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2024 IEEE International Conference on Unmanned systems, ICUS 2024

作者： Zhang, Yunfei Bian, Xinyu Sun, Yize Zhang, Zongyu Huang, Hai Yang, Xu National Key Laboratory of Autonomous Marine Vehicle Technology Harbin Engineering University Harbin China State Key Laboratory of Management and Control for Complex System Institute of Automation Chinese Academy of Sciences Beijing China

ISBN: (纸本)9798350384185

Underwater vehicle manipulator systems (UVMSs) is becoming a research hotspot in the field of marine intelligent equipment. Introducing visual feedback equipped with cameras in the loop to guide UVMS to complete the grasping has comprehensive advantages of response speed, work efficiency and intelligence. In this paper, mapping between the feature error and the motion of the UVMS generalized degrees of freedom is established to realize the suspended grasping under the coordinated motion of the vehicle body and the manipulator. Then, a UVMS motion control algorithm based on time delay estimation (TDE) is constructed for visual servo autonomous grasping process, the TDE of which is used to estimate and compensate the lumped interference in real time. The Lyapunov theory is applied to analyze its stability and its control performance is verified through simulation experiments. The simulation results shew the effectiveness of the proposed visual servo control with TED method based on line features. © 2024 IEEE.

关键词： Visual servoing

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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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A novel design of force-feedback master manipulator for remote ultrasound scanning

A novel design of force-feedback master manipulator for remo...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Li, Changle Zhang, Chentao Yu, Chuan You Zhang, Leifeng Liu, Gangfeng Zhao, Jie Harbin Institute of Technology State Key Laboratory of Robotics and System No.2 YiKuang Street NanGang District Harbin HeiLongJiang China

ISBN: (纸本)9781665481090

This paper presents a novel six-degree-of-freedom force feedback master manipulator for remote ultrasound scanning. Firstly, a new configuration based on a planar five-link mechanism is proposed, taking into account the practical needs of medical ultrasound scanning. This configuration has two operating modes and can provide three degrees of force feedback. Secondly, a hybrid force/position master-slave control system based on the kinetic model force feedback method is built, which can realize incremental master-slave control, variable proportional control, force feedback, and other functions. Finally, the positional accuracy, gravity balance effect, and force feedback performance of this master manipulator are verified through experiments. Experiments show that the average position error of this novel force feedback master manipulator is 1.18 mm, the average attitude error expressed in terms of Euler angles is 0.83°, and the maximum feedback force that can be provided is 12.1 N, which satisfies the requirements of ultrasonic scanning. © 2022 IEEE.

关键词： Feedback

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Squeezing More Past Knowledge for Online Class-Incremental Continual Learning

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IEEE/CAA Journal of Automatica Sinica 2023年第3期10卷 722-736页

作者： Da Yu Mingyi Zhang Mantian Li Fusheng Zha Junge Zhang Lining Sun Kaiqi Huang the State Key Laboratory of Robotics and System Harbin Institute of Technology(HIT)Harbin 150080China Center for Research on Intelligent System and Engineering Institute of AutomationChinese Academy of Sciences(CASIA)Beijing 100190 School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049China Center for Research on Intelligent System and Engineering Institute of AutomationChinese Academy of Sciences(CASIA)Beijing 100190the School of Artificial IntelligenceUniversity of Chinese Academy of SciencesBeijing 100049 the CAS Center for Excellence in Brain Science and Intelligence Technology Shanghai 200031China IEEE

Continual learning(CL)studies the problem of learning to accumulate knowledge over time from a stream of data.A crucial challenge is that neural networks suffer from performance degradation on previously seen data,known as catastrophic forgetting,due to allowing parameter *** this work,we consider a more practical online class-incremental CL setting,where the model learns new samples in an online manner and may continuously experience new ***,prior knowledge is unavailable during training and *** works usually explore sample usages from a single dimension,which ignores a lot of valuable supervisory *** better tackle the setting,we propose a novel replay-based CL method,which leverages multi-level representations produced by the intermediate process of training samples for replay and strengthens supervision to consolidate previous ***,besides the previous raw samples,we store the corresponding logits and features in the ***,to imitate the prediction of the past model,we construct extra constraints by leveraging multi-level information stored in the *** the same number of samples for replay,our method can use more past knowledge to prevent *** conduct extensive evaluations on several popular CL datasets,and experiments show that our method consistently outperforms state-of-the-art methods with various sizes of episodic *** further provide a detailed analysis of these results and demonstrate that our method is more viable in practical scenarios.

