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

作者： Zhu, Runyang Li, Song Gao, Feiyang Li, Wentao Zhu, Huixuan School of Automation and Electrical Engineering Shenyang Ligong University Shenyang110159 China Shenyang Institute of Automation State Key Laboratory of Robotics Chinese Academy of Sciences Shenyang110016 China University of Chinese Academy of Sciences Beijing100049 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China

ISBN: (纸本)9798350315196

Skin burn treatment is an urgent problem in the clinic. Skin in situ printing technology was expected to treat skin burns with accurate in situ construction of skin tissue. The first step in the skin in situ printing is to calibrate the hand-eye of the printhead and scanner. However, the accuracy of the existing industrial hand-eye calibration methods is difficult to be applied to the treatment of burned skin. According to the high precision requirement of skin in situ printing, a hand-eye calibration method based on point cloud segmentation feature point extraction is proposed in this paper. Firstly, the statistical filtering method, cluster segmentation method, and RANSAC method are used to remove noise points, plane fitting, and feature point extraction for the scanned point clouds. Then, the feature points processed by the point cloud were matched with the feature points in the coordinate system of the three-dimensional measurement platform and the rotation translation matrix between the coordinate system of the three-dimensional printing platform. The coordinate system of the binocular laser three-dimensional scanner was obtained by the singular value decomposition method. Finally, the wrong cloud data is removed in turn. The hand-eye calibration experimental results show that compared with the method without feature point extraction by point cloud segmentation, the proposed method reduces the average distance and maximum error of the XYZ axis by 78.477% and 82.301%, respectively. Compared with other hand-eye calibration methods, the average distance error is increased from 0.060mm to 0.040mm. It is proved that the hand-eye calibration based on feature point extraction by point cloud segmentation can meet the needs of skin in situ printing, which makes preparation for subsequent skin in situ printing experiments and makes it possible to treat skin burns in situ clinically. © 2023 IEEE.

关键词： Singular value decomposition

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Bifurcation variation of a novel line-symmetric double-centered 6R metamorphic mechanism based on ellipses

Bifurcation variation of a novel line-symmetric double-cente...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Lin, Song Song, Yifeng Wang, Hongguang Yuan, Bingbing Dai, Jiansheng Jing, Fengren Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics State Key Laboratory of Robotics Shenyang110016 China Chinese Academy of Sciences Intelligent Manufacturing Shenyang110169 China University of Chinese Academy of Sciences Beijing100049 China Southern University of Science and Technology Department of Mechanical and Energy Engineering Shenzhen518055 China

ISBN: (纸本)9798350325706

This paper proposed a line-symmetric double-centered 6R metamorphic mechanism with bifurcation properties. The mechanism is constructed based on elliptical geometric properties, which is a comprehensive design method for constructing novel metamorphic mechanisms through intuitive geometric figures. Firstly, the geometric constraints of the 6R metamorphic mechanism are revealed, and the parameter constraints and closed-loop kinematic equations of the 6R metamorphic mechanism are deduced. Through the analysis of mechanism geometric constraints, four motion branches of the 6R metamorphic mechanism are obtained: collinear deployable motion branch MB1, spherical 4R motion branch MB2, spherical 4R motion branch MB3, and line-symmetrical Bricard motion branch MB4. Meanwhile, according to the screw theory, the analytical expressions and mobility of the constraint-screw systems under different motion branches are deduced. This led to the identification of the constraint and motion branch variations of the 6R metamorphic mechanism. Finally, the four serial link 4R singular configurations of the 6R metamorphic mechanism are specially studied, and the characteristics of the mutual reconfiguration of these four singular configurations are revealed. © 2023 IEEE.

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Object Tracking Algorithm Based on Dual Layer Attention 16th

Object Tracking Algorithm Based on Dual Layer Attention

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16th International Conference on Intelligent robotics and Applications, ICIRA 2023

作者： Li, Ziwan Liu, Shiben Cheng, Zhuxuan Yu, Zhencheng Fan, Huijie School of Information Engineering Shenyang University of Chemical Technology Shenyang110142 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 University of Chinese Academy of Sciences Beijing100049 China

ISBN: (纸本)9789819964857

The attention mechanism is an important part of the Transformer trackers. But the attention mechanism has some limitations in calculating the correlation. When the attention mechanism calculates the wrong correlation, it affects the quality of the final correlation and affects the overall tracking performance. To solve the above problems, we designed a dual layer attention module to improve the accuracy of correlation by dual layer attention, so that the attention mechanism can accomplish feature augmentation and fusion more effectively, thus improving the performance of the tracking algorithm. The proposed algorithm consists of a Swin-Transformer-based backbone network, a dual layer attention-based fusion module and a prediction branch. Experiments indicate that our algorithm achieves robust results on five publicly available datasets, running at approximately 35 FPS on the GPU, allowing for real-time tracking. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Attention Feature fusion Object tracking Transformer

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Fully integrated wearable control system for micro/nanorobot navigation

