检索结果-内蒙古大学图书馆

2021 IEEE International Conference on Real-Time Computing and robotics, RCAR 2021

作者： Zhou, Ziwei Lin, Ziying Ni, Yi Dong, Wei Zhu, Xiangyang Shanghai Jiao Tong University Robotics Institute School of Mechanical Engineering Shanghai Jiao Tong University State Key Laboratory of Mechanical System and Vibration Shanghai200240 China Shanghai Electro-Mechanical Engineering Institute Shanghai201109 China

ISBN: (纸本)9781665436786

Efficient localization is crucial for the autonomous navigation of Unmanned Aerial Vehicles (UAVs) in GPS-denied environments. Current onboard visual positioning approach may easily deteriorate with varying illumination and unpredicted obstacles. To tackle this issue, a novel cooperative positioning approach is proposed in this paper. This approach is comprised of a marker-based position estimation and an end-to-end UAV detection. For the marker-based method, a prior known pattern is attached on UAV and the Perspective-n-point (PnP)algorithm is implemented to provide an accurate estimation of the UAV's position. Meanwhile, to enhance the localization robustness, an end-to-end detection method is designed based on FCOS neural network and ultra-wideband (UWB) range measurement. Then, with an additional data fusion, the aforementioned two methods are integrated eventually. In this way, the accuracy and robustness of the localization can be enhanced accordingly. Extensive experiments under different environments are carried out to verify the effectiveness of the proposed method. Results demonstrate that the proposed method can estimate the flight trajectory of UAV with high accuracy and robustness in cluttered environments with varying illumination. © 2021 IEEE.

关键词： Data fusion

来源：评论

学校读者我要写书评

暂无评论

Corrigendum to “An alternate drive method for improving the carrying load capacity and displacement smoothness of a vertical piezoelectric platform” [Mechatronics, 2023, 92: 102983]

引用

Mechatronics 2024年 99卷

作者： Qingbing Chang Jie Deng Weishan Chen Yingxiang Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 Heilongjiang Province China

来源：评论

学校读者我要写书评

暂无评论

R-SIEL: a physics-informed learning algorithm for discovering dynamics of serial manipulators

引用

Expert systems with Applications 2025年 287卷

作者： Omar, Mohamed Li, Ruifeng Wang, Ke Asker, Ahmed State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Production and Mechanical Design Engineering Department Faculty of Engineering Mansoura University Mansoura35516 Egypt Zhengzhou Research Institute Harbin Institute of Technology Zhengzhou450000 China School of Engineering and Applied Sciences Nile University Giza12573 Egypt

Dynamic modeling is essential for serial manipulators’ design and control. Multi-body dynamics simulators, such as SIMULINK and Adams, can precisely replicate a robot's dynamic behavior but are incapable of determining its nonlinear dynamic model. This work aims to identify serial manipulators’ dynamics from simulation data, which extends the capability of using an algorithm that combines the Euler-Lagrange method and sparse identification of nonlinear dynamics (SINDy) with physics-based constraints and Akaike Information Criterion (AICc). The algorithm is called Recursive SINDy Euler-Lagrange (R-SIEL). The Euler-Lagrange method is used to construct a preliminary library of symbolic functions. The physics-informed constraints, which utilize the similarities between the symbolic coefficients of the dynamic equations, are employed to decrease the number of functions in the library to get a constrained library. SINDy is equipped with three kinds of constraints: the constrained library, the dataset, and similarities between links’ dynamic equations. The generation of the three distinct datasets—training, constraints, and testing data—uses simulated data from the MATLAB® SIMULINK environment. The algorithms of sequential threshold least-squares and L0-minimization are coded with the convex optimization package CVX to determine the best dynamic model. The resulting models are tested with the testing dataset, and based on the lowest AICc, the best model is chosen. The proposed algorithm is applied to different serial manipulators: 2DOF robot, Stanford, PRR robot, ABB SCARA, UR5, and KUKA KR4 AGILUS robots. The resulting model is validated with the dynamic model derived using the conventional Euler-Lagrange method. For the considered manipulators, the R-SIEL algorithm shows a high capability to identify the dynamic model compared to the one identified compared to the previous algorithm. © 2025 Elsevier Ltd

关键词： Lagrange multipliers

来源：评论

学校读者我要写书评

暂无评论

A Fabric-Based Soft Elbow Exosuit with Autonomous Anchoring Straps

A Fabric-Based Soft Elbow Exosuit with Autonomous Anchoring ...

