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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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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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A self-powered piezoelectret sensor based on foamed plastic garbage for monitoring human motions

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Nano Research 2023年第1期16卷 1269-1276页

作者： Yujun Shi Kaijun Zhang Sen Ding Zhaoyang Li Yuhao Huang Yucong Pi Dazhe Zhao Yaowen Zhang Renkun Wang Binpu Zhou Zhi-Xin Yang Junwen Zhong Department of Electromechanical Engineering and Centre for Artificial Intelligence and Robotics University of MacaoMacao 999078China Joint Key Laboratory of the Ministry of Education Institute of Applied Physics and Materials EngineeringUniversity of MacaoAvenida da UniversidadeMacao 999078China State Key Laboratory of Internet of Things for Smart City and Department of Electromechanical Engineering University of MacaoMacao 999078China

Constructing piezoelectret based on foamed plastic garbage is an advisable strategy for obtaining self-powered flexible electromechanical sensors with good ***,a self-powered piezoelectret sensor with basic material of low density polyethylene(LDPE)foamed plastic garbage is proposed,with characteristics of easy fabrication,excellent flexibility,and high equivalent piezoelectric coefficient d33 value up to~1,100 pC/*** output stability is verified by continuously stimulating a sensor for~180,000 cycles under low and high applied pressure,and the variations of peak outputs are less than 5.5%.Applications for measuring low-and high-pressure signals from human body are *** with a wristband,a sensor is demonstrated for detecting the human pulse ***,real time human sitting information is wirelessly monitored with a smart chair based on 4 pixels sensors array.

关键词： wearable electronics piezoelectret self-powered pressure sensor mobile health

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

Generating Socially Acceptable Robot Poses for Approaching C...

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第42届中国控制会议

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

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.

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A Novel Gait Pattern Recognition Method Based on LSTM-CNN for Lower Limb Exoskeleton

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Journal of Bionic Engineering 2021年第5期18卷 1059-1072页

作者： Chao-feng Chen Zhi-jiang Du Long He Yong-jun Shi Jia-qi Wang Wei Dong State Key Laboratory of Robotics and System Harbin Institute of Technology(HIT)Harbin 150001China China South Industries Group Corporation Weapon Equipment Research InstituteBeijing 102202China

This paper describes a novel gait pattern recognition method based on Long Short-Term Memory(LSTM)and Convolutional Neural Network(CNN)for lower limb *** Inertial Measurement Unit(IMU)installed on the exoskeleton to collect motion information,which is used for LSTM-CNN *** article considers five common gait patterns,including walking,going up stairs,going down stairs,sitting down,and standing *** the LSTM-CNN model,the LSTM layer is used to process temporal sequences and the CNN layer is used to extract *** optimize the deep neural network structure proposed in this paper,some hyperparameter selection experiments were carried *** addition,to verify the superiority of the proposed recognition method,the method is compared with several common methods such as LSTM,CNN and *** results show that the average recognition accuracy can reach 97.78%,which has a good recognition eff ***,according to the experimental results of gait pattern switching,the proposed method can identify the switching gait pattern in time,which shows that it has good real-time performance.

关键词： Lower limb exoskeleton Gait pattern recognition LSTM-CNN Recognition accuracy Real-time performance

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Research on Force Control Strategy for Spinal Surgery Robots Based on Adaptive Impedance and Virtual Stiffness 4

Research on Force Control Strategy for Spinal Surgery Robots...

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4th IEEE International Conference on Power, Electronics and Computer Applications, ICPECA 2024

作者： Yang, Rui Liu, Zhaoming Zhu, Yue Cong, Lin Cui, Long State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110016 China The First Hospital of China Medical University Department of Orthopedic Surgery Shenyang110016 China

ISBN: (纸本)9798350359589

Spinal stenosis is one of the leading causes of lower back and leg pain, and effective treatment often involves the removal of lamina and ligamentum flavum. However, the surgical procedures are characterized by prolonged durations and demand a high level of precision from the operating surgeon. Therefore, this paper proposes a direct force control method for robotic grinding of lamina. This method involves an analysis of the force variations during bone grinding, leading to the development of force control strategies suitable for two different lamina grinding scenarios. For the lamina leveling operation, a constant force control strategy is introduced. For the drilling operation, a strategy involving the implementation of virtual gradient stiffness during grinding is proposed. The expression for virtual gradient stiffness is derived, considering the end-effector force smooth control. A compliance controller is employed to regulate the end-effector force. Finally, the proposed control algorithms are subjected to numerical simulations using MATLAB software. The simulation results demonstrate the efficacy of the control algorithms in addressing the challenges of maintaining constant force on complex surfaces and handling force discontinuities during grinding of objects with different stiffness. © 2024 IEEE.

