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IEEE International Conference on robotics and Biomimetics

作者： Zhen Yan Haitao Yu Jifeng Xia Baolin Tian Haibo Gao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781665481106

Ground resonance (GR) is a potentially destructive mechanical instability involving the coupling of the regressive rotor mode to the fuselage motion. Vibration can be disastrous if measures are not taken in time to mitigate vibrations. This paper presents a study on the use of adaptive landing gear to eliminate GR in helicopters. A GR model considering adaptive landing gear is established, and the dynamic characteristics of the system are analyzed. In this paper, the Linear Quadratic Regulator (LQR) controller is applied to suppress the GR. The setting of the weighting matrix coefficients directly determines the effect of the control system. Therefore, a design method of LQR weighting matrix based on multi-objective genetic algorithm is proposed, which enables the control system to meet multiple performance indicators concurrently. Numerical simulations of GR suppression were performed for the rotor speed range where GR is most likely to occur. The results show that even if the rotor system is not equipped with any dampers, the suppression of helicopter GR can be achieved by using the control strategy proposed in this paper to control the adaptive landing gear. Therefore, the application of adaptive leg landing gear to helicopters can provide some ideas to eliminate GR.

关键词： Vibrations Legged locomotion Adaptive systems Gears Helicopters Rotors Vibration measurement

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Effect of flapping mode on aerodynamic characteristics of bat-like flapping-wing aerial vehicle

Effect of flapping mode on aerodynamic characteristics of ba...

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IEEE International Conference on robotics and Biomimetics

作者： Bosong Duan Tianyou Mao Kening Gong Chuangqiang Guo Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781665481106

In this paper, three reciprocating flapping modes of bats are analyzed and studied. According to the flapping structure of bat-like flapping-wing aerial vehicle(FAV), the structural modes corresponding to the three reciprocating flapping modes are established, that is, the symmetric flapping mode(S), the asymmetric flapping mode with the upward flapping angle greater than the downward flapping angle(UR) and the asymmetric flapping mode with the downward flapping angle greater than the upward flapping angle(U). The influence of the three flapping modes on the structural strength is verified by theoretical calculation. The fluid-structure interaction simulation(FSI) is used to verify the influence of three flapping modes on aerodynamic characteristics. Finally, the advantages and disadvantages of three patting methods are compared and analyzed, it is concluded that under the same motion and flow field conditions, the pitching moment and thrust of UR are the smallest, and the lift is the largest, which is suitable for slow and stable flight; U has the largest thrust and pitching moment, and the smallest lift, which is conducive to rapid flight; The pitching moment, thrust and lift of S are moderate, and the performance is balanced, which is suitable for conventional flight. This study is helpful for the structural design of bat-like FAV.

关键词： Biomimetics Aerodynamics Stability analysis Structural engineering Robots

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The controller architecture of dexterous hand with switchable coupling mechanism*

The controller architecture of dexterous hand with switchabl...

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IEEE International Conference on robotics and Biomimetics

作者： Ziqi Liu Li Jiang Wangyang Li Ming Cheng Xiaoqiao Wu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781665481106

This work investigates the design of the sensor system and control system for the coupled adaptive multi-fingered dexterous hand with actively switchable modalities. Considering the specific mechanical structure characteristics of the dexterous hand, a master-slave distributed control system design approach is adopted to integrate the sensor system and control system inside the finger, which completes the mechatronic integration of the whole hand. It can realize the modularity at the finger level and simplify the system complexity. This paper also introduces a fuzzy adaptive PID control method and develops the control strategy in active switchable mode. The experimental results show that the controller architecture can adapt to the changes in the institutional characteristics of the system when the finger switches between coupled and coupled adaptive states. It can complete the high-precision tracking of the target trajectory, achieve accurate position control, and have superior real-time performance.

关键词： Adaptive systems Target tracking Position control Switches Control systems Sensor systems Real-time systems

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Intracellular Strain Measurement of Oocyte Based on Inclusion Appearance Using Neural Network 36

Intracellular Strain Measurement of Oocyte Based on Inclusio...

