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3rd International Conference on Biomedical and Intelligent systems, IC-BIS 2024

作者： Song, Fei Tang, Fengzhen Tang, Yandong Si, Bailu State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China University of Chinese Academy of Sciences Beijing100049 China School of Systems Science Beijing Normal University Beijing100091 China Chinese Institute for Brain Research Beijing102206 China

ISBN: (纸本)9781510681279

In the realm of advanced cognitive processes, animals employ both egocentric and allocentric reference frames for navigation. While prior studies have largely concentrated on differentiating and transitioning between these frames, the present research explores the concurrent use of both strategies in navigation tasks. By simulating the entorhinalhippocampal neural circuit and applying reinforcement learning (RL), we developed three agents characterized by egocentric, allocentric, and a novel integrated strategy. Testing across diverse navigation scenarios revealed that the integrated model substantially improved navigation adaptability and efficiency. Despite the challenges associated with the "black box"nature of RL, the artificial combination of individual reference frames notably enhanced performance. These results shed light on novel mechanisms of biological spatial information processing and the flexible organization of navigation strategies. © 2024 SPIE.

关键词： Navigation

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Robotic Visual Inspection and Positioning Method for Flexible Wire Coating Operation 12

Robotic Visual Inspection and Positioning Method for Flexibl...

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12th International Conference on CYBER Technology in Automation, Control, and Intelligent systems, CYBER 2022

作者： Rao, Chenglong Song, Yifeng Wang, Hongguang Wang, Junpeng Jing, Fengren 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

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

Overhead bare wire is not protected by insulating sheaths, and is prone to safety accidents. It is of great practical significance to use coating robots to insulate bare wires. During the robotic coating operation, the flexible wire is much deformed due to the robot gravity, this paper proposes a robot vision inspection and positioning method for flexible wire coating operation. The offset distance of the calibration plate is defined in the image space to characterize the change in the robot's working posture, and the target position tracking control law based on the PID method is designed. Since the target in the flexible wire environment will change with the flexible wire, the technical means of hand-eye calibration and camera calibration are used to locate and track the dynamically changing target in real-time. The experimental results show that the method can effectively inspect and locate the target, and adapt to the semi-structural environment. © 2022 IEEE.

关键词： Inspection

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Experimental study on gas production and solution composition during the interaction of femtosecond laser pulse and liquid

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Chinese Physics B 2022年第7期31卷 17-22页

作者： Yichun Wang Han Wu Wenkang Lu Meng Li Ling Tao Xiuquan Ma The State Key Laboratory of Digital Manufacturing Equipment and Technology School of Mechanical Science and EngineeringHuazhong University of Science and Technology(HUST)Wuhan 430074China Guangdong Intelligent Robotics Institute Dongguan 523808China Department of Cardiology Xijing HospitalThe Fourth Military Medical UniversityXi’an 710032China

The process of ionizing normal saline induced by femtosecond laser is studied from the perspective of gas production rate and *** the repetition rate is less than 1000 Hz,each laser pulse independently generates ionization *** the same time,we discovered the inhibitory effect of meglumini diatrizoici on the ionization process and explained the reasons for this ***,the gas composition proved that the primary gas production mechanism of the femtosecond laser is the decomposition of water molecular,and the composition of the solution after the reaction proved the decomposition effect of the laser on meglumine.

关键词： femtosecond laser ionization gas production rate meglumini diatrizoici

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Magnetic/thermo dual-sensitive hydrogel-based 3D Printable millirobots

Magnetic/thermo dual-sensitive hydrogel-based 3D Printable m...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Hu, Xingyue Li, Mengyue Jiao, Niandong Liu, Lianqing 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)9781665481090

Creatures in nature complete deformation and movement through the anisotropic stretching of muscles. Soft materials for artificial muscles, such as hydrogels, need to be fabricated into anisotropic complex structures. 3D printing is an excellent manufacturing method. However, traditional hydrogels cannot be prepared by inkjet printing because of their physical properties. Here, a novel magnetic thermo-sensitive hydrogel and a non-thermo-sensitive hydrogel that can be 3D printed were synthesized. A bilayer beam as thermal deformation unit was formed by two types of hydrogels. 2D and 3D anisotropic deformable structures can be fabricated by 3D printing. In addition, we navigate the hydrogel structure out of the maze through the magnetic field. Finally, the 3D-printed structures were shown to be magnetically actuated while having more flexible thermo-responsive deformations. Dual-sensitive hydrogels have the printability to produce more flexible, precise, and perfect multi-function robots in the future, and will promote the application in the fields of micromanipulation and medical treatment. © 2022 IEEE.

