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Design and experimental study of a passive power-source-free stiffness-self-adjustable mechanism

Frontiers of Mechanical Engineering 2021年第1期16卷 32-45页

作者： Yuwang LIU Dongqi WANG Shangkui YANG Jinguo LIU Guangbo HAO State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China School of Engineering-Electrical and Electronic Engineering University College CorkCorkIreland

Passive variable stiffness joints have unique advantages over active variable stiffness joints and are currently eliciting increased *** passive variable stiffness joints rely mainly on sensors and special control algorithms,resulting in a bandwidth-limited response speed of the *** propose a new passive power-source-free stiffness-self-adjustable mechanism that can be used as the elbow joint of a robot *** new mechanism does not require special stiffness regulating motors or sensors and can realize large-range self-adaptive adjustment of stiffness in a purely mechanical *** variable stiffness mechanism can automatically adjust joint stiffness in accordance with the magnitude of the payload,and this adjustment is a successful imitation of the stiffness adjustment characteristics of the human *** response speed is high because sensors and control algorithms are not *** variable stiffness principle is explained,and the design of the variable stiffness mechanism is analyzed.A prototype is fabricated,and the associated hardware is set up to validate the analytical stiffness model and design experimentally.

关键词： variable stiffness mechanism stiffness self-regulation bionic robot modeling

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Motion Analysis of Magnetically Controlled Halbach Array

Motion Analysis of Magnetically Controlled Halbach Array

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2023 IEEE International Conference on Real-Time Computing and robotics, RCAR 2023

作者： Li, Yulu Shang, Wanfeng Huang, Wenqiang Liu, Xiaofei Wu, Xinyu South University of Science and Technology of China Shenzhen518055 China Chinese Academy of Sciences Shenzhen Institute of Advanced Technology Shenzhen518055 China Chinese Academy of Sciences Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Shenzhen518055 China

ISBN: (纸本)9798350327182

Magnetic control technology is increasingly used in various fields to achieve more accurate wireless control. Different magnetic field arrangement modes can be selected for control according to different scenes. To acquiring the high maneuver of magnetic actuator and good application adaptability, Permanent Magnet Halbach array (PMHA) is a good choice as a potential robotic actuator. This paper presents the PMHA has more maneuverability and magnetic intensity than single polar magnets. FEM simulations and experiments are made to analyze the static and dynamic performances. Under the control of an external permanent magnet (EPM), the PMHA can achieve two kinds of rotation around different axises except for linear motion along with six arises. The experiments validate PMHA has the multi-mode motion performances and higher magnetic intensity per volume. The result provides its potential application as robotic actuator. © 2023 IEEE.

关键词： Permanent magnets

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Mobile Robot Dynamic Path Planning Based on Improved A∗ Algorithm 3

Mobile Robot Dynamic Path Planning Based on Improved A∗ Alg...

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3rd International Conference on robotics and Computer Vision, ICRCV 2021

作者： Sun, Tong Wang, Ting Sun, Ping Shenyang University of Technology State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Institute of Robotics and Intelligent Manufacturing Innovation Chinese Academy of Sciences Shenyang China

ISBN: (纸本)9781665436281

In order to solve the problems of large storage, excessive redundant nodes and inflection points of paths, and unsmooth track in the traditional A∗algorithm. This paper presents a fusion algorithm of mobile robot path planning based on the improved A∗ and dynamic window approach. Firstly, selectively expand the neighborhood according to the connection between the node to be expanded and the target node, and reduce the expanded nodes in openlist and closelist. Secondly, according to the key node extraction strategy, eliminate the redundant path nodes and unnecessary inflection points generated by A∗ tracking. Finally, the dynamic window approach is integrated to carry out real-time dynamic path planning. The Matlab simulation experiment results show that the improved fusion algorithm shortens the path length, and the smoothness and security of the path are also optimized. © 2021 IEEE.

关键词： Motion planning

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Feature Extraction and Matching of Humanoid-Eye Binocular Images Based on Susan-Sift Algorithm

SSRN

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SSRN 2023年

作者： Xia, Xiaohua Xiang, Haoming Cao, Yusong Ge, Zhaokai Jiang, Zainan Key Laboratory of Road Construction Technology and Equipment MOE Chang’an University Xi’an710064 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

Imitating the visual characteristics of human eyes is one of the important tasks of digital image processing and computer vision. Feature correspondence of humanoid-eye binocular images is a fundamental step. However, in some scenes, due to a lack of edge features and mismatching problems, the performance of humanoid-eye binocular images in feature matching is greatly limited. To address the aforementioned challenges, a method of feature extraction and matching based on SUSAN-SIFT algorithm is proposed in this paper. The SUSAN detector is utilized in the feature detection stage for its outstanding edge feature extraction capability like human eyes. Then we build a multi-scale SIFT descriptor, to provide the neighborhood information at different resolutions for each feature and guide feature points to generate the corresponding pairs. Compared with state-of-the-art algorithms, the method can improve matching accuracy while retaining more edge features, and its resulting feature pairs are more evenly distributed. © 2023, The Authors. All rights reserved.