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36th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2021

作者： Zhang, Yujie Zhang, Yidi Zhao, Xiangfei Sun, Mingzhu Liu, Yaowei Zhao, Xin Cui, Maosheng Institute of Robotics and Automatic Information System Tianjin Key Laboratory of Intelligent Robotics Tianjin300350 China Institute of Animal Sciences Tianjin300350 China

ISBN: (纸本)9781665437127

Somatic cell nuclear transfer(SCNT) involves many important procedures, of which enucleation is a critical one. During the extraction step of enucleation, oocytes undergo large deformation. Because of the similarity of appearance throughout the oocytes and the 3D spatial property of oocytes, traditional deformation measurement methods can hardly be used in full-field strain measurement during this process, especially for realtime control. Neural networks have the properties of large-scale parallel processing, high redundancy, and nonlinear operations. They can achieve high computing speed while maintaining high accuracy and strong fault tolerance. But lack of labeled data in different situations is the main problem. In this paper, a2D dataset for training Recurrent All-Pairs Field Transforms (RAFT) network was constructed. The dataset simulates the characteristics of oocytes. By fine-Tuning a pre-Trained model on the dataset, the resulting network outperforms the pre-Trained model and traditional optical flow methods. At the same time, with GPU acceleration, it can deal with 640∗480 resolution images at a speed of 4fps, which is comparable to traditional methods. © 2021 IEEE.

关键词： Deformation

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A novel design of force-feedback master manipulator for remote ultrasound scanning

A novel design of force-feedback master manipulator for remo...

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IEEE International Conference on robotics and Biomimetics

作者： ChangLe Li ChenTao Zhang Chuan You Yu LeiFeng Zhang GangFeng Liu Jie Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology HeiLongJiang China

ISBN: (纸本)9781665481106

This paper presents a novel six-degree-of-freedom force feedback master manipulator for remote ultrasound scanning. Firstly, a new configuration based on a planar five-link mechanism is proposed, taking into account the practical needs of medical ultrasound scanning. This configuration has two operating modes and can provide three degrees of force feedback. Secondly, a hybrid force/position master-slave control system based on the kinetic model force feedback method is built, which can realize incremental master-slave control, variable proportional control, force feedback, and other functions. Finally, the positional accuracy, gravity balance effect, and force feedback performance of this master manipulator are verified through experiments. Experiments show that the average position error of this novel force feedback master manipulator is 1.18 mm, the average attitude error expressed in terms of Euler angles is 0.83°, and the maximum feedback force that can be provided is 12.1 N, which satisfies the requirements of ultrasonic scanning.

关键词： Ultrasonic imaging Tracking Proportional control Machine vision Force feedback Manipulators Main-secondary

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Shape Optimization of Magnetorheological Brake for Performance Enhancement

Shape Optimization of Magnetorheological Brake for Performan...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Shi, Qiuyu Liu, Fajiang Wu, Xinyu Gao, Fei Southern University of Science and Technology Shenzhen518005 China Shenzhen Institute of Advanced Technology Guangdong Provincial Key Laboratory of Robotics and Intelligent System Chinese Academy of Sciences Shenzhen518055 China Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen518055 China

ISBN: (纸本)9781665481090

Magnetorheological (MR) rotary brakes leverage the magnetically controllable rheological properties of MR fluids to provide damping torque in lower limb assistance devices. This paper utilizes an optimization algorithm (Whale Optimization Algorithm (WOA)) to optimize the geometric dimension of the MR brake to enhance field-dependent brake torque. First, the mechanical design and optimization process of the MR brake were outlined. Then, the magnetic density of the MR fluid is evaluated using the ANSYS platform. With that, the WOA was exploited to optimize key design parameters across multiple iterations. According to the simulated results, the torque was improved from 17.39 Nm to 25.89 Nm, which increased by 48%. Finally, a prototype with the initial dimension was fabricated and preliminarily tested. © 2024 IEEE.