关键词： Hydrogels

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Chemical/magnetic dual-responsive nanorobots with flower-like structure for drug delivery

Chemical/magnetic dual-responsive nanorobots with flower-lik...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Wu, Junfeng Jiao, Niandong Hu, Xingyue Liu, Lianqing 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)9781665481090

In this paper, a facile method was used to synthesize flower-like silica (SiO2) nanoparticles. Given the advantages of porous structure for molecule decoration and drug carrying, chemical/magnetic dual-responsive nanorobots were fabricated based on these flower-like nanoparticles. Urease served as a chemical engine using urea as fuel, which provided chemical driving force for nanorobots by its biocatalytic degradation ability. Fe304 nanoparticles as a magnetic engine were responsible for the control over advance direction of nanorobots. Furthermore, dual-responsive nanorobots showed a good synergistic motion behavior without negative effect. Compared with traditional imporous nanoparticles, the flower-like structure displayed a great improvement in drug-loading properties owing to the large surface area. Furthermore, dual-responsive nanorobots lead to a higher mortality of cancer cells through an enhanced endocytosis caused by autonomous motion. Thus, the reported nanorobots are promising candidates for targeting drug delivery. © 2022 IEEE.

关键词： Silica

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Research on Multi-sensor Fusion Localization of Wheel-Legged Robots in Dynamic Scenarios

Research on Multi-sensor Fusion Localization of Wheel-Legged...

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Automation, Control and Robots (ICACR), International Conference on

作者： Xu Li Yili Fu Zuolun Cheng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China Intelligent Robot Research Center Zhejiang Laboratory Hangzhou 311100 China

With the rapid development of human beings in motion control and localization perception, intelligent mobile robots are widely used in various scenarios, such as industrial production, medical care, logistics and distribution. Among them, wheel-legged robots have both the high mobility of wheeled robots and the high adaptability of legged robots, which can not only move fast on platform terrain, but also adapt to rugged and complex ground with the multiple degrees of freedom of their legs. Wheel-legged robots face the following main problems in high-precision robust localization in multiple scenarios: there are a lot of dynamic factors in daily indoor and outdoor scenarios, such as vehicles, pedestrians, etc., which require specific processing of dynamic environment in the visual front-end part to improve the effect of visual factor constraints; as ground mobile robots, the localization framework of visual inertial fusion (VIO) will show scale degeneration phenomenon, resulting in long-distance localization accuracy decline. In addition, as a two wheeled inverted pendulum robot, the ground constraint form will undergo corresponding changes. Aiming at the above problems, this paper takes the hydraulic-driven wheel-legged robot as the object and proposes a multi-sensor fusion localization method in dynamic scenarios.

关键词：

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Ruler in Water: 6-DOF Underwater Rotating Platform Calibration for Laser Scanner 37

Ruler in Water: 6-DOF Underwater Rotating Platform Calibrati...

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37th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2022

作者： Gao, Yajun Cong, Yang Gu, Changiun Tang, Xu 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)9781665465366

Underwater actuated laser scanner, where a structured optical sensor is integrated with a rotating mechanism to scan the underwater target instead of a single line, has been widely applied in underwater resource exploration and biological surveys due to its significance. However, 1) most existing methods cannot be directly applied to underwater scenarios, due to the inconsistency between the center of rotation of the laser scanner and the actuating mechanism. 2) underwater multi-layer medium refraction affects the precision of the underwater camera pose estimation, which further leads to low-precision rotating platform calibration results. To address these challenges, we propose a 6-degree-of-freedom (6-DOF) underwater rotating platform calibration method, named 6DURPC, which can estimate six parameters between the two centers of a structured optical sensor and a rotation platform. Specifically, we first propose a refractive camera model to calculate the pose of camera in water. An underwater rotation platform calibration method is then developed to achieve 6-DOF parameter estimation of camera center and rotation center. To the end, we implement our method on a self-developed underwater laser scanner, and the experimental results in three scenarios demonstrate the performance of our method, and the precision of the reconstructed point cloud reach millimeter level at 2m. © 2022 IEEE.

