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7th Asia-Pacific Conference on Intelligent Robot systems, ACIRS 2022

作者： Wang, Cong Zhang, Qifeng Wang, Xiaohui Xu, Shida Petillot, Yvan Wang, Sen Shenyang Institute of Automation Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang110016 China University of Chinese Academy of Sciences Beijing110016 China Heriot-Watt University Edinburgh Centre for Robotics Edinburgh Centre for Robotics EdinburghEH14 4AS United Kingdom

ISBN: (数字)9781665485197

ISBN: (纸本)9781665485197

Agile control of mobile manipulator is challenging because of the high complexity coupled by the robotic system and the unstructured working environment. Tracking and grasping a dynamic object with a random trajectory is even harder. In this paper, a multi-task reinforcement learning-based mobile manipulation control framework is proposed to achieve general dynamic object tracking and grasping. Several basic types of dynamic trajectories are chosen as the training set for the task. To improve policy generalization in practice, random noise and dynamics randomization are introduced during the training process. Extensive experiments show that our trained policy can adapt to unseen random dynamic trajectories with about 0.1 m tracking error and 75% grasping success rate for dynamic objects. The trained policy can also be successfully deployed on a real mobile manipulator. © 2022 IEEE.

关键词： Reinforcement learning

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Laser Implicit Interaction Technology Based on Object Affordance for Wmra

SSRN

引用

SSRN 2022年

作者： Liu, Yaxin Liu, Yan Yao, Yufeng Zhong, Ming State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

It is particularly important for the disabled to operate the wheelchair mounted robotic arm (WMRA) with as few limb movements as possible. This human-robot implicit interaction problem for the elderly and handicapped has attracted extensive attention. Several studies have documented that laser pointer interaction is an attractive method enabling humans to unambiguously point out objects and pick them up. However, how to further convey user intention and instruct the robot to complete complex tasks based on this method has yet to be studied. Therefore, based on the idea of object affordance, this paper proposes an implicit intention interaction technology using a laser pointer. The user could point to the object in the scene through the residual limb movement ability and the WMRA will reason the action intention and assemble the task content according to the intention. Firstly, a laser semantic identification algorithm based on the YOLOv4 & the SVM is proposed to identify laser points in the scene, which can effectively avoid the error operation caused by hand twitch. Then, an automatic execution technology based on the concept of object affordance is proposed to perform household tasks, which would identify the implicit action intention of the selected objects based on the conditional random field and assemble the mapping action of intention based on the finite state machine. Finally, the feasibility of the proposed implicit interaction technology is verified on the WMRA platform. The evaluation results show that the user only needs a simple operation and the WMRA can recognize the user's desired intentions and perform household tasks automatically. Compared with previous methods, the proposed method can output the desired intention faster and significantly reduce the user's limb involvement time (about 85%) in operating the WMRA under the same task. © 2022, The Authors. All rights reserved.

关键词： Random processes

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MECHANICAL CHARACTERISTICS ANALYSIS OF CORNER TENSIONED RECTANGULAR THIN MEMBRANES 1

MECHANICAL CHARACTERISTICS ANALYSIS OF CORNER TENSIONED RECT...

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1st International Conference on Mechanical system Dynamics, ICMSD 2022

作者： Li, Bingyan Peng, Tao Lin, Qiuhong Wang, Xiaoyu Cong, Qiang Tian, Xinqi Liu, Rongqiang Beijing Institute of Spacecraft Engineering Beijing100094 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China College of Mechanical and Electrical Engineering Harbin Engineering University Harbin150001 China

ISBN: (数字)9781839537837

ISBN: (纸本)9781839537837

This paper presents the calculation of the stress distribution of corner tensioned rectangular thin membrane based on the stress superposition method (SSM). By comparing with the results of finite element simulation, the theoretical results of stress distribution of tensioned membrane structure are verified. Based on SSM and free vibration calculation theory, the effects of tension boundary parameters on membrane stress distribution and models are investigated. The influence of corner tension on the mechanical characteristics is analyzed for the corner tensioned rectangular membranes with different aspect ratios. The formula for each order's fundamental frequency ratio of atmospheric to spatial environment is proposed. Conducting the dynamics experiment of a rectangular tensioned membrane, the theoretical analysis is verified by the experimental modal results. © 2022 IET Conference Proceedings. All rights reserved.

关键词： Stress concentration

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Robust Tracking for Electromagnetic-Actuated Microrobot Via Sliding Mode Control 49

Robust Tracking for Electromagnetic-Actuated Microrobot Via ...

