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Confined spaces path following for cable-driven snake robots with prediction lookup and interpolation algorithms

Science China(Technological Sciences) 2020年第2期63卷 255-264页

作者： TANG Lei ZHU LiMin ZHU XiangYang GU GuoYing Robotics Institute School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai 200240China State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong UniversityShanghai 200240China

While cable-driven snake robots are promising in exploring confined spaces, their hyper-redundancy makes the collision-free motion planning difficult. In this paper, by combining the prediction lookup and interpolation algorithms, we present a new path following method for cable-driven snake robots to high-efficiently slither into complex terrains along a desired path. In our method, we first discretize the desired path into points, and develop the prediction lookup algorithm to efficiently find the points matched with joints of the robot. According to geometric relations between the prediction lookup results and link length of the robot, we develop the interpolation algorithm to reduce the tracking errors caused by the discretization. Finally, simulations and experiments of inspections in two confined spaces including the obstacle array and pipe tank system are performed on our custom-built 25 degree of freedoms(DOFs) cable-driven snake robot. The results demonstrate that the presented method can successfully navigate our snake robot into confined spaces with high computational efficiency and good accuracy, which well verifies effectiveness of our development.

关键词： cable-driven snake robot confined spaces path following prediction lookup interpolation

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Performance characterization of ionic-hydrogel based strain sensors

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Science China(Technological Sciences) 2020年第6期63卷 923-930页

作者： XU HaiPeng SHEN ZeQun GU GuoYing Robotics Institute School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai 200240China State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong UniversityShanghai 200240China

Ionic hydrogels,owing to the advantages of stretchability,conductivity and transparency,have attracted more attention for developing new soft sensors and artificial *** works on ionic-hydrogel based sensors mostly focus on material synthesis,structure design and functional integration,while few studies investigate the characterization of their sensing *** this paper,we present a method to characterize the performance(e.g.,sensitivity,linearity and repeatability)of a kind of ionic-hydrogel based strain sensors by varying the testing frequencies and the sensors’geometry(e.g.,length-width(L/W)ratio).To this end,we first develop an experimental testing platform and fabricate a series of strain sensors made of the polyacrylamide(PAAm)hydrogel containing ionic conductive *** establish an equivalent electrical model to represent the ionic-hydrogel based strain sensors,indicating the influence of the testing frequencies and L/W ratio of the ionic hydrogels on their sensing *** theoretical predictions are in agreement with results obtained through experimental *** further demonstrate that(1)the sensitivity of the strain sensors,characterized by the gauge factor(GF),increases with the rise of testing frequencies but tends to be stable over the frequency of 5 kHz;(2)the sensitivity GF has a nonlinear relation with the L/W ratio of the strain sensors,but with a certain maximum value under the same testing frequency when the L/W ratio equals to *** verify the above experimental observations with two commonly used electrolytes,including lithium chloride and sodium *** the optimum testing frequency and L/W ratio,we finally conduct various experiments to demonstrate the low hysteresis and good repeatability of our ionic-hydrogel based strain *** work provides an approach to characterize the performance of the ionic-hydrogel based strain sensors,which may be an important step forward in further applicatio

关键词： ionic hydrogels sensor characterization large-strain sensor stretchable electronics

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PillarNet: Real-Time and High-Performance Pillar-based 3D Object Detection

arXiv

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arXiv 2022年

作者： Shi, Guangsheng Li, Ruifeng Ma, Chao State Key Laboratory of Robotics and System Harbin Institute of Technology China MoE Key Lab of Artificial Intelligence AI Institute Shanghai Jiao Tong University China

Real-time and high-performance 3D object detection is of critical importance for autonomous driving. Recent top-performing 3D object detectors mainly rely on point-based or 3D voxel-based convolutions, which are both computationally inefficient for onboard deployment. In contrast, pillar-based methods use solely 2D convolutions, which consume less computation resources, but they lag far behind their voxel-based counterparts in detection accuracy. In this paper, by examining the primary performance gap between pillar- and voxel-based detectors, we develop a real-time and high-performance pillar-based detector, dubbed PillarNet. The proposed PillarNet consists of a powerful encoder network for effective pillar feature learning, a neck network for spatial-semantic feature fusion and the commonly used detect head. Using only 2D convolutions, PillarNet is flexible to an optional pillar size and compatible with classical 2D CNN backbones, such as VGGNet and ResNet. Additionally, PillarNet benefits from our designed orientation-decoupled IoU regression loss along with the IoU-aware prediction branch. Extensive experimental results on the large-scale nuScenes Dataset and Waymo Open Dataset demonstrate that the proposed PillarNet performs well over state-of-the-art 3D detectors in terms of effectiveness and efficiency. Code is available at https://***/agent-sgs/PillarNet. © 2022, CC BY-SA.

