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International Conference on Mechanical Design, ICMD 2023

作者： Guo, Weiming Xiao, Hong Guo, Hongwei Tao, Jianguo Liu, Rongqiang State Key Laboratory of Robotics Harbin Institute of Technology Harbin150001 China

ISBN: (纸本)9789819709212

Inspired by the space tessellation structure, this paper presents an innovative rigid continuous deformation mechanism (RCDM) by combining the unique properties of tetrahedron and octahedron shapes. The proposed mechanism exhibits multi degrees of freedom, including expansion, bending, and twisting, creating a continuous deformation surface akin to a flexible mechanism. Furthermore, the resulting deformation surface has high rigidity while easily seamlessly integrating with flexible materials as a supportive structure. Firstly, the structural design of this novel mechanism is introduced. Secondly, the mathematical model of the mechanism is established, analyzing its degree of mobility using the principles of screw theory. A comprehensive kinematics model is constructed to streamline the deformation process alongside a control strategy based on the deformation demand. Finally, a prototype is built to prove the feasibility of the mechanism deformation. The results demonstrate the spatial continuous deformation potential of the proposed mechanism, which holds promise for applications in space capture and morphing skeleton. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Kinematics

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A Braille Reading system Based on Electrotactile Display With Flexible Electrode Array

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IEEE/CAA Journal of Automatica Sinica 2022年第4期9卷 735-737页

作者： Ziliang Zhou Yicheng Yang Honghai Liu IEEE the State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University the State Key Laboratory of Robotics and Systems Harbin Institute of Technology Shenzhen

Dear editor,Due to visual impairment and lack of social attention,the reading problem of the blind has not been well *** existing Braille reading devices still have many problems and are not accepted by the *** paper developed a portable Braille reading system based on electrotactile display *** proposed system is composed of a six-channel electrotactile stimulator,a flexible electrode array for Braille display and a graphical user interface(GUI)for monitoring and *** on the flexibility of the system,two Braille reading strategies have been designed:spatial mode and sequential *** system was preliminary tested by six sighted *** results showed that subjects were able to recognize Braille characters with more than 80%accuracy within less than 10 seconds for the initial *** to existing Braille reading systems,this system is portable,wearable and flexible in control.

关键词： portable editor Bra

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FWAF-VID: A Flapping-Wing Aggressive Flight Benchmark Dataset for Visual-Inertial Localization

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IEEE robotics and Automation Letters 2025年第6期10卷 6328-6335页

作者： Jiang, Jizhou Pan, Erzhen Xu, Wenfu Sun, Wei Ye, Jingyang Harbin Institute of Technology School of Robotics and Advanced Manufacture Shenzhen518055 China Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Shenzhen518055 China Guangdong Biomimetic Intelligent Unmanned System Engineering Technology Research Center Shenzhen518052 China

Accurate state estimation of micro aerial vehicles (MAVs) in high-speed and dynamic environments poses a significant challenge for visual-inertial odometry (VIO) algorithms. Flapping-wing aerial vehicles (FWAVs), as an emerging flight platform, have attracted significant attention for stealth capabilities and efficient flight characteristics. Despite the availability of numerous MAV visual-inertial datasets for six-degree-of-freedom (6-DoF) state estimation, these datasets are not applicable for FWAVs with pronounced vibrations and agile maneuverability. To address this gap, we propose a large-scale flapping-wing aggressive flight visual-inertial dataset FWAF-VID. It contains diverse integrations of synchronized onboard cameras and IMU sensors. A total of 28 sequences include static flapping, calibration, and real-world flights collected in outdoor and indoor environments. The 17 flight sequences feature variations in illuminations, speeds, trajectories, camera perspectives, and flight modalities. We provide precisely aligned ground truth RTK and UWB measurements for algorithm evaluation. Furthermore, a comprehensive benchmark comparison is conducted, qualitatively and quantitatively evaluating the positioning accuracy of state-of-the-art VIO algorithms. The experimental results indicate that despite the degradation in localization accuracy in high-dynamic environments, FWAF-VID can effectively support the further development of VIO algorithms for FWAVs. To the best of our knowledge, this is the first onboard benchmark dataset tailored for aggressive flight in flapping-wing airborne platforms. © 2025 IEEE.