引用

IEEE International Conference on Soft robotics (RoboSoft)

作者： Yexun Wei Dezhi Yang Miao Feng Jianing Sun Guoying Gu Robotics Institute School of Mechanical Engineering Shanghai Jiao Tong University Shanghai China State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai China Zhiyuan College Shanghai Jiao Tong University Shanghai China Meta Robotic Institute Shanghai Jiao Tong University Shanghai China

ISBN: (数字)9798331520205

ISBN: (纸本)9798331520212

Fabric-based soft exosuits offer promising solutions for elbow rehabilitation and assistance owing to their lightweight and flexible nature. However, existing designs usually apply continuous compression on the arm to anchor, whether actuated or not, potentially causing discomfort, numbness, and impaired blood circulation. Here, we present a fabric-based soft elbow exosuit that autonomously adjusts its compressing forces on the arm, harnessing a fabric-lattice artificial muscle (FAM) combined with two X-crossing anchoring straps (XASs) (worn on the upper arm and forearm). When the FAM is deflated, two XASs fit loosely on the arm. When the FAM is inflated, it contracts axially to assist elbow flexion and elongates laterally to actuate two XASs to anchor concurrently. Experimental results show that the FAM can output a contraction force up to 110 N, the XASs can generate a compressing force of 9.7 N (approximately 3 kPa), and the exosuit can provide a considerable torque up to 3.5 N•m, capable of assisting an elbow model to flex to 95°. These results demonstrate that our elbow exosuit provides a new approach to autonomous anchoring while achieving elbow flexion assistance effectively.

关键词： Flexible printed circuits Torque Force Buildings Arms Soft robotics Elbow Motion control Contracts Load modeling

来源：评论

学校读者我要写书评

暂无评论

Design of a Tendon-Actuated Foldable Wheeled-Legged Hybrid Mobile Robot with high load-bearing capacity

Design of a Tendon-Actuated Foldable Wheeled-Legged Hybrid M...

引用

International Conference on Control, Automation, robotics and Vision (ICARCV)

作者： Yinan Yang Chongyang Zhang Wenfu Xu School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen Shenzhen P.R. China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781665476881

Mobile robots that can carry heavy loads play an important role in transporting and exploring in unstructured environment. However, there are some problems existing in conventional motor direct-drive robots such as excessive joint torque and unfoldable legs when they are under heavy loads. This paper proposes a tendon-actuated foldable wheeled-legged robot with high load-bearing capacity. A spreader is attached to the knee joint so that the output torque of the motor can be amplified by pulling the end of the spreader with a cable. The single and double fixed pulleys are used to reduce the required cable tension and avoid the interference of different cables, which can better achieve the folding of legs. In addition, the statics and kinematics of the tendon-actuated leg and the formulas for calculating the required tension and motor torque, as well as the relationship between foot velocity, joint speed, and motor speed are given. Finally, Matlab is used for simulation analysis, and it is found that the joint torques required for the tendon actuation are lower than for the direct actuation at the same joint angles.

关键词： Legged locomotion Knee Torque Pulleys Kinematics Mechanical cables Static analysis

来源：评论

学校读者我要写书评

暂无评论

Yowov2: A Real-Time Multi-Level Detection Framework for Spatio-Temporal Action Detection

SSRN

引用

SSRN 2023年

作者： Yang, Jianhua Wang, Ke Zhao, Lijun Dai, Kun Li, Ruifeng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Wuhu Robot Industry Technology Research Institute Harbin Institute of Technology Wuhu241000 China Zhengzhou Research Institute Harbin Institute of Technology Zhengzhou450000 China