关键词： Binoculars

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A Client Selection Method Based on Loss Function Optimization for Federated Learning

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Computer Modeling in Engineering & Sciences 2023年第10期137卷 1047-1064页

作者： Yan Zeng Siyuan Teng Tian Xiang Jilin Zhang Yuankai Mu Yongjian Ren Jian Wan School of Computer Science and Technology Hangzhou Dianzi UniversityHangzhou310018China Key Laboratory of Complex System Modeling and Simulation Ministry of EducationHangzhou310018China Zhejiang Engineering Research Center of Data Security Governance Hangzhou310018China Intelligent Robotics Research Center Zhejiang LabHangzhou311100China HDU-ITMO Joint Institute Hangzhou Dianzi UniversityHangzhou310018China

Federated learning is a distributedmachine learningmethod that can solve the increasingly serious problemof data islands and user data privacy,as it allows training data to be kept locally and not shared with other *** trains a globalmodel by aggregating locally-computedmodels of clients rather than their ***,the divergence of local models caused by data heterogeneity of different clients may lead to slow convergence of the global *** this problem,we focus on the client selection with federated learning,which can affect the convergence performance of the global model with the selected local *** propose FedChoice,a client selection method based on loss function optimization,to select appropriate local models to improve the convergence of the global *** firstly sets selected probability for clients with the value of loss function,and the client with high loss will be set higher selected probability,which can make them more likely to participate in ***,it introduces a local control vector and a global control vector to predict the local gradient direction and global gradient direction,respectively,and calculates the gradient correction vector to correct the gradient direction to reduce the cumulative deviationof the local gradient causedby *** experiments to verify the validity of FedChoice on CIFAR-10,CINIC-10,MNIST,EMNITS,and FEMNIST datasets,and the results show that the convergence of FedChoice is significantly improved,compared with FedAvg,FedProx,and FedNova.

关键词： Federated learning model aggregation Non-IID

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A Manta Ray-Inspired Biosyncretic Robot with Stable Controllability by Dynamic Electric Stimulation

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Cyborg and Bionic systems 2022年第1期2022卷 314-326页

作者： Chuang Zhang Yiwei Zhang Wenxue Wang Ning Xi Lianqing Liu State Key Laboratory of Robotics Shenyang Inst itute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China School of Automation and Electrical Engineering Shenyang Ligong University Shenyang 110159China Emerging Technologies Institute Department of Industrial Manufacturing Systems Engineering University of Hong KongPokfulamChina

Biosyncretic robots,which are new nature-based robots in addition to bionic robots,that utilize biological materials to realize their core function,have been supposed to further promote the progress in *** as the main operation mechanism relates to the robotic overall ***,biosyncretic robots actuated by living biological actuators have attracted increasing ***,innovative propelling modes and control methods are still necessary for the further development of controllable motion performance of biosyncretic *** this work,a muscle tissue-based biosyncretic swimmer with a manta *** propelling mode has been *** is more,to improve the stable controllability of the biosyncretic swimmer,a dynamic control method based on circularly distributed multiple electrodes(CDME)has been *** this method,the direction of the electric field generated by the CDME could be real-time controlled to be parallel with the adtuation tissue of the dynamic ***,the instability of the tissue actuation induced by the dynamic included angle between the tissue axis and electric field direction could be ***,the biosyncretic robot has demonstrated stable,controllable,and efective swimming,by adjusting the electric stimulation pulse direction,amplitude,and *** work may be beneficial for not only the development of biosyncretic robots but also other related studies including bionic design of soft robots and muscle tissue engineering.

关键词： Robot robot Dynamic

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A hybrid forecasting model for depth-averaged current velocities of underwater gliders

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Acta Oceanologica Sinica 2022年第9期41卷 182-191页

作者： Yaojian Zhou Yonglai Zhang Wenai Song Shijie Liu Baoqiang Tian Software School North University of ChinaTaiyuan030051China State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang110016China School of Mechanical Engineering North China University of Water Resources and Electric PowerZhengzhou450045China

In this paper,we propose a hybrid forecasting model to improve the forecasting accuracy for depth-averaged current velocities(DACVs) of underwater *** hybrid model is based on a discrete wavelet transform(DWT),a deep belief network(DBN),and a least squares support vector machine(LSSVM).The original DACV series are first decomposed into several high-and one low-frequency subseries by ***,DBN is used for high-frequency component forecasting,and the LSSVM model is adopted for low-frequency *** effectiveness of the proposed model is verified by two groups of DACV data from sea trials in the South China *** on four general error criteria,the forecast performance of the proposed model is *** comparison models include some well-recognized single models and some related hybrid *** performance of the proposed model outperformed those of the other methods indicated above.