关键词： Calibration

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Domain-Adaptive Power Profiling Analysis Strategy for the Metaverse

Domain-Adaptive Power Profiling Analysis Strategy for the Me...

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作者： Li, Xiang Yang, Ning Liu, Weifeng Chen, Aidong Zhang, Yanlong Wang, Shuo Zhou, Jing Beijing Key Laboratory of Information Service Engineering Beijing Union University Beijing China Institute of Semiconductors Chinese Academy of Sciences Beijing China College of Robotics Beijing Union University Beijing China Research Center for Multi-Intelligent Systems Beijing Union University Beijing China Information System Laboratory Beijing Microelectronics Technology Institution Beijing China

In the surge of the digital era, the metaverse, as a groundbreaking concept, has become a focal point in the technology sector. It is reshaping human work and life patterns, carving out a new realm of virtual and real interaction. However, the rapid development of the metaverse brings along novel challenges in security and privacy. In this multifaceted and complex technological environment, data protection is of paramount importance. The innovative capabilities of high-end devices and functions in the metaverse, owing to advanced integrated circuit technology, face unique threats from side-channel analysis (SCA), potentially leading to breaches in user privacy. Addressing the issue of domain differences caused by different hardware devices, which impact the generalizability of the analysis model and the accuracy of analysis, this paper proposes a strategy of portability power profiling analysis (PPPA). Combining domain adaptation and deep learning techniques, it models and calibrates the domain differences between the profiling and target devices, enhancing the model's adaptability in different device environments. Experiments show that our method can recover the correct key with as few as 389 power traces, effectively recovering keys across different devices. This paper underscores the effectiveness of cross-device SCA, focusing on the adaptability and robustness of analysis models in different hardware environments, thereby enhancing the security of user data privacy in the metaverse environment. © 2024 John Wiley & Sons Ltd.

关键词： Data privacy

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An Air Floating Suspension Microgravity Simulator for Multi Specification of Spaceborne SAR 2

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2nd China International SAR Symposium, CISS 2021

作者： Sun, Zhiyao Sun, Xiangyu Zhou, Qihua Zou, Bo Liu, Gangfeng Dong, Huijuan Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China The Tenth Research Laboratory Shanghai Radio Equipment Research Institute Shanghai China

ISBN: (纸本)9787000000001

Microgravity Simulators are significant equipment for spaceborne synthetic aperture radar (SAR) on-ground test. Considering the diversity of spaceborne SAR specification as well as SAR's high working accuracy, this paper provides a novel air floating suspension microgravity simulator equipped with both active and passive gravity compensation mechanism, which realize the high-precision microgravity simulation of spaceborne SAR with different structures and kinematic characteristics. The simulator also provides adjustable frames to guarantee the simulation stability of the SAR in different poses. In addition, the simulator's corresponding horizontal tracking control system and vertical constant tension control system are also provided in this paper, which realize the tracking of the SAR movement. Finally, the simulation and experiment are provided to verify the effectiveness of the microgravity simulator. © 2021 SISE.

关键词： Synthetic aperture radar

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Photonic hook through a microlens with a tip deposited at the bottom 12

Photonic hook through a microlens with a tip deposited at th...

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12th International Conference on CYBER Technology in Automation, Control, and Intelligent systems, CYBER 2022

作者： Zhang, Tianyao Yu, Haibo Wang, Xiaoduo Luo, Hao Liu, Lianqing 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 Shenyang110016 China University of Chinese Academy of Sciences Beijing100049 China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

A design that couples the transparent silica microsphere to the AFM probe and deposits the diamond tip at the bottom of the microsphere is studied when illuminated with a plane wave. A controllable curved photonic nanojet (PNJ) named photonic hook (PH) can be generated on the backlight side, which can be explained as an interference phenomenon caused by the breaking of particle symmetry. The influence of the size, position of the tip and the diameter of microlens on the PH focusing on the outside of the microlens is studied. The simulation results show that these parameters can be used to control the bending characteristics of PH. © 2022 IEEE.

关键词： Microspheres

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