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42nd Chinese Control Conference, CCC 2023

作者： Luo, Shijin Zhao, Minghui Zhao, Zhenjie Li, Lun Zhang, Shiyong Zhang, Xuebo Institute of Robotics and Automatic Information System College of Artificial Intelligence Nankai University Tianjin300350 China Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin300350 China

ISBN: (纸本)9789887581543

The accurate prediction of target aircraft trajectory in the process of air combat can significantly improve the ability of aircraft to gain air superiority. Most of the trajectory prediction methods currently applied in air combat are based on traditional time-series prediction algorithms such as LSTM with short prediction steps, which can not realize the demand for long-term prediction in air combat. To address the issue, a novel prediction method FT-TF is proposed in this paper. FT-TF is a multi-step 4D flight trajectory prediction method based on Transformer applied to further improve the accuracy and practicality of trajectory prediction problems. FT-TF uses the first 30 steps of aircraft historical trajectory data as input and the last 30 steps as output. Flight trajectory data sets of aircraft in air combat are used in the experiment to make the trained model closer to the real air combat scene. The experimental results show that the proposed FT-TF can achieve higher prediction accuracy than LSTM and BP neural network. Related Transformer variants of the algorithm are also added to the experiment for comparison, the results demonstrate that the proposed method achieves the smallest prediction error. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Aircraft

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Semantic Map Construction Method Based on Brain-Inspired SLAM 14

Semantic Map Construction Method Based on Brain-Inspired SLA...

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14th IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent systems, CYBER 2024

作者： Zhao, Hangpiao Tang, Fengzhen Shenyang Institute of Automation The State Key Laboratory of Robotics Shenyang China The University of Chinese Academy of Sciences Shenyang Institute of Automation Beijing China

ISBN: (纸本)9798331506056

Simultaneous localization and mapping (SLAM) is one of the core techniques for robots to move autonomously in unknown environments. Rat-SLAM, inspired by the navigation mechanism of the animal brain, provided nice performance in many environments. However, the experience map constructed by RatSLAM excluded semantic information, which is considered to play an important role in human environmental cognition and spatial navigation. In this paper, we propose a method to construct semantic experience map, combining the state-of-the-art deep neural network and RatSLAM. In our method, YOLOv5 is utilized to extract semantic information from the environmental images. The information of static objects, such as road signs, is selected to be incorporated into the experience map, being more closely to the brain navigation. To avoid the same object being repeatedly marked, we propose a semantic dynamic island mechanism, which only marks the center of the island in the experience map. The proposed method is verified on KITTI datasets, showing that it can successfully realize the construction of semantic experience map. The semantic experience maps are more intuitive and understandable by human, facilitating human-robot interaction, i. e. helping robots to fulfil more complex tasks for human. © 2024 IEEE.

关键词： Rats

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RTHG: Towards Real- Time Head Detection and Gaze Estimation

RTHG: Towards Real- Time Head Detection and Gaze Estimation

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

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

ISBN: (纸本)9781665481090

As an important way of understanding human in-tentions, gaze estimation has always been a research hotspot in the field of human-robot interaction. Most studies now estimate gaze direction by analyzing head features and head detection is required before gaze estimation. For these two sequential tasks, the current research usually adopts two different networks, which increases the memory occupation of the graphics card and is not easy to deploy on the edge device. In this paper, we propose a unified network for simultaneous head detection and gaze estimation, unifying these two tasks into a multi-task learning model. In this network framework, head detection and gaze estimation share the same set of features, which enables them to promote each other to improve detection accuracy. We evaluated our model on gaze360 dataset and the gaze error dropped to 19.62 degrees while running at 23 fps. © 2022 IEEE.

关键词： Human robot interaction

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A Sample Repetitive Manipulation Mechanism (SRMM) for Lunar Regolith In-Situ Analysis: Design and Validation

A Sample Repetitive Manipulation Mechanism (SRMM) for Lunar ...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Liu, Yi Tang, Junyue Liu, Yafang Ma, Gongbo Sun, Feng Li, Ye Jiang, Shengyuan Shenyang University of Technology Shenyang China Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China Beijing Institute of Spacecraft System Engineering Beijing China Beijing China

