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TrinityMag:A novel magnetically actuated miniature robot manipulating system with a human-scale workspace

Science China(Technological Sciences) 2024年第11期67卷 3546-3558页

作者： LI Dong CHEN BinHan HUANG ChenYang XU Sheng WU XinYu XU TianTian Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institutes of Advanced TechnologyChinese Academy of SciencesShenzhen 518055China Key Laboratory of Biomedical Imaging Science and System Shenzhen Institute of Advanced TechnologyChinese Academy of SciencesShenzhen 518055China

The development of the magnetic manipulating system is essential for applications of magnetically actuated miniature robots in biomedical practice,such as targeted therapy and precise ***,the workspaces of existing magnetic manipulating systems for miniature robots are mostly insufficient to manipulate miniature robots inside human *** present study proposes an innovative electromagnets-based manipulating system,TrinityMag,which can produce dynamic three-dimensional(3D)magnetic fields in a human-scale spherical workspace with a 2.6 m *** magnetic field of a single electromagnet is simulated,and a new calibration technic is designed based on deep learning ***,the arrangement of three electromagnets is optimized to produce maximal 3D arbitrary magnetic fields with limited ***,a target-tracking algorithm is developed so that the TrinityMag can track the miniature robot in real ***,the TrinityMag is validated in experiments to manipulate a soft millirobot to move in human-scale tortuous tracks with two types of *** maximum speed of the soft millirobot reaches 11.05 body length/*** work contributes to a significant increment in the workspace of the electromagnets-based manipulating system for miniature *** further expect that the TrinityMag could push the applications of miniature robots from laboratory to clinical practice.

关键词： magnetic manipulating system human-scale workspace magnetically actuated miniature robots

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Review on Development of Automatic Docking system for Weapons and Cabins

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Recent Patents on Engineering 2024年第2期18卷 63-87页

作者： Tang, Dedong Cheng, Chao Quan, Qiquan Deng, Zongquan Liu, Hao Key Laboratory of Advanced Manufacturing and Intelligent Technology Ministry of Education Harbin University of Science and Technology Harbin150080 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

Background: In the manufacturing setup process of weapons, aviation, and aerospace, docking assembly is a key component in determining manufacturing efficiency and quality. The traditional docking method uses manual alignment, which depends on the experience and operation level of the workers, so the docking accuracy is low and the installation speed is slow. In response to this problem, how to achieve automatic docking of weapons and cabins has become a key technology. Objective: The objective of this study is to provide an overview of recent key technologies for automatic docking systems and introduce their respective classification, characteristics, and development. Methods: This paper reviews the patents and products related to the key technologies of automatic docking systems. The structural features, methodological principles, control characteristics and applications of the patents and products are summarized. Results: The key technologies related to different aspects of an automatic docking system are compared and analyzed, and the structural features, and methodological principles are also summarized. The problems of the current key technologies are analyzed, and the current status of research and future directions of the automatic docking system are discussed. Conclusion: According to the key technologies related to different aspects of the automatic docking system, they can be divided into motion mechanism, pose detection technology, and computer control technology. The accuracy, compliance, and flexibility of the automatic docking system can be improved by choosing the proper key technology. Further improvements are needed in terms of fast performance, robustness and authenticity, and more patents on key technologies of automatic docking systems should be invented. © 2024 Bentham Science Publishers.

关键词： Patents and inventions

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A flat-foldable equiangular spiral folding pattern inspired by sunflowers for deployable structures

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Chinese Journal of Aeronautics 2024年第6期37卷 425-438页

作者： Shuangqing YU Jinguo LIU Pengyuan ZHAO Yingying TANG 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

Flasher origami pattern has been widely utilized to improve the stowage efficiency of deployable ***,flasher origami cannot be folded fully flat,and they still have great potential for optimization in terms of storage volume and folding *** this paper,a flat foldable equiangular spiral folding pattern inspired by the sunflower disk is ***,a parametric design method for this equiangular spiral crease diagram is introduced in ***,a kinematic model of the equiangular spiral folding pattern is established based on the kinematic equivalence between rigid origami and spherical linkages.A simulation of the developed model demonstrates that the equiangular spiral folding pattern can be folded *** the folded ratio as an evaluation index,the calculated results and experiments show that the equiangular spiral crease pattern can yield fewer creases and improve stowage efficiency in comparison to flasher origami *** spiral folding pattern can save a considerable amount of space and provide a new approach to spatially deployable structures.

关键词： Flasher origami Sunflower-inspired Deployable structures Flat-foldability Equiangular spiral folding pattern

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Data-Driven Robust Model Predictive Control for Pose Tracking of Redundant Manipulators

Data-Driven Robust Model Predictive Control for Pose Trackin...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Chen, Zhaoyang Ni, Fenglei Min, Kang Liu, Hong Harbin Institute of Technology State Key Laboratory of Robotics and System Heilongjiang Province Harbin150001 China

ISBN: (纸本)9781665481090

In this paper, we present a data-driven robust model predictive control (DD-RMPC) method for pose tracking of redundant manipulators. Firstly, a MPC-based trajectory tracking framework is established, in which the joint limits at three different levels (angle, velocity, and acceleration) are satisfied. Secondly, to deal with the system model's uncertainty, accelerate the error convergence speed, and reduce tracking errors, a novel data-driven RMPC is proposed, in which the system's input-output data are used to compensate for the conservatism of the system. Finally, the simulation results on a seven degrees of freedoms (DOFs) redundant manipulator show that DD-RMPC provides a faster error convergence rate and achieves smaller pose tracking errors than that of the comparison methods. © 2024 IEEE.

关键词： Predictive control systems

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Robotic telemanipulation with EMG-driven strategy-assisted shared control method

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Science China(Technological Sciences) 2024年第12期67卷 3812-3824页

作者： XIONG DeZhen FU Xin ZHANG DaoHui CHU YaQi ZHAO Yi Wen ZHAO XinGang 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

The transfer of information between a human and a robot is of vital importance for robotic telemanipulation *** this paper,we propose a novel strategy-assisted shared control(SASC)scheme driven by electromyography(EMG)signals for robot ***,we develop an EMG decoding scheme to achieve reliable online performance,where ten features are extracted and selected and then classified by machine learning *** feature selection methods are compared to learn a compact representation from original feature ***,a vision-based module is designed for object detection and localization,which helps to grasp or release objects ***,online visual feedback of environmental states and audio feedback of EMG decoding results are used for better perception of environmental contexts.A platform integrated with a robot arm,an RGB-D camera,and a pneumatic sucker,among others,is developed to evaluate the proposed *** best accuracy of EMG recognition is 97.18%±10.61%,achieved by the support vector machine and features selected by recursive feature *** paradigms driven by a joystick or EMG are compared with SASC in a robotic telemanipulation *** performance shows that SASC reaches a successful rate of 100% with the least time of 61.97±9.89 *** completion times of SASC are only 67.78% and 55.71% of the two contrast methods,*** shows that the proposed scheme has the potential to replace classical methods with reliable performance and less time,which provides a novel solution for this field of study.

关键词： EMG shared control robotic telemanipulation vision autonomous

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Scientific issues and critical technologies in planetary defense

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Chinese Journal of Aeronautics 2024年第11期37卷 24-65页

作者： Qinkun CHENG Wei 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

In history,the Earth has encountered frequent and massive *** today,it is still a collided target for Potentially Hazardous Objects(PHOs),gradually making planetary defense a concerned and important research topic in the field of aerospace *** this background,this work clarifies and discusses some important scientific issues and various critical technologies of planetary ***,the current status of planetary defense research is ***,the classification and characteristics of PHOs are introduced,focusing on their potential impact on planetary defense and related scientific research *** the purpose of protecting the Earth and maintaining space safety,the monitoring and characterization,deflection,and mitigation of PHOs have basically occupied all the attention of planetary defense ***,the critical technologies in planetary defense are discussed from these three aspects,and are also compared and analyzed in *** on the current research progress in planetary defense,the challenges for planetary defense are discussed,and future development directions are also ***,a summary of the entire study is provided.

关键词： Small celestial body Potentially hazardous object(PHO) Near-Earth asteroid(NEA) Planetary defense technology Space robot

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Modeling and analysis of elastic plane constraint on soft robots

Modeling and analysis of elastic plane constraint on soft ro...

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2023 International Conference on Mechatronic Engineering and Artificial Intelligence, MEAI 2023

作者： Deng, Zhaoyan Gao, Hongwei Chen, Peng Liu, Yuwang Shenyang Ligong University Shenyang China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang Institute of Automation 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 State Key Laboratory of Robotics Shenyang Institute of Automation Shenyang China

ISBN: (纸本)9781510674608

Under the influence of unstructured environmental constraints, the spatial morphological changes in slender soft robots are primarily determined by the robot's force situation. Therefore, this paper focused on theoretically modeling and analyzing the static equilibrium problem of slender soft robots. The static mechanical model of the robot under unstructured elastic constraints was simplified, established, and computationally solved based on the theory of elastic rods. Simulation calculations for the model under General plane elastic constraints were conducted, providing an initial verification of the accuracy. © 2024 SPIE.

关键词： Robots

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A Kinematic Decoupling Whole-body Control Method for a Mobile Humanoid Upper Body Robot

A Kinematic Decoupling Whole-body Control Method for a Mobil...

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2023 International Conference on Frontiers of robotics and Software Engineering, FRSE 2023

作者： Ju, Fengjia Jin, Hongzhe Zhao, Jie Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9798350301113

The mobile humanoid upper body robot combines the humanoid upper body robot with the mobile platform. It has high redundancy and can complete complex tasks. However, coupling joints, including the waist joints and the mobile platform, exist in the configuration of the robot. During the task execution, the motion of the end-effectors on the dual arms are not independent, but interfere with each other through the motion of the waist and the mobile platform. Therefore, we need to decouple the waist and mobile platform from the dual arms. Based on the pseudo-inverse method of the redundant manipulators, we consider the motion of the coupling joints as a disturbance term and propose a kinematic decoupling whole-body control method. The method realizes the decoupling and cooperation of dual arms, avoids the interference of the inverse kinematics model of the dual arms, and fully releases the application potential of the high redundancy. The decoupling method allows the waist joints and the mobile platform to move randomly without affecting the task operation at the end-effectors, and to further plan their movements separately in order to smooth the whole body motion. The simulations on the mobile humanoid upper body robot verifies our method. © 2023 IEEE.

关键词： End effectors

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Underwater RGB-D imaging system with millimetric precision

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Science China(Information Sciences) 2024年第10期67卷 383-385页

作者： Yajun GAO Yang CONG Xu TANG Mingxue LI 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 College of Automation Science and Engineering South China University of Technology

In recent years, underwater fine three-dimensional reconstruction technology has emerged as a focal point in research, exhibiting extensive potential applications, particularly in underwater archaeology and resource e...

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Optimizing Dataset Configuration for Improving Convolutional Neural Networks Performance in Chest X-ray Image Classification 8

Optimizing Dataset Configuration for Improving Convolutional...

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8th International Conference on Intelligent Computing and Signal Processing, ICSP 2023

作者： He, Zengmin Ren, Yi Wang, Honggang Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9798350302455

Chest X-ray (CXR) is essential for physicians to diagnose lung diseases in clinical medicine. With the development of computer and deep learning techniques, creating CXR datasets to train convolutional neural networks (CNNs) has become a popular research topic. However, there are still challenges in creating datasets due to class imbalance and the ratio setting of datasets. This study investigated the impact of class imbalance and the ratio of training, validation, and test sets on CNNs classification performance by optimizing the dataset configuration. This was achieved by directly modifying the ratio, applying oversampling based on the adaptive contrast enhancement (ACE) algorithm, and random undersampling to balance the dataset classes, followed by modifying the ratio again. Therefore, seven datasets were obtained, which were utilized to individually train four CNNs based on transfer learning and fine-tuning techniques. Evaluation metrics based on the confusion matrix were utilized to demonstrate the enhanced classification performance of CNNs. The results indicated that at least 17% of the accuracy of CNNs trained by the dataset with modified ratios was improved as compared with the dataset with an unreasonable initial configuration. Additionally, the overall evaluation metrics of CNNs were further improved by balancing the dataset classes and modifying the ratios. ChexNet demonstrated the best classification performance among the four CNNs, as evidenced by the area under the receiver operating characteristic (ROC) curves (AUC). Furthermore, ChexNet was trained by a class balanced dataset with a ratio of 7:2:1, resulting in the best evaluation metrics, including F1 Score, balanced accuracy, accuracy, recall, specificity, and precision, which were 97.81%, 97.78%, 97.78%, 98.73%, 96.84%, and 96.89%, respectively. Therefore, optimizing dataset configuration can effectively improve the performance of CNNs, providing empirical guidance for researchers in creating dat

关键词： Convolutional neural networks

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