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IEEE International Workshop on Safety, Security, and Rescue robotics (SSRR)

作者： Chenglong Yu Zhiqi Li Weixin Chou Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology China

ISBN: (纸本)9781665456814

Recently, with the robotic technique developing toward precision and intelligence, robots have been used more widely in human life and production. As a common feature in the foreseen applications, robots should be able to detect unexpected collisions while ensuring dynamic accuracy, so as to improve safety at work. In the previous model-based collision detection solution, most methods assume that the robot dynamic model is complete and accurate. Unfortunately, reliable robot dynamics is hard to obtain due to model uncertainties, assembly errors, and the lack of information provided by manufacturers. This paper proposed a novel low-gain control strategy based on sparse feature learning dynamics. Firstly, without considering the physical structure parameters, the dynamics was learned directly via the data-driven technique. Secondly, according to the learned accurate dynamics, a model-based low-gain controller was designed to ensure control performance while avoiding excessive unspecified force. Finally, using this control strategy, sensorless collision detection was realized in a 7-DOF manipulator and the performance of the proposed method was evaluated.

关键词： Representation learning Service robots Dynamics Force Robot sensing systems Safety Security

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Exploring Self- and Cross-Triplet Correlations for Human-Object Interaction Detection

arXiv

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arXiv 2024年

作者： Jiang, Weibo Ren, Weihong Tian, Jiandong Qu, Liangqiong Wang, Zhiyong Liu, Honghai State Key Laboratory of Robotics and System School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Science China Department of Statistics and Actuarial Science The University of Hong Kong Hong Kong

Human-Object Interaction (HOI) detection plays a vital role in scene understanding, which aims to predict the HOI triplet in the form of . Existing methods mainly extract multi-modal features (e.g., appearance, object semantics, human pose) and then fuse them together to directly predict HOI triplets. However, most of these methods focus on seeking for self-triplet aggregation, but ignore the potential cross-triplet dependencies, resulting in ambiguity of action prediction. In this work, we propose to explore Self- and Cross-Triplet Correlations (SCTC) for HOI detection. Specifically, we regard each triplet proposal as a graph where Human, Object represent nodes and Action indicates edge, to aggregate self-triplet correlation. Also, we try to explore cross-triplet dependencies by jointly considering instance-level, semantic-level, and layout-level relations. Besides, we leverage the CLIP model to assist our SCTC obtain interaction-aware feature by knowledge distillation, which provides useful action clues for HOI detection. Extensive experiments on HICO-DET and V-COCO datasets verify the effectiveness of our proposed SCTC. Copyright © 2024, The Authors. All rights reserved.

关键词： Distillation

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A Novel Sample Manipulation Device (SMD) for Lunar Regolith Volatile In-Situ Exploration: Method and Validation

A Novel Sample Manipulation Device (SMD) for Lunar Regolith ...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Tang, Junyue Yang, Tian Chen, Xiren Liu, Ziheng Li, Jiannan Zhang, Zhiheng Xiao, Junxiao Chi, Cheng Jiang, Shengyuan Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China Nanjing University of Aeronautics and Astronautics China Institute of Geology and Geophysics Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781665481090

Extraction and analysis of volatile substances in lunar regoilth is an important means to reveal the formation of the Earth-moon system and explore lunar resources. At present, volatile matter loss will be caused by shock vibration and pressure change of returned samples, so volatile matter needs to be prepared in situ on the lunar surface. In order to accurately measure the contents of volatile matter in lunar regoilth, it is necessary to collect samples with constant volume and quantity. In view of the above problems, this paper designed a sample manipulation device for quantitative detection, sample transfer and volatile preparation of lunar regoilth. The device carries 12 sample tubes through the gear disc to realize double station sample transfer. Seal requirements during sample reception and heating are achieved by lifting the rack. The test shows that the device can accurately measure the sample volume, the sample transfer time is 76.67s, and the thrust into the furnace is more than 150N, which meets the requirements of sample processing time and sealing. The device has a certain enlightening effect on the subsequent lunar exploration project. © 2022 IEEE.

关键词： Lunar missions

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A geometric method based on space arc for pose-configuration simultaneous planning of segmented hyper-redundant manipulators

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Science China(Technological Sciences) 2021年第11期64卷 2389-2407页

作者： HU ZhongHua YUAN Han XU WenFu YANG TaiWei LIU TianLiang LIANG Bin School of Mechanical Engineering and Automation Harbin Institute of TechnologyShenzhen 518055China State Key Laboratory^of Robotics and System Harbin Institute of TechnologyHarbin 150001China Department of Automation Tsinghua UniversityBeijing 100084China

A segmented hyper-redundant manipulator can perform complicated operation tasks in a confined space due to its high flexibility and dexterity. However, the trajectory planning in a narrow space and obstacles environment is very challenging for the manipulator. In this paper, we propose a geometry method to simultaneously plan the end-effector pose and manipulator’s configuration. Firstly, the geometries of each segment are described by an inscribed arc(IA) and a circumscribed arc(CA). Then,the whole kinematics chain is considered as an inscribed curve(IC) or a circumscribed curve(CC) which are composed of multiple IAs or CAs. Furthermore, the IC and CC of the manipulator are divided into multiple spatial single-arc and double-arc groups according to requirements. The pose-configuration simultaneous planning is realized by the spatial single-arc/double-arc modeling and joints angles solving. By numerical iteration, the spatial arcs’ parameters are determined according to desired pose and boundary condition of obstacle avoidance. The angles of joints are analytically solved when the above parameters are known. Finally, a narrow space detection task is simulated and experimented respectively. The results verify the proposed method.