ISBN: (纸本)9798350325706

To exactly detect the water ice of the South Pole of the moon, a lunar regolith in-situ analysis payload deploying a mass spectrometer is proposed for China future lunar exploration missions. In order to receive the lunar regolith sample from a robotic arm with a soil sampler and transfer it into a furnace for further analysis, a sample manipulation mechanism is required during the above work flow. To solve the problems of adapting the sampler's docking accuracy, receiving and transferring two different types of lunar soil sample under times of in-situ analysis, etc., a sample repetitive manipulation mechanism (SRMM) is proposed in this paper. By using a floating adjustable docking components and a flexible hopper, two types of encapsulated regolith sample and bulk material sample can be received with minimal sample loss, respectively. In order to receive and transfer two types of samples multiple times, two sample receiving methods have been designed that can be repeatedly transferred. A worm and worm wheel combined with a ball screw is designed in SRMM. To verify the above mechanism design, validation experiments were conducted. It indicates that this novel SRMM can be deployed in the future mission after further environmental tests. © 2023 IEEE.

关键词： Lunar exploration Repeated transfer Sample type sampler's docking sealing force

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Development and deep-sea exploration of the Haidou-1

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Frontiers of Engineering Management 2023年第3期10卷 546-549页

作者： Yuangui TANG Shuo LI State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institute for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China Key Laboratory of Marine Robotics Liaoning ProvinceShenyang 110169China

1 Introduction The Haidou-1 Autonomous and Remotely-operated Vehicle(hereinafter referred to as Haidou-1)(Fig.1)has been developed to address the significant demands for core key technologies and equipment in China’s deep and distant *** vehicle is capable of covering all global ocean depths up to a maximum of 11000 ***-ocean-depth underwater vehicles represent one of the highest technological and capability benchmarks in current international marine science research.

关键词： hadal zone autonomous and remotely-operated vehicle integrated exploration operation deep dive exceeding 10000 meters

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Emerging biotechnologies for screening electromechanical signals of cardiomyocytes

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Aggregate 2024年第6期5卷 6-22页

作者： Si Tang Lingyu Sun Huiyao Shi Kaixuan Wang Jialin Shi Chanmin Su Yuanjin Zhao Lianqing Liu State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyangChina Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyangChina University of Chinese Academy of Sciences BeijingChina Department of Cardio-Thoracic Surgery Institute of Translational MedicineNanjing Drum Tower HospitalThe Affiliated Hospital of Nanjing University Medical SchoolNanjingChina State Key Laboratory of Bioelectronics School of Biological Science and Medical EngineeringSoutheast UniversityNanjingChina

Cardiac diseases threaten human health and burden the global healthcare ***(CMs)are considered the ideal model for studying the signal transduction and regulation of cardiac *** on the principle of the rhythmical beating process(excitation‒contraction coupling mechanism of CMs),investigating the mechanical and electrophysiological signals offered new hope for cardiac disease detection,prevention,and *** technological success has been achieved in electromechanical signal ***,most drug assessment platforms attach importance to high-throughput and dynamic monitoring of mechanical or electrical signals while overlooking the measuring principles and physiological significance of the *** this review,the development of biosensing platforms for CMs,sensing principles,key measured parameters,measurement accuracy,and limitations are ***,various approaches for the stimulation and measurement of CMs in vitro are discussed to further elucidate the response of these cells to external ***,disease modeling and drug screening are used as examples to intuitively demonstrate the contribution of in vitro CM measurement platforms to the biomedical field,thereby further illustrating the challenges and prospects of these sensing platforms.

关键词： biosensing platform cardiomyocyte electrical signal mechanical signal

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Design and Evaluation of a Self-Aligning Knee Exoskeleton for Knee Extension Assistance during Walking 37

Design and Evaluation of a Self-Aligning Knee Exoskeleton fo...

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37th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2022

作者： Liu, Zhaoyuan Yin, Weihao Han, Jianda Zhang, Juanjuan Institute of Robotics and Automatic Information System Nankai University Tianjin Key Laboratory of Intelligent Robotics Tianjin300350 China

ISBN: (纸本)9781665465366

Exoskeletons can help people with impaired knee extensor function by providing assistance. Previous studies have shown that adding passive degrees of freedom to the knee exoskeleton can help reduce unwanted load on the knee joint. However, the problem of achieving passive degrees of freedom with low-weight structures has not been resolved. We designed and built a self-aligning knee exoskeleton which weighs 1.76kg and uses a slider-rail structure to add a passive degrees of freedom in the kinematic chain. The device was actuated by an off board motor to apply knee extension assist torque during walking. A magnetic connection device was designed to quickly connect the thigh and calf segments of the exoskeleton. The exoskeleton was evaluated on a healthy subject walking uphill at 0°, 2°, 4° and 6° slope with a setup assistance profile. The results indicated a decrease in rectus femoris, vastus medialis and vastus lateralis activity under assistance. The root mean squared (RMS) of the vastus medialis muscle activity decreased 21%, 25%, 24%, and 33% in each of the four conditions. These preliminary results show that the device has the capability to explore more assistance strategies to improve gait rehabilitation. © 2022 IEEE.