关键词： Object detection

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Evaluation of surface integrity for ultra-precision machined fused silica surface based on atomic point-defect density

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Journal of Manufacturing Processes 2025年 149卷 917-930页

作者： Dinghuai Yang Linjie Zhao Jian Cheng Qi Liu Zixiao Zhang Hongqin Lei Zican Yang Henan Liu Jinghe Wang Yazhou Sun Mingjun Chen State Key Laboratory of Robotics and System School of Mechatronics Engineering Harbin Institute of Technology Harbin 150001 China Centre for Precision Manufacturing DMEM University of Strathclyde Glasgow G1 1XJ UK Center for Precision Engineering School of Mechatronics Engineering Harbin Institute of Technology Harbin 150001 China

The degree of plasticity and brittleness (DPB) of the material significantly affects the service performance of fused silica manufacturing surfaces in many frontier fields. However, there is still no effective method to quantitatively and non-destructively characterize their DPB, severely restricting the application of fused silica. Herein, atomic manufacturing-induced point defects on fused silica manufacturing surfaces were determined. Based on this, the evolution laws of various types of point defects with the DPB were discussed. Interestingly, it was found that the DPB is closely related to the densities of specific ODCII point defects, whose proportion ( k ) was chosen as the characteristic parameter to judge surface brittle fractures. Additionally, it was discovered that k sharply increased at the material brittle-plastic transition boundary, which was also verified based on the molecular dynamics simulation. Accordingly, whether k is >15 % was proposed as a criterion to judge whether the material has undergone brittle fractures during manufacturing processes. Furthermore, the significant increment of ODCII point defects was found to be the main cause of the obvious increment of k . Moreover, two causes of the significant increment of ODCII point defects were determined. Finally, the effectiveness of the judge criterion in six specific manufacturing cases was verified. Summarily, the study proposes a powerful nondestructive approach to judge the brittle fractures. It could quantitatively and non-destructively characterize the DPB during manufacturing processes. It is also applicable to the quantitative DPB characterization and the early warning detection of fracture breakdown for other brittle silicate materials.

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Tightly-coupled lidar-inertial localization with visual landmarks in operational scenarios

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Industrial Robot 2025年

作者： Wang, Gongcheng Cao, Zexin Lv, Xin Wang, Han Wang, Chong Ding, Pengchao Wang, Weidong Key State Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Purpose: Simultaneous localization and mapping (SLAM) is widely used in autonomous robotics. Although LiDAR and vision-based methods have been widely deployed in large-scale environments, their submeter accuracy is insufficient for operational scenarios. This paper aims to present a tightly integrated SLAM framework combining point clouds, visual landmarks and IMU data to enhance localization accuracy. Design/methodology/approach: A novel method to resolve planar marker pose ambiguity is proposed. Edge constraints between the point cloud and marker correct marker’ pose and distortions. A tightly coupled coarse-to-fine optimization approach integrates point cloud features and marker corners during tracking and localization. Pose constraints are added to the objective function to improve accuracy, and bundle adjustment is applied to key frame and marker poses in the common view to prevent registration errors. Findings: The proposed method is evaluated in real-world environments. Experimental results demonstrate that it achieves superior localization and mapping accuracy compared to existing methods, thus validating the effectiveness of the framework. Originality/value: This paper introduces a tightly integrated framework that combines point clouds, visual landmarks and IMU measurements to improve small-scale localization accuracy in operational scenario. © 2025, Emerald Publishing Limited.

关键词： SLAM robotics

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Combined studies of surface evolution and crack healing for the suppression of negative factors during CO_(2) laser repairing of fused silica

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Chinese Optics Letters 2021年第4期19卷 44-49页

作者： Chao Tan Linjie Zhao Mingjun Chen Jian Cheng Zhaoyang Yin Qi Liu Hao Yang Wei Liao State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China Research Center of Laser Fusion China Academy of Engineering PhysicsMianyang 621900China

In order to reveal the evolution mechanism of repaired morphology and the material's migration mechanism on the crack surface in the process of CO_(2) laser repairing surface damage of fused silica optics, two multi-physics coupling mathematical models with different scales are developed, respectively. The physical problems, such as heat and mass transfer,material phase transition, melt flow, evaporation removal, and crack healing, are analyzed. Studies show that material ablation and the gasification recoil pressure accompanying the material splash are the leading factors in forming the Gaussian crater with a raised rim feature. The use of low-power lasers for a long time can fully melt the material around the crack before healing, which can greatly reduce the size of the residual air layer. Combined with the experimental research, the methods to suppress the negative factors(e.g., raised rim, deposited debris, air bubbles) in the CO_(2) laser repairing process are proposed.