Designing a real-time framework for the spatio-temporal action detection task is still a challenge. In this paper, we propose a novel real-time action detection framework, YOWOv2. In this new framework, YOWOv2 takes advantage of both the 3D backbone and 2D backbone for accurate action detection. A multi-level detection pipeline is designed to detect action instances of different scales. To achieve this goal, we carefully build a simple and efficient 2D backbone with a feature pyramid network to extract different levels of classification features and regression features. For the 3D backbone, we adopt the existing efficient 3D CNN to save development time. By combining 3D backbones and 2D backbones of different sizes, we design a YOWOv2 family including YOWOv2-Tiny, YOWOv2-Medium, and YOWOv2-Large. We also introduce the popular dynamic label assignment strategy and anchor-free mechanism to make the YOWOv2 consistent with the advanced model architecture design. With our improvement, YOWOv2 is significantly superior to YOWO, and can still keep real-time detection. Without any bells and whistles, YOWOv2 achieves 87.0% frame mAP and 52.8% video mAP with over 20 FPS on the UCF101-24. On the AVA, YOWOv2 achieves 21.7% frame mAP with over 20 FPS. Our code is available on https://***/yjh0410/YOWOv2. © 2023, The Authors. All rights reserved.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Force-controlled Compensation Scheme for P-Q Valve-controlled Asymmetric Cylinder used on Hydraulic Quadruped Robots

引用

Journal of Bionic Engineering 2020年第6期17卷 1139-1151页

作者： Yapeng Shi Mantian Li Fusheng Zha Lining Sun Wei Guo Cong Ma Zhibin Li State Key Laboratory of Robotics and System Harbin Institue of TechnologyHarbin 150001China Shenzhen Academy of Aerospace Technology China Aerospace ScienceShenzhen 518057China School of Informatics The University of EdinburghEdinburgh EH89ABUnited Kingdom

Under the requirement of the force controller of hydraulic quadruped robots,the goal of this work is to accurately track the force commands at the level of the hydraulic drive *** main contribution focuses on the development of a force-controlled compensation scheme,which is specifically aimed at the key issues affecting the hydraulic quadrupedal *** this idea,based on a P-Q valve-controlled asymmetric cylinder,we first establish a mathematical model for the hydraulic drive unit force control *** the desired force commands,a force feed-forward algorithm is presented to improve the dynamic performance of the ***,we propose a disturbance compensation algorithm to reduce the influence induced by external disturbances due to foot-ground ***,combining with a variable gain PI controller,a series of experiments are implemented on a force control performance test platform to verify the proposed *** results demonstrate that the force-controlled compensation scheme has the ability to notably improve the force tracking accuracy,reduce the response time and redundant force.

关键词： hydraulic drive unit force tracking P-Q valve-controlled asymmetric cylinder hydraulic quadruped robot

来源：评论

学校读者我要写书评

暂无评论

Design of Six-Wheeled Planetary Rover with a Novel Hybrid Suspension

Design of Six-Wheeled Planetary Rover with a Novel Hybrid Su...

引用

IEEE International Conference on robotics and Biomimetics

作者： Sanfeng Hu Guoxing Wang Jianguo Tao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Beijing Spacecraft Beijing China

ISBN: (纸本)9781665405362

A novel hybrid suspension of six-wheeled planetary rover based on serial multi-articulated suspension is proposed. The differential balance support mechanism that is important component of the hybrid suspension and solves the problem of weak carrying capacity of serial suspension, is synthesized by using the constraint synthesis method based on screw theory and mechanism combination method. Taking the envelope volume and the maximum height of obstacles that can be overcome of the hybrid suspension rover as objective functions, the geometric parameters of the hybrid suspension structure are optimized through the elitist nondominated sorting genetic algorithm. The proposed hybrid suspension not only can conform passively to very rugged terrain, but also provides active mobility to cross obstacles and ditches, as well as passes soft terrain and steep slopes in wheel-legged locomotion. The established 3D and simulation models are used to simulate and verily the mobile performance of the hybrid suspension rover. The novel hybrid suspension has important reference significance for the design of the future lunar south pole rover.

关键词： Space vehicles Solid modeling Three-dimensional displays Simulