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23rd International Conference on Machine Learning and Cybernetics, ICMLC 2024

作者： Yang, Runmin Yang, Rongni Ma, Renjie Zhu, Yanzheng Shi, Peng School of Control Science and Engineering Shandong University Jinan250061 China Harbin Institute of Technology State Key Laboratory of Robotics and Systems Harbin150001 China College of Electrical Engineering and Automation Shandong University of Science and Technology Qingdao266590 China School of Electrical and Mechanical Engineering University of Adelaide AdelaideSA5005 Australia

ISBN: (纸本)9798331528041

This paper studies the stabilization problem of discrete-time two-dimensional (2-D) systems represented by Roesser based on available data. First of all, based on the pre-collected input-state data, the original system is transformed into a data-based form. Then a set is established to represent all systems capable of generating the given data, thereby indirectly stabilizing the original system by stabilizing all systems within this set. Next, by utilizing the S-procedure, sufficient conditions are established for the resultant closed-loop systems that incorporate a state feedback controller based on collected data. Finally, an example is given to demonstrate the effectiveness of the proposed approach. © 2024 IEEE.

关键词： Discrete time control systems

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Analysis of normal force of wheel-sand interaction for planetary rovers with active suspension*

Analysis of normal force of wheel-sand interaction for plane...

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IEEE International Conference on robotics and Biomimetics

作者： Zhengyin Wang Huaiguang Yang Liang Ding Qingning Lan Haibo Gao Zdravko Terze Zongquan Deng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Faculty of Mechanical Engineering and Naval Architecture University of Zagreb Zagreb Croatia

The planetary rover with active suspension can climb steeper slopes and cross bigger obstacles in a wheel-step motion mode, which enables the planetary rover to perform more complex exploration tasks. However, wheel-step motion requires coordinated movement of the suspension and the wheels: the suspension can determine the wheel's sinkage depth and translation speed. Matching up with the wheel rotation speed can actively construct the slip ratio. The forces exerted on the wheels by sand during this process are a key index for motion control. This poses new challenges to existing wheel-sand interaction models. In this paper, dynamic normal force tests are carried out. The dynamic variation of wheel normal force with slip ratio is investigated at different sinkage depths. It is found that the normal force exerted on the wheel increases firstly and then decreases with the slip ratio, and reaches the maximum value near s=0. The distributed stresses of the wheel were analysed by discrete element method (DEM) simulation, and the phenomenon of the distribution stress reconstruction of the wheel is found. Further, by analyzing the local particles in contact with the wheel, it is found that the particle movement direction and morphology vary with slip ratio. The analysis of the wheel’s normal force and the granular material variation with slip ratio provides the basis for establishing a physics-based wheel-sand interaction model.

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A simulation framework for ultrasound-guided minimally invasive robotic breast surgery

A simulation framework for ultrasound-guided minimally invas...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Zhang, Le Ye, Yanchen Niu, Baoshan Xiong, Genliang Yang, Dapeng State Key Laboratory of Robotics and System Harbin Institute of Technology Yikuang Street NanGang District HeilongJiang Harbin China School of Mechanical and Automotive Engineering Shanghai University of Engineering Science Longteng Rd 333 Shanghai201620 China

ISBN: (纸本)9781665481090

Surgical simulation plays an essential role for surgeons to familiarize themselves with surgical procedures and improve the success rate of surgery. In this paper, a flexible and easy-extendable intervention surgery simulation framework was presented, which can perform virtual simulation training and realize synchronous interaction between the real and virtual environment. In particular for breast surgery, the simulation framework was exemplified for an ultrasound-guided minimally invasive robotic breast surgery. The framework used Visual Studio®(Microsoft, USA) and Chai3D open graphics library to realize the virtual surgery environment, and integrated the anti-collision warning of the robotic arms and teleoperation communication support. A layered deformation model of breast was established based on the Mass-Spring Model to simulate the real-time deformation of breast during puncture surgery. In addition, due to the hyperelasticity and great deformation characteristics of breast soft tissue, we further used an improved meshless Radial Point Interpolation Method to improve the simulation accuracy of breast soft tissue deformation model. Finally, experiments on robot pressing a rectangular parallelepiped breast phantom were carried out to verify the simulation accuracy of the deformation model. © 2022 IEEE.