关键词： CO_(2)laser repairing fused silica crack healing surface evolution

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A Novel Hybrid Method for Fault Diagnosis of Industrial Equipment Based on Vibration Signals 14

A Novel Hybrid Method for Fault Diagnosis of Industrial Equi...

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14th IEEE Global Reliability and Prognostics and Health Management Conference, PHM-Hangzhou 2023

作者： Tao, Sen Wang, Kai Zeng, Peng Yu, Tianda Wu, Hao Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang110169 China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110169 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China University of Chinese Academy of Sciences Beijing100049 China Nuclear Power Institute of China Chengdu610213 China State Key Laboratory of Power Transmission Equipment & System Security and New Technology Chongqing University Chongqing400044 China

ISBN: (纸本)9798350301359

Industrial equipment reliability is a critical issue that smart manufacturing systems must address. Implementation of online fault diagnosis for industrial equipment is a promising technology that can improve equipment reliability. Vibration analysis is a popular technique for equipment condition monitoring. For the non-linear and non-stationary features of industrial vibration signals, a hybrid model based on wavelet transform (WT), support vector machine (SVM), and grey wolf optimization algorithm (GWO) is proposed. The time-frequency domain features of fault signals are extracted by wavelet transform to solve the non-linearity of signals, and the obtained feature vectors are input into SVM for classification. Aiming at the problem of setting penalty coefficient and kernel function parameters, GWO is introduced to seek hyperparameters by using the hunting principle of wolves. In the experimental part, firstly, the comparison of the GWO-WT-SVM, GWO-SVM and SVM models was carried out. Secondly, Comparison with classical classification algorithms is made. Apparently, the GWO-WT-SVM model achieves higher accuracy than other models in bearing fault diagnosis. © 2023 IEEE.

关键词： component Fault diagnosis GWO PHM SVM

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Corrigendum to “Development of a miniature piezoelectric robot combining three unconventional inertial impact modes” [Sens. Actuators A Phys. 365 (2024) 114898]

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Sensors and Actuators A: Physical 2024年 367卷

作者： Jing Li Boliang Xu Jie Deng Weishan Chen Yingxiang Liu State Key Laboratory of Robotics and System Harbin Institute of Technology China

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Multisensory Measurement Synchronization and Industrial Robot Trajectory Error Compensation Based on Laser Tracker and Photoelectric Switch

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IEEE Transactions on Instrumentation and Measurement 2025年 74卷

作者： Chengzhi Wang Sikai Zhao Tian Xu Tianjiao Zheng Shize Zhao Ziyuan Yang Hegao Cai Jie Zhao Yanhe Zhu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

This article presents a multisensory measurement synchronization approach that combines a laser tracker and multiple photoelectric switches, which easily embed laser tracker into robotic machining systems to achieve high-accuracy error compensation and trajectory tracking. Previous composite error compensation systems rely on limited interfaces provided by equipment producers and require careful temporal logic arrangement, making the whole system complicated and task-specific. The proposed method utilizes portable photoelectric switches that work as an intermediary between the robot system and the laser tracker system to match the corresponding data from both sides. The switches could be mounted anywhere along the robot task trajectories, and a critic trigger adjustment is designed to effectively determine the trigger position. Various types of trajectory are executed and measured to validate the effectiveness and robustness of the proposed method, and subsequent error compensation experiments demonstrate a significant improvement in robot accuracy.

关键词： Robots Trajectory Robot kinematics Measurement by laser beam Measurement uncertainty Service robots Error compensation Synchronization Accuracy Switches

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The long-acting walking control of a cockroach bio-bot for vision-aided pipeline navigation

The long-acting walking control of a cockroach bio-bot for v...

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

作者： Songsong Ma Shen Liu Songlin Yang Yuansheng Chen Yao Li Bing Li State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin P.R. China Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Harbin Institute of Technology Shenzhen P.R. China School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen P.R. China

Many small bionic crawling robots have been invented for search and rescue missions in narrow spaces. However, their locomotion capability is far from that of insects of the same size. Transforming a cockroach into a bio-bot has been a hot topic in the past decade. Herein, we modified this insect to perform surveillance work in dark confined environments. The synergistic electrical stimulation for turning control was proposed by alternating electrical stimulation of the cerci and antennae every 5 trials. The result showed that this method was able to control cockroaches turning steadily 117 times. An electronic backpack was designed, which was capable of transmitting images in real time, and a light emitting diode (LED) was installed on the backpack providing a light source for the camera. Thus, a vision-aided navigation system was formed for dark confined environments, e.g. pipelines. With a host computer software, the operator controlled the bio-bot to pass through a completely dark and closed pipeline. The electronic backpack and the host computer were connected via transmission control protocol (TCP), which allows the operator to manipulate the bio-robot remotely. This technology can be applied in pipeline surveillance in the future.

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