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42nd Chinese Control Conference, CCC 2023

作者： Wang, Hao-Yu Meng, Qing-Hao Dai, Xu-Yang Institute of Robotics and Autonomous Systems School of Electrical and Information Engineering Tianjin University Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System Tianjin300072 China

ISBN: (纸本)9789887581543

In the last decades, significant progress has been made in the field of active vSLAM (visual simultaneous localization and mapping). However, the majority of active vSLAM methods suffer from the problem of coupling the camera's viewpoint to the robot's motion, which limits the initiative during the exploration of unknown environments. To address this issue, this study proposes a camera view planning method based on deep reinforcement learning (DRL), which makes the camera rotate independently. First, feature encoding is performed on the reconstructed navigation map using a multi-layer convolutional neural network (CNN). Second, the DRL-based camera view planning method is trained through the proximal policy optimization (PPO) algorithm. Last, a significant number of tests is performed on a public dataset of indoor environments. The simulation results show that the proposed camera view planning method improves the exploration coverage by an average of 4% (33.86 m2 for traditional vs. 35.21 m2 for the suggested method). Meanwhile, the kind of semantic information newly observed in each step increases by 21% (2.9 for traditional vs. 3.5 for the proposed method) on average, indicating the improvement in the efficiency of information acquisition. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Reinforcement learning

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Effect of variable-angle trajectory structure on mechanical performance of CF/PEEK laminates made by robotic fiber placement

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Chinese Journal of Aeronautics 2022年第12期35卷 336-356页

作者： Shouzheng SUN Haiyang MEI Yang WANG Jiahai ZHANG Zhenyu HAN Jinglan GUO State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China Wuhu Robot Technology Research Institute Harbin Institute of TechnologyWuhu 241000China Shanghai Spaceflight Precision Machinery Institute Shanghai 201600China School of Mechanical and Power Engineering Harbin University of Science and TechnologyHarbin 150080China

In comparison to the traditional fixed-angle trajectory,the variable-angle trajectory has a greater design ***,it is a challenge to determine which common design curve structure is the most effective for improving mechanical *** work explores the effects of various design curves such as fixed-angle curve,linear curve,arc curve,sine curve,Bezier curve,and cubic polynomial curve trajectories on mechanical performance of laminates,including vibration modal performance and buckling *** algorithm and improved NSGA-II algorithm are then used to optimize various curve *** results are confirmed utilizing thermoplastic Carbon Fiber(CF)/Polyether-Ether-Ketone(PEEK)laminates made by robotic fiber placement *** relationship model between different mechanical performance and curve design variables is *** optimization of variable-angle structure with mechanical properties as input variables is ***,a full-process angle-variable laying software platform from trajectory planning(CAD),trajectory optimization to manufacturing(CAM)is developed for facilitating the fiber placement application.

关键词： Fiber reinforced plastics Mechanical properties Robotic fiber placement Thermoplastics Trajectory design Variable-angle laminate

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Visible RRT*: Asymptotically Optimal Random Search Tree for Visual Servo Tasks with the FOV Constraint

Visible RRT*: Asymptotically Optimal Random Search Tree for ...

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第42届中国控制会议

作者： Zhejin Zhu Runhua Wang Xuebo Zhang Institute of Robotics and Automatic Information System Tianjin Key Laboratory of Intelligent Robotics Nankai University

This paper presents a novel visibility-based asymptotically optimal random search tree trajectory planning algorithm(Visible RRT*), which is dedicated to addressing the visual servoing tasks under the FOV constraint. Firstly, a search tree reconstruction method under the FOV constraint is proposed to obtain an asymptotically optimal solution. Meanwhile, a novel greedy search strategy is designed to improve the searching efficiency by segmenting the greedy results based on the FOV constraint. Finally, comparative simulations are conducted in two challenging scenarios, and the results show that the planned trajectory is asymptotically optimal, thus confirming the effectiveness of the proposed algorithm.

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Disturbance Compensation Based Sliding Mode Control for Aerial Soft Manipulator system 13

Disturbance Compensation Based Sliding Mode Control for Aeri...