关键词： Micro air vehicle (MAV)

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A fast scanning strategy based on trajectory shaping for atomic force microscopy

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Nano Research 2022年第7期15卷 6438-6446页

作者： Yinan Wu Yingao Chang Yongchun Fang Zhi Fan Institute of Robotics and Automatic Information System College of Artificial IntelligenceNankai UniversityTianjin 300350China Tianjin Key Laboratory of Intelligent Robotics Nankai UniversityTianjin 300350China

To improve the scanning speed of an atomic force microscopy(AFM),a smooth scanning pattern is elaborately devised via trajectory shaping in this paper,so as to achieve fast imaging without hardware ***,in the proposed scanning method,the piezoelectric actuator tracks a well-designed smooth periodic signal in x-direction,and simultaneously tracks a step signal in *** advantage of the proposed method is that it does not require additional data reprocessing to construct the morphology of the sample surface,while significantly increasing the scanning bandwidth restricted by the raster scanning ***,to directly utilize the height data collected by scanning to produce the sample morphology,the forward process in the common raster scanning mode is retained in the proposed method,the tracking signal in the forward process is thus set to a ramp function in *** addition,to ensure the continuity and smoothness of the entire tracking signal in x-direction,a segment of a sine curve is uniquely determined as the backward tracking signal by position and acceleration constraints,so as to ensure that the forward and backward curves are continuous and acceleration-continuous at the intersection ***,the frequency spectrum analysis of the designed smooth signal is carried out to exhibit the depressed amplitudes of high-frequency components,which demonstrates that the proposed method is able to reduce the resonance in AFM high-speed scanning,so as to improve the capacity of rapidly generating high-quality ***,convincing comparison experiments are implemented to verify the imaging performance of the designed scanning algorithm.

关键词： atomic force microscopy fast scanning smooth signal trajectory shaping

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Generating Socially Acceptable Robot Poses for Approaching Conversational Groups with Generative Adversarial Networks 42

Generating Socially Acceptable Robot Poses for Approaching C...

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42nd Chinese Control Conference, CCC 2023

作者： Zhao, Kunxu Hu, Zhengxi Liu, Jingtai Institute of Robotics and Automatic Information System Nankai University Tianjin Key Laboratory of Intelligent Robotics Tianjin300350 China

ISBN: (纸本)9789887581543

Service robots should navigate to the conversation group in a safe and socially acceptable way to interact with humans, not only to ensure safety and avoid collisions, but also to take into account human comfort. Therefore, it is crucial for robots to actively generate a target pose that conforms to social rules and satisfies human comfort feelings. At present, most methods focus on human-aware navigation and do not take into account the final pose of robots approaching the group. The target point is still manually selected by human beings, which is not conducive to improving the intelligence of robots. In this paper, we propose a target pose generation architecture based on generative adversarial networks for robots approaching conversational groups. We take into account not only the environmental information in the map, so that the robot?s target pose can avoid obstacles, but also the social etiquette of the human group, so that the robot will not disrupt the human group relationship. Our architecture uses graph convolutional neural networks to extract high-dimensional features from conversation groups, taking into account human location and gaze information. We performed a comparison experiment with a state-of-the-art pose generation model on the Cocktail Party dataset, and the results showed that our model outperformed the baseline. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Generative adversarial networks

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Enhancement of Pinching Grasping Robustness Using a Multi-Structure Soft Gripper

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Journal of Shanghai Jiaotong university(Science) 2023年第3期28卷 307-311页

作者：李林霖高飞扬郑雄飞张黎明李世杰王赫然 State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China

Recently, soft grippers have garnered considerable interest in various ﬁelds, such as medical rehabilitation, due to their high compliance. However, the traditional PneuNet only reliably grasps medium and largeobjects via enveloping grasping (EG), and cannot realize pinching grasping (PG) to stably grasp small and thinobjects as EG requires a large bending angle whereas PG requires a much smaller one. Therefore, we proposeda multi-structure soft gripper (MSSG) with only one vent per ﬁnger which combines the PneuNet in the proximal segment with the normal soft pneumatic actuator (NSPA) in the distal segment, allowing PG to be realizedwithout a loss in EG and enhancing the robustness of PG due to the height difference between the distal andproximal segments. Grasping was characterized on the basis of the stability (ﬁnger bending angle describes) androbustness (pull-out force describes), and the bending angle and pull-out force of MSSG were analyzed using theﬁnite element method. Furthermore, the grasping performance was validated using experiments, and the resultsdemonstrated that the MSSG with one vent per ﬁnger was able to realize PG without a loss in EG and effectivelyenhance the PG robustness.

关键词： soft robotic grasping multi-structure pinching grasping(PG) robustness

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Research on Multisensor Fusion state Estimation of Automatic Navigation Vehicle Based on RNN Model 13th

Research on Multisensor Fusion State Estimation of Automatic...

