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6th IEEE Information Technology, Networking, Electronic and Automation Control Conference, ITNEC 2023

作者： Yang, Guang Li, Zhihang Yang, Zhijia Cui, Shuping 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 University of Chinese Academy of Sciences Beijing100049 China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China

ISBN: (纸本)9781665460033

Photoresist coating technology is an important part of the surface treatment of semiconductor wafers. The presence of bubbles in photoresist can seriously affect the quality of wafers, however, the lack of sufficient bubble samples makes intelligent automatic detection techniques impossible. To solve such a problem, we propose B-GAN based on adversarial generative network, and design a mapping network for potential encoding mapping and a synthetic network for high-quality bubble image generation, so that defective bubble samples can be automatically generated. Experiments prove that our method achieves excellent results. © 2023 IEEE.

关键词： III-V semiconductors

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Compliance Control and Simulation of a Next-Generation Chewing Robot 42

Compliance Control and Simulation of a Next-Generation Chewi...

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42nd Chinese Control Conference, CCC 2023

作者： Wang, Xudong Xu, Weiliang Dhupia, Jaspreet Bronlund, John Han, Jianda The University of Auckland Department of Mechanical & Mechatronics Engineering Auckland New Zealand School of Food and Advanced Technology Massey University Palmerston North New Zealand Reddit Institute Palmerston North New Zealand Institute of Robotics and Automatic Information System College of Artificial Intelligence Nankai University Tianjin China Nankai University Tianjin Key Laboratory of Intelligent Robotics Tianjin China

ISBN: (纸本)9789887581543

The aim of the development of the chewing robots is to study the biomechanics of chewing process or produce the bolus for further research by in vitro experiments. Some chewing robots are open loop controlled and couldn't behave like a human. However, to make the chewing robots more bin-mimic, force feedback based closed loop control is required. To improve the efficiency of the in-vitro chewing experiments, a next generation chewing robot with cam-follower based multi-chambers was developed previously, which can be used test the effect of different chewing parameters on the chewing performance and food texture changes simultanously. In this paper, modified admittance control based on the force feedback was applied to the chewing robot. At first, to improve food particle size reduction to a distribution which closely matches that produced by human and protect the components of the robot from breakage or impact damage, a spring mass based system, called remote center compliance (RCC), was developed and applied to the robot to control the chewing force. Then, based on the knowledge of human chewing process, power-based algorithm, and modified admittance control method were used as the feedback to adjust the angular velocity of the motor and corresponding chewing velocity of the teeth. The performance of the control model was also simulated, results showed that the model is reliable to control the robot and make it bio-mimic. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Compliance control

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A review of solar concentration technology applications in deep space exploration: Environmental adaptability and performance comparison

Space Solar Power and Wireless Transmission

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Space Solar Power and Wireless Transmission 2025年第1期2卷 43-53页

作者： Yanlong Zhang Pengzhen Guo Mengfan Tian Huazhi Chen Rongqiang Liu Zongquan Deng Lifang Li National Key Laboratory of Aerospace Mechanism Harbin Institute of Technology Harbin 150001 PR China National Key Laboratory of Laser Spatial Information Harbin Institute of Technology Harbin 150001 PR China National Key Laboratory of Space Environment and Matter Behaviors Harbin Institute of Technology Harbin 150001 PR China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 PR China

Deep space exploration missions and the construction of planetary research stations impose strict demands on energy self-sufficiency systems. Solar energy, due to its abundant availability and sustainability, has become the preferred solution. However, extreme environmental conditions in space – including drastic temperature fluctuations, vacuum environments, high-energy particles, and intense radiation – pose significant challenges to the performance and lifespan of solar energy systems. Concentration technology, which enhances photoelectric and photothermal conversion efficiency by focusing sunlight, is crucial for space missions. This review examines the primary environmental factors affecting the performance of solar concentrators, including solar irradiance, thermal cycling, vacuum-induced outgassing, radiation effects, and impacts from micrometeoroids and orbital debris. The analysis focuses on three types of high-temperature concentrators: Fresnel lenses, Scheffler concentrators, and parabolic dish concentrators. Fresnel lenses are characterized by low cost and simple structure but are susceptible to optical degradation at high temperatures. Scheffler concentrators utilize geometric optimization to improve uniformity of light distribution, while parabolic dish concentrators achieve high optical efficiency, making them suitable for high-energy applications though requiring precise solar tracking. Performance comparisons in the thermal power range of 0 to 25 kW reveal that parabolic dish concentrators excel in high-power scenarios with greater efficiency and smaller aperture sizes. Conversely, Fresnel lenses and Scheffler concentrators are more effective in medium to low-temperature applications. Based on these findings, this review emphasizes the need to select concentrators according to mission requirements and outlines future research directions. These include the development of advanced materials, optimized optical designs, and improvements in system integr

关键词： Deep space exploration Solar concentrators Extreme environmental conditions

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An Efficient and Robust Tightly Coupled Framework for Lidar-IMU Localization and Mapping

An Efficient and Robust Tightly Coupled Framework for Lidar-...