关键词： Shape optimization

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A High-Speed Centerline Extraction Method for Multiple Laser Stripe based on Hessian Matrix

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Procedia Computer Science 2024年 250卷 235-243页

作者： Juntian Shi Weichao Guo Xinjun Sheng State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai 200240 China Meta Robotics Institute Shanghai Jiao Tong University Shanghai 200240 China

Laser centerline extraction is a critical step in the machine vision-aided measurement process, especially in the field of aerospace drilling and riveting. We propose a novel and efficient algorithm for the extraction of multiple laser centerlines, which consists of three major parts: laser linewidth estimation, ROI (Region of Interest) extraction, and precise positioning. In the linewidth estimation part, a method based on second-order moment is used to estimate the linewidth, and the scanning frame to linewidth ratio is adopted as the convergence condition to achieve a stable estimation result. In the ROI extraction part, we use a scanning frame to perform raster scanning on the entire image, and calculate the feature function threshold based on the sampling and grayscale volume method to complete ROI extraction. In the precise positioning part, we employ an improved method based on the Hessian matrix to reduce computation time, and use a λ filtering method to eliminate noise. Finally, the K-means method is used to classify the center points belonging to different laser centerlines, and RANSAC is utilized to perform line fitting. The final results demonstrate that the proposed algorithm has certain improvements in accuracy and also exhibits high computational efficiency.

关键词： Manufacturing Laser centerline extraction Hessian matrix

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Multi-Robot Path Planning in Narrow Warehouse Environments with Fast Feasibility Heuristics 41

Multi-Robot Path Planning in Narrow Warehouse Environments w...

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第41届中国控制会议

作者： Jiaxi Huo Ronghao Zheng Senlin Zhang Meiqin Liu College of Electrical Engineering Zhejiang University State Key Laboratory of Industrial Control Technology Zhejiang University Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In this paper,we present a novel method for solving the multi-robot path planning problem in narrow warehouse *** may have to be operated in close proximity to each other in narrow lanes between pod clusters,which challenges robot-robot collision *** motivates us to consider an efficient algorithm to generate collision-free robot paths in narrow warehouse *** algorithm builds a two-stage scheme based on integer programming:(i) multirobot path planning under one-way constraints;and(ii) fast feasibility *** developed algorithm has two advantages:(i) the proposed scheme successfully avoids the situation where the robots collide in narrow lanes;and(ii) by using the fast feasibility heuristics which replaces the integer programming solver's built-in feasibility heuristics,the feasibility heuristics' running time can be effectively reduced while producing better initial feasible solutions for the integer programming model solving *** with the existing optimal,sub-optimal,and polynomial-complexity algorithms,our developed algorithm can leverage the advantage of integer programming to effectively reach a balance between running time and optimality in narrow warehouse *** point is demonstrated in the simulations.

关键词： Path planning Multi-robot or multi-agent systems Collision avoidance Logistics

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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...

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Chinese Control Conference (CCC)

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

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-step 4D 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 output. Flight 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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Dual-Path GAN:A Method for Enhancing Small-scale Defect Detection on Metal Images 41

Dual-Path GAN:A Method for Enhancing Small-scale Defect Dete...

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第41届中国控制会议

作者： Zhuoxun Ye Meiqin Liu Senlin Zhang Ping Wei State Key Laboratory of Industrial Control Technology Zhejiang University College of Electrical Engineering Zhejiang University Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Automated surface inspection(ASI) is an important research content in computer *** recent years,with the application of deep learning models represented by convolutional neural networks(CNN) in computer vision,surface defect detection based on computer vision has made impressive ***,compared with a few or dozens of pictures in real industrial scenes,traditional deep learning methods require a large amount of annotation data for training,so it is quite difficult to adapt to the complex industrial scenarios with varying surface profiles,lighting conditions,imaging angles and *** these difficulties,there is still a wide gap in the performance between the detection of small-scale and large-scale *** Generative Adversarial Nets(GANs) based augmentation method can only be used for classification networks or unsupervised learning,and if applied to detection networks,they need to be labeled,which requires much labor and *** order to solve these problems,a metal surface small-scale defect images augmentation method is *** method contains two parts:generation part and augmentation *** the generation part,two pairs of generators and discriminators are used to generate the defect areas and the background areas of the image,which can not only generate more realistic defect images than others but also save the training process for surface *** the augmentation part,the real defect images and the generated defect images are concatenated before copy-pasting them on background images to generate annotated dataset for *** conduct experiments on our metal surface *** experimental results show that our method can generate highquality defect samples and background samples,which greatly enriches the original *** evaluate different augmentation strategies,and ultimately,we achieve 6.2% improvement on baseline and 4.4% on copy-pasting method.

关键词： Generative adversarial nets automated surface inspection data augmentation few-shot learning small-scale object detection

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