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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Tian, Baolin Yu, Haitao Mao, Shihao Cui, Yuxin Yan, Zhen Gao, Haibo Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China College of Electronic Information Engineering Beihang University and the Shanghai Academy of Spaceflight Technology Shanghai China

ISBN: (纸本)9781665481090

The unmanned helicopter plays an important role in the fields of cargo transportation and rescue missions. Due to the limitation of the traditional landing gear structure, the unmanned helicopter has more stringent requirements on the landing terrain. In order to improve the ability to land on the inclined surface for the unmanned helicopter, a novel control strategy of the landing gear based on contact force distribution algorithm is proposed. The overall of landing process includes the desired position tracking stage, the following stage and the attitude adjusting stage. By obtaining the desired acceleration according to the landing and attitude correcting curve of the fuselage, and calculating the desired force based on contact force distribution algorithm, the adaptive motion and trajectory tracking of the landing gear during the landing process has been realized. The simulation results have demonstrated the effectiveness of the strategy when the unmanned helicopter with the initial roll angle of -3 degrees and pitch angle of 3 degrees lands on the inclined surface of 7.07 degrees. In the future, the control strategy can provide a reference for the dynamic landing of the unmanned helicopter while at sea. © 2022 IEEE.

关键词： Acceleration

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RockTrack: A 3D Robust Multi-Camera-Ken Multi-Object Tracking Framework

arXiv

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arXiv 2024年

作者： Li, Xiaoyu Li, Peidong Zhao, Lijun Liu, Dedong Gao, Jinghan Wu, Xian Wu, Yitao Cui, Dixiao State Key Laboratory of Robotics and Systems Harbin Institute of Technology China Zhijia Technology China

3D Multi-Object Tracking (MOT) obtains significant performance improvements with the rapid advancements in 3D object detection, particularly in cost-effective multi-camera setups. However, the prevalent end-to-end training approach for multi-camera trackers results in detector-specific models, limiting their versatility. Moreover, current generic trackers overlook the unique features of multi-camera detectors, i.e., the unreliability of motion observations and the feasibility of visual information. To address these challenges, we propose RockTrack, a 3D MOT method for multi-camera detectors. Following the Tracking-By-Detection framework, RockTrack is compatible with various off-the-shelf detectors. RockTrack incorporates a confidence-guided preprocessing module to extract reliable motion and image observations from distinct representation spaces from a single detector. These observations are then fused in an association module that leverages geometric and appearance cues to minimize mismatches. The resulting matches are propagated through a staged estimation process, forming the basis for heuristic noise modeling. Additionally, we introduce a novel appearance similarity metric for explicitly characterizing object affinities in multi-camera settings. RockTrack achieves state-of-the-art performance on the nuScenes vision-only tracking leaderboard with 59.1% AMOTA while demonstrating impressive computational efficiency. © 2024, CC BY-NC-SA.

关键词： Object detection

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DogGet: A Legged Manipulation system in Human Environments 12

DogGet: A Legged Manipulation System in Human Environments

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12th International Conference on CYBER Technology in Automation, Control, and Intelligent systems, CYBER 2022

作者： Linghan, Meng Cong, Wang Shengguo, Cui Qifeng, Zhang Baoqi, Zhai 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 Guangzhou511458 China Key Laboratory of Marine Robotics Liaoning Province Shenyang110169 China University of the Chinese Academy of Sciences Beijing100049 China Guangdong Institute of Intelligent Unmanned System Guangzhou511458 China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

The problem of population ageing in today's world is becoming increasingly serious, and the capacity gap in the service industry for elderly people is increasing. Especially in the current epidemic environment, the deartificialization of the service industry is imminent. For service tasks of seniors, there is no doubt that legged robots are the best choice for service tasks due to there flexibility and agility. However, complex service tasks require a mobile robotic system that integrates functions such as localization, navigation, recognition, and grasping. To this end, we propose a mobile robotic system to accomplish some daily service work such as finding and grasping some articles for daily use and then delivering them to a proposed place. We show that the system is universally applicable and highly efficient in daily environments. Videos of the experiments can be viewed at https://***/xPeBzDf6D_k or https://***/video/BV1QZ4yli7qx. © 2022 IEEE.

