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

作者： Zhang, Yuze Shao, Shiliang Wang, Ting Cao, Fengkui Xu, Huiyang Shi, Xianyu Zhong, Ling School of Software Shenyang University of Technology Shenyang110870 China Shenyang Institute of Automation Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang110016 China Institudes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China University of Chinese Academy of Sciences Beijing100049 China

ISBN: (纸本)9798331506056

The frontier based exploration method is a traditional and direct method, which has the problems of redundancy of sensor observation range and simple frontier point selection rule. Based on the traditional frontier exploration, the process of identifying the frontier centroid points is improved, and the weight of each point is applied to represent the importance of different points to the exploration. Secondly, in view of the shortage of the traditional greedy strategy, the cost of avoiding obstacles and other factors are comprehensively considered, so as to adapt to a more complex environment. The experimental results show that the proposed method has high exploration efficiency and can complete the environment construction independently. © 2024 IEEE.

关键词： Mobile robots

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Lidar-Inertial and Downward Vision Based Mobile Robot SLAM in Digital Workshops 13

Lidar-Inertial and Downward Vision Based Mobile Robot SLAM i...

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13th IEEE Data Driven Control and Learning systems Conference, DDCLS 2024

作者： Zhang, Yanchao Geng, Hao Liu, Bin Zhang, Yinlong Yuan, Xudong Zhang, Sichao School of Information Science and Engineering Shenyang University of Technology Shenyang110020 China Guangzhou Institute of Industrial Intelligence Guangzhou511458 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 Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China

ISBN: (纸本)9798350361674

In order to solve the problems of long-term cumulative error and the absence of absolute pose in the existing Lidar-Inertial Measurement Unit (IMU) fusion methods for Automated Guided Vehicle (AGV) Simultaneous Localization and Mapping (SLAM), we propose a new SLAM method for mobile robot, integrating Lidar, IMU, and a downward vision camera. Firstly, we tightly couple Lidar-IMU and downward vision camera using a multimodal fusion framework. Downward visual measurements are integrated as QR factors into the factor graph, providing absolute pose information to correct cumulative error in the Lidar-IMU system and enable the joint pose estimation of the AGV. Secondly, an enhanced Iterative Closest Point (ICP) point cloud matching algorithm has been developed to correct the incorrect pose. This approach achieves Scan-to-Map alignment by employing a coarse-to-fine matching strategy, thereby enhancing the accuracy of point cloud alignment. Finally, the extended Kalman filter is used to optimize the Lidar pose drift, as well as the Lidar mapping effectively by using the Lidar-IMU as the measurements and the downward visual measurements as the updates. The algorithm has been extensively evaluated on the developed AGV experimental platform. The experimental results show that the position error is less than 0.02 meters and the orientation error is less than 1°, which solves the problems of long-term error accumulation and the lack of absolute pose information for AGV navigation. © 2024 IEEE.

关键词： Extended Kalman filters

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ProtoGCD: Unified and Unbiased Prototype Learning for Generalized Category Discovery

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IEEE Transactions on Pattern Analysis and Machine Intelligence 2025年第7期47卷 6022-6038页

作者： Ma, Shijie Zhu, Fei Zhang, Xu-Yao Liu, Cheng-Lin Chinese Academy of Sciences State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Beijing100190 China University of Chinese Academy of Sciences School of Artificial Intelligence Beijing100049 China Chinese Academy of Sciences Centre for Artificial Intelligence and Robotics Hong Kong Institute of Science and Innovation Hong Kong999077 Hong Kong

Generalized category discovery (GCD) is a pragmatic but underexplored problem, which requires models to automatically cluster and discover novel categories by leveraging the labeled samples from old classes. The challenge is that unlabeled data contain both old and new classes. Early works leveraging pseudo-labeling with parametric classifiers handle old and new classes separately, which brings about imbalanced accuracy between them. Recent methods employing contrastive learning neglect potential positives and are decoupled from the clustering objective, leading to biased representations and sub-optimal results. To address these issues, we introduce a unified and unbiased prototype learning framework, namely ProtoGCD, wherein old and new classes are modeled with joint prototypes and unified learning objectives, enabling unified modeling between old and new classes. Specifically, we propose a dual-level adaptive pseudo-labeling mechanism to mitigate confirmation bias, together with two regularization terms to collectively help learn more suitable representations for GCD. Moreover, for practical considerations, we devise a criterion to estimate the number of new classes. Furthermore, we extend ProtoGCD to detect unseen outliers, achieving task-level unification. Comprehensive experiments show that ProtoGCD achieves state-of-the-art performance on both generic and fine-grained datasets. ©1979-2012 IEEE.

