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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Shi, Chunyuan Wang, Zixin Yang, Dapeng Zhao, Jingdong Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150081 China Harbin Institute of Technology Artificial Intelligence Laboratory Harbin150081 China

ISBN: (纸本)9781665481090

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. © 2022 IEEE.

关键词： Augmented reality

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Early Image Recognition of Forest Fire Based on Improved YOLOv5 Neck Network 2

Early Image Recognition of Forest Fire Based on Improved YOL...

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2nd International Conference on Signal Processing and Intelligent Computing, SPIC 2024

作者： Qin, Lijuan Zhang, Hengrui Liu, Tao Wang, Ting Shenyang Ligong University School of Information Science and Engineering Shenyang China Chinese Academy of Science State Key Laboratory of Robotics Shenyang Institute of Automation Shenyang China

ISBN: (纸本)9798350368888

Forest fires can lead to environmental degradation and loss of biodiversity. In order to detect forest fires more efficiently in the early stage, an improved YOLOv5 algorithm is proposed in this paper. Adding a small target detection layer to YOLOv5 neck network to enhance the Identification ability of small target images at the onset of forest fire, because the increase of channel length of feature fusion network after adding a small target layer will lead to information loss, therefore, BIFPN feature fusion network is fused. Experimental results indicate that improved YOLOv5 outperforms the original YOLOv5 in small target recognition of fire image, especially when the flame is occluded. © 2024 IEEE.

关键词： Premixed flames

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SURROGATE MODELS FOR COMPLIANT JOINTS IN PROGRAMMABLE STRUCTURES

SURROGATE MODELS FOR COMPLIANT JOINTS IN PROGRAMMABLE STRUCT...

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ASME 2024 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2024

作者： Pieber, Michael Zhang, Zhaowei Manzl, Peter Gerstmayr, Johannes University of Innsbruck Department of Mechatronics Innsbruck6020 Austria State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Liaoning Shenyang110016 China

ISBN: (纸本)9780791888438

This work focuses on compliant joints in autonomous cells. These cells are able to preserve the underlying geometry of a mesh and enable self-reconfiguration through the utilization of six-bar linkages. The six-bar linkages, essential for maintaining triangular mesh geometry, are realized as 3D-printable compliant mechanisms. However, challenges arise from compliance in the hinges and deviation from the desired center of rotation which results in positioning errors. To address these issues, a surrogate model which is derived from beam elements, is used to predict positioning errors during self-reconfiguration. Finally, these errors are corrected by solving the inverse kinematics of a hyper-redundant manipulator. Our study illustrates the benefits of utilizing a surrogate model, which reduces computation time compared to beam elements. For the first time, we successfully correct positioning errors within a system of cells. Copyright © 2024 by ASME.

关键词： Inverse kinematics

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Augmented Reality Enabled Telepresence Framework for Intuitive Robotic Teleoperation

Augmented Reality Enabled Telepresence Framework for Intuiti...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Xu, Zheng Lin, Zecai Liu, Huanghua Ren, Qingsong Gao, Anzhu Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education Institute of Medical Robotics and Department of Automation Shanghai200240 China

ISBN: (纸本)9798350325706

In terms of telepresence for robotic teleoperation, the existing remote surgery provides the patient's side real-time videos to remote operators. Its effectiveness is limited due to the lack of depth information, occlusion, and restricted viewing angles. To address it, this paper develops a robotic telepresence framework integrating augmented reality (AR) and 3D reconstruction technology, providing a 3D virtual patient's side environment for remote operators. The real scene of the patient's side is reconstructed by a monocular camera with a manipulator before the operation, and the manipulator is teleoperated by the operator at the remote's side. The manipulator's pose is fused into the classic SVO+REMODE algorithm to improve the reconstructed accuracy. On the remote's side, an AR head-mounted display (HMD) is deployed to provide telepresence for operators under a similar environment, and the reconstructed scene of the patient's side is registered to the remote room, from which the operator can see the whole scene of the patient body and surrounding objects. An ArUco cube is used to evaluate the superimposed error between virtual and real displays, and the effectiveness is validated in an experimental platform for remote surgery. © 2023 IEEE.

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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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Design of Gravity Compensation Scheme for Passive Lifting Method of Multi-degree Freedom Robotic Arm 18

Design of Gravity Compensation Scheme for Passive Lifting Me...

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18th IEEE Conference on Industrial Electronics and Applications, ICIEA 2023

作者： Sun, Jing Wei, Chaoran Chen, Haotai Wang, Bin Li, Xingguang Zhang, Qiang Beijing Institute of Control Engineering Space Drive and Manipulation Mechanism Laboratory Beijing China State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China

ISBN: (纸本)9798350312201

Before launching a spacecraft, it is necessary to undergo micro low gravity simulations on the ground to test its reliability. The lifting method is not limited by movement time and space, and can simulate long-term low gravity environments. However, the degree of freedom of spatial mechanisms is gradually increasing, and the motion is becoming increasingly complex, making traditional lifting methods unable to meet the needs. In response to the above issues, a lifting gravity simulation scheme for a multi degree of freedom robotic arm that can achieve complex motion is proposed. The design adopts a single sling combined with a hanger to avoid interference during the motion process. Finally, simulation and experiments have proven the feasibility of the scheme - it can achieve efficient unloading without affecting the normal movement of the equipment. © 2023 IEEE.

