory of Mechanical System and Vibration Shanghai Jiaotong University State Key Laboratory of Robotics and System Harbin Institute of Technology

To satisfy different positioning accuracy demand in the movement of the service robot, a hierarchical localization method based on vision was proposed considering the positioning cost and computational efficiency. The hierarchical positioning method could be divided into two parts: the localization method based on global vision and the localization method based on binocular vision. The global vision-based localization method was applied to calculate the initial coordinates of the robot and realize real-time rough positioning with the dead-reckoning method in the first stage. In the last stage, the binocular vision-based localization method was adopted to obtain higher positioning accuracy to make sure that the service robot can successfully grab the object. Experiments indicate that the proposed algorithm can accurately evaluate the positioning performance, obtain up to ±2 cm positioning accuracy, and absolutely meet the positioning requirements of the indoor service robot.

关键词： service robot hierarchical positioning binocular vision localization

来源：评论

学校读者我要写书评

暂无评论

A 3-DOF piezoelectric robot with continuous walking gait aiming at cross-scale smooth motion

引用

Science China(Technological Sciences) 2023年第1期66卷 233-242页

作者： YU HongPeng LIU YingXiang DENG Jie ZHANG ShiJing CHEN WeiShan State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 15000lChina

Piezoelectric robots play important roles in the field of micromanipulation, but it is difficult for them to generate steady precision motion at any moment. In order to eliminate the changing inertial force and improve the motion smoothness, this work proposes a piezoelectric robot with continuous walking gait inspired by ants. The idea is verified with theoretical models and numerical simulation, and the performances are evaluated with experiments. The robot is proven to have the ability to generate 3-DOF(dgeree of freedom) continuous smooth motions with constant speeds. The maximum and minimum smooth velocities have a difference of six orders of magnitude, realizing cross-scale velocity control. Besides, the motion resolution reaches several nanometers with the unlimited workspace, so the cross-scale displacement control can be also obtained. Furthermore, with great robustness against varying loads, the stable actuation capability of the robot is more than 22 times of the self-weight. To sum up,the proposed robot generates cross-scale smooth motion in both aspects of displacement and velocity, so it has good prospects in the applications requiring steady precision motion. The design philosophy and research methods in this work can be valuable references for further advances of micromanipulation robots.

关键词： piezoelectric robot continuous walking gait cross-scale displacement cross-scale velocity smooth motion constant speed

来源：评论

学校读者我要写书评

暂无评论

Effect of head swing motion on hydrodynamic performance of fishlike robot propulsion

引用

Journal of Hydrodynamics 2016年第4期28卷 637-647页

作者：夏丹陈维山刘军考吴泽 School of Mechanical Engineering Southeast University State Key Laboratory of Robotics and System Harbin Institute of Technology

This paper studies the effect of the head swing motion on the fishlike robot swimming performance numerically. Two critical parameters are employed in describing the kinematics of the head swing： the leading edge amplitude of the head and the trailing edge amplitude of the head. Three-dimensional Navier-Stokes equations are used to compute the viscous flow over the robot. The user-defined functions and the dynamic mesh technology are used to simulate the fishlike swimming with the head swing motion The results reveal that it is of great benefit for the fish to improve the thrust and also the propulsive efficiency by increasing the two amplitudes properly. Superior hydrodynamic performance can be achieved at the leading edge amplitudes of 0.05L （ L is the fish length） and the trailing edge amplitudes of 0.08L. The unsteady flow fields clearly indicate the evolution process of the flow structures along the swimming fish. Thrust-indicative flow structures with two pairs of pressure cores in a uniform mode are generated in the superior performance case with an appropriate head swing, rather than with one pair of pressure cores in the case of no head swing. The findings suggest that the swimming biological device design may improve its hydrodynamic performance through the head swing motion.

关键词： fishlike swimming head swing motion hydrodynamic performance biological device design

来源：评论

学校读者我要写书评

暂无评论

Singularity Robust Path Planning for Real Time Base Attitude Adjustment of Free-floating Space Robot

引用

International Journal of Automation and computing 2017年第2期14卷 169-178页

作者： Cheng Zhou Ming-He Jin Ye-Chao Liu Ze Zhang Yu Liu Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

This paper presents a singularity robust path planning for space manipulator to achieve base （satellite） attitude adjustment and end-effector task. The base attitude adjustment by the movement of manipulator will save propellant compared with conventional attitude control system. A task-priority reaction null-space control method is applied to achieve the primary task of adjusting attitude and secondary task of accomplishing end-effector task. Furthermore, the algorithm singularity is eliminated in the proposed algorithm compared with conventional reaction null-space algorithm. And the singular value filtering decomposition is introduced to dispose the dynamic singularity, the unit quaternion is also introduced to overcome representation singularity. Hence, a singularity robust path planning algorithm of space robot for base attitude adjustment is derived. A real time simulation system of the space robot under Linux/RTAl （realtime application interface） is developed to verify and test the feasibility and reliability of the method. The experimental results demonstrate the feasibility of online base attitude adjustment of space robot by the proposed algorithm.

关键词： Space robot path planning base attitude adjustment task priority reaction null-space.

来源：评论

学校读者我要写书评

暂无评论

The energy-saving advantages of burst-and-glide mode for thunniform swimming

引用

Journal of Hydrodynamics 2018年第6期30卷 1072-1082页

作者： Dan Xia Wei-shan Chen Jun-kao Liu Xiang Luo School of Mechanical Engineering Southeast University State Key Laboratory of Robotics and System Harbin Institute of Technology

This paper explores the energy-saving advantages of the burst-and-glide swimming and compares it with the normal self-swimming for a thunniform swimmer. The virtual swimmer allows us to perform controlled numerical experiments by varying the swinging tail number and the duty cycle while keeping the other parameters fixed. 3-D Navier-Stokes equations are used to compute the viscous flow over the swimmer. The user-defined functions and the dynamic mesh technology are used to simulate the burst-and-glide swimming. The results show that with the increase of the swinging tail number or the duty cycle, the swimming velocity, the power and the efficiency all increase, but the velocity-power ratio decreases somewhat. Therefore, choosing smaller swinging tail number and duty cycle is beneficial in reducing the power and increasing the velocity-power ratio, and thus to obtain the same velocity, less power is consumed. And to swim the same distance, the energy can significantly be saved. The power consumption, the efficiency and the velocity-power ratio in the burst-and-glide case are 43.9%, 40.6% and 1.15 times of those in the normal swimming case, respectively. The flow structures clearly show the evolution process around the fish in the burst-and-glide swimming. The findings can be used to reasonably plan the swimming action and to take the advantage of the external flow field energy for the fishlike robot, to be more efficient and energy-saving.

关键词： Energy-saving advantages burst-and-glide mode normal self-swimming thunniform swimmer

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：