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2024 10th International Conference on Applied Materials and Manufacturing Technology, ICAMMT 2024

作者： Wu, Junjie Ji, Yulei Zhong, Lei Wang, Yuhan State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai200240 China Meta Robotics Institute Shanghai Jiao Tong University Shanghai200240 China Shanghai TOP Numerical Control Technology Co. Ltd Shanghai201100 China

The increasing demand for highly efficient and precise machining in the aerospace industry is leading to increasingly stringent requirements for machine tool accuracy measurement and compensation technologies. However, existing methods can only measure the accuracy of machine tools after they have been shut down, using instruments that do not measure the kinematic errors during the machining process. To address this issue, a method for real-time prediction of kinematic errors in a five-axis machine tool has been proposed to enhance machining accuracy and efficiency. The method employs a neural network-based predictive model, which has been trained and validated through experimental testing and data collection using internal sensors of the machine tool. The study reveals that this predictive model can effectively forecast the kinematic errors, through real-time compensation, and can reduce errors by 60-86%, significantly enhancing machine performance. © Published under licence by IOP Publishing Ltd.

关键词： Aerospace industry

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Development of a Vision-Based Search system for Unmanned Aerial Vehicles

Development of a Vision-Based Search System for Unmanned Aer...

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Youth Academic Annual Conference of Chinese Association of Automation (YAC)

作者： Yongjie Zheng Guangyu Zhang Yuqing He Liying Yang Zhaoxiong Huang State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences University of Chinese Academy of Sciences Shenyang China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China

ISBN: (数字)9798350379228

ISBN: (纸本)9798350390780

This paper presents the development of an autonomous unmanned aircraft system (UAS) that excelled in the Unmanned Platform Stereoscopic Cross-Domain Collaboration Challenge held in Yuxi, China, from August 1-15, 2022. The challenge was divided into four subtasks: (1)navigation and control, (2)recognition and localization, (3)online trajectory planning, and (4)task planning and scheduling, all of which were to be performed autonomously and safely by the robot. To meet these requirements, we designed and implemented a UAS with high autonomy and reliability, built on a hexacopter system, integrating sensors, an onboard computer, power batteries, and an electro-optical pod. We then developed the software algorithm and implemented the executable calculation code, integrated with the UAV hardware system. This paper outlines the main components and design process of the UAS and describes its application in a competition mission.

关键词： Trajectory planning Stereo image processing Software algorithms Autonomous aerial vehicles Robot sensing systems Software Sensor systems

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An Container Elastic Autoscaling Strategy Based Adaptive Integrated Resource Forecast 6

An Container Elastic Autoscaling Strategy Based Adaptive Int...

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6th International Conference on Communications, Information system and Computer Engineering, CISCE 2024

作者： Miao, Weiwei Sun, Yong Zeng, Zeng Hong, Tao Xiao, Maoran State Grid Jiangsu Electric Power Co. Ltd. Information & Telecommunication Branch Nanjing China Shenyang Institute of Automation Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang110016 China Chinese Academy of Sciences Key Laboratory of Networked Control Systems Shenyang110016 China

ISBN: (纸本)9798350353174

The built-in elastic autoscaling strategy of Kubernetes, a container cloud orchestration and management system, balances the relationship between application service quality and cluster resource usage by regularly monitoring a single resource and comparing it with a set threshold to determine whether to scale up or down. However, the built-in strategy has the problems of incomplete evaluation of a single resource index, response delay and scaling jitter. To address the above problems, this paper uses an adaptive weighting algorithm to obtain a comprehensive prediction index based on long-range time multi-resource prediction sequences. This index is not only more comprehensive than a single index, but also measures the resource usage in the future time period, so that the adaptive comprehensive prediction index has the ability to more comprehensively measure the changes in application workload in the future time period. The experimental results show that the autoscaling strategy based on adaptive integrated resource forecast can effectively solve the problems of regulation lag and scaling jitter. © 2024 IEEE.

关键词： Prediction models

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Acoustic soft metacollimator by broadband digital phase encoding

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Physical Review Applied 2024年第1期22卷 014065-014065页

作者： Erqian Dong Jinhu Zhang Xiaochun Su Zhanyuan Gao Chen Yang Zhenyu Wang Nicholas X. Fang Yu Zhang State Key Laboratory of Marine Environmental Science Key Laboratory of Underwater Acoustic Communication and Marine Information Technology of the Ministry of Education College of Ocean and Earth Sciences Department of Mechanical Engineering State Key Laboratory of Robotics Shenyang Institute of Automation

