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6th International Conference on Compute and Data Analysis, ICCDA 2022

作者： Guan, Yu Chen, Xi'Ai Tian, Jiandong Tang, Yandong 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)9781450395472

Shadow detection of remote sensing images is an essential work, as the presence of shadow always reduce the robustness of computer vision algorithms such as image segmentation, object recognition, target tracking and feature extraction. In this paper, a shadow detection method based on orthogonal decomposition is proposed for remote sensing images. We first decompose input image into an illumination invariant component and an illumination component with pixel-wise orthogonal decomposition. Then, we get non-shadow illumination component by taking advantage of intrinsic characteristic that the pixels in same object share the same illumination invariant component whether in shadow area or not. Finally, we generate shadow mask by analyzing the attenuation of illumination component in shadow area. The proposed method is compared to several representative methods on the public dataset, and results show the effectiveness and robustness of proposed method. © 2022 Owner/Author.

关键词： Pixels

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Design and analysis of morphing wing UAV adopted to harsh environment based on 'Frigate bird'

Design and analysis of morphing wing UAV adopted to harsh en...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Chu, Lingling Gu, Feng Du, Xintian He, Yuqing Shenyang Institute of Automation State Key Laboratory of Robotics Chinese Academy of Sciences Shenyang110016 China Chinese Academy of Sciences Institutes for Robotics and Intelligent Manfacturing Shenyang110016 China University of Chinese Academy of Sciences Beijing100049 China

ISBN: (纸本)9781665481090

Morphing wing UAV can take into account multi mission scenarios. Aiming at the needs of using UAV for scientific research under harsh conditions such as polar and plateau, a configuration of 'frigate bird' morphing wing UAV is proposed. Firstly, the biological structure of frigate birds is analyzed and modeled systematically, and the flight characteristics and deformation principle of frigate birds are illustrated. Secondly, based on the modeling, the aerodynamic design of the morphing wing is carried out, and the morphing wing UAV with segmented variable sweep angle is designed. Finally, the aerodynamic simulation and analysis are conducted under the conditions of typical sweep angle combinations. The results show that the bionic morphing wing UAV can take into account the long endurance and wind resistance through the segmented combined variable sweep angle. This morphing wing UAV can meet the requirements of scientific research in Plateau and Antarctic environment. This study provides a novel scheme for the aircraft design. © 2022 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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Design and Evaluation of a Self-Aligning Knee Exoskeleton for Knee Extension Assistance During Walking

Design and Evaluation of a Self-Aligning Knee Exoskeleton fo...

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Youth Academic Annual Conference of Chinese Association of Automation (YAC)

作者： Zhaoyuan Liu Weihao Yin Jianda Han Juanjuan Zhang Tianjin Key Laboratory of Intelligent Robotics Institute of Robotics and Automatic Information System Nankai University Tianjin China

ISBN: (纸本)9781665465373

Exoskeletons can help people with impaired knee extensor function by providing assistance. Previous studies have shown that adding passive degrees of freedom to the knee exoskeleton can help reduce unwanted load on the knee joint. However, the problem of achieving passive degrees of freedom with low-weight structures has not been resolved. We designed and built a self-aligning knee exoskeleton which weighs 1.76kg and uses a slider-rail structure to add a passive degrees of freedom in the kinematic chain. The device was actuated by an off board motor to apply knee extension assist torque during walking. A magnetic connection device was designed to quickly connect the thigh and calf segments of the exoskeleton. The exoskeleton was evaluated on a healthy subject walking uphill at 0°, 2°, 4° and 6° slope with a setup assistance profile. The results indicated a decrease in rectus femoris, vastus medialis and vastus lateralis activity under assistance. The root mean squared (RMS) of the vastus medialis muscle activity decreased 21%, 25%, 24%, and 33% in each of the four conditions. These preliminary results show that the device has the capability to explore more assistance strategies to improve gait rehabilitation.

关键词： Knee Legged locomotion Torque Exoskeletons Thigh Magnetic devices Kinematics

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Multi-robot task allocation for airport runway inspection

Multi-robot task allocation for airport runway inspection

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第34届中国控制与决策会议

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

Airport runway safety inspections and timely Foreign Object Debris(FOD) removal can effectively guarantee the safe take-off and landing of *** present,the number of flights taking off and landing on the airport runway is large,and the runway inspection time window is short,so there are problems such as safety inspection and FOD removal in time,which affect the safety of flight takeoff and *** use of multiple inspection robots for inspection and the use of multiple FOD removal robots for FOD removal can effectively shorten the inspection and FOD removal operation *** order to solve the problem of multi-robot task allocation in airport runway safety inspection and FOD removal,this paper proposes a "inspection-removal" model and an extended Consensus Based Bundle Algorithm(CBBA) based on time window constraints,which are used for multi-robot task *** algorithm effectively solves the problem of cooperative allocation between inspection robots and FOD removal *** algorithm has achieved good experimental results in a simulation environment,and can be used in airport runway safety inspections.