关键词： Robotic arms

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A Novel Transparent Object Detection Approach Based on Segmentation-Depth Reconstruction

A Novel Transparent Object Detection Approach Based on Segme...

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

作者： Li, Zhonglin Luo, Yang Jiang, Yunxiang Zhang, Bi Song, Guoli Zhao, Xingang Zhao, Yiwen Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110016 China Liaoning University Shenyang110036 China Shenyang Institute of Automation Chinese Academy of Sciences State Key Laboratory of Robotics China

ISBN: (纸本)9798350327182

Detecting transparent objects using visual sensors has always been a challenge in the industry. In this paper, a pipeline for depth completion of transparent objects is proposed. The first stage utilizes the input RGB image for semantic segmentation, obtaining the segmentation map of the transparent object. The second stage predicts surface normals and performs boundary detection. The third stage combines the results obtained in the first two stages to complete the depth reconstruction of the transparent object. In addition, in the first stage, a semantic segmentation method for transparent objects is proposed, and boundary optimization is performed on the segmentation results to obtain more refined segmentation results. Experiments demonstrate the effectiveness and precision of the proposed approach. © 2023 IEEE.

关键词： Semantic Segmentation

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Characteristics of laser-induced breakdown spectroscopy of liquid slag

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Plasma Science and Technology 2024年第2期26卷 86-93页

作者：董长言于洪霞孙兰香李洋刘修业周平黄少文 State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016People's Republic of China Key Laboratory of Networked Control Systems Chinese Academy of SciencesShenyang 110016People's RepublicofChina Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169People's Republic of China Shenyang University of Technology Shenyang 110870People's Republic of China Shenyang Ligong University Shenyang 1i0142People's Republic of China Shandong Iron and Steel Company Ltd. Jinan 271105People's Republic of China

Rapid online analysis of liquid slag is essential for optimizing the quality and energy efficiency of steel production. To investigate the key factors that affect the online measurement of refined slag using laser-induced breakdown spectroscopy(LIBS), this study examined the effects of slag composition and temperature on the intensity and stability of the LIBS spectra. The experimental temperature was controlled at three levels: 1350℃, 1400℃, and 1450℃. The results showed that slag composition and temperature significantly affected the intensity and stability of the LIBS spectra. Increasing the Fe content and temperature in the slag reduces its viscosity, resulting in an enhanced intensity and stability of the LIBS spectra. Additionally, 42 refined slag samples were quantitatively analyzed for Fe, Si, Ca, Mg, Al, and Mn at 1350℃, 1400℃, and 1450℃.The normalized full spectrum combined with partial least squares(PLS) quantification modeling was used, using the Ca Ⅱ 317.91 nm spectral line as an internal standard. The results show that using the internal standard normalization method can significantly reduce the influence of spectral fluctuations. Meanwhile, a temperature of 1450℃ has been found to yield superior results compared to both 1350℃ and 1400℃, and it is advantageous to conduct a quantitative analysis of the slag when it is in a “water-like” state with low viscosity.

关键词： laser-induced breakdown spectroscopy(LIBS) slag temperature composition viscosity internal standard normalization partial least squares(PLS)

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Research on Improved Retinex Traffic Sign Image Enhancement Algorithm 2

Research on Improved Retinex Traffic Sign Image Enhancement ...

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2nd International Conference on Signal Processing and Intelligent Computing, SPIC 2024

作者： Qin, Lijuan Wang, Qingtang Yan, Haonan Wang, Ting Shenyang Ligong University School of Information Science and Engineering Shenyang China Chinese Academy of Science State Key Laboratory of Robotics Shenyang Institute of Automation Shenyang China

ISBN: (纸本)9798350368888

This article proposes an improved Retinex image enhancement algorithm applied in the field of traffic sign recognition through in-depth research in the field of image processing. In the traditional Retinex algorithm, there are often problems such as blurred images, distorted image colors, and foggy weather images when the light is too dark. Improve and optimize the algorithm to effectively improve the recognition ability of traffic sign images. It avoids the phenomenon of images being too dark, low contrast, and foggy in harsh environments, and is superior in maintaining edges, details, and colors. © 2024 IEEE.

关键词： Traffic signs

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Research on Forest Fire Image Recognition Based on Improved YOLOv5 2

Research on Forest Fire Image Recognition Based on Improved ...

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2nd International Conference on Signal Processing and Intelligent Computing, SPIC 2024

ISBN: (纸本)9798350368888

Forest fire image recognition based on YOLOv5 has great development and application prospects in the field of forest fire prevention today, among which the target recognition accuracy of early forest fire images is the key. In response to problem of low accuracy in image recognition during the early stages of forest fires, this article proposes an improved YOLOv5 algorithm based on YOLOv5 algorithm, which is improved on YOLOv5 backbone network to achieve better accuracy in image recognition during the early stages of forest fires. Insert CBAM into C3 module in YOLOv5 backbone network and add BotNET module at the end of backbone network. A comparative experiment was conducted between the improved YOLOv5 and the original YOLOv5, experimental results showed that improved YOLOv5 improved the average detection accuracy in both small fire target images and fire target image features that were not obvious. This can prove that improved YOLOv5 method proposed in this paper has a certain effect on early image recognition of forest fires. © 2024 IEEE.

关键词： Premixed flames

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