关键词： Contrastive Learning

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Design and modeling of a novel soft parallel robot driven by endoskeleton pneumatic artificial muscles

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Frontiers of Mechanical Engineering 2022年第2期17卷 71-84页

作者： Peng CHEN Tingwen YUAN Yi YU Yuwang LIU State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China School of Mechanical Engineering Northeastern UniversityShenyang 110000China

Owing to their inherent great flexibility, good compliance, excellent adaptability, and safe interactivity, soft robots have shown great application potential. The advantages of light weight, high efficiency, non-polluting characteristic, and environmental adaptability provide pneumatic soft robots an important position in the field of soft robots. In this paper, a soft robot with 10 soft modules, comprising three uniformly distributed endoskeleton pneumatic artificial muscles, was developed. The robot can achieve flexible motion in 3D space. A novel kinematic modeling method for variable-curvature soft robots based on the minimum energy method was investigated, which can accurately and efficiently analyze forward and inverse kinematics. Experiments show that the robot can be controlled to move to the desired position based on the proposed model. The prototype and modeling method can provide a new perspective for soft robot design, modeling, and control.

关键词： pneumatic artificial muscles soft robot modeling approach principle of virtual work external load

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Learning-Based Terramechanics Mapping in Hilbert Space

Learning-Based Terramechanics Mapping in Hilbert Space

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International Conference on Guidance, Navigation and Control, ICGNC 2024

作者： Liu, Xu Li, Decai Zhang, Guangyu He, Yuqing 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 University of Chinese Academy of Sciences Beijing100049 China

ISBN: (纸本)9789819622351

For ground robots, the mechanical properties of certain terrain, such as muddy ground, negatively affect the locomotion performance and trafficability. In order to obtain a compact and efficient underlying representation of the terrain mechanical properties, in this paper, we propose a new method based on learning that has two remarkable advantages: 1) It establishes the relationship between specific positions and their corresponding mechanical properties, which is represented by a parametric model learnt from mechanical properties data. The model can query terrain mechanical properties of an arbitrary point. 2) It's a highly memory-saving underlying representation of terrain mechanics for the parameters of the learnt model are finite, that is, the needed memory is very little. The proposed approach, called Hilbert terramechanics map, is based on the computation of kernel approximation that projects the data into a Hilbert space in which a multiclass logistic regression classifier is learnt by fast stochastic average gradient descend. We demonstrate the advancements of our method on two simulated environments which are very close to the real world. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Hilbert spaces

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The Accuracy Analysis of Tool Center Point Calibration via Condition Number and Minimum Eigenvalue

The Accuracy Analysis of Tool Center Point Calibration via C...

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

作者： Gao, Ziqi Li, Yingli Luo, Yang Jiang, Yunxiang Zhang, Bi Zhao, Xingang Chen, Lingkai Zhao, Yiwen Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China University of Chinese Academy of Sciences Beijing100049 China Shenyang Institute of Automation Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang110016 China Research Institute of Interdisciplinary Innovation Zhejiang Lab Research Center for Intelligent Robotics Hangzhou311100 China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou311100 China

ISBN: (纸本)9798350327182

The accuracy of TCP (tool center point) calibration is vital to the operation accuracy of the robot. In this paper, we analyzed the accuracy analysis of TCP calibration of the regression matrix via condition number and minimum eigenvalue. It is theoretically proved that a regression matrix with a large condition number and a small eigenvalue will aggravate the influence of the observation error of the measurement point on TCP calibration accuracy and increase the TCP calibration error. To verify our analysis, simulation calibration experiments were carried out and statistical analysis was carried out on the calibration results. The result shows that the mathematical expectation and the variance of calibration error at minimum, median, and maximum matrix CA condition number are 1.36mm (±0.60mm), 1.57mm (± 0.75mm) and 2.94mm (±2.26mm) respectively, and the mathematical expectation and the variance of calibration error at minimum, median, and maximum eigenvalue are 3.33mm (± 2.32mm), 1.54mm (±0.72mm) and 1.16mm (± 0.49mm), respectively. © 2023 IEEE.