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International Journal of Extreme Manufacturing 2025年第3期7卷 505-517页

作者： Zhanxiang Zhang Lin Wang Fengqi Jiang Shimin Yu Fengtong Ji Tianhao Sun He Zhang Yanhe Zhu Hao Chang Tianlong Li Jie Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001People’s Republic of China Harbin Institute of Technology Suzhou Research Institute Suzhou 215104People’s Republic of China Department of General Surgery Heilongjiang Provincial HospitalHarbin 150001People’s Republic of China College of Engineering Ocean University of ChinaQingdao 266100People’s Republic of China Gurdon Institute University of CambridgeCambridgeCB21QNUnited Kingdom Department of Physiology Development and NeuroscienceUniversity of CambridgeCambridge CB23DYUnited Kingdom Department of Thoracic Surgery The First Affiliated Hospital of Harbin Medical UniversityHarbin 150001People’s Republic of China

Micro/nanorobots have exhibited excellent application potential in the biomedical field,such as drug delivery,minimally invasive surgery,and ***,in order to achieve practical application,it is essential for swimming micro/nanorobots to navigate towards specific targets or adjust their speed and morphology in complete *** navigation of swimming micro/nanorobots with temporal and spatial precision is critical for fulfilling the demand of ***,we introduced a fully integrated wearable control system for micro/nanorobots navigation and manipulation,which is composed of a multifunctional sensor array,an artificial intelligence(AI)planner,and a magnetic field *** sensor array could perceive real-time changes in gestures,wrist rotation,and acoustic *** planner based on machine learning offers adaptive path planning in response to dynamically changing signals to generate magnetic fields for the on-demand manipulation of micro/*** a novel,feasible control strategy was validated in the biological experiment in which cancer cells were targeted and killed by photothermal therapy using micro/nanorobots and integrated control *** wearable control system could play a crucial role in future intelligent medical applications and could be easily reconfigured toward other medical robots’control.

关键词： micro/nanorobot wearable control system machine learning targeted delivery

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Personalized gait trajectory generation based on anthropometric features using Random Forest

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Journal of Ambient Intelligence and Humanized Computing 2023年第12期14卷 15597-15608页

作者： Ren, Shixin Wang, Weiqun Hou, Zeng-Guang Chen, Badong Liang, Xu Wang, Jiaxing Peng, Liang The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China University of Chinese Academy of Sciences Beijing100049 China The CAS Center for Excellence in Brain Science and Intelligence Technology Beijing100190 China Institute of Artificial Intelligence and Robotics Xi’an Jiaotong University Xi’an710049 China

Using lower limb rehabilitation robots (LLRRs) to help stroke patients recover their walking ability is attracting more and more attention presently. Previous studies have shown that gait rehabilitation training with natural gait pattern can improve the therapeutic outputs. However, how to generate the personalized gait trajectory has not been well researched. In this paper, a personalized gait generation method based anthropometric features is proposed. Firstly, gait trajectories are fitted and simplified into Fourier coefficient vectors, which are used to represent gait trajectories. Secondly, fourteen body features are used to generate the personalized gait trajectories and the feature set is further optimized based on the minimal redundancy maximal relevance criterion for easy application on the LLRR. Then, the relationship between the optimized feature set and gait trajectories is modeled by using the RF algorithm. Finally, the performance of the proposed method is demonstrated by several comparison experiments. © 2019, Springer-Verlag GmbH Germany, part of Springer Nature.

关键词： Trajectories

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Enveloping grasp planning of a three-fingered deployable metamorphic robotic grasper

Enveloping grasp planning of a three-fingered deployable met...

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IEEE International Conference on Cyborg and Bionic systems (CBS)

作者： Changqing Gao Yang Zhang Hong Lei Xi Kang Peng Xu Bing Li School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

This paper takes a three-fingered deployable metamorphic robotic grasper as the studied object and presents a novel enveloping grasp planning method, by which the robotic grasper can grasp objects with different sizes and shapes more effectively and stably. Firstly, the mechanism design and key performances of the robotic grasper are briefly introduced. Secondly, the static analysis of the grasping motion process is conducted and the factors affecting static equilibrium are also analyzed, based on which the mathematical model of static equilibrium is established, and the relationship between grasping force and grasping posture is obtained. Then, an optimization model of static enveloping grasp with the grasping angle as the variable is proposed, by which the best grasping posture can be obtained. Thirdly, to prove the effectiveness of the proposed enveloping grasp planning method, a group of grasping simulations is performed and the results show that this method is feasible and reliable.

