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Haptic based teleoperation with master-slave motion mapping and haptic rendering for space exploration

Chinese Journal of Aeronautics 2019年第3期32卷 723-736页

作者： Guanyang LIU Xuda GENG Lingzhi LIU Yan WANG State Key Lab of Virtual Reality Technology and Systems Beihang University School of Mechanical Engineering and Automation Beihang University Key Laboratory of Space Utilization Technology and Engineering Center for Space Utilization Chinese Academy of Sciences

This paper presents a new solution to haptic based teleoperation to control a large-sized slave robot for space exploration, which includes two specially designed haptic joysticks, a hybrid master-slave motion mapping method, and a haptic feedback model rendering the operating resistance and the interactive feedback on the slave side. Two devices using the 3 R and DELTA mechanisms respectively are developed to be manipulated to control the position and orientation of a large-sized slave robot by using both of a user's two hands respectively. The hybrid motion mapping method combines rate control and variable scaled position mapping to realize accurate and efficient master-slave control. Haptic feedback for these two mapping modes is designed with emphasis on ergonomics to improve the immersion of haptic based teleoperation. A stiffness estimation method is used to calculate the contact stiffness on the slave side and play the contact force rendered by using a traditional spring-damping model to a user on the master side stably. Experiments by using virtual environments to simulate the slave side are conducted to validate the effectiveness and efficiency of the proposed solution.

关键词： Teleoperation Haptic device Remote control Haptic rendering Space exploration

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Tight formation control of multiple unmanned aerial vehicles through an adaptive control method

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Science China(Information Sciences) 2017年第7期60卷 96-98页

作者： Yin WANG Daobo WANG State Key Laboratory of Virtual Reality Technology and Systems Beihang University College of Astronautics Nanjing University of Aeronautics and Astronautics College of Automation Engineering Nanjing University of Aeronautics and Astronautics

Cooperative formation control for unmanned aerial vehicles(UAV)is a fundamental yet essential component toward the development of highlevel autonomous flight control *** UAVs are flying in a tight formation,the power requirements for the following aircraft(s)can be significantly reduced because of the vortices effect of the leading ***,this also introduces an aerodynamic interaction to the formation dynamics,complicating the formation control *** control methods can be

关键词： UAV Tight formation control of multiple unmanned aerial vehicles through an adaptive control method ETP

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A novel method based on color information for scanned data alignment 08

A novel method based on color information for scanned data a...

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VRST 2008 ACM Symposium on virtual reality Software and technology

作者： Yang, Shen Qi, Yue Hou, Fei Shen, Xukun Zhao, Qinping State Key Laboratory of Virtual Reality Technology and Systems Beihang University China

ISBN: (纸本)9781595939517

This paper presents a rapid and robust method to align large sets of range scans captured by a 3D scanner automatically. The method incorporates the color information from the range data into the pairwise registration. Firstly, it detects the features using SIFT (Scale-Invariant Feature Transform) on grayscale images generated from two range scans to align. Then a quasi-dense matching algorithm, based on the match propagation principle, is applied to specify the matching pixel pairs between two images. All matches obtained are mapped to 3D space but in different world coordinates, and filtered by the 3D geometry constraint discovered from the range data. The remaining set of point correspondences is used to estimate the rigid transformation. Finally, a modified ICP (Iterative Closest Point) algorithm is applied to refine the result. The paper also describes a framework to use this alignment method for object reconstruction. The reconstruction proceeds by acquiring several range scans with color information from different directions, following which pair-wise of range data are aligned with the above method selectively and iteratively. Then a model graph containing the correct pair-wise matches is created and a span tree specifying a complete model is constructed. Finally a global optimization is performed to refine the result. This reconstruction technique achieves a robust and high performance in the application of rebuilding the 3D models of culture heritages for virtual museum automatically. Copyright 2008 ACM.

关键词： Global optimization

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Video driven pedestrian visualization with characteristic appearances 15

Video driven pedestrian visualization with characteristic ap...