关键词： Calibration

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Transient Dynamic Analysis of A Variable-Length Rope-Driven Wave Energy system

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China Ocean Engineering 2022年第3期36卷 474-487页

作者： QUAN Wei-cai OU Ding-chao XU Jing-wei HUO Liang-qing XI Yi National-local Joint Engineering Laboratory for Marine Mineral Resources Exploration Equipment and Safety Technology Hunan University of Science and TechnologyXiangtan 411201China State key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110169China

A new dynamic model of a variable-length rope,which could be used for the transient analysis of a buoy-rope-generator(BRG)wave energy system,was proposed in this *** model started from the basic dynamic equations of variable mass system,and took into account the physical properties such as axial force,shear and *** to the principle of D'Alembert-Lagrange,the equivalent integral weak formulation was firstly obtained,and through consistent linearization and isoparametric discretization,the finite element model of the variable-length rope was then *** Bathe scheme was employed to solve the model numerically,based on its excellent performance in solving nonlinear dynamic problems,and an automatic time step size algorithm was designed according to the number of iterations of the two substeps of Bathe *** procedures of rope mesh regeneration were also put forward,where only one variable-length element was always located at the top end of the rope,and the rest were all fixed-length *** proposed variable-length rope model and solution schemes were verified through comparison with the results of a tank ***,the transient dynamics of a kind of BRG system was analyzed and discussed.

关键词： cable dynamics variable-length buoy-rope-generator numerical analysis

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Analysis of the Attachment Process of Bionic Spines Based on the Coupling of Discrete Elements and Multi-body Dynamics

Analysis of the Attachment Process of Bionic Spines Based on...

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2022 International Conference on Aerospace, Aerodynamics and Mechatronics Engineering, AAME 2022

作者： Liu, Ran Li, Yu Xin Luo, Haitao Yu, Miao School of Mechanical Engineering Shenyang Ligong University Shenyang China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China

As the only natural satellite of the Earth, the Moon has profound significance for deep space research, and the undifferentiated lunar rock core plays a key role in the investigation of the origin of the Moon. In recent years, there have been numerous deep space sampling techniques, but all of them are at the cost of destroying the sample, while drilling can retain the sample in its original state to the maximum extent. In this paper, based on the reference of the claw spine attachment device at home and abroad, the theoretical modeling of the claw spine piece which plays the role of grasping and attaching is carried out, and the simulation analysis is carried out by the coupling method of discrete element and multi-body dynamics, which provides important guidance for the subsequent experi-ments and the optimized design. © Published under licence by IOP Publishing Ltd.

关键词： Moon

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Soft ionic-hydrogel electrodes for electroencephalography signal recording

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Science China(Technological Sciences) 2021年第2期64卷 273-282页

作者： SHENG XinJun QIN Zhun XU HaiPeng SHU XiaoKang GU GuoYing ZHU XiangYang Robotics Institute School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai 200240China State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong UniversityShanghai 200240China

Wet gel electrodes have been widely used for electroencephalography(EEG) signal recording, which generally causes skin abrasion and longer preparation time. In this paper, we present soft ionic-hydrogel based electrodes to overcome such *** order to conveniently measure the EEG signals, we design the claw-like and patch-like structures for robust connection between metal(Ag/Ag Cl) electrodes and skin scalps. Next, we experimentally show that the soft ionic-hydrogel based electrodes have similar performance with the conventional wet gel electrodes in terms of the short-circuit noise, electrical impedance, and skin-electrode contact impedance on unprepared human skin, significantly better than dry electrodes and water-based *** further perform the EEG measurements and steady-state visual evoked potentials(SSVEP) experiments with five subjects to verify the effectiveness of the soft ionic-hydrogel based electrodes. The experimental results demonstrate that our developed soft ionic-hydrogel electrodes can record high-quality EEG signals in a fast and clean way, being a compelling option for EEG-based brain-computer interfaces.

关键词： brain-computer interface EEG electrodes ionic hydrogel soft materials

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Practical Nonlinear Model Predictive Control for Piezoelectric Actuators Based on an Echo state Network

Practical Nonlinear Model Predictive Control for Piezoelectr...

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第42届中国控制会议

作者： Fei Zhao Yinan Wu Huawang Liu Institute of Robotics and Automatic Information System College of Artificial IntelligenceNankai University Tianjin Key Laboratory of Intelligent Robotics

The piezoelectric actuator(PEA) is widely used to realize high precise motion of the ***,the inherent nonlinear property such as hysteresis,creep,thermal drift and vibration impairs the overall performance and leads to the system *** this paper,a practical nonlinear model predictive control(PNMPC) approach based on an echo state network is proposed for the displacement tracking of *** proposed method has the advantage of omitting the common building process of an inversion model for hysteresis compensation,which avoids the problem of model inversion and the inversion ***,an echo state network(ESN) is adopted to model the nonlinear dynamics of the PEA *** this basis,the PNMPC method is designed via utilizing the linearized ESN model,which reduces the computational complexity of the optimization problem caused by nonlinear model predictive ***,the tracking performance of the proposed controller is verified through experimental results.

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