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16th International Conference on Intelligent robotics and Applications, ICIRA 2023

作者： Zhang, Tianyu Wang, Hongguang Lv, Peng Kong, Fanxu Wang, Daqian Pan, Xin’an 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 Shenyang110169 China University of Chinese Academy of Sciences Beijing100049 China

ISBN: (纸本)9789819964826

The current aircraft refueling method relies heavily on manual labor, resulting in high labor intensity, a cumbersome refueling process, and low efficiency. Therefore, extensive research is crucial to explore the use of robot manipulators for autonomous refueling. However, implementing robot arms encounters challenges such as confined workspace and the heavy weight of fueling tools. This paper proposes a motion planning method for a robot manipulator operating within confined areas to address these issues. The method considers obstacle avoidance constraints, dynamic joint torque allocation, and physical limitations. To characterize the dynamic transmission performance between joint torque output and end force while considering joint torque limitations, we introduce the Inertia Matching Index (IMI). The IMI and minimum joint angles serve as cost functions in our approach. Given the confined environments and various types of refueling equipment, we incorporate collision distance as a constraint to avoid collisions between the robot arm and other objects. To ensure effective resolution, we reformulate these non-convex objectives and constraints to solve them using the ADMM algorithm. The experimental results demonstrate the effectiveness of our proposed motion planning method in improving IMI while ensuring safe trajectories and optimal joint torque allocation. This study has significant theoretical and practical value for autonomous robot operations and autonomous aerial refueling applications in confined spaces. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Motion planning

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Design, Analysis, and Experiment of a Novel Ultrasonic Printing system

Design, Analysis, and Experiment of a Novel Ultrasonic Print...

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2022 IEEE International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale, 3M-NANO 2022

作者： Pei, Zhichao Zhao, Haoxiang Li, Dongjie Wang, Lefeng Rong, Weibin Sun, Lining Harbin Institute of Technology State Key Laboratory of Robotics and Systems Harbin China Harbin University of Science and Technology Heilongjiang Provincial Key Laboratory of Complex Intelligent System and Integration Harbin China

ISBN: (数字)9781665475433

ISBN: (纸本)9781665475433

Ultrasonic-driven printing technology is widely used in bioprinting because of its high precision, good biocompatibility, and low cost. However, the conventional ultrasonic printing technology still has problems such as cross-contamination of bio-ink during storage, transportation, and processing, and cumbersome ink replacement process. Therefore, a new ultrasonic printing device is developed in this paper, which uses PZT plates as the driving element. And a fluid sub-system has been fabricated based on the self-made glass micro-nozzle, which is connected to the drive element using ultrasonic couplant gel. The separation of the fluid system and the drive system has been realized through the modular design, thereby realizing the rapid replacement of different inks and this relatively independent fluid system is of great benefit to better sealing and aseptic operation. In addition, a digital model is built to analyze its working mechanism. And an experimental system is established to characterize the performance of the device. The results show that the system can generate droplets stably and accurately, and the droplet volume can be controlled by the excitation voltage amplitude and pulse width. © 2022 IEEE.

关键词： Biocompatibility

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Combine Neural Radiance Fields in Different Reference Coordinates

Combine Neural Radiance Fields in Different Reference Coordi...

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2023 China Automation Congress, CAC 2023

作者： Zhang, Weili Li, Zhongheng Guo, Yu Wang, Fei Institute of Artificial Intelligence and Robotics Xi'An Jiaotong University Xi'an China Beijing Institute of Spacecraft System Engineering Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing China

ISBN: (纸本)9798350303759

Neural Radiance Fields (NeRF) leverage deep learning networks to restore high-quality implicit representations of 3D scenes from 2D images, surpassing traditional texture mapping in rendering quality. Typically, reconstructed images by NeRF exist in a reference coordinate system, necessitating consideration of each surface's information in a single shot. Overlapping parts in adjacent images are addressed by obtaining the camera pose through sparse COLMAP reconstruction. However, occluded regions, caused by contact with support surfaces, pose challenges for complete reconstruction. To address this, we propose a scene fusion algorithm based on NeRF, facilitating the amalgamation of neural radiance fields under different reference coordinate systems. This reduces data requirements and shooting conditions, enhancing the implicit 3D reconstruction of real objects. By estimating the translation and rotation relationship between image capture angles and the NeRF model, we fuse neural radiance fields in distinct reference coordinate systems, completing object surface information. Evaluation is conducted on both NeRF synthetic dataset and real objects. © 2023 IEEE.