关键词： underwater glider hybrid forecasting model depth-averaged current velocities(DACVs)

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Zr-Fc MOF Nanosheets Based Mass Spectrometry Platform for Metabolites Detection

Zr-Fc MOF Nanosheets Based Mass Spectrometry Platform for Me...

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2022 IEEE International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale, 3M-NANO 2022

作者： Xu, Xiaoyu Zhang, Yuxing Su, Haiyang Wang, Yuning Qian, Kun State Key Laboratory for Oncogenes and Related Genes School of Biomedical Engineering Institute of Medical Robotics Med-X Research Institute Shanghai Jiao Tong University Shanghai China

ISBN: (数字)9781665475433

ISBN: (纸本)9781665475433

Novel Zr-Fc metal-organic framework (MOF) nanosheets based laser desorption/ionization mass spectrometry (LDI MS) platform has been developed for metabolites detection. The ultrathin Zr-Fc MOF nanosheets was synthesized using the bottom-up method. Furthermore, by optimizing the conditions, Zr-Fc MOF nanosheets exhibited excellent performance as an LDI MS matrix without background interference. The Zr-Fc MOF nanosheets based LDI MS platform has been successfully applied to detect various amino acids with high signal intensity ( 105), which presents potential values in clinical metabolic analysis for disease diagnosis and evaluation. © 2022 IEEE.

关键词： Nanosheets

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Unbiased Faster R-CNN for Single-source Domain Generalized Object Detection

Unbiased Faster R-CNN for Single-source Domain Generalized O...

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Conference on Computer Vision and Pattern Recognition (CVPR)

作者： Yajing Liu Shijun Zhou Xiyao Liu Chunhui Hao Baojie Fan Jiandong Tian State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences University of Chinese Academy of Sciences Nanjing University of Posts and Telecommunications

ISBN: (数字)9798350353006

ISBN: (纸本)9798350353013

Single-source domain generalization (SDG) for object detection is a challenging yet essential task as the distribution bias of the unseen domain degrades the algorithm per-formance significantly. However, existing methods attempt to extract domain-invariant features, neglecting that the bi-ased data leads the network to learn biased features that are non-causal and poorly generalizable. To this end, we pro-pose an Unbiased Faster R-CNN (UFR) for generalizable feature learning. Specifically, we formulate SDG in object detection from a causal perspective and construct a Struc-tural Causal Model (SCM) to analyze the data bias andfeature bias in the task, which are caused by scene confounders and object attribute confounders. Based on the SCM, we de-sign a Global-Local Transformation module for data aug-mentation, which effectively simulates domain diversity and mitigates the data bias. Additionally, we introduce a Causal Attention Learning module that incorporates a designed at-tention invariance loss to learn image-level features that are robust to scene confounders. Moreover, we develop a Causal Prototype Learning module with an explicit instance constraint and an implicit prototype constraint, which fur-ther alleviates the negative impact of object attribute con-founders. Experimental results on five scenes demonstrate the prominent generalization ability of our method, with an improvement of 3.9% mAP on the Night-Clear scene.

关键词： Representation learning Analytical models Computer vision Prototypes Object detection Feature extraction Data augmentation

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Design of a Novel Autonomous Docking system With a Supporting Robotic Fish

Design of a Novel Autonomous Docking System With a Supportin...

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2023 IEEE International Conference on Real-Time Computing and robotics, RCAR 2023

作者： Dong, Huijie Zhao, Chunyang Qiao, Tiezhu Wang, Jian Chen, Di Meng, Yan Yu, Junzhi Taiyuan University of Technology Key Laboratory of Advanced Transducers and Intelligent Control System Ministry of Education Taiyuan030024 China Chinese Academy of Sciences Laboratory of Cognitive and Decision Intelligence for Complex System Institute of Automation Beijing100190 China Peking University State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and Robotics College of Engineering Beijing100871 China Guangdong Ocean University College of Electronics and Information Engineering Zhanjiang524088 China

ISBN: (纸本)9798350327182

Underwater supporting robots serving as a relay of energy supplements and communication for other underwater equipment are promising for ocean exploration, development, and protection. This paper proposes a novel autonomous docking system centered on a designed supporting robotic fish named 'CourierFish'. Specifically, CourierFish is capable of docking with a surface dock station for supplying itself and docking with a seafloor platform for supporting equipment in the platform. A visual navigation scheme integrating LED and ArUco markers is presented for accurate localization. The control approach for docking motion is also illustrated. Simulations and aquatic experiments are performed to verify the feasibility of the proposed docking system. The obtained results lay a solid foundation for the construction of various underwater equipment and robot networks. © 2023 IEEE.

关键词： Fish

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