Phase engineering plays a pivotal role in various scientific research and industrial applications including microwaves, optics, and acoustics. However, traditional phase engineering methods lack the flexibility for arbitrary programming due to the absence of digitization. Conversely, while broadband digitization technology holds promise, its utilization in wave engineering has been constrained by narrowband transmission capabilities. In this study, we introduce a novel approach to broadband digital phase encoding spanning frequencies from 50 to 500 kHz. Our methodology is exemplified through the development of an acoustic soft metacollimator with simulations and experiments conducted underwater across different frequency ranges. Our findings demonstrate that the soft metacollimator significantly enhances transmission intensity by 7.7 dB and improves spatial resolution by a factor of 10. Moreover, the soft metacollimator enables novel functionalities such as long-distance energy enhancement and broadband coding properties in underwater acoustics. This pioneering broadband digital phase encoding technique holds promise for advancing next-generation phase engineering and offers versatile applications in biomedical ultrasonics, acoustic communications, and the development of underwater broadband acoustic antennas.

关键词： Acoustic metamaterials Applications of soft matter Sound generation Underwater acoustics Devices Smart materials Acoustic techniques Ultrasound techniques

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Dimension Reduction for Dynamic Analysis of Gene Expression Data Using Variational Autoencoder 13

Dimension Reduction for Dynamic Analysis of Gene Expression ...

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

作者： Yuan, Shuai Chen, Shipeng Yang, Yongliang School of Electrical and Control Engineering Shenyang Jianzhu University Liaoning Shenyang110016 China 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 Liaoning Shenyang110106 China

ISBN: (纸本)9798350315196

Single-cell RNA sequencing technology captures gene expression at the whole-genome scale and single-cell level in many cells. Thus, the cellular states during a physiological process would be captured in detail. These data provide new opportunities and challenges for systems biology. Previously, the models in systems biology dealt with the dynamics of specific signaling pathways. However, it is almost impossible to directly model the dynamics of the whole genome due to the ultrahigh dimensionality of the data. Here, to model its gene regulatory dynamics, the dimensionality of the whole genome was reduced significantly using the latent space of a variational autoencoder, a generative deep learning model. In the low-dimensional latent space, an ordinary differentiation equation (ODE) system has been established to analyze the dynamic characteristics of the whole genome system. To demonstrate the effectiveness of this method, we generated a low-dimensional representation of a systems biology model we previously developed. The variational autoencoder reduced the dimension from 13 to 2 in latent space. An ODE model was developed to analyze the dynamics of this two-dimensional system. The results indicated that the 2-dimensional model captured the essence of the original systems biology model. © 2023 IEEE.

关键词： Dynamics

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Review of in-space assembly technologies

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Chinese Journal of Aeronautics 2021年第11期34卷 21-47页

作者： Zhihui XUE Jinguo LIU Chenchen WU Yuchuang TONG 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

With the rapid development of space technology and the increasing demand for space missions,the traditional spacecraft manufacturing,deployment and launch methods have been unable to meet existing ***-space assembly(ISA)technologies can effectively adapt to the assembly of large space structures,improve spacecraft performance,and reduce operating *** this paper,the development and technologies for ISA are *** is classified from multiple angles,and the research status of ISA is shown clearly through the visual mapping knowledge *** the development status of autonomous robot assembly in the United states,Europe,Japan,Canada and China is ***,the key technologies of ISA are analyzed from three aspects:assembly structure design,robot technologies and integrated management *** technologies are still facing major challenges and need to be further explored to promote future ***,future development trends and potential applications of ISA are given,which show that ISA will play a vital role in human space exploration in the future.

关键词： In-situ resource utilization In-space assembly Modular On-orbit servicing Space robots

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A Miniaturized Pneumatic Electrode Gripper for Robotic Cochlear Implant Surgery

A Miniaturized Pneumatic Electrode Gripper for Robotic Cochl...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Gao, Hongyan Zou, Yun Huang, Shaoping Chen, Weidong Gao, Anzhu Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education Institute of Medical Robotics and Department of Automation Shanghai200240 China Institute of Medical Robotics Shanghai Jiao Tong University Shanghai200240 China

ISBN: (纸本)9781665481090

Cochlear implant surgery is one of the most challenging surgeries due to the limited workspace and delicate inner structure. A traditional electrode implant instrument is a passive elastic forceps, which needs another forceps to help grip or release the electrode. It is not convenient to achieve delicate operations in a confined space. This paper develops a miniaturized pneumatic electrode gripper at the tip of forceps to achieve active gripping. It transmits the pressurized air through 3D-printed inner lumens to form two inflated soft bubbles to push the electrode to the rigid shell for accurate positioning. The finite element analysis is carried out to evaluate the shape of inflated soft bubbles with variable soft films. A prototype of a gripper with inner tortuous airways is fabricated using micro 3D printing technique, and experiments are carried out to validate its accuracy and demonstrate its ability to grip and release. Finally, robotic teleoperation using a robotic arm and a joystick is implemented for cochlear implant surgery. Results demonstrate that the developed miniaturized pneumatic gripper has successfully achieved electrode implantation in a 3D-printed cochlear phantom. © 2022 IEEE.