关键词： HTTP

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1U-Sized Deployable Space Manipulator for Future On-Orbit Servicing,Assembly,and Manufacturing

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Space(Science & Technology) 2022年第1期2022卷 500-513页

作者： Jinguo Liu Pengyuan Zhao Keli Chen Xin Zhang Xiang Zhang 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 National Innovation Institute of Defense Technology Academy of Military SciencesBeijingChina

Miniaturized,multifunctional,and economical on-orbit service satellites have been increasingly used with the continuous increase of space exploration *** this paper,an innovative deployable manipulator is designed,named Cubot,which can be stowed in 1 U-sized(10 cm×10 cm×10 cm)*** CubeSat as the carrier,the deployable Cubot aims to achieve a variety of on-orbit operation tasks including space debris removal and space station on-orbit maintenance,for future on-orbit servicing,assembly,and manufacturing(OSAM).A kinematics modeling method of a space manipulator with passive joints is proposed,and the motion equation of the manipulator is *** the elastic potential energy stored in the passive joint during deployment,the momentum change of Cubot is simulated and *** the main forced element,the end effector is analyzed using *** stress response with respect to the force distribution and the clamping angle is analyzed to evaluate mechanical performances of the end-effector *** tests are conducted to verify the feasibility of Cubot based on a principled prototype,which aims to provide engineering and practical experience for the development of this field.

关键词： passive sized Cube

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Insulators Defect Detection for Power Grid Based on Improved Yolov7 Algorithm 13

Insulators Defect Detection for Power Grid Based on Improved...

引用

13th International Conference on Intelligent Control and Information Processing, ICICIP 2025

作者： Zhang, Zhiwei Zhuang, Yan Liang, Zhida Kong, Shuai Zhu, Shengyi School of Control Science and Engineering Dalian University of Technology Dalian China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Key Laboratory of Special Equipment Safety Testing Technology of Zhejiang Province Zhejiang Academy of Special Equipment Science Hangzhou China

ISBN: (纸本)9798331516147

High-current out-of-phase closed bus is an essential link in the transmission of electric energy and is widely used in thermal power stations, hydropower stations and nuclear power plants. Although these busbars have the advantages of excellent dustproof effect and strong magnetic shielding, they are susceptible to insulator aging and damage in long-term operation, posing a potential safety risk to the power grid. Due to the enclosed space inside the bus and the complexity of external maintenance tasks, manual inspection has problems such as inefficiency and low safety. In order to solve these problems, this paper proposes an improved detection algorithm based on Yolov7 for insulator defect detection in hydropower station scenarios. Because of the particularity of Yolov7 network structure and application scenarios, this paper proposes a Channel Feature Enhancement module to enhance the channel representation ability of the network. In addition, an Edge Feature Enhancement module is introduced to improve the boundary detection of insulators by enhancing the contrast between the target and the background. Considering the limitations of existing studies in specific scenarios and the scarcity of dataset, this paper constructs and accurately annotates an insulator defect detection dataset applied to hydropower station scenarios. Experimental results show that the improved-Yolov7-tiny algorithm in this paper achieves a balance between accuracy and inference speed. © 2025 IEEE.

关键词： Magnetic shielding

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FT-TF: A 4D Long-term Flight Trajectory Prediction Method Based on Transformer

FT-TF: A 4D Long-term Flight Trajectory Prediction Method Ba...

引用

第42届中国控制会议

作者： Shijin Luo Minghui Zhao Zhenjie Zhao Lun Li Shiyong Zhang Xuebo Zhang Institute of Robotics and Automatic Information System College of Artificial Intelligence Nankai University Tianjin Key Laboratory of Intelligent Robotics Nankai University

The accurate prediction of target aircraft trajectory in the process of air combat can significantly improve the ability of aircraft to gain air superiority. Most of the trajectory prediction methods currently applied in air combat are based on traditional time-series prediction algorithms such as LSTM with short prediction steps, which can not realize the demand for long-term prediction in air combat. To address the issue, a novel prediction method FT-TF is proposed in this paper. FT-TF is a multi-step4D flight trajectory prediction method based on Transformer applied to further improve the accuracy and practicality of trajectory prediction problems. FT-TF uses the first 30 steps of aircraft historical trajectory data as input and the last 30 steps as *** trajectory data sets of aircraft in air combat are used in the experiment to make the trained model closer to the real air combat scene. The experimental results show that the proposed FT-TF can achieve higher prediction accuracy than LSTM and BP neural network. Related Transformer variants of the algorithm are also added to the experiment for comparison, the results demonstrate that the proposed method achieves the smallest prediction error.