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49th Annual Conference of the IEEE Industrial Electronics Society, IECON 2023

作者： Wu, Yihang Qu, Ziyao Chang, Xiaocong Hu, Zhijian Yang, Rongni Ma, Renjie Harbin Institute of Technology State Key Laboratory of Robotics and Systems Harbin China School of Electrical and Electronic Engineering Nanyang Technological University Singapore School of Control Science and Engineering Shandong University Jinan China

ISBN: (纸本)9798350331820

Microrobots can work in small, enclosed spaces and complete complex tasks. It has potential applications in the field of biomedical and life sciences. This paper focuses on investigating robust dynamic tracking for electromagnetic-actuated microrobot via sliding mode control. First, we generalize the planar motion to the case of spatial trajectory tracking and then establish the three-dimensional tracking error model of microrobot. Then, we deploy a novel sliding control strategy and ensure the stability of sliding mode dynamics, once the robotic state reaches the sliding surface and sustains there in the sequel. Finally, the numerical simulation is conducted, compared to the traditional proportion-integration-differentiation control strategy, to verify the effectiveness and advantages of our proposed control scheme. © 2023 IEEE.

关键词： Sliding mode control

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Thrust Prediction Method of Jet Propulsion for Transformer Internal Inspection Robot

Thrust Prediction Method of Jet Propulsion for Transformer I...

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2022 International Conference on Electrical, Power and Grid systems, ICEPGS 2022

作者： He, Zhen Wang, Yabiao Sun, Xianshuai Zhao, Yuming Li, Zhigang Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110169 China 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 Key Laboratory of Marine Robotics Liaoning Province Shenyang110169 China University of Chinese Academy of Sciences Beijing100049 China

Robot technology has been successfully applied to the internal inspection of large power transformers. In order to further improve the level of robot intelligent control and realize robot motion control accuracy of the floating state, this paper analyzes the factors that affect the jet thrust of the robot propulsion system on the developed spherical transformer internal inspection robot platform based on jet propulsion, and builds an experimental platform. Combining experimental data to establish jet thrust equation. On this basis, the working state of the robot power system is further analyzed, the equivalent discharge model of the robot battery is established, the battery state parameters are introduced into the jet thrust equation. Finally, a mathematical model of jet thrust prediction is established that comprehensively considers the robot power system, control system, and environmental parameters. The establishment of this model lays a good theoretical foundation for the establishment of the robot's precise dynamics model, fine motion control and intelligent control algorithm. © Published under licence by IOP Publishing Ltd.

关键词： Inspection

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Design and Experimental Validation of Sealing Assembly for Lunar Regolith Volatile Extraction Heating Furnace

Design and Experimental Validation of Sealing Assembly for L...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Zhang, Hongan Tang, Junyue Wang, Yinchao Lu, Zixiao Wang, Bo Cao, Miaoyan Jiang, Shengyuan Yanshan University Mechanical Engineering Qinhuangdao China Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China Shenyang Aerospace University Mechatronics Institute Shenyang China Chinese Academy of Science National Center for Nanoscience and Technlogy Beijing China China Academy of Space Technology Beijing China

ISBN: (纸本)9798350325706

A lunar regolith in-situ analysis payload deploying a mass spectrometer is proposed to exactly detect the water ice of the South Pole of the moon for China future lunar exploration missions. In order to realize the goal, an airtight heating furnace for volatile extraction from lunar regolith is desired. In this paper, sealing methods for lunar regolith volatile in heating furnace to future proposed in-situ sampling and analysis of lunar samples were investigated based on power requirements, furnace closing accuracy requirements, dust tolerance and operation in the Lunar environment. Methods implemented include a balanced metal hollow ring seal, a double channel ferrule tab ring radial seal and a spring energized seal. Comparing the performance of sealing methods under the above conditions, a spring energized seal is selected as the heating furnace seal. The materials and structure of the seal are designed based on the rigidity requirements, leakage rate requirements and working environment requirements. In order to test the sealing performance of seals after repeated sealing in high and low temperature environments, a seal leak detection system was designed. The test results indicate that the seal can meet the sealing performance requirements after repeated sealing at various temperatures. © 2023 IEEE.

关键词： Dust tolerance Leakage rate Lunar environment Repeated sealing Spring energized seal

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The Measurement of the Elastic Modulus and Kinetic Friction Coefficient of Long Nanowires by the Micro-force Probe in the SEM Combined with Finite Element Simulation 4

The Measurement of the Elastic Modulus and Kinetic Friction ...