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13th IEEE International Conference on CYBER Technology in Automation, Control, and Intelligent systems, CYBER 2023

作者： Jin, Ying Pei, Tengfei Yu, Hai Zhang, Zhaopeng Han, Jianda Liang, Xiao Institute of Robotics and Automatic Information System Tianjin Key Laboratory of Intelligent Robotics College of Artificial Intelligence Nankai University Tianjin300350 China Nankai University Ministry of Education Engineering Research Center of Trusted Behavior Intelligence Tianjin300350 China

ISBN: (纸本)9798350315196

Aerial manipulation is an emerging area of research that is experiencing rapid growth and has immense potential across various domains, including precision agriculture, construction, and search and rescue operations. The combination of quadrotor with manipulation capabilities can provide access to remote or hazardous areas, precise control over tasks, and increased efficiency and safety in operations. However, traditional aerial manipulation platforms equipped with rigid manipulators have such drawbacks greater weight and less safety. Consequently, a novel complaint aerial manipulation system is considered to be developed. In this paper, a novel structure of an aerial manipulation platform with a single-section continuum manipulator is developed. In order to address the center-of-mass displacement resulting from manipulator movements, a sliding mode controller is introduced as a means to ensure the quadrotor's flight remains smooth. Afterward, the Lyapunov theorem is employed to ensure stability of the entire closed-loop system. Subsequently, numerical simulations are carried out to showcase the superior performance of the proposed control scheme in comparison to the PD controller. © 2023 IEEE.

关键词： Antennas

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T-Bot: A Programmable Platform for Morphogenesis in Robot Swarms

T-Bot: A Programmable Platform for Morphogenesis in Robot Sw...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Wang, Yu Pan, Mengyun Qin, Xiaoyang Hao, Lina Yang, Yongliang Shenyang Institute of Automation Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang110016 China School of Mechanical Engineering and Automation Northeastern University Shenyang110819 China

ISBN: (纸本)9781665481090

The field of robotic self-organizing morphogenesis has traditionally relied on sensing and feedback mechanisms, limiting the robustness of robotic systems in dynamic environments. Recently, the swarms of robots with minimum computational and perceptional capabilities have been developed to achieve global morphogenesis through physical interactions among robots. The automation level of these systems, however, is still limited. Here, we developed the T-bot platform, which is capable of automatic programming. The T-bot system adopts a rule-based control strategy utilizing programmable, automatically switched magnetic shells. These shells mimic differences in cell adhesion by altering the magnetic distribution along the shell, achieving morphogenesis without external sensors or feedback mechanisms. This design improves the robustness of the robotic system. The T-bot assembles pieces to form specific shapes and automatically adjusts its morphology according to task requirements. The T-bot system demonstrates morphogenesis by transitioning between predefined shapes and maintaining effectiveness even when some components fail. The successful application of DAH-inspired programmable magnetic shells opens new avenues for the design of intelligent robotic systems, potentially transforming their applications in various dynamic and unpredictable environments. © 2024 IEEE.

关键词： Cell adhesion

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Feature Space Augmentation and Old Class Space Preservation for Class Incremental Learning 42

Feature Space Augmentation and Old Class Space Preservation ...

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42nd Chinese Control Conference, CCC 2023

作者： Zeng, Ming Li, Siying Liu, Jiazhe Li, Yuanhao Institute of Robotics and Automation Systems School of Electrical and Information Engineering Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System Tianjin University Tianjin300072 China

ISBN: (纸本)9789887581543

The ability of continuously learning new knowledge without forgetting old ones is crucial to adapt to an ever-changing world. This scenario becomes more challenging when the previous data are not available. Current class incremental learning (CIL) approaches tend to incorporate new classes with backward compatibility, i.e., maintaining discriminability of old ones. By contrast, we focus on the extensibility and compatibility for future new classes in the early stage. Our proposed method achieves this by augmenting feature space. In detail, a large number of pseudo-new classes are generated via real example mixture and then train the initial spatially augmented model using pseudo-new classes and the base classes. Besides, considering the fact that it is impossible to maintain backward compatibility with only one prototype for each old class, the updated model also needs to preserve old class space in incremental stages. We employ a certain perturbation to the old class prototypes to effectively avoid old class space from being over-squeezed by the samples of new classes. The experiments on CIFAR-100 and ImageNet-Subset (100 classes) demonstrate that our method substantially reduces the overlap of old and new classes, outperforming state-of-the-art various baselines. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Catastrophic forgetting Class incremental learning Feature space augmentation Old class space preservation Pseudo-new classes

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HabitAction: A Video Dataset for Human Habitual Behavior Recognition

arXiv

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arXiv 2024年

作者： Li, Hongwu Zhang, Zhenliang Wang, Wei The State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China Beijing100080 China

Human Action Recognition (HAR) is a very crucial task in computer vision. It helps to carry out a series of downstream tasks, like understanding human behaviors. Due to the complexity of human behaviors, many highly valuable behaviors are not yet encompassed within the available datasets for HAR, e.g., human habitual behaviors (HHBs). HHBs hold significant importance for analyzing a person’s personality, habits, and psychological changes. To solve these problems, in this work, we build a novel video dataset to demonstrate various HHBs. These behaviors in the proposed dataset are able to reflect internal mental states and specific emotions of the characters, e.g., crossing arms suggests to shield oneself from perceived threats. The dataset contains 30 categories of habitual behaviors including more than 300,000 frames and 6,899 action instances. Since these behaviors usually appear at small local parts of human action videos, it is difficult for existing action recognition methods to handle these local features. Therefore, we also propose a two-stream model using both human skeletons and RGB appearances. Experimental results demonstrate that our proposed method has much better performance in action recognition than the existing methods on the proposed dataset. All the dataset and codes are available at ***/view/hhb30. Copyright © 2024, The Authors. All rights reserved.