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A Novel Thrust Allocation Method for Underwater Robots 12

A Novel Thrust Allocation Method for Underwater Robots

引用

12th International Conference on CYBER Technology in Automation, Control, and Intelligent systems, CYBER 2022

作者： Zheng, Xin-Hui Wang, Cong Yang, Xue-Jiao Tian, Qi-Yan Zhang, Qi-Feng Zhai, Bao-Qi 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 Guangzhou511458 China Key Laboratory of Marine Robotics Liaoning Province Shenyang110169 China University of Chinese Academy of Sciences Beijing100049 China Guangdong Institute of Intelligent Unmanned System Guangzhou511458 China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

Underwater vehicles with normal thruster configuration methods are unsatisfying in position-keeping tasks because of their limited manoeuvrability. To this end, this paper proposes an underwater ve-hicle with a novel thruster configuration method and solves the thrust allocation problem by the sequential quadratic programming(SQP) algorithm. Comparisons between the performance of the proposed thruster configuration method and the most widely used config-uration method are given based on the UUVSimulator and Gazebo. Numerical simulations show that vehicle with the proposed thrust configuration method has better performance in manoeuvrability and energy consumption. © 2022 IEEE.

关键词： Energy utilization

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A Terrain Recognition Method Based on Semantic Segmentation for Field Robot Under Sample Imbalance

A Terrain Recognition Method Based on Semantic Segmentation ...

引用

2023 IEEE International Conference on Unmanned systems, ICUS 2023

作者： Shi, Xianyu Shao, Shiliang Wang, Ting Zhang, Qi Shenyang Institute of Automation Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China University of the Chinese Academy of Sciences Beijing China School of Software Shenyang University of Technology Shenyang China

ISBN: (纸本)9798350316308

Vision-based terrain recognition technology can help the robot understand the surrounding environment and then adjust the control and motion strategy in time. However, most of the existing work focuses on urban environments, and little attention is paid to complex off-road environments. Moreover, the class imbalance in the off-road environment is highly dependent on the specific environment so that the class imbalance problem is more serious, which makes the semantic segmentation of rare classes more challenging. In this study, we propose a visual terrain recognition method based on different weight loss functions for ground mobile robots in the off-road environment with class imbalance. The visual information is input into the improved network for terrain recognition. In order to better identify the rare classes, different weights are assigned to different classes in the loss function of the improved network. After a series of experiments, the results show that our improvement achieves better results than the original model in the off-road environment. © 2023 IEEE.

关键词： Mobile robots

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Open-Source Reinforcement Learning Environments Implemented in MuJoCo with Franka Manipulator

Open-Source Reinforcement Learning Environments Implemented ...

引用

IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Zichun Xu Yuntao Li Xiaohang Yang Zhiyuan Zhao Lei Zhuang Jingdong Zhao State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (数字)9798350355369

ISBN: (纸本)9798350355376

This paper presents three open-source reinforcement learning environments developed on the MuJoCo physics engine with the Franka Emika Panda arm in MuJoCo Menagerie. Three representative tasks, push, slide, and pick-and-place, are implemented through the Gymnasium robotics API, which inherits from the core of Gymnasium. Both the sparse binary and dense rewards are supported, and the observation space contains the keys of desired and achieved goals to follow the Multi-Goal Reinforcement Learning framework. Three different off-policy algorithms are used to validate the simulation attributes to ensure the fidelity of all tasks, and benchmark results are also given. Each environment and task are defined in a clean way, and the main parameters for modifying the environment are preserved to reflect the main difference. The repository, including all environments, is available at https://***/zichunxx/panda_mujoco_gym.

关键词： Mechatronics Reinforcement learning Benchmark testing Manipulators Task analysis Physics Engines

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Advances in Intelligent Control of Magnetically Actuated Micro-robots

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Jiqiren/Robot 2023年第5期45卷 603-625页

作者： Xu, Tiantian Huang, Chenyang Liu, Jia Xu, Yanhua Lai, Zhengyu Wu, Xinyu Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China Shenzhen Key Laboratory of Minimally Invasive Surgical Robotics and System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China University of Chinese Academy of Sciences Beijing100049 China

Micro-robots wirelessly actuated by low-intensity electromagnetic fields can move in narrow environment and complete complex tasks, such as targeted drug delivery, micromanipulation, and environment detection. This paper introduces the advances of intelligent control of magnetically actuated micro-robots, mainly including the applications of intelligent control methods to the following areas: from rigid structure to flexible structure of magnetically actuated micro-robots, from single motion mode to multiple motion modes of magnetically actuated micro-robots, from open-loop control to closed-loop control of magnetically actuated micro-robots, from single individual and single swarm to multiple individuals of magnetically actuated micro-robots. Finally, the future development directions of magnetically actuated micro-robots are expected, including magnetic drives for larger workspace, micro-robots with more motion modes, medical micro-robots with flexible structures, autonomous navigation of micro-robots, and control of multiple magnetically actuated micro-robots. © 2023 Chinese Academy of Sciences. All rights reserved.

关键词： Controlled drug delivery

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