关键词： Tissue

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The Occluded Prosthetic Hand can be Perceived based on Augmented Reality technology

The Occluded Prosthetic Hand can be Perceived based on Augme...

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IEEE International Conference on robotics and Biomimetics

作者： Chunyuan Shi Zixin Wang Dapeng Yang Jingdong Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Artificial Intelligence Laboratory Harbin Institute of Technology Harbin China

ISBN: (纸本)9781665481106

In this paper, an augmented reality-based perceptual feedback method of dexterous prosthesis has been proposed, which can establish an intuitive and convenient feedback pathway and reduce the use load of prosthetic hands. The proprioception and force feedback strategy was proposed and established based on augmented reality technology. Finally, the effectiveness and feasibility of the above strategies are verified by experiments. First, the feasibility of the proprioception feedback strategy is tested, and then the force feedback strategy is tested. The experimental results show that the proposed method establishes an effective perceptual feedback closed-loop control, improving patients' cognition of the prosthesis, including force, grasping gestures and other information, and improving users' perception ability.

关键词： Visualization Biomimetics Force feedback Force Grasping Cognition Prosthetic hand

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FMRT: Learning Accurate Feature Matching with Reconciliatory Transformer

arXiv

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arXiv 2023年

作者： Zhang, Xinyu Wang, Li Jiang, Zhiqiang Dai, Kun Xie, Tao Yang, Lei Yu, Wenhao Shen, Yang Li, Jun The School of Vehicle and Mobility Tsinghua University Beijing100084 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150006 China

Local Feature Matching, an essential component of several computer vision tasks (e.g., structure from motion and visual localization), has been effectively settled by Transformer-based methods. However, these methods only integrate long-range context information among keypoints with a fixed receptive field, which constrains the network from reconciling the importance of features with different receptive fields to realize complete image perception, hence limiting the matching accuracy. In addition, these methods utilize a conventional handcrafted encoding approach to integrate the positional information of keypoints into the visual descriptors, which limits the capability of the network to extract reliable positional encoding message. In this study, we propose Feature Matching with Reconciliatory Transformer (FMRT), a novel Transformer-based detector-free method that reconciles different features with multiple receptive fields adaptively and utilizes parallel networks to realize reliable positional encoding. Specifically, FMRT proposes a dedicated Reconciliatory Transformer (RecFormer) that consists of a Global Perception Attention Layer (GPAL) to extract visual descriptors with different receptive fields and integrate global context information under various scales, Perception Weight Layer (PWL) to measure the importance of various receptive fields adaptively, and Local Perception Feed-forward Network (LPFFN) to extract deep aggregated multi-scale local feature representation. Besides, we introduce a novel Axis-Wise Position Encoder (AWPE) that perceives positional encoding as two independent keypoints encoding tasks along the row and column dimensions and utilizes two parallel network branches to decouple the X- and Y -coordinate information of keypoints, so that boosting the capability of the network to model position information for different images. Extensive experiments demonstrate that FMRT yields extraordinary performance on multiple benchmarks, including pos

关键词： Encoding (symbols)

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Open-Source Reinforcement Learning Environments Implemented in MuJoCo with Franka Manipulator

arXiv

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arXiv 2023年

作者： Xu, Zichun Li, Yuntao Yang, Xiaohang Zhao, Zhiyuan Zhuang, Lei Zhao, Jingdong The State Key Laboratory of Robotics and Systems Harbin Institute of Technology Heilongjiang Province Harbin150001 China

This paper presents three open-source reinforcement learning environments developed on the MuJoCo physics engine with the Franka Emika Panda arm in MuJoCo Menagerie. Three representative tasks, push, slide, and pick-and-place, are implemented through the Gymnasium robotics API, which inherits from the core of Gymnasium. Both the sparse binary and dense rewards are supported, and the observation space contains the keys of desired and achieved goals to follow the Multi-Goal Reinforcement Learning framework. Three different off-policy algorithms are used to validate the simulation attributes to ensure the fidelity of all tasks, and benchmark results are also given. Each environment and task are defined in a clean way, and the main parameters for modifying the environment are preserved to reflect the main difference. The repository, including all environments, is available at https://***/zichunxx/panda_mujoco_gym. Copyright © 2023, The Authors. All rights reserved.