关键词： Cameras

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Advances in self-powered sports monitoring sensors based on triboelectric nanogenerators

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Journal of Energy Chemistry 2023年第4期79卷 477-488页

作者： Fengxin Sun Yongsheng Zhu Changjun Jia Tianming Zhao Liang Chu Yupeng Mao Physical Education Department Northeastern UniversityShenyang 110819LiaoningChina Institute of Carbon Neutrality and New Energy&School of Electronics and Information Hangzhou Dianzi UniversityHangzhou 310018ZhejiangChina School of Strength and Conditioning Training Beijing Sport UniversityBeijing 100084China State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of ScienceShenyang 110016LiaoningChina Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110016LiaoningChina

The new era of the internet of things brings great opportunities to the field of intelligent *** collection and analysis of sports data are becoming more intelligent driven by the widely-distributed sensing network *** nanogenerators(TENGs)can collect and convert energy as selfpowered sensors,overcoming the limitations of external power supply,frequent power replacement and high-cost ***,we introduce the working modes and principles of TENGs,and then summarize the recent advances in self-powered sports monitoring sensors driven by TENGs in sports equipment facilities,wearable equipment and competitive sports *** discuss the existing issues,i.e.,device stability,material sustainability,device design rationality,textile TENG cleanability,sports sensors safety,kinds and manufacturing of sports sensors,and data collection comprehensiveness,and finally,propose the *** work has practical significance to the current TENG applications in sports monitoring,and TENG-based sensing technology will have a broad prospect in the field of intelligent sports in the future.

关键词： Triboelectric nanogenerator Wearable energy sensors Sport monitoring

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A Surgical Navigation system Based on Augmented Reality

A Surgical Navigation System Based on Augmented Reality

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Zhao, Kaihang Song, Guoli Zhao, Yiwen State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China

ISBN: (纸本)9781665481090

A useful clinical navigation system for spine minimally invasive surgery is presented in this research. Before surgery, a CT scan is used to realize the patient's spine lesions, and a model of the patient's spine is imported into the Unity-3D platform so that control scripts may be added. The surgical instruments that had been used were calibrated and registered, and the Polaris Vega optical tracker from the Canada NDI Company was used to follow the instruments in real time. The calibration balls used to calibrate the instruments were recognized by the Polaris Vega optical tracker. In order to display medical image data such as surgical instruments and patient lesions, the calibration and coordinate transformation of surgical instruments are realized in the coordinate system of the Polaris Vega optical positioning instrument, and the position and attitude information of the identified surgical instruments relative to Polaris Vega is sent to Hololens. It gives surgeons three-dimensional pictures of spinal lesions during surgery, assisting them in locating lesions and navigating surgical instruments. © 2022 IEEE.

关键词： Augmented reality

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Aerogel defect detection using terahertz waves 11

Aerogel defect detection using terahertz waves

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Infrared, Millimeter-Wave, and Terahertz Technologies XI 2024

作者： Maa, Yehao Shen, Liran Cao, Yuqi Hou, Dibo Zhang, Guangxin State Key Laboratory of Industrial Control Technology Dept. of Control Science and Engineering Zhejiang University Hangzhou310027 China Robotics Institute Ningbo University of Technology Ningbo315211 China

ISBN: (数字)9781510682238

ISBN: (纸本)9781510682221

Aerogel is known as super insulation materials and has already been applied to manufacture thermal protection parts of aerospace equipment. Terahertz (THz) wave has good penetration to non-metallic and non-polar materials. To explore its potential in aerogel defect detection, the absorption coefficient and refractive index of aerogel were studied. As a result, the absorption spectrum of aerogel has not obvious absorption peak, and THz wave has great penetration for aerogel. Additionally, two aerogel samples with different sizes of defects were imaged with two time domain parameters (pulse peak and pulse valley) and two frequency domain parameters (absorption coefficient and refractive index). In contrast to other three parameters, the refractive index presents the greatest performance in defect detection, defects in the aerogel can be observed more clearly through the refractive index. The study is of key importance for THz wave in nondestructive testing for aerogel, offering a rapid and non-destructive detection method for aerogel defects. © 2024 SPIE.

关键词： Refractive index

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A Superquadrics-based Steering Angle Obstacle Avoidance Method of DMPs

A Superquadrics-based Steering Angle Obstacle Avoidance Meth...