关键词： segmented hyper-redundant manipulator pose-configuration simultaneous planning spatial arc modeling obstacle avoidance geometric planning

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Smoke Attention Based Laparoscopic Image Desmoking Network with Hybrid Guided Embedding

Smoke Attention Based Laparoscopic Image Desmoking Network w...

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IEEE International Conference on robotics and Biomimetics

作者： Ziteng Liu Wenpeng Gao Jiahua Zhu Bainan Liu Yili Fu School of Life Science and Technology Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

Surgical smoke can obscure the surgeon's line of sight during the laparoscopic procedure, potentially posing risk to the patients. Robot assisted-minimally invasive surgery (MIS) also faces such a challenge, which also hinders its autonomous operation. This paper proposes a desmoking method for laparoscopic surgery smoke removal. As the surgical smoke is hetergeneous, a two-stage network is developed to estimate the smoke distribution and reconstruct the corresponding smoke-free scene with the hybrid embedding guidance, including the estimated smoke mask and the initial image. The network is designed following the concept of the atmospheric scattering model, which makes the network more explainable. To qualitatively and quantitatively evaluate the proposed method, a synthetic laparoscopic dataset is generated and a real laparoscopic dataset is obtained. Experimental results show that the Peak Signal to Noise Ratio (PSNR) of the proposed method is 1.9% higher than that of the DehazeFormer, while the run-time is shorter more than 40.9%. The proposed method is comparable to or even outperforms the state-of-the-arts in desmoking quality and computation cost.

关键词： Laparoscopes Training PSNR Minimally invasive surgery Atmospheric modeling Scattering Real-time systems Robots Videos Testing

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Optimized Design of A Haptic Unit for Vibrotactile Amplitude Modulation

arXiv

引用

arXiv 2024年

作者： Huang, Jingchen Fang, Yun Guo, Weichao Sheng, Xinjun The State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering The Meta Robotics Institute Shanghai Jiao Tong University Shanghai200240 China

Communicating information to users is a crucial aspect of human-machine interaction. Vibrotactile feedback encodes information into spatiotemporal vibrations, enabling users to perceive tactile sensations. It offers advantages such as lightweight, wearability, and high stability, with broad applications in sensory substitution, virtual reality, education, and healthcare. However, existing haptic unit designs lack amplitude modulation capabilities, which limits their applications. This paper proposed an optimized design of the haptic unit from the perspective of vibration amplitude modulation. A modified elastic model was developed to describe the propagation and attenuation mechanisms of vibration in the skin. Based on the model, two types of hierarchical architectural design were proposed. The design incorporated various materials arranged in multiple layers to amplify or attenuate the vibration amplitude as it traveled through the structure. An experimental platform was built to evaluate the performance of the optimized design. Copyright © 2024, The Authors. All rights reserved.

关键词： Virtual reality

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Research on a curling-like amphibious robot for ground and underwater torch relay of Beijing 2022 Winter Olympics

Research on a curling-like amphibious robot for ground and u...

引用

2022 International Symposium on robotics, Artificial Intelligence, and Information Engineering, RAIIE 2022

作者： Lu, Yang Tang, Yuangui Liu, Xingyu Wang, Fuli State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institute of Robotics and Intelligent Manufacturing Innovation Chinese Academy of Sciences Shenyang110169 China Guangdong Institute of Intelligent Unmanned System Guangzhou511458 China

ISBN: (纸本)9781510660137

An innovative curling-like amphibious robot was developed for the 2022 Beijing Winter Olympics ground and underwater torch relay. The shape design of imitation curling was applied to the robot in response to the theme of Winter Olympics. The amphibious robot had ground mode and water mode. In ground mode omnidirectional wheels drove the robot to rotate and move forward. The method of constant angular velocity rotation superimposed forward motion overcame ground slip. The nonlinear control of the system was improved by applying this actuation method when the robot slipped. In water mode the X-layout horizontal thrusters and vertical thrusters were applied to sail and hover. The position, depth, attitude and heading of the robot were precisely controlled when the amphibious robot dived into water for torch docking, which was realized through DVL, heading and attitude reference system. The multiple PD controllers with large control damping and phase margin were employed for the robot's control algorithm, so the control system was not diverge when the torch was collided or squeezed. Ultimately, the first underwater torch relay between robots in Olympic history was completed at the Beijing 2022 Winter Olympics. © 2022 SPIE.