关键词： Video analysis

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Motion Capture and Gait Analysis of Ants with Leg Injuries 42

Motion Capture and Gait Analysis of Ants with Leg Injuries

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42nd Chinese Control Conference, CCC 2023

作者： Zeng, Ming Li, Yuanhao Meng, Chang Zhong, Shutong Wang, Zhijing Zhao, Feng Institute of Robotics and Automation Systems School of Electrical and Information Engineering Tianjin University Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System Tianjin300072 China

ISBN: (纸本)9789887581543

Many insects in nature, such as ants, recover quickly after sustaining leg injuries. If this capability could be imparted to multi-legged robots, it would drastically enhance their ability to resist destruction and adapt to the environment. In this paper, the Camponotus Japonicus is used as the research object, and its locomotive patterns are studied under different leg-loss conditions. To facilitate this, a high-speed acquisition system, with a dual-view (bottom view and side view) setup, is designed to analyze the ant's linear gaits. Subsequently, the pivotal gait characteristics of the injured ants are extracted by keyframe annotation technology, including the gait phase diagram, duty factor, angle before support, angle before swing, and leg swing range. Lastly, according to the obtained gait characteristics, the general and specific laws of gait adjustment in the absence of one or two legs are systematically analyzed, which provides the basis for parametric settings and strategy optimization of robotic injured gait self-adjustment. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Gait analysis

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Topology Optimization of Constrained Layer Damping Processing Panel with Smooth Boundary Representation 2

Topology Optimization of Constrained Layer Damping Processin...

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2nd International Conference on New Materials, Machinery, and Vehicle Engineering, NMMVE 2023

作者： Chen, Rong Luo, Haitao Wang, Hongguang State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110169 China Institute for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China University of Chinese Academy of Sciences Beijing101408 China

ISBN: (纸本)9781643684208

Optimal arrangement of damping materials is an important problem in vibration control of thin walled structure treated with constrained layer damping, which directly affects vibration energy dissipation and global energy flow distribution. In this thesis, an evolutionary topology optimization method is used to establish the optimization model for constrained layer damping processing panel, with the optimization goal of maximizing the modal loss factor and limiting the usage of damping material. Taking into account the sensitivity of modal shapes, based on an improved modal superposition method, the sensitivity of the objective function with respect to the design variables is obtained. The level set function constructed from the node sensitivity determines the implicit smooth structure topology of the restricted damping layer. Numerical examples suggest that the algorithm is feasible, correct and valid. Studies show that this method not only allows the objective function to converge stably to the optimal value, but also obtains smooth and clear boundaries. © 2023 The authors and IOS Press.

关键词： Finite element method

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Increasing Exploration in Sampling-based Motion Planning for Manipulator

Increasing Exploration in Sampling-based Motion Planning for...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Zhang, Yi Wang, Hongguang Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang Institute of Automation Shenyang110016 China Chinese Academy of Sciences Institute for Robotics and Intelligent Manufacturing Shenyang110016 China University of Chinese Academy of Sciences Beijing100049 China

ISBN: (纸本)9798350325706

Solutions for a wide range of applications, including industrial robots, drones, and autonomous vehicles, have been provided via motion planning techniques. Due to their high dimensionality, manipulators are more challenging to implement, mainly when workplace impediments and their end-effectors restrict them and must adhere to specific orientation requirements. It is difficult in this situation to carry out the task's motion planning. Planners often utilized have low success rates or require a lengthy time to finish *** sampling-based motion planning method is used in this research to explore the configuration space by sampling the properties of the workspace under investigation. They combine the advantages of local exploration generated by a single query planner and extensive exploration produced by several query planners. The master tree is generated in the free space with a high sampling success rate to reduce samples and arithmetic power. Optimize the distribution of sample locations near obstacles while producing free arms in the constrained area with a low sampling success rate to increase the workspace exploration rate. The kinematic challenge in manipulator motion planning is resolved by iteratively projecting joint values onto the confined pop. According to simulation data, the proposed method takes less time and follows shorter paths while maintaining a high success rate. Additionally, the benefits become more apparent as the workplace becomes more constrained. © 2023 IEEE.

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