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21st ACM Symposium on virtual reality Software and technology, VRST 2015

作者： Hu, Yu Wu, Wei Zhou, Zhong State Key Laboratory of Virtual Reality Technology and Systems Beihang University China

ISBN: (纸本)9781450339902

Augmented virtual environment (AVE) could visualize plausible live views from videos by projecting dynamic imagery to the 3D environment. Static objects in a video can be rendered in new views since they are easily modeled beforehand, while moving ones that don't have exact online models will be distorted from different views without proper depth. To cope with the problem, we introduce a novel method to visualize pedestrians, which are common in outdoor surveillance. Our method detects pedestrians and produces their trajectories. Then such pedestrian characteristic appearances as geometric information, texture and walking animation are transferred to a stand-in 3D animation model in the virtual environment. Experiments show our visualization can reveal person's characteristic appearances. © 2015 ACM.

关键词： virtual reality

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Frequency response function-based model updating using Kriging model

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MECHANICAL systems AND SIGNAL PROCESSING 2017年第PartA期87卷 218-228页

作者： Wang, J. T. Wang, C. J. Zhao, J. P. [a] School of Mechanical Engineering and Automation Beihang University Beijing China [b] State Key Laboratory of Virtual Reality Technology and Systems Beihang University Beijing China

An acceleration frequency response function (FRF) based model updating method is presented in this paper, which introduces Kriging model as metamodel into the optimization process instead of iterating the finite element analysis directly. The Kriging model is taken as a fast running model that can reduce solving time and facilitate the application of intelligent algorithms in model updating. The training samples for Kriging model are generated by the design of experiment (DOE), whose response corresponds to the difference between experimental acceleration FRFs and its counterpart of finite element model (FEM) at selected frequency points. The boundary condition is taken into account, and a two-step DOE method is proposed for reducing the number of training samples. The first step is to select the design variables from the boundary condition, and the selected variables will be passed to the second step for generating the training samples. The optimization results of the design variables are taken as the updated values of the design variables to calibrate the FEM, and then the analytical FRFs tend to coincide with the experimental FRFs. The proposed method is performed successfully on a composite structure of honeycomb sandwich beam, after model updating, the analytical acceleration FRFs have a significant improvement to match the experimental data especially when the damping ratios are adjusted.

关键词： Model updating Metamodel Frequency response function Optimization

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Dynamic characteristic analysis of whole machine tools based on Kriging model

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Journal of Central South University 2013年第11期20卷 3094-3102页

作者：高相胜张以都郜浩冬张洪伟 State Key Laboratory of Virtual Reality Technology and Systems (Beihang University) School of Mechanical Engineering and Automation Beihang University School of Mechanical Engineering Beijing Institute of Petrochemical Technology

In order to study the variation of machine tools’dynamic characteristics in the manufacturing space,a Kriging approximate model is *** element method(FEM)is employed on the platform of ANSYS to establish finite element(FE)model with the dynamic characteristic of combined interface for a milling machine,which is newly designed for producing aero engine blades by a certain enterprise group in *** stiffness and damping of combined interfaces are adjusted by using adaptive simulated annealing algorithm with the optimizing software of iSIGHT in the process of FE model update according to experimental modal analysis(EMA)*** Kriging approximate model is established according to the finite element analysis results utilizing orthogonal design samples by taking into account of the range of configuration *** the basis of the Kriging approximate model,the response surfaces between key response parameter and configuration parameters are *** results indicate that configuration parameters have great effects on dynamic characteristics of machine tools,and the Kriging approximate model is an effective and rapid method for estimating dynamic characteristics of machine tools in the manufacturing space.

关键词： machine tool dynamic characteristic interface configuration Kriging model

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Particle-based simulation of fluid-solid coupling

Particle-based simulation of fluid-solid coupling

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13th International Conference on systems Simulation, AsiaSim 2013

作者： Yin, Xinyi Shen, Xukun Zhang, Fengquan Huang, Guanzhe State Key Laboratory of Virtual Reality Technology and Systems Beihang University China

ISBN: (纸本)9783642450365

We present an efficient framework for fluid-solid coupling, including both rigid and elastic bodies. Based on a unified particle model, we apply different coupling scheme for fluid-solid and solid-solid coupling respectively. Realistic and versatility are achieved by coupling all the objects adaptively. With the help of GPU accelerating, we gain a realtime simulation. © Springer-Verlag Berlin Heidelberg 2013.

