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8th International Conference on Control, Automation and robotics, ICCAR 2022

作者： Xia, Yi Zhao, Lijun Liu, Zhiheng Zhu, Kui Harbin Institute Of Technology State Key Laboratory Of Robotics And System Harbin China

ISBN: (纸本)9781665481168

With the development of intelligent manufacturing, industrial robots are more and more widely used in machining operations, and polishing workpiece with free-form surfaces is one of them. The curvature of the free-form surface is variable, which means that the robot needs to have good kinematics when polishing, at the same time, the singularity of the robot needs to be avoided during processing. Therefore, it is necessary to select the regions with better kinematic performance for robot machining. For this reason, based on the kinematic performance evaluation index of the robot, a method for optimizing the machining position of the wheel hub is proposed in this paper. First, a kinematic index based on the Jacobian of the robot is introduced in detail, and the kinematic performance map is drawn according to the forgoing index. Then, the initial position of the workpiece with respect to the robot is determined through the kinematic performance map. Finally, combining the index with the characteristics of wheel hub polishing, the machining position of the robot for polishing the wheel hub is settled. © 2022 IEEE.

关键词： Kinematics

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MATD3-Based End-Edge Collaborative Resource Optimization for NOMA-Assisted Industrial Wireless Networks

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Computers, Materials & Continua 2025年第2期82卷 3203-3222页

作者： Ru Hao Chi Xu Jing Liu College of Information Engineering Shenyang University of Chemical TechnologyShenyang110142China State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang110016China Key Laboratory of Networked Control Systems Chinese Academy of SciencesShenyang110016China

Non-orthogonal multiple access (NOMA) technology has recently been widely integrated into multi-access edge computing (MEC) to support task offloading in industrial wireless networks (IWNs) with limited radio resources. This paper minimizes the system overhead regarding task processing delay and energy consumption for the IWN with hybrid NOMA and orthogonal multiple access (OMA) schemes. Specifically, we formulate the system overhead minimization (SOM) problem by considering the limited computation and communication resources and NOMA efficiency. To solve the complex mixed-integer nonconvex problem, we combine the multi-agent twin delayed deep deterministic policy gradient (MATD3) and convex optimization, namely MATD3-CO, for iterative optimization. Specifically, we first decouple SOM into two sub-problems, i.e., joint sub-channel allocation and task offloading sub-problem, and computation resource allocation sub-problem. Then, we propose MATD3 to optimize the sub-channel allocation and task offloading ratio, and employ the convex optimization to allocate the computation resource with a closed-form expression derived by the Karush-Kuhn-Tucker (KKT) conditions. The solution is obtained by iteratively solving these two sub-problems. The experimental results indicate that the MATD3-CO scheme, when compared to the benchmark schemes, significantly decreases system overhead with respect to both delay and energy consumption.

关键词： Industrial wireless networks(IWNs) multi-access edge computing(MEC) non-orthogonal multiple access(NOMA) task offloading resource allocation

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Submarine Cable Detection Based on LSR and Image Clustering 5

Submarine Cable Detection Based on LSR and Image Clustering

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5th International Conference on Computer Vision, Image and Deep Learning, CVIDL 2024

作者： Yu, Siquan Li, Wentao Zhang, Liheng Shenyang Institute of Automation Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China

ISBN: (纸本)9798350373820

Submarine cable is an important carrier for intercontinental communication. Due to the unique nature of the usage environment, submarine cables require regular inspections to ensure normal operation. Usually, there are three methods used for underwater cable detection, including divers, fish towing, and cable robots. The drawbacks of these inspection methods include the need for a large amount of manpower, material resources, and financial resources. Because the depth of the operation is limited, with potential personnel risks. The limited detection range is not suitable for large-scale inspections and other issues. In order to solve the problems, autonomous underwater vehicles (AUVs) become popular tools to detect submarine cable. AUVs carry various detection equipment to achieve rough and precise exploration of submarine cables. Due to the weak impact of sea conditions on underwater operations, AUVs inspection of submarine cable can be suitable for the vast majority of scenarios. They can not only discover submarine cable on a large scale, but also can closely track and detect submarine cable. This paper proposes a method for AUV to autonomously identify submarine cable. Specifically, the proposed method uses Gabor filter to filter side scan sonar (SSS) images, and designs a scoring mechanism to select the corresponding largest image block as a suspected submarine cable. The submarine cable is determined using image clustering and position prior. In this paper, we conduct extemsive experiments to verify the effectiveness of the proposed algorithm. © 2024 IEEE.

关键词： Autonomous underwater vehicles

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A novel piezoelectric actuated micro-tweezer with force sensing for optical fiber manipulation

A novel piezoelectric actuated micro-tweezer with force sens...