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13th International Conference on Frontier Computing, FC 2023

作者： Zhang, Liyuan Cui, Zhiquan Wang, Honggang Harbin Institute of Technology Shandong Weihai264209 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

ISBN: (纸本)9789819992980

Multi sensor fusion state estimation of autonomous navigation vehicle based on RNN model. Multi sensor fusion is a process of combining information from different sensors to estimate a single value. In this paper, we propose a recursive neural network (RNN) model to estimate the state of multiple sensors. This method uses RNN architecture with two hidden layers and one output layer to combine sensor data. The input data is first divided into a sequence and then input into the RNN model to predict the output. We use three types of sensors: IMU, LIDAR and GPS. First, the RNN model is trained using three sensors for the navigation system. Then, we use this trained model to estimate the current position using only one sensor data. Finally, we combine the data of all three sensors to obtain the final estimated position of the vehicle at any given time step. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd 2024.

关键词： Neural network models

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Research on Size Calibration Algorithm of Dark-field Flaw on Optics Surface Based on Convolutional Neural Network

Research on Size Calibration Algorithm of Dark-field Flaw on...

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2024 Applied Optics and Photonics China: Optical Sensing, Imaging Technology, and Applications, AOPC 2024

作者： Wang, Bei Yin, Zhaoyang Zhou, Shicheng Zhao, Linjie Chen, Mingjun Cheng, Jian School of Mechatronics Engineering Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and System Harbin Institute of Technology 150001 China

ISBN: (数字)9781510687820

ISBN: (纸本)9781510687813

Optics in high-power solid-state laser devices will be damaged and adhere to contaminates on the surface during manufacturing and operation, which reduces the service life. To facilitate the positioning and recognition of the flaw (damage and contaminates) in the process of automatic repair, the dark-field flaw size calibration algorithm was studied. In this paper, a flaw size calibration model based on convolutional neural network was established. The size, exposure time, and loss function of damage and contaminate were optimized respectively. The training parameter of the damage regression model is determined to be size of less than 500μm, 30ms of exposure time and SmoothL1 loss function, and the parameter of contaminate is 0-100μm, 20ms of exposure and SmoothL1 loss function. After data balancing, the calibration precision was improved. To improve the calibration consistency of the full-size segment, a comprehensive size calibration strategy is proposed. The CNN regression algorithm is used for small size, and the pixel-level calibration algorithm is used for large size. Compared with the single regression calibration algorithm, the relative error and absolute error of the calibration results of small damage ( © 2024 SPIE.

关键词： Solid state lasers

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TMPU: A Framework for Terrain Traversability Mapping and Planning in Uneven and Unstructured Environments 42

TMPU: A Framework for Terrain Traversability Mapping and Pla...

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42nd Chinese Control Conference, CCC 2023

作者： Bi, Qingchen Zhang, Xuebo Zhang, Shiyong Pan, Zhangchao Wang, Runhua Nankai University Institute of Robotics and Automatic Information System Tianjin Key Laboratory of Intelligent Robotics Tianjin300350 China

ISBN: (纸本)9789887581543

In this paper, we propose an autonomous navigation framework (TMPU) for ground mobile robots in uneven and unstructured environments. The novelty of this framework is twofold: 1) The terrain traversability mapping module is proposed to build a low-resolution 2D (Two-Dimensional) occupancy map by plane analysis based on plane slope and terrain roughness. 2) A multi-resolution motion planning framework is proposed to obtain a high-resolution traversable corridor by A∗ low-resolution search. Then an improved global planning H-lattice planning is performed on the traversable corridor. Furthermore, extensive experiments are conducted to demonstrate the feasibility and safety of the proposed autonomous navigation framework. All test results show that the computing time consumption is reduced by up to 97.1%, compared with an advanced 3D navigation framework. (Supplemented video link: https://***/rvYoyR3imEk) © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Motion planning

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An adaptive Kalman filter for physiological tremor suppression in robot-assisted minimally invasive surgery

An adaptive Kalman filter for physiological tremor suppressi...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Yang, Daolong Jiang, Li Xu, Kun Robotics Institute of School of Mechanical Engineering and Automation Beijing100191 China Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150008 China

ISBN: (纸本)9798350325706

Physiological tremors of surgeons' hands bring vibration to the tip of surgical instruments, which may severely damage the accuracy of surgical procedures and even put patients' lives at risk. Thus robot-assisted surgery using a teleoperation system was introduced to solve this problem. Many filter algorithms were implemented into the robot-assisted surgery system to suppress the inevitable tremors, but always overlooking the traits of hand motion. An innovation/residual-based floating forgetting-factor adaptive Kalman filter (IFFAKF) is proposed to address this problem. A floating forgetting-factor is brought into the innovation/residual-based adaptive estimation algorithm to adjust the process noise covariance (Q) and measurement noise covariance (R) of the system, thus generating estimation of voluntary hand movement and suppressing the vibration at the tip of the surgical instrument caused by the physiological tremor during surgeries. The proposed filter has been contrasted with various filters in simulations and experiments. The results confirm that the proposed filter has obvious advantages in terms of time delay, estimation error, and tremor suppression performance. © 2023 IEEE.

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