关键词： Electrodes

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Estimation and Prediction of CoM With Terrain Feature Embedding During Walking

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IEEE Transactions on Automation Science and Engineering 2025年 22卷 16108-16120页

作者： Xian, Haolan Xiong, Jingfeng Zhang, Yuanwen Chen, Xinxing Fu, Chenglong Leng, Yuquan Key Laboratory of Biomimetic Robotics and Intelligent Systems Shenzhen 518055 China Southern University of Science and Technology Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Shenzhen 518055 China Harbin Institute of Technology (Shenzhen) School of Biomedical Engineering State Key Laboratory of Robotics and Systems Shenzhen 518067 China Southern University of Science and Technology Department of Mechanical and Energy Engineering Shenzhen 518055 China

Wearable devices are currently being used to reduce metabolism and assist people with disabilities for daily walking. For the elderly and disabled people, improving the walking stability of wearable devices is a crucial and unsolved research. In particular, the center of mass (CoM) trajectory can reflect the walking state as well as the stability of a person. For this reason, realizing the prediction of CoM trajectory under daily walking is promising to improve the wearable devices. In this article, a method for estimation and prediction of CoM during daily walking was proposed. A visual-inertial-odometry algorithm was used to obtain history CoM trajectories during walking, and the depth information from camera data was extracted by sequential distance embedding method and encode the information into terrain vectors. The trajectory vectors were patched with the corresponding terrain vectors and then realized the fusion of multi-modal data, which were then fed into a well-trained temporal convolution network to output the prediction results. With data from two outdoor datasets, the method in this paper was verified to be able to be used for CoM trajectory prediction for a variety of walking tasks and consume low computational cost. This method has the potential to be extensible in improving the stability of wearable devices, such as exoskeleton, powered prosthetic, and so on. © 2004-2012 IEEE.

关键词： Center of mass (CoM) excursion embedding techniques human walking RGB-D perception trajectory prediction

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Reexamining Indoor Mobile Robots from a Cognitive Perspective 5

Reexamining Indoor Mobile Robots from a Cognitive Perspectiv...

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5th International Conference on robotics and Computer Vision, ICRCV 2023

作者： Song, Fei Li, Jinyu Tang, Fengzhen Tang, Yandong Si, Bailu 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 University of Chinese Academy of Sciences Beijing China School of Systems Science Beijing Normal University Beijing China

ISBN: (纸本)9798350326369

The field of traditional mobile robot navigation has undergone a gradual transformation, evolving into a standardized and procedural research domain. Through a fresh cognitive perspective on this navigation process, a bridge emerges between robotic researchers and cognitive neuroscientists, thereby fostering the growth of interdisciplinary exploration. This article meticulously examines three pivotal phases of robot navigation: information acquisition, simultaneous localization and mapping (SLAM), and path planning. These phases are intricately linked to pertinent cognitive research. Furthermore, a comprehensive survey of existing biomimetic and neuromorphic algorithms is presented, highlighting their applications in augmenting robot navigation capabilities. Ultimately, this article charts a visionary course for the future of robot navigation, envisioning its potential in facilitating more intelligent and efficient navigation techniques. © 2023 IEEE.

关键词： Navigation

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A grid-assisted 3D printing method for magnetically driven micro soft robot 9

A grid-assisted 3D printing method for magnetically driven m...

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9th International Conference on Advanced Manufacturing Technology and Materials Science, AMTMS 2021

作者： Gao, Jian Gao, Peng Rong, Weibin Li, Dongjie Wang, Lefeng State Key Laboratory of Robotics and System Harbin Institute of Technology Heilongjiang Harbin150001 China Key Laboratory of Advanced Manufacturing and Intelligent Technology Ministry of Education Harbin University of Science and Technology Heilongjiang Harbin150080 China

The magnetically driven micro soft robot is one of the research hotspots in the field of micro robots. A 3D printing method for manufacturing micro soft robots with the help of auxiliary grids is proposed. The shape flexibility of the micro soft robots manufactured by the micro 3D printing method can be improved, and internal structures composed of different materials inside the micro robots can be printed using this method. The technical details of the grid-assisted 3D printing process are introduced in this article. Micro soft robots with specific patterns were 3D printed, and the deformation and movement capabilities of the robots were verified in magnetically driven motion experiments. The experimental results prove that the grid-assisted 3D printing technology can not only manufacture magnetically driven micro soft robots, but also adjust the internal structure and motion performance of the robots. © 2022 institute of Physics Publishing. All rights reserved.

关键词： 3D printers

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