关键词： Shape Biological system modeling Force Grasping Static analysis Mathematical models Planning

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A Novel Multi-Fingered Hand for Robotic Grasp 7

A Novel Multi-Fingered Hand for Robotic Grasp

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7th Annual International Conference on Network and Information systems for Computers, ICNISC 2021

作者： Zang, Xizhe Wang, Chao Zhang, Pu Heng, Shuai Zhao, Jie State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Zhejiang Lab Hangzhou311121 China

ISBN: (纸本)9781665402323

As robots are gradually used in more and more scenarios, the requirements for robots to complete a variety of complex tasks are becoming higher and higher. Robotic hands, as the important tool for robot to complete the task, has attracted more and more attention. However, the robotic grasping tool usually has a single function and few degrees of freedom, which makes it difficult to adapt to more complex application scenarios. This paper presented a novel robotic hand with four fingers, which is designed based on the characteristics of human hands. We introduced the design process of the finger structure, analyzed the kinematics and statics of the designed hand, and further manufactured the prototype. To verify the function of the designed multi-fingered hand, we designed a serial of grasping experiments for different objects. The experimental results show that the designed multi-fingered hand can successfully grasp different experimental objects and meet the grasping requirements of the robot. © 2021 IEEE.

关键词： Degrees of freedom (mechanics)

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Underwater Soft Gripper Hydraulic Drive Control system Based on Rigid-flexible Coupling Accumulator

Underwater Soft Gripper Hydraulic Drive Control System Based...

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2022 Chinese Automation Congress, CAC 2022

作者： Bai, Li Zhang, Daohui Fu, Xin Mo, Liyan Bai, Yunfei Zhang, Qifeng Zhao, Xingang The 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 Department of Information Science and Engineering Northeastern University Shenyang China

ISBN: (纸本)9781665465335

Underwater manipulators are critical in the development of marine resources. Traditional rigid manipulators cannot be applied for underwater operations requiring non-destructive grasping, such as biological sampling and artifact salvage, due to their large size and dimensions and complex force feedback control. Soft robotics underwater manipulators overcome this challenge by providing a dexterous and lightweight arm and gripper, but still require high power drive elements and high-frequency valve control components to achieve the required dynamic performance. In this work, we propose a rigid-flexible coupling accumulator that takes into account the lightweight characteristics of the flexible accumulator and the strong energy storage characteristics of the rigid accumulator, starting from the high-power drive unit. On this basis, we propose a hydraulic drive control system based on the rigid-flexible coupling accumulator for the submerged soft gripper. The system can achieve depth self-adaptation and a fast and stable drive for different volumes of the soft gripper, facilitating the application of soft grippers in marine resource exploitation. The proposed design method and analytical model of the rigid-flexible accumulator can also be used as a guide for other applications. © 2022 IEEE.

关键词： Control systems

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Highlight Removal with Orthogonal Decomposition 4

Highlight Removal with Orthogonal Decomposition

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4th International Conference on Data-Driven Optimization of Complex systems, DOCS 2022

作者： Zhang, Zhen Ren, Weihong Lu, Yang Zhou, Shijun Tang, Yandong Tian, Jiandong Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Shenyang China University of Chinese Academy of Sciences Shenyang China Shenzhen China Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang Institute of Automation Shenyang China

ISBN: (数字)9781665459822

ISBN: (纸本)9781665459822

In this paper, based on orthogonal decomposition, we present a robust and effective method for highlight removal. First, we obtain the reflectance image of an image through orthogonal decomposition. Then, the reflectance image is used to cluster the image. According to the clustering results, illumination chromaticity is estimated. Finally, we separate diffuse and specular reflections per pixel according to the distance from each pixel chromaticity to illumination chromaticity, where the diffuse reflection image is the highlight removal image. According to our extensive experimental results, the proposed method outperforms all the existing state-of-the-art (SOTA) methods according to the Peak-Signal-to-Noise-Ratio (PSNR) and the Structural Similarity (SSIM) Index score. © 2022 IEEE.

关键词： Pixels

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An Efficient Inverse Kinematic Method for SSRMS-type Manipulator with Conformal Geometric Algebra

An Efficient Inverse Kinematic Method for SSRMS-type Manipul...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Jingdong Zhao Jiayu Zhang Liangliang Zhao Zhonglai Tian Zirui Wang Wei Jiang Hong Liu School of Mechatronics Engineering State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (数字)9798350355369

ISBN: (纸本)9798350355376

SSRMS-type Manipulator is a typical type of space manipulator featuring 7-degree-of-freedom offset configuration with redundancy characteristic. It is challenging to solve inverse kinematics in high efficiency, make the upmost of redundancy characteristic, and select optimal redundant parameter. This paper proposes an analytical inverse kinematic method, named three-continuous-parallel-Link Direction Vector Parameterization (LDVP), in the theory of Conformal Geometric Algebra. This method employs the direction vector of the axis of parallel Joint 3, Joint 4, and Joint 5 as the parameter, and selects the optimal parameter according to context plan-points in a given trajectory. The process of solving inverse kinematics is divided into two steps, including solving joint positions and joint variables. The average solution time of forward and inverse kinematics is 9.79 us and 0.25 ms respectively. The continuous path tracking experiment verifies that all seven joints changing to pursue the optimal configuration, which makes full use of redundancy characteristic.

关键词： Mechatronics Algebra Termination of employment Kinematics Manipulators Vectors Orbits

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