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第42届中国控制会议

作者： Zezhi Liu Yongchun Fang Institute of Robotics and Automatic Information System Nankai University Tianjin Key Laboratory of Intelligent Robotics Nankai University

In this paper, we propose a new method for using Dynamic Movement Primitives(DMPs) to enable robots to avoid volumetric obstacles when learning skills from human demonstrations. We can utilize coupling terms in DMPs to modify the planned trajectory of the end-effector. Our method combines superquadrics and a steering angle scheme to construct new coupling terms for obstacle avoidance, without relying on potential fields. This guarantees the convergence of the dynamic system. Additionally, we modify the original center point steering angle formula to improve the ability to avoid obstacles in a wider range of angles. Our proposed method is applicable to most types of superquadrics, including those with flat boundaries,and we validate it through simulations.

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Sampling-Based Optimal Motion Planning Algorithm with disjointed-Trees in Constrained Environment 13

Sampling-Based Optimal Motion Planning Algorithm with disjoi...

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

作者： Zhang, Yi Wang, Hongguang Shenyang Institute of Automation State Key Laboratory of Robotics Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China University of the Chinese Academy of Science Beijing100049 China

ISBN: (纸本)9798350315196

Sampling-based motion planning techniques have produced many efficient solutions in robotics research. Motion planning has expanded from straightforward use cases to challenging application settings, but it is challenging to perform in a constrained environment with obstacles. In this study, we suggest a rapid exploration random tree-based motion planning method that starts at various motion planning stages, from sampling to connection. By processing the sampling points close to the obstacles on the one hand, the suggested technique optimizes the spread of points in the workspace. On the other hand, it creates numerous free arms to increase workspace visibility. Together., the two elements increase the tree's development and the connectivity of its paths in challenging workspace locations. Numerous irregular obstacles and tight spaces are created for experiments, and the suggested motion planner is contrasted with several traditional motion planners. According to experimental data, the proposed method is more stable in providing optimal solutions and requires less sampling time in the limited passage scenario. © 2023 IEEE.

关键词： Motion planning

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A Modified Deeplabv3+ Model Based on Polarized Self-Attention Mechanism

A Modified Deeplabv3+ Model Based on Polarized Self-Attentio...

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第42届中国控制会议

作者： Zheng Zhang Rui Song Institute of Robotics and Automatic Information System Nankai University Tianjin Key Laboratory of Intelligent Robotics Nankai University

In this paper,we propose a modified Deeplabv3+ model based on the combination optimization of atrous convolutions and Polarized Self-Attention module,aiming to enhance the semantic segmentation performance of small-scale objects in various *** improvements of this paper mainly focus on the following two ***,we optimize the combination of atrous convolutions in the Deeplabv3+model by using lower atrous rates,so that it can expand the receptive field while enhancing the recognition ability of small-scale ***,by introducing the Polarized Self-Attention module,the semantic segmentation of small objects is further optimized,while capturing more global semantic information to ensure overall semantic *** experimental results demonstrate that,compared with the original Deeplabv3+ network model,the modified model improves the segmentation accuracy by 1.8% and 1.5% on the Cityscapes and Pascal VOC 2012 test datasets.

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POWERLINK Communication Fault Detection Method Based on Data Frames Sequence Analysis

POWERLINK Communication Fault Detection Method Based on Data...

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2022 International Conference on Signal Processing and Communication Technology, SPCT 2022

作者： Wang, Jian Xie, Chuang Dong, Ce Key Laboratory of Networked Control System ShenYang China Shenyang institute of automation Chinese academy of sciences ShenYang China Institutes for Robotics and Intelligent Manufacturing ChineseAcademy of Sciences ShenYang China

ISBN: (纸本)9781510664333

Fault diagnosis, location and maintenance of industrial networks are extremely important components of network management, which can effectively improve network availability, shorten network failure time, help improve network performance, satisfy network service quality and ensure network security. This paper proposes a communication fault detection method based on the analysis of communication protocol message flow for POWERLINK, an industrial Ethernet protocol widely used in the field of industrial communication at present. By monitoring network status and building fault judgment logic, it can analyze the rationality of message sequence and protocol consistency in the message flow so as to effectively detect the dynamic upper layer protocol fault in the network and determine the location of the fault. In order to verify the effectiveness of this method, we designed a POWERLINK network communication fault diagnosis system, which can correctly identify and analyze the wrong data frame sequence in the data message flow and finally achieve the diagnosis and location of POWERLINK network communication fault. © 2023 SPIE.

关键词： Fault detection

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