关键词： Multi-robot system task allocation CBBA Time window heterogeneous robot

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Trajectory Planning for Minimizing Floating Pedestal Disturbance of Spatial Dual-Arm Robots 43

Trajectory Planning for Minimizing Floating Pedestal Disturb...

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43rd Chinese Control Conference, CCC 2024

作者： Zhang, Hui Zuo, Xiaozhong Zhang, Wei Gao, Sheng Shenyang Jianzhu University College of Electrical and Control Engineering Shenyang110168 China Shenyang Institute of Automation Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang110016 China China-Portugal Belt and Road Joint Laboratory on Space & Sea Technology Advanced Research Shanghai200120 China

ISBN: (纸本)9789887581581

This paper addresses the trajectory planning problem of a spatial dual-arm robot and proposes a method to minimize the floating pedestal perturbation using a nonlinear planning method. The joint angle of the dual-arm robot is the optimization variable, and the positioning accuracy of the end-effector and the pedestal disturbance are the optimization objective and constraints, respectively. A constrained multi-objective optimization problem is formulated, and the kinematic model of the robot is established by parameterizing the joint trajectory. A penalty factor and a collision detection mechanism are applied to ensure the safety of the planning process. A nonlinear planning method is used to solve the optimization problem and obtain the optimal joint trajectory of the dual-arm robot. Simulation results demonstrate that the proposed method effectively reduces the base disturbance while ensuring the positioning accuracy of the end-effector. © 2024 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： End effectors

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Time Window Optimization for Riemannian Geometry-based Motor Imagery EEG Classification

Time Window Optimization for Riemannian Geometry-based Motor...

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Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

作者： Fanbo Zhuo Bo Lv Fengzhen Tang The State Key Laboratory of Robotics Shenyang Institute of Automation Shenyang China The Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China The University of Chinese Academy of Sciences Beijing China

ISBN: (数字)9798350371499

ISBN: (纸本)9798350371505

The existing Riemannian geometry-based approaches for brain computer interface (BCI) employ fixed time windows. However, the inherent variability and dynamic changes among subjects necessitate robust and adaptive solutions for time window optimization. Recognizing the current limitations of Riemannian classifiers, we propose a time window selection confidence metric (TWSCM) based on Riemannian geometry. This metric operates on the manifold of symmetric positive definite (SPD) matrices, providing a theoretically grounded and computationally efficient approach for time window optimization. The optimization process is unsupervised, which is able to deal with the online scenario without training labels. Experimental results on the BCI competition IV dataset IIa demonstrate that the classification performance is significantly improved for most subjects. The average performance over six subjects improved by 7.52%. The simulated online experiment shows enhanced performance in comparison to baseline experiments without time window optimization. Additionally, an in-depth analysis of TWSCM provides insights into performance variations among subjects. Overall, this paper introduces the first time window optimization method within the Riemannian geometric framework, presenting an effective and interpretable approach for optimizing time windows in motor imagery classification, providing a novel and promising perspective in EEG signal analysis.

关键词： Measurement Manifolds Training Time-frequency analysis Symmetric matrices system performance Motors Electroencephalography Brain-computer interfaces Optimization

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Simulating Automotive Radar with Lidar and Camera Inputs

arXiv

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arXiv 2025年

作者： Song, Peili Song, Dezhen Yang, Yifan Lan, Enfan Liu, Jingtai Institute of Robotics and Automatic Information System Nankai University Tianjin300350 China Tianjin Key Laboratory of Intelligent Robotics Tianjin300350 China TBI center Nankai University Tianjin300350 China Abu Dhabi United Arab Emirates

Low-cost millimeter automotive radar has received more and more attention due to its ability to handle adverse weather and lighting conditions in autonomous driving. However, the lack of quality datasets hinders research and development. We report a new method that is able to simulate 4D millimeter wave radar signals including pitch, yaw, range, and Doppler velocity along with radar signal strength (RSS) using camera image, light detection and ranging (lidar) point cloud, and ego-velocity. The method is based on two new neural networks: 1) DIS-Net, which estimates the spatial distribution and number of radar signals, and 2) RSS-Net, which predicts the RSS of the signal based on appearance and geometric information. We have implemented and tested our method using open datasets from 3 different models of commercial automotive radar. The experimental results show that our method can successfully generate high-fidelity radar signals. Moreover, we have trained a popular object detection neural network with data augmented by our synthesized radar. The network outperforms the counterpart trained only on raw radar data, a promising result to facilitate future radar-based research and development. © 2025, CC BY-NC-ND.