关键词： Degrees of freedom (mechanics)

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Evaluation of a Bionic Cable-driven Ankle Exoskeleton system for Human Walking Assistance 37

Evaluation of a Bionic Cable-driven Ankle Exoskeleton System...

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37th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2022

作者： Yin, Weihao Wang, Wei Ding, Jianquan Liu, Jingtai Zhang, Juanjuan Tianjin Key Laboratory of Intelligent Robotics Institute of Robotics and Automatic Information System Nankai University Tianjin300350 China

ISBN: (纸本)9781665465366

In order to further explore the performance of assistive exoskeleton, we tested and evaluated a bionic cable-driven ankle exoskeleton system for human walking assistance in this paper. A bionic ankle exoskeleton was used as an end-effector to provide many different patterns of assistance. Assistive forces were transmitted by a flexible Bowden cable which attached fewer moments of inertia to the wearer and minimized the impact of wearable devices on the wearer's natural movements. We preset the assistive torque trajectory according to biological ankle moment during walking and used a torque control method of proportional control with damping injection compensated by adaptive iterative learning to achieve high-performance torque control. We evaluated the kinematics and biological efforts of one subject with predefined assistance patterns. Assistance during walking on a treadmill reduced the metabolic cost by 10.34% compared with normal shoes. The root mean square (RMS) of the soleus muscle activity decreased by 52.2%, and ankle joint moment reduced by 40.4% with the same pattern. The experimental results show that the device is capable of improving walking economy. © 2022 IEEE.

关键词： Wearable technology

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Human-machine shared control:New avenue to dexterous prosthetic hand manipulation

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Science China(Technological Sciences) 2021年第4期64卷 767-773页

作者： YANG DaPeng LIU Hong State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150080China Artificial Intelligence Laboratory Harbin Institute of TechnologyHarbin 150080China

At present,albeit the dexterous hand prostheses of multiple degrees of freedom(DOFs)have become prosperous on the market,the user’s demand on intuitively operating these devices have not been well addressed so that their acceptance rate is relatively *** unintuitive control method and inadequate sensory feedback are frequently cited as the two barriers to the successful application of these dexterous ***,driven by the wave of artificial intelligence(AI),a series of shared control methods have emerged,in which"bodily function"(myoelectric control)and"artificial intelligence"(local autonomy,computer vision,etc.)are tightly integrated,and provided a new conceptual solution for the intuitive operation of dexterous *** this paper,the background and development trends of this type of methods are described in detail,and the potential development directions and the key technologies that need breakthroughs are *** practice,we instantiate this shared control strategy by proposing a new method combining simultaneous myoelectric control,multi-finger grasp autonomy,and augmented reality(AR)feedback *** method"divides"the human sophisticated reach-and-grasp task into several subtasks,and then"conquers"them by using different strategies from either human or machine *** is highly expected that the shared control methods with hybrid human-machine intelligence could address the control problem of dexterous prostheses.

关键词： robotic hand dexterous prostheses shared control computer vision deep learning

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On-Orbit Thermal Analysis of Ring Truss-Type Deployable Antenna 1

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23rd IFToMM China International Conference on Mechanism and Machine Science and Engineering, IFToMM CCMMS 2022

作者： Zhang, Xiong Kang, Xi Huang, Hailin Li, Bing State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen518055 China

ISBN: (数字)9789811993985

ISBN: (纸本)9789811993978

As space antenna tends to be large-scale, deployable antenna is more and more widely used. As a key part of antenna structure, the antenna profile will be deformed due to uneven heating during on-orbit operation, which affects the service performance of the antenna. In this paper, the thermal effect mode of space environment on the on-orbit antenna is analyzed firstly, and the differential heat conduction equation is obtained by taking the profile as research object. Then, thermal simulation of the ring truss-type deployable antenna in the sun-synchronous orbit is carried out by using the NX-TMG software. The temperature characteristics of the antenna profile and the influence law of material parameters on the profile temperature during on-orbit operation are analyzed. It is concluded that temperature of antenna profile changes in one orbital period. The selection of low absorption rate and high density materials can reduce the profile temperature difference, which provides the reference for ring truss-type deployable antenna design. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Antennas

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