关键词： Catastrophic forgetting class-incremental learning continual learning(CL) experience replay

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Dynamic Finite Element Modeling and Simulation of Soft Robots

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Chinese Journal of Mechanical Engineering 2022年第2期35卷 45-55页

作者： Liang Ding Lizhou Niu Yang Su Huaiguang Yang Guangjun Liu Haibo Gao Zongquan Deng State Key Laboratory of Robotics and Systems Harbin Institute of TechnologyHarbin 150001China Department of Aerospace Engineering Ryerson UniversityTorontoON M5B 2K3Canada

Soft robots have become important members of the robot community with many potential applications owing to their unique flexibility and security embedded at the material *** increasing number of researchers are interested in their designing,manufacturing,modeling,and ***,the dynamic simulation of soft robots is difficult owing to their infinite degrees of freedom and nonlinear characteristics that are associated with soft materials and flexible geometric *** this study,a novel multi-flexible body dynamic modeling and simulation technique is introduced for soft *** actuators for soft robots are modeled in a virtual environment,including soft cable-driven,spring actuation,and pneumatic driving.A pneumatic driving simulation was demonstrated by the bending modules with different materials.A cable-driven soft robot arm prototype and a cylindrical soft module actuated by shape memory alley springs inspired by an octopus were manufactured and used to validate the simulation model,and the experimental results demonstrated adequate *** proposed technique can be widely applied for the modeling and dynamic simulation of other soft robots,including hybrid actuated robots and rigid-flexible coupling *** study also provides a fundamental framework for simulating soft mobile robots and soft manipulators in contact with the environment.

关键词： Soft robot Finite-element modeling Dynamic simulation

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A Time-Optimal Trajectory Planning Algorithm for Six-Degree-of-Freedom Robots Based on NURBS Curves

A Time-Optimal Trajectory Planning Algorithm for Six-Degree-...

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International Conference on Control, Automation and robotics (ICCAR)

作者： Hao Hong Minxiu Kong Jiawang Wang Qianjiang Wang School of Mechatronics Engineering Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China

ISBN: (数字)9798350373172

ISBN: (纸本)9798350373189

In this paper, we research and analyse the practical needs of robotic arm to complete the complex path planning of robotic arm and smooth transition of multi-attitude in the shortest time under the premise of satisfying the dynamics constraints, and put forward the time-optimal trajectory planning based on NURBS curves and multi-attitude interpolation algorithm based on quaternion with NURBS curves. Using the complex nature of quaternions, the quaternions are converted into three-dimensional space points for curve interpolation, and finally converted back to quaternions to achieve the second-order continuity of multi-gesture interpolation; a time-optimal trajectory planning algorithm based on NURBS curves is designed, which discretises the curves, and fits the NURBS curves using the discrete points. At the same time, the optimal rate solution under all the constraints is calculated point by point according to the discrete points on the motion path, and the optimal velocity curve satisfying the dynamics constraints is obtained, so as to achieve the time-optimal trajectory planning. Finally, the feasibility of the designed trajectory planning algorithm is verified in the simulation software and experimental platform, and it is proved that the algorithm can effectively improve the running speed by at least 30%.

关键词： Surface reconstruction Interpolation Trajectory planning Service robots Quaternions Heuristic algorithms Software algorithms

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A WLS-Based Step-by-Step Identification Method for Industrial Robot Dynamics Parameters

A WLS-Based Step-by-Step Identification Method for Industria...

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International Conference on Control, Automation and robotics (ICCAR)

作者： Qianjiang Wang Mingxiu Kong Chuancheng Bian Hao Hong State Key Laboratory of Robotics and System School of Mechatronics Engineering Harbin Institute of Technology Harbin China

ISBN: (数字)9798350373172

ISBN: (纸本)9798350373189

In order to improve the accuracy of robot dynamics parameter identification, this paper designs a step-by-step identification method based on weighted least squares. The robot dynamics model is first linearized to obtain the minimum parameter set. Subsequently, the friction model is built separately and experiments are designed to recognize the joint friction parameters first. Based on this, the excitation trajectory of finite term Fourier series is designed and optimized and data are collected. The joint moments obtained from the difference between the overall experimentally collected moments and the calculated friction moments are used to obtain the complete robot dynamics parameters based on weighted least squares identification. Comparison of the designed overall identification experiments shows that the total moment residuals of this method are reduced by 35.52% compared with the one-time identification method, which proves the effectiveness of this method.