关键词： Reinforcement learning

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Heating Patterns and Temperature Distribution of Projectile Surface in Lunar Soil Penetration

SSRN

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SSRN 2024年

作者： Chi, Cheng Jiang, Shengyuan Chi, Guanxin Tang, Junyue Xiao, Junxiao Zhu, Jiachen Chi, Runqiang Fan, Jinbiao Huang, Zexi Deng, Zongquan State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China College of Mechanical Engineering Yanshan University Qinhuangdao066004 China National Key Laboratory for Electronic Measurement Technology North University of China Taiyuan030051 China

A large quantity of friction-induced heat is generated during penetration, notably increasing the projectile's surface temperature. Considering that the temperature variation depends on the physical properties of the penetrating target, this factor can be helpful for extraterrestrial object detection. This study studied the heat generation patterns and temperature distribution on the projectile surface when penetrating the lunar soil. For discrete medium penetration, large deviations appear in temperature prediction due to particle extrusion flow. Thus, we established a heat flux density model on the projectile surface by introducing a relative velocity factor for correction. The particle flow characteristics simulation and fitting model of the introduced factor were also obtained. We constructed a theoretical relationship between the resistance and stress model parameters through dynamic modeling. Experimental projectiles recording penetration acceleration and temperature at the points of interest on the projectile surface were designed and tested to obtain recorded data. The temperature field in this process was simulated in COMSOL software to calculate the projectile surface's heat flux density and temperature distribution. The results indicate that the developed model is effective. This research infers the physical characteristics of the penetrating target under given penetration conditions and provides more dimensional information for lunar soil exploration. © 2024, The Authors. All rights reserved.

关键词： Temperature distribution

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Subsurface Damage Detection and Quantitative Prediction of Thin-Walled Complex Curved-Surface Component

SSRN

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SSRN 2024年

作者： Qin, Biao Liu, Henan Cheng, Jian Tian, Jinchuan Sun, Jiangang Zhou, Zihan Ma, Chuanzhen Chen, Mingjun State Key Laboratory of Robotics and System Harbin Institute of Technology P.O. Box 413 Heilongjiang Harbin150001 China Center for Precision Engineering Harbin Institute of Technology P.O. Box 413 Heilongjiang Harbin150001 China

The hemispherical resonant gyroscope (HRG), distinguished by its simple structure, high reliability, and remarkable precision, stands out as one of the most promising high-performance inertial navigation devices in advanced equipment. However, the core sensitive component of the HRG, known as hemispherical resonator (HSR), with a complex and small curvature structure made of fused silica, experiences subsurface damage (SSD) during the grinding process. This not only leads to brittle fracture, which affects the operational performance of the gyroscope, but also significantly hampers the polishing efficiency of the component. This study was initiated by quantitatively characterizing the SSD of various structural features of the HSR (center rod, lip edge of the spherical shell, and spherical shell). Especially, for the curved-surface of the HSR, the average deviation of SSD detection result is within 6%. Subsequently, based on the characterized SSD, the grinding damage mechanisms of the HSR was explored. The grinding surface integrity is then elucidated from the perspective of maximum undeformed chip thickness. Finally, a predictive model for the SSD depth of the HSR after ultra-precision grinding was established according to the nonlinear relationship between the surface roughness and SSD depth. The maximum deviation between the predictive and experimental values of SSD depth is 9.4%, indicating a high level of predictive accuracy. This work fills the blank in SSD detection of the HSR, laying a theoretical foundation for the high-performance manufacturing of the HSR. © 2024, The Authors. All rights reserved.

关键词： Damage detection

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Exploring Self- and Cross-Triplet Correlations for Human-Object Interaction Detection

arXiv

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arXiv 2024年

作者： Jiang, Weibo Ren, Weihong Tian, Jiandong Qu, Liangqiong Wang, Zhiyong Liu, Honghai State Key Laboratory of Robotics and System School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Science China Department of Statistics and Actuarial Science The University of Hong Kong Hong Kong

Human-Object Interaction (HOI) detection plays a vital role in scene understanding, which aims to predict the HOI triplet in the form of . Existing methods mainly extract multi-modal features (e.g., appearance, object semantics, human pose) and then fuse them together to directly predict HOI triplets. However, most of these methods focus on seeking for self-triplet aggregation, but ignore the potential cross-triplet dependencies, resulting in ambiguity of action prediction. In this work, we propose to explore Self- and Cross-Triplet Correlations (SCTC) for HOI detection. Specifically, we regard each triplet proposal as a graph where Human, Object represent nodes and Action indicates edge, to aggregate self-triplet correlation. Also, we try to explore cross-triplet dependencies by jointly considering instance-level, semantic-level, and layout-level relations. Besides, we leverage the CLIP model to assist our SCTC obtain interaction-aware feature by knowledge distillation, which provides useful action clues for HOI detection. Extensive experiments on HICO-DET and V-COCO datasets verify the effectiveness of our proposed SCTC. Copyright © 2024, The Authors. All rights reserved.

关键词： Distillation

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Formation of secondary inorganic aerosol in a frigid urban atmosphere

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Frontiers of Environmental Science & Engineering 2022年第2期16卷 39-50页

作者： Yuan Cheng Qinqin Yu Jiumeng Liu Youwen Sun Linlin Liang Zhenyu Du Guannan Geng Wanli Ma Hong Qi Qiang Zhang Kebin He State Key Laboratory of Urban Water Resource and Environment School of EnvironmentHarbin Institute of TechnologyHarbin 150090China Key Laboratory of Environmental Optics and Technology Anhui Institute of Optics and Fine MechanicsChinese Academy of SciencesHefei 230031China State Key Laboratory of Severe Weather&CMA Key Laboratory of Atmospheric Chemistry Chinese Academy of Meteorological SciencesBeijing 100081China National Research Center for Environmental Analysis and Measurement Environmental Development Center of the Ministry of Ecology and EnvironmentBeijing 100029China State Key Joint Laboratory of Environment Simulation and Pollution Control School of EnvironmentTsinghua UniversityBeijing 100084China Department of Earth System Science Tsinghua UniversityBeijing 100084China

Formation of secondary inorganic aerosol(SIA)was investigated during a six-month long heating season in harbin,*** sulfate formation was observed at high relative humidity(RH),with the same threshold RH(80%)for both colder and warmer measurement *** to wintertime results from Beijing,the threshold RH was considerably higher in harbin,whereas the RH-dependent enhancement of sulfur oxidation ratio(SOR)was less *** addition,the high RH events were rarely encountered,and for other periods,the SOR were typically as low as~***,the sulfate formation was considered inefficient in this *** excluding the several cases with high RH,both SOR and the nitrogen oxidation ratio(NOR)exhibited increasing trends as the temperature increased,with the increase of NOR being *** nitrate to sulfate ratio tended to increase with increasing temperature as *** on a semi-quantitative approach,this trend was attributed primarily to the temperature-dependent variations of precursors including SO_(2) and NO_(2).The influence of biomass burning emissions on SIA formation was also *** stronger impact of biomass burning,an enhancement in NOR was observed whereas SOR was largely *** different patterns were identified as the dominant driver of the larger nitrate to sulfate ratios measured at higher concentrations of fine particulate matter.

关键词： Haze Sulfate Nitrate Heterogeneous chemistry Biomass burning

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