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IEEE International Conference on robotics and Biomimetics

作者： Yanwu Zhai Yili Fu Xu Li Intelligent Robot Research Center Zhejiang Laboratory Hangzhou China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

In this article, we propose a framework for tightly-coupled lidar inertial odometry, which can achieve highly accuracy in real-time ego-motion estimation and map building of the robot. The estimated motion from inertial measurement unit (IMU) preintegration de-skews point clouds. Then, an initialization method based on MAP estimation is used to align the Lidar frame with the world frame and provide reliable initial values for the system. In order to make the scan matching more accurate, we track the state of each frame, and transform the feature points to the reference frame to build a local map for matching with key frames. To ensure high performance in real-time, an efficient sliding window was used to optimize the keyframes we chose. After obtaining the optimized pose of the keyframe, we further optimize the pose of the normal frame by pose constraints. In addition, loop detection is integrated into our algorithm framework to eliminate accumulated errors, making our algorithm to obtain a globally consistent estimate. The experiment results demonstrate that our method can achieve high accuracy in a variety of indoor and outdoor environments even under fast motion conditions or with insufficient features.

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Long-Term LiDAR Place Recognition Based on Phase Congruency in Changing Environments 42

Long-Term LiDAR Place Recognition Based on Phase Congruency ...

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42nd Chinese Control Conference, CCC 2023

作者： Cao, Fengkui Li, Chi Wang, Ting 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 College of Information Engineering Dalian University Dalian China Faculty of Robot Science and Engineering Northeastern University Shenyang China

ISBN: (纸本)9789887581543

Robust Place recognition is an open challenging problem under various perceptual conditions, e.g., all weather, times-of-day and seasons shifts. Although LiDAR sensors do not suffer from illumination problem of visual appearance, they are dramatically affected by structural changes across seasons. In this paper, a simple yet effective place recognition method is proposed based on phase congruency to achieve long-term robust localization under severe seasonal changes. To improve the efficiency while retaining geometric information of scene layouts in 3D space, a compact cylindrical description is designed to convert 3D point clouds to 2D images, in which the pixel values are computed based on geometric information rather than heights or numbers of points. Then the histogram of orientated phase congruency are encoded as global descriptor for place retrieval. Extensive real experiments on across-season Oxford RobotCar dataset show that the proposed system outperforms baseline methods, verifying its robust performance in challenging scenarios. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Image enhancement

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Reliable observer-based control against sensor failures for fractional order systems

Reliable observer-based control against sensor failures for ...

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第42届中国控制会议

作者： Bingxin Li Yujie Zhang Yaowei Liu Xin Zhao Institute of Robotics and Automatic Information System and the Tianjin Key Laboratory of Intelligent Robotics Nankai University Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University

In the paper,stability analysis of a class of incommensurate fractional-order systems(IFOS) is *** sufficient conditions are based on the linear matrix inequality(LMI) and straightforwardly used to solve the feasible solutions with the LMI ***,two examples including a circuit example are given to illustrate the effectiveness of the proposed method,and the comparison with the previous results shows that the proposed method is less conservative.

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Evaluation method of airport pavement partition coverage detection based on human-robot interaction

Evaluation method of airport pavement partition coverage det...

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第34届中国控制与决策会议

作者： Shilei Cheng Andong Shi Zhengxi Hu Kunxv Zhao Lei Sun Jingtai Liu Institute of Robotics and Automatic Information System Nankai University Tianjin Key Laboratory of Intelligent Robotics

The coverage detection of airport pavement is the premise to ensure civil aviation *** to the hard requirements of ultra-high security of the airport itself,the application of robots to unmanned coverage detection in the airport is not accomplished overnight,but a process of step-by-step and continuous technical ***,for different application stages of the robot in the airport,an appropriate method should be given to guide airport maintenance engineers to flexibly adjust the partition coverage operation *** this paper,we design an evaluation index named Partition Quality Function(PQF) to evaluate the quality of partition *** PQF,the degree suitable for human-robot interaction,the efficiency of coverage planning and the coverage failure area are taken into *** the proportion of factors can be adjusted through the weight ***,in order to facilitate engineering application,we design six kinds of rectangular partition templates and use genetic algorithm to optimize ***,through simulation research,we discover PQF partition law under different weight coefficients,and gave the PQF setting of the robot in different application stages of the *** is an important step to promote the actual landing of robot coverage detection technology in the airport.