关键词： Parameter estimation Accuracy Automation Service robots Friction Industrial robots Kinetic theory

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Smoke Attention Based Laparoscopic Image Desmoking Network with Hybrid Guided Embedding

Smoke Attention Based Laparoscopic Image Desmoking Network w...

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IEEE International Conference on robotics and Biomimetics

作者： Ziteng Liu Wenpeng Gao Jiahua Zhu Bainan Liu Yili Fu School of Life Science and Technology Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

Surgical smoke can obscure the surgeon's line of sight during the laparoscopic procedure, potentially posing risk to the patients. Robot assisted-minimally invasive surgery (MIS) also faces such a challenge, which also hinders its autonomous operation. This paper proposes a desmoking method for laparoscopic surgery smoke removal. As the surgical smoke is hetergeneous, a two-stage network is developed to estimate the smoke distribution and reconstruct the corresponding smoke-free scene with the hybrid embedding guidance, including the estimated smoke mask and the initial image. The network is designed following the concept of the atmospheric scattering model, which makes the network more explainable. To qualitatively and quantitatively evaluate the proposed method, a synthetic laparoscopic dataset is generated and a real laparoscopic dataset is obtained. Experimental results show that the Peak Signal to Noise Ratio (PSNR) of the proposed method is 1.9% higher than that of the DehazeFormer, while the run-time is shorter more than 40.9%. The proposed method is comparable to or even outperforms the state-of-the-arts in desmoking quality and computation cost.

关键词： Laparoscopes Training PSNR Minimally invasive surgery Atmospheric modeling Scattering Real-time systems Robots Videos Testing

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SoSpider:A bio-inspired multimodal untethered soft hexapod robot for planetary lava tube exploration

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Science China(Technological Sciences) 2023年第11期66卷 3090-3106页

作者： NIU LiZhou DING Liang ZHANG ShengJie YANG HuaiGuang GAO HaiBo DENG ZongQuan LIU GuangJun HOSSAIN Mokarram State Key Laboratory of Robotics and Systems Harbin Institute of TechnologyHarbin 150001China Department of Aerospace Engineering Ryerson UniversityToronto ON M5B 2K3Canada Zienkiewicz Institute for Modelling Data and AISwansea UniversitySwansea SA18ENUnited Kingdom

Soft robots have tremendous potential for applications in various fields,owing to their safety and flexibility embedded at the material *** robots,especially bio-inspired soft legged robots,have become one of the most active fields of current research in robotics thanks to their superior mobility and ability to face complex ***,it is arduous to establish a dynamic simulation model for soft robots,owing to their hyper-redundant degrees of freedom,hyper-elasticity,and nonlinearity of their soft *** this study,we designed,simulated,and fabricated a hexapod robot that achieves walking,crawling,pronking,and rolling with wheeled legs plus a soft body capable of shape change.A robot prototype was fabricated using 3D printing technology and soft silicone pneumatic ***,battery power,and control boards were integrated into the body of the robot for untethered *** have explored the capabilities of the robot in different conditions,especially in scenarios that simulate lunar and Martian environments,demonstrating the motion performance of the *** results have shown promising potentials of the developed robot for future applications in planetary lava tube *** experimental and simulation results also show good agreements that indicate the potential predictive roles of simulation tools for soft robot design,planning,and control.

关键词： multimodal soft robot pneumatic simulation planetary exploration

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A Novel Approach for Solving Time-Varying Linear Equations and Its Application in Motion Tracking of Redundant Robots

A Novel Approach for Solving Time-Varying Linear Equations a...

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Frontiers of robotics and Software Engineering (FRSE), International Conference on

作者： Hong Yin Hongzhe Jin Jie Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Solving time-varying linear equations is a common problem in many fields. In this article, a novel approach is proposed based on the cost function constructed by the mixed error, which is made up of the residual error and its integration. The merits of the novel approach include high accuracy, noise immunity, and asymptotic convergence. Since the derivative information of time-varying signals is used in the proposed method, a proportional-integral differentiator is designed based on the mixed estimation error for the first derivative estimation. The proposed differentiator has a high degree of precision, asymptotic convergence, and no chattering. In addition, theoretical analyses prove the convergence of the proposed optimal strategy and differentiator. Simulation results validate the effectiveness and superiority of the proposed strategy and the designed differentiator. Finally, the proposed approach is employed in the motion tracking of redundant robots.

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