关键词： force control spinal canal stenosis spine robot

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Gradient-Based Online Trajectory Planning for Quadrotor Transportation systems 13

Gradient-Based Online Trajectory Planning for Quadrotor Tran...

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

作者： Pei, Tengfei Jin, Ying Yu, Hai Fang, Yongchun 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 Engineering Research Center of Trusted Behavior Intelligence Ministry of Education Tianjin300350 China

ISBN: (纸本)9798350315196

Trajectory planning has been an important research area for quadrotor transportation systems for a long time. However, generating feasible trajectories in real-time that allow quadrotor transportation systems to navigate safely in complex environments remains a challenging issue. This article proposes an efficient gradient-based safety constraint that helps keep the system away from obstacles. Furthermore, this paper combines safety constraint with a novel B-spline-based optimization method that utilizes an improved hybrid-state A* algorithm for path searching to generate desired trajectory. Strategies to speed up path searching and unconstrained optimization problem constructed in B-spline optimization guarantee the computational efficiency. The feasibility of the resulting trajectory has been verified through simulation. © 2023 IEEE.

关键词： Trajectories

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Robot Design of Frogs Jumping Based on Soft-Body Detonation Drive

SSRN

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SSRN 2023年

作者： Xu, Weibin Pan, Yitao Ma, Weiliang Gao, Feng Liu, Gangfeng Zhao, Jie Fan, Jizhuang Harbin China State Key Laboratory of Robotics and System China

To achieve a strong instantaneous burst jumping ability, a soft body detonation actuator is proposed by combining the advantages of silicone materials and the characteristics of hydrogen and oxygen mixed gas detonation, which can not only enable the robot to exert the superior movement characteristics of the hindlimbs of frogs during jumping but also make its hindlimb structure more dexterous, lightweight and simple. At the same time, a spring-based forelimb mechanism is also designed so that the robot has the function of jumping with multiple attitude angle changes and the function of smooth buffer landing when jumping. Then, the kinematics and jumping efficiency models are established by using the D-H parameter method and geometric method and verified to analyze the optimal jump-out efficiency. Finally, the experimental results prove that the robot can not only achieve 6 consecutive jumps with a single jump reaching a height of 0.6 m and a distance exceeding 1.2 m, but can also easily cross a rectangular obstacle that has a length of 40 cm, a width of 30 cm, and a height of 25 cm. © 2023, The Authors. All rights reserved.

关键词： Robots

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A Battery Control Strategy for Sequential Utilization of Energy Storage systems in Power Batteries 7

A Battery Control Strategy for Sequential Utilization of Ene...

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7th IEEE Advanced Information Technology, Electronic and Automation Control Conference, IAEAC 2024

作者： Li, Bowen Cui, Shijie Zhu, Lizhong Shenyang Ligong University College of Automation and Electrical Engineering Liaoning China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Liaoning China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China

ISBN: (纸本)9798350339161

With the widespread adoption of energy storage systems utilizing power batteries, battery lifespan degradation has become a primary constraint on system performance. To address this issue, this study proposes a lifespan-optimized battery control strategy. Firstly, a battery lifespan calculation model for the energy storage system is established, taking into detailed consideration key parameters such as battery state of Charge (SOC). Secondly, a control strategy based on SOC for charging and discharging is designed, aiming to minimize battery lifespan consumption to the greatest extent possible. Finally, experimental results demonstrate that the proposed control strategy significantly improves the lifespan of the energy storage system compared to existing strategies. This research provides an effective means of control for the long-term stable operation of power battery systems. © 2024 IEEE.

关键词： Charging (batteries)

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