关键词： Hydrodynamics

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Drogue detection for autonomous aerial refueling via hybrid pigeon-inspired optimized color opponent and saliency aggregation

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Chinese Journal of Aeronautics 2024年第5期37卷 27-38页

作者： Tongyan WU Haibin DUAN Yanming FAN State Key Laboratory of Virtual Reality Technology and Systems School of Automation Science and Electrical EngineeringBeihang UniversityBeijing 100083China Virtual Reality Fundamental Research Laboratory Department of Mathematics and TheoriesPeng Cheng LaboratoryShenzhen 518000China AVIC Shenyang Aircraft Design and Research Institute Shenyang 110035China

Drogue detection is one of the challenging tasks in autonomous aerial refueling due to the requirement for accuracy and *** detection based on image intrinsic cues can achieve fast detection,but with poor *** studies reveal that optimization-based methods provide accurate and quick solutions for saliency *** paper presents a hybrid pigeon-inspired optimization method,the optimized color opponent,that aims to adjust the weight of color opponent channels to detect the drogue *** can optimize the weights in the selected aerial refueling scene offline,and the results are applied for drogue detection in the scene.A novel algorithm aggregated by the optimized color opponent and robust background detection is presented to provide better precision and *** results on benchmark datasets and aerial refueling images show that the proposed method successfully extracts the saliency region or drogue and exhibits superior performance against the other saliency detection methods with intrinsic *** algorithm designed in this paper is competent for the drogue detection task of autonomous aerial refueling.

关键词： Autonomous aerial refueling Drones Hybrid pigeon-inspired optimization Color opponent Saliency detection Saliency aggregation

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On-line signature verification based on three-dimensional force signals at critical points

On-line signature verification based on three-dimensional fo...

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International Conference on Audio, Language and Image Processing

作者： Fang, Lei Wang, Dang-Xiao Jiao, Hui-Min State Key Laboratory of Virtual Reality Technology and Systems Beihang University China

ISBN: (纸本)9781424458653

It is an open problem to extract stable and distinguishable features from force signals of handwriting signatures. Based on the writing habits and kinematics of human, a hypothesis was proposed that force signal at critical points, e.g. the starting, the turning and the ending of a signature .etc, consists of personalized features which can distinguish signatures of different persons. Using stroke curvature, the critical points were extracted, and the 3-dimensional force signals at the critical points were also recorded. Employing Dynamic Time Warping (DTW) method, based on a preliminary signature database, verification experiments were carried out using the force signals of a whole stroke and the force signal at the critical points of the stroke respectively. The results look encouraging to verify the hypothesis. ©2010 IEEE.

关键词： DTW dynamic time warping feature extraction handwriting recognition handwriting signatures human kinematics image processing online signature verification three-dimensional force signals time warp simulation

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A fast mode decision algorithm for multiview video coding

A fast mode decision algorithm for multiview video coding

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2010 3rd International Congress on Image and Signal Processing, CISP 2010

作者： Ai, Mingjing Wang, Jingke State Key Laboratory of Virtual Reality Technology and Systems Beihang University China

ISBN: (纸本)9781424465149

In this paper, a fast mode decision algorithm for multi-view video coding (MVC) is proposed. When implementing MVC, one of the most critical problems is heavy computational complexity caused by the large amount of information in multi-view sequences. Hence, a fast algorithm is essential. To reduce computational complexity, a fast mode decision using both motion vector among views and texture characteristic is proposed to reduce encoding time. For MBs with homogeneous motion and texture, only mode of Skip and Inter16x16 are tested, and other mode sizes are skipped;for MBs with active motion or rich texture, all mode sizes are tested. Experimental results showed that compared with the full mode decision (FMD) in JMVM, the proposed algorithm is able to reduce processing time by maximumly 60-70% in estimation process, and maintain almost the same coding efficiency. ©2010 IEEE.

关键词： Computational complexity

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