关键词： Airport pavement partition coverage Partition Quality Function(PQF) human-robot interaction

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Cross-Instance Contrast with Color Decay for Image-Based 3D Shape Retrieval

Cross-Instance Contrast with Color Decay for Image-Based 3D ...

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2022 Chinese Automation Congress, CAC 2022

作者： Chu, Fupeng Cong, Yang Ma, Bingtao Li, Yu Shenyang Institute of Automation State Key Laboratory of Robotics Chinese Academy of Sciences Shenyang China Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Shenyang China University of Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781665465335

Image-Based 3D Shape Retrieval (IBSR) has lately attracted appealing interests due to the proliferation of 3D shapes and the maturation of 2D representation learning. However, most of the recent works focus on object shapes with less object color in 2D image representations, which cannot well capture the geometric characteristics. Moreover, the relations between multiple instances which correspond to the same 3D shape are neglected in existing methods, which limits retrieval performance. To tackle these challenges, we propose a Cross-Instance Contrast with Color Decay (CIC2D) approach for IBSR. Specifically, a straightforward but effective color decay technique is designed to enlarge the color space, which is beneficial for investigating more geometric characteristics. Furthermore, a cross-instance contrastive loss is proposed to build relations between multiple instances for capturing robust 3D representations. Extensive experiments demonstrate that our CIC2D outperforms advanced methods on three representative benchmark datasets. © 2022 IEEE.

关键词： Color

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Weld Defects Detection by Neural Networks Based on Attention Mechanism 7

Weld Defects Detection by Neural Networks Based on Attention...

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7th IEEE Information Technology and Mechatronics Engineering Conference, ITOEC 2023

作者： Yang, Guang Liu, Zhifeng Wang, Jianjun Cui, Shuping 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 University of Chinese Academy of Sciences Beijing100049 China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China

ISBN: (纸本)9798350334197

Welding technology plays an indispensable role in ship construction, and its maturity has a direct impact on the quality of shipbuilding. The weld seam, being the weakest part of a welded structure, significantly affects the structural strength, service life, and safety reliability of ships. However, the current identification of weld defects in the ship industry relies on manual methods, which are subjective and prone to error. To address this issue, this paper presents a novel approach by collecting weld images from actual ship scenes, preprocessing them to eliminate noise and highlight defect features, and proposing a Transformer-based improved target detection model (T-OBJDETC) to enhance the recognition accuracy of the model. © 2023 IEEE.

关键词： Ships

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Design and Experiment of A Hybrid Wave Energy Harvester Based on Tapered Rollers

Design and Experiment of A Hybrid Wave Energy Harvester Base...

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Micro and Nanotechnology for Power Generation and Energy Conversion Applications (PowerMEMS)

作者： Yunfei Li Tianyi Tang Yan Fang Manjuan Huang Cheng Hou Huicong Liu Lining Sun State Key Laboratory of Robotics and System Harbin Institute of Technology (HIT) Harbin China School of Mechanical and Electric Engineering Jiangsu Provincial Key Laboratory of Advanced Robotics Soochow University CHINA State Key Laboratory of Robotics and System Harbin Institute of Technology (HIT) China

ISBN: (纸本)9781665493079

This paper presents a hybrid energy harvester based on tapered rollers with an electromagnetic generator (EMG) component and a triboelectric nanogenerator (TENG) component for ultra-low frequency wave energy harvesting. The chaotic pendulum is adjusted to adapt the wave excitation under different sea conditions, ensuring that the device achieves optimal output performance. At excitation frequency of 1Hz and the tilt angle of 60°, the open-circuit voltage peaks of 8.4 and 132 V can be achieved by the EMG and TENG, respectively, corresponding to the power outputs of 4.38 and 0.078 mW, respectively. It was demonstrated that the device can easily light up over 360 red light-emitting diodes.

关键词： Performance evaluation Oceans Voltage Energy conversion Light emitting diodes Electromyography Sensors

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