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2023 IEEE International Conference on Real-Time Computing and robotics, RCAR 2023

作者： Zhao, Haoxiang Rong, Haoran Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China Heilongjiang University of Science and Technology Harbin China

ISBN: (纸本)9798350327182

With the development of micro-electromechanical systems, micro-manipulation robots are extensively used in micro-nano manufacturing due to their high precision. As the core component of the MEMS, the micro-tweezers which are driven by PZT, ultrasonic motors to grasp millimeter and micron objects have developed rapidly. However, it is pretty tough for these tweezers to attain bendy gripping of objects due to the lack of sensors at the cease of the tweezer. Therefore, a force-sensing micro-tweezer with micro-operating device is designed in this paper, which is appropriate for the clamping of optical fibers of different diameters and controlled with the aid of a single-chip microcomputer. The working principle is that the certain opening at the end of the micro-tweezer is closed when the PZT outputs a tiny displacement which is amplified through the two-stage displacement amplifying mechanism, at some stage in which the PWM sign generated by using the controller and amplified by means of the signal amplifier is transmitted in this device and used to control the PZT. To enforce the function of the pressure feedback grasping of optical fibers of distinctive diameters, the sign generated by the pressure sensor at the end of the micro-tweezer is despatched to the controller after the fiber is being clamped. In this paper, the design, simulation and evaluation of the micro-tweezer, the setup and calibration of the system, and the experiments and performance assessments of the micro-tweezer are carried out. The results exhibit that the micro-tweezer can clamp the fiber with diameter of 100-300μm precisely with its output displacement at 360μm, force-sensing resolution accuracy at 9.8mN, and the clamping force at 0.392N. The force-sensing device now not only has a small volume, but also realizes the speedy replacement of a number of components, which advantage it to be widely-used in future micro-tweezers application scenario. © 2023 IEEE.

关键词： MEMS

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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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Numerical simulation and experimental research on the wheel brush sampling process of an asteroid sampler

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Frontiers of Mechanical Engineering 2023年第2期18卷 205-226页

作者： Haitao LUO Qiming WEI Yuxin LI Junlin LI Wei ZHANG Weijia ZHOU State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China School of Mechanical Engineering Shenyang Ligong UniversityShenyang 110159China

To examine the environmental characteristics of the microgravity force and the weathered layer on an asteroid surface,a symmetric wheel brush asteroid sampler is proposed for the collection of particles on the asteroid *** study the influence of the wheel brush rotation speed on the sampling efficiency and the driving torque required for the wheel brush,the contact dynamics model between particles and sampling wheel brushes is established and a simulation and experimental verification of the sampling process are *** parameter calibration of the sampled particles is studied first,and the calibrated particle parameters are used in the numerical simulation of the sampling *** sampling results and the particle stream curves are obtained for the working conditions of different rotation speeds,and the effects of different parameter settings on the sampling efficiency are *** addition,a set of rotating symmetrical sampling wheel brush devices is built for the ground test,and the dynamic torque sensor is used to test the torque change of the wheel brush during the sampling *** relationship between the speed of the wheel brush and the driving torque of the wheel brush motor is determined by comparing the simulation results with the test *** indicate that when the rotating speed of the wheel brush is faster,the sampling efficiency is higher,and the driving torque required for the sampling wheel brush is ***,a numerical simulation analysis of the sampling process of the wheel brush sampler in a microgravity environment is conducted to determine the optimal speed condition,and the brushing test of the wheel brush sampler in the microgravity environment is verified with the drop tower *** research proposes the structural optimization design and motor selection of a wheel brush asteroid sampler,which provides important reference value and engineering significance.

关键词： asteroid sampling wheel brush sampler discrete element method parameter calibration experimental research

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S2H-GNN: Learning Soft to Hard Feature Matching with Sparsified Graph Neural Network

S2H-GNN: Learning Soft to Hard Feature Matching with Sparsif...

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2023 IEEE International Conference on Real-Time Computing and robotics, RCAR 2023

作者： Xie, Tao Li, Ruifeng Jiang, Zhiqiang Dai, Kun Wang, Ke Zhao, Lijun Li, Shuozhan Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150006 China -HIT Research Institute of Engineering and Technology Quanzhou China

ISBN: (纸本)9798350327182

In this work, we introduce a soft-to-hard network (S2H-GNN) for precise local feature matching between image pairs. The core of S2H-GNN is a weighted context aggregation algorithm that enables nodes to receive information from their neighbors in order to form a more global understanding. S2HGNN leverages a sparsified graph neural network to enhance the features, consisting of the following modules alternately: (1) Inducing Point Initial Module that uses cosine correlation to identify highly scored keypoints as Inducing points. (2) Message Passing Module that integrates the features of original keypoints into those of Inducing points, which are further leveraged to exchange messages through self attention and cross attention. (3) Attention Upsample Module that propagates the feature of Inducing points to that of original keypoints, obtaining discriminative feature representation. Additionally, we propose an assignment layer to obtain a soft assignment matrix, which views feature matching as a graphy matching problem. Finally, we introduce a novel gap loss to guide S2H-GNN in learning a discriminative cognition of matching and non-matching keypoints, ultimately obtaining the hard assignment matrix. Experimental results demonstrate that S2H-GNN achieves comparable or higher performance in image matching and homography estimation tasks. © 2023 IEEE.