关键词： Automotive radar

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High-precision integrated parameter calibration method for seam tracker 3

High-precision integrated parameter calibration method for s...

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2021年第三届先进计算机技术、信息科学与通信国际会议(CTISC2021)

作者： Shengpeng Fu Renbo Xia Jibin Zhao State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences

ISBN: (纸本)9781665418683

This paper presents an integrated calibration method for seam tracker based on planar calibration plate, which can obtain all parameters of the tracker in one calibration. Firstly, a calibration plate is placed in the field of view of the camera to obtain multiple images in different positions. Secondly, the centers of the circle points and the sub-pixel centers of the line structured light on the calibration plate are automatically detected. Then the positions of the calibration plate are calculated according to the internal parameters of the camera, and the three-dimensional coordinates of the center line of the line structured light are calculated. Finally, all the threedimensional coordinates of the line structured light centers are fitted to obtain the plane equation of the light plane, and the parameter calibration is completed. The experimental results show that the calibration method is fast and effective, which can realize the internal and external parameters calibration of the camera in the seam tracker in one operation. It has high calibration accuracy and meets the actual needs of seam tracking.

关键词： Strips Information science Fitting Cameras Calibration Data mining Mathematical model

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PetLock:A Genderless and Standard Interface for the Future On-orbit Construction

arXiv

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arXiv 2022年

作者： Li, Yuntao Xu, Zichun Yang, Xiaohang Zhao, Zhiyuan Zhao, Jingdong Liu, Hong State Key Laboratory of Robotics and System Harbin Institute of Technology Heilong Jiang Harbin China

Modular design is the foundation of on orbit construction technology of large space facilities in the future. Standard interface is the key technology of modular design of the future space robotic systems and space facilities. This paper presents the designed and tested of PetLock, a standard and genderless interface which can transfer mechanical loads, power and data between the future modular space robotic manipulator and spacecraft. PetLock adopts a completely genderless design, including connection face, locking mechanism, data and power interface. The connection surface provides a large translation and rotation misalignment tolerance, due to its 120-degree symmetrical and 3D shape design. The locking mechanism features the three locking pins retraction structure design, which is simple and reliable. POGO pin connectors in the center of the interface provides the power and data transfer capabilities. Due to the advantages of high locking force, large tolerance, high reliability and low cost, PetLock has the very big application potential in future on orbit construction missions. Copyright © 2022, The Authors. All rights reserved.

关键词： Fits and tolerances

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Lightweight LiDAR-Camera 3D Dynamic Object Detection and Multi-Class Trajectory Prediction

arXiv

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arXiv 2025年

作者： He, Yushen Zhao, Lei Deng, Tianchen Fang, Zipeng Chen, Weidong Institute of Medical Robotics Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education Shanghai200240 China

Service mobile robots are often required to avoid dynamic objects while performing their tasks, but they usually have only limited computational resources. So we present a lightweight multi-modal framework for 3D object detection and trajectory prediction. Our system synergistically integrates LiDAR and camera inputs to achieve real-time perception of pedestrians, vehicles, and riders in 3D space. The framework proposes two novel modules: 1) a Cross-Modal Deformable Transformer (CMDT) for object detection with high accuracy and acceptable amount of computation, and 2) a Reference Trajectory-based Multi-Class Transformer (RTMCT) for efficient and diverse trajectory prediction of mult-class objects with flexible trajectory lengths. Evaluations on the CODa benchmark demonstrate superior performance over existing methods across detection (+2.03% in mAP) and trajectory prediction (-0.408m in minADE5 of pedestrians) metrics. Remarkably, the system exhibits exceptional deployability - when implemented on a wheelchair robot with an entry-level NVIDIA 3060 GPU, it achieves realtime inference at 13.2 fps. To facilitate reproducibility and practical deployment, we release the related code of the method at https://***/TossherO/3D Perception and its ROS inference version at https://***/TossherO/ros packages. Copyright © 2025, The Authors. All rights reserved.

关键词： Mobile robots

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