关键词： Robots

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A grid-assisted 3D printing method for magnetically driven micro soft robot 9

A grid-assisted 3D printing method for magnetically driven m...

引用

9th International Conference on Advanced Manufacturing Technology and Materials Science, AMTMS 2021

作者： Gao, Jian Gao, Peng Rong, Weibin Li, Dongjie Wang, Lefeng State Key Laboratory of Robotics and System Harbin Institute of Technology Heilongjiang Harbin150001 China Key Laboratory of Advanced Manufacturing and Intelligent Technology Ministry of Education Harbin University of Science and Technology Heilongjiang Harbin150080 China

The magnetically driven micro soft robot is one of the research hotspots in the field of micro robots. A 3D printing method for manufacturing micro soft robots with the help of auxiliary grids is proposed. The shape flexibility of the micro soft robots manufactured by the micro 3D printing method can be improved, and internal structures composed of different materials inside the micro robots can be printed using this method. The technical details of the grid-assisted 3D printing process are introduced in this article. Micro soft robots with specific patterns were 3D printed, and the deformation and movement capabilities of the robots were verified in magnetically driven motion experiments. The experimental results prove that the grid-assisted 3D printing technology can not only manufacture magnetically driven micro soft robots, but also adjust the internal structure and motion performance of the robots. © 2022 Institute of Physics Publishing. All rights reserved.

关键词： 3D printers

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RESEARCH ON THE PID PARAMETER SELF-TUNING OF THE PRESSURIZER CONTROL system OF NUCLEAR POWER PLANT 29

RESEARCH ON THE PID PARAMETER SELF-TUNING OF THE PRESSURIZER...

引用

2022 29th International Conference on Nuclear Engineering, ICONE 2022

作者： Wang, Hongrui Xing, Kunpeng Zou, Tao Yang, Zhijia Wang, Jingyang Zhang, Pengbin State Key Laboratory of Robotics Key Laboratory of Networked Control System Institutes for Robotics and Intelligent Manufacturing Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Beijing China China Nuclear Power Engineering Co. Ltd Shenzhen China College of Mechanical and Electrical Engineering Guangzhou University Guangzhou China Key Laboratory of Networked Control System Institutes for Robotics and Intelligent Manufacturing Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China

ISBN: (纸本)9780791886373

The pressurizer is an essential part of the safe operation of the nuclear power plant. It contains both the steam phase and the liquid phase, which requires simultaneous control of the pressure and water level, and the control system is strongly coupled. When using the PID control method, it is difficult to tune the parameters, and the difficulty is exacerbated when the set value fluctuates. This paper aims at the multi-input and multioutput pressurizer control system, based on the particle swarm optimization to realize the PID controller parameters self-tuning, adopting the time and absolute error integral as the fitness function to evaluate the merits of the PID parameters, and constantly iterating to update and obtain the PID parameters that better satisfy the current working conditions. For coupled pressurizer control systems, the PID parameter tuning method using particle swarm optimization algorithms can give a group of PID controller parameters that make the system operation stable despite the frequent fluctuation of the set value, and compared with the traditional PID controller parameter tuning method, this method can realize the PID parameter self-tuning, eliminating the trouble of manual tuning. Copyright © 2022 by ASME.

关键词： Nuclear power plants

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Synthesized colonoscopy dataset from high-fidelity virtual colon with abnormal simulation

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Computers in Biology and Medicine 2025年 186卷 109672-109672页

作者： He, Dongdong Liu, Ziteng Yin, Xunhai Liu, Hao Gao, Wenpeng Fu, Yili School of Life Science and Technology Harbin Institute of Technology Harbin150080 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Department of Gastroenterology The First Affiliated Hospital of Harbin Medical University Harbin150001 China

With the advent of the deep learning-based colonoscopy system, the need for a vast amount of high-quality colonoscopy image datasets for training is crucial. However, the generalization ability of deep learning models is challenged by the limited availability of colonoscopy images due to regulatory restrictions and privacy concerns. In this paper, we propose a method for rendering high-fidelity 3D colon models and synthesizing diversified colonoscopy images with abnormalities such as polyps, bleeding, and ulcers, which can be used to train deep learning models. The geometric model of the colon is derived from CT images. We employed dedicated surface mesh deformation to mimic the shapes of polyps and ulcers and applied texture mapping techniques to generate realistic, lifelike appearances. The generated polyp models were then attached to the inner surface of the colon model, while the ulcers were created directly on the inner surface of the colon model. To realistically model blood behavior, we developed a simulation of the blood diffusion process on the colon's inner surface and colored vertices in the traversed region to reflect blood flow. Ultimately, we generated a comprehensive dataset comprising high-fidelity rendered colonoscopy images with the abnormalities. To validate the effectiveness of the synthesized colonoscopy dataset, we trained state-of-the-art deep learning models on it and other publicly available datasets and assessed the performance of these models in abnormal classification, detection, and segmentation. Notably, the models trained on the synthesized dataset exhibit an enhanced performance in the aforementioned tasks, as evident from the results. © 2025 Elsevier Ltd

关键词： Digital elevation model

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