关键词： Graph neural networks

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蚯蚓直线运动的三轴地面反作用力:测量、分析和对机器人建模的影响

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Acta Mechanica Sinica 2024年第2期40卷 1-14页

作者：方虹斌师瑞徐鉴 Institute of AI and Robotics State Key Laboratory of Medical NeurobiologyMOE Engineering Research Center of AI&RoboticsFudan UniversityShanghai200433China

蚯蚓在狭窄受限环境中具有良好的移动性,但其在运动过程中与地面的三轴反作用力还未被深入研究.本文探讨了蚯蚓在直线运动过程中的三轴地反力特征及其对机器人建模的影响.具体地,本研究设计了一个基于应变片的三轴微型测力板来测量蚯蚓(... 详细信息

蚯蚓在狭窄受限环境中具有良好的移动性,但其在运动过程中与地面的三轴反作用力还未被深入研究.本文探讨了蚯蚓在直线运动过程中的三轴地反力特征及其对机器人建模的影响.具体地,本研究设计了一个基于应变片的三轴微型测力板来测量蚯蚓(***)在直线运动时的三轴地反力.通过建立地反力的时间历程与运动视频的对应关系,将蚯蚓的周期性运动划分为三个阶段,并从蚯蚓身体变形的角度解析了地反力在三个阶段的力学特征.本研究还对蚯蚓的地反力特征进行了统计分析,并建立了蚯蚓直线运动过程的阻力系数模型.以此为基础,本文还提出了与机器人节段/单元变形相关的阻力系数模型,为离散型和连续型仿蚯蚓机器人的动力学建模提供基础.本研究首次对蚯蚓运动过程中的mN级三轴地反力进行了测量、分析和建模,研究结果对蚯蚓运动生物力学、仿蚯蚓移动机器人设计和机器人-环境接触界面调控等具有重要的指导意义.

关键词：移动机器人直线运动运动视频运动生物力学应变片周期性运动环境接触界面调控

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Obstacle Identification Based on Deep Learning for Inspection Robot of FAST Wire Rope 2

Obstacle Identification Based on Deep Learning for Inspectio...

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2nd International Conference on Automation, robotics and Computer Engineering, ICARCE 2023

作者： Yang, Chengxu Sun, Xiangyu Liu, Gangfeng School of Mechatronics Engineering Harbin Institute of Technology Harbin China Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9798350308341

In this paper, for the requirements of image recognition and localization of the obstacles existing on the moving path in the inspection task of FAST cable inspection robot, the deep learning method is used to realize the recognition of multi-kind and multi-scale obstacles. The obstacles on FAST wire rope have not been identified before. By enhancing the data set and improving the network model, the recognition accuracy and speed are both improved, which meets the efficiency and accuracy requirements of obstacle detection on the wire rope, and provides help for the subsequent robot pace planning and overhaul tasks. © 2023 IEEE.

关键词： Inspection

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A Scene Classification Method Based on Improved Incremental Brain-like Developmental Model 42

A Scene Classification Method Based on Improved Incremental ...

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42nd Chinese Control Conference, CCC 2023

作者： Luo, Hanqian Fang, Yongchun Institute of Robotics and Automatic Information System Nankai University Tianjin300350 China Nankai University Tianjin Key Laboratory of Intelligent Robotics Tianjin300350 China

ISBN: (纸本)9789887581543

With the rapid development of machine learning, more and more vision-based scene classification methods are being applied to mobile robots to help them perform complex tasks such as their self-localization and navigation decisions. Most of today's scene classification algorithms are based on the batch learning approach, which often suffers from the inability to effectively process time-series data sets and models that are too complex and not scalable. To address the shortcomings and deficiencies of batch learning algorithms, this paper proposes an improved incremental brain-like developmental model, which can store the knowledge learned from the external environment in the neurons inside the model by simulating the activation of neurons in the human brain, and can learn and understand similar new knowledge based on the lobe component analysis (LCA). The model implements positive and negative feedback regulation mechanisms through the response competition mechanism of internal neurons. In this paper, the weight updating algorithm of the improved model can incrementally change the learning rate of the model and improve the accuracy of the scene classification task. Experimental results show that the model proposed in this paper has good recognition accuracy in indoor scene classification task. Compared with other traditional image classification algorithms for batch data processing, this model has better computational real-time performance by incremental learning of time-series data in the environment, which can meet the needs of mobile robots to handle complex scene classification tasks. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Neurons

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