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4th IEEE International Conference on Nanoscience and Technology, ICNST 2021

作者： Gao, Peng Gao, Jian Zou, Tao Rong, Weibin State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China

ISBN: (纸本)9780738112886

As an important nanomaterial, nanowires have important applications in micro-nano manufacturing, biomedicine, nano power generation and other fields, and are one of the current research hotspots. The traditional deformation-based nanowire dynamic friction measurement method only calculates the kinetic friction coefficient based on the deformation of the nanowire. However, due to the lack of force feedback, a certain pre-load force needs to be applied, which will also introduce errors and cause inaccurate measurement results. At the same time, it is easy to cause damage to the tungsten needles and nanowires, which is not suitable for nanowire samples with large aspect ratios. Aiming at the above problems, this paper proposes a method for measuring the elastic modulus and kinetic friction coefficient of Silicon (Si) nanowires (NWs) based on the combination of measurement of micro-force probes in the scanning electron microscope (SEM) and the simulation of the deflection of NWs. First, the corresponding relationship between the deformation of the nanowire and the force was obtained. Secondly, the influence of different elastic modulus and kinetic friction ratios on the deformation of nanowires were calculated by the simulation. Finally, the experimental data and simulation results are matched, and the elastic modulus and kinetic friction proportional coefficient with the smallest error is selected. The measurement method avoids the influence of the pre-load force on the measurement result, and at the same time avoids damage such as fracture of the nanowire and the probe due to excessive force. The effectiveness of this method is proven by comparing the measurement results in this article with the values in the relevant literature. ©2021 IEEE

关键词： Nanowires

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YOWO-Plus: An Incremental Improvement

arXiv

引用

arXiv 2022年

作者： Yang, Jianhua State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

In this technical report, we would like to introduce our updates to YOWO, a real-time method for spatio-temporal action detection. We make a bunch of little design changes to make it better. For network structure, we use the same ones of official implemented YOWO, including 3D-ResNext-101 and YOLOv2, but we use a better pretrained weight of our reimplemented YOLOv2, which is better than the official YOLOv2. We also optimize the label assignment used in YOWO. To accurately detection action instances, we deploy GIoU loss for box regression. After our incremental improvement, YOWO achieves 84.9% frame mAP and 50.5% video mAP on the UCF101-24, significantly higher than the official YOWO. On the AVA, our optimized YOWO achieves 20.6% frame mAP with 16 frames, also exceeding the official YOWO. With 32 frames, our YOWO achieves 21.6 frame mAP with 25 FPS on an RTX 3090 GPU. We name the optimized YOWO as YOWO-Plus. Moreover, we replace the 3D-ResNext-101 with the efficient 3D-ShuffleNet-v2 to design a lightweight action detector, YOWO-Nano. YOWO-Nano achieves 81.0 % frame mAP and 49.7% video frame mAP with over 90 FPS on the UCF101-24. It also achieves 18.4 % frame mAP with about 90 FPS on the AVA. As far as we know, YOWO-Nano is the fastest state-of-the-art action detector. Our code is available on https://***/yjh0410/PyTorch_YOWO. © 2022, CC BY.

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Prototype Design and Efficiency Analysis of a Novel Robot Drive Based on 3K-H-V Topology

arXiv

引用

arXiv 2022年

作者： Qi, Le Yang, Dapeng Cao, Baoshi Li, Zhiqi Gu, Yikun Xie, Zongwu Liu, Hong The State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China

Robot actuators directly affect the performance of robots, and robot drives directly affect the performance of robot actuators. With the development of robotics, robots have put higher requirements on robot drives, such as high stiffness, high accuracy, high loading, high efficiency, low backlash, compact size, and hollow structure. In order to meet the demand development of robot actuators, this research base proposes a new robot drive based on 3K-H-V topology using involute and cycloidal gear shapes, planetary cycloidal drive, from the perspective of drive topology and through the design idea of decoupling. In this study, the reduction ratio and the efficiency model of the 3K-H-V topology were analyzed, and a prototype planetary cycloidal actuator was designed. The feasibility of the drive is initially verified by experimentally concluding that the PCA has a hollow structure, compact size, and high torque density (69 Nm/kg). Copyright © 2022, The Authors. All rights reserved.

关键词： Topology

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An RRT-Based Motion Planning Method for Hyper-Redundant Manipulators in Confined Spaces

An RRT-Based Motion Planning Method for Hyper-Redundant Mani...

引用

2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Deng, Jiangqin Li, Ziqing Zheng, Yang Gu, Guoying School of Mechanical Engineering State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai200240 China Meta Robotics Institute Shanghai Jiao Tong University Shanghai200240 China

ISBN: (纸本)9781665481090

Hyper-redundant manipulators have redundant degrees of freedom, bringing additional difficulties to the motion planning. Generally, existing motion planning methods generate paths without considering joint angle limitation of hyper-redundant manipulators. And the generated paths are discretized, leading to discrete errors. In this paper, we present an autonomous motion planner to generate paths, which can be followed by hyper-redundant manipulators with analytical solutions. Starting from the ending pose in the workspace, the rapidly exploring random tree can expand to multiple entrances with limited curvature of arc segments, which ensures that the joint angle limitation is satisfied. Meanwhile, the generated path consists of arc segments, which makes the generated paths can be followed with analytical solutions. Several simulations are conducted to demonstrate the aforementioned advantages. For further validation of the planner's effectiveness, a hyper-redundant manipulator system is used to follow the generated path with follow-the-leader motion. © 2022 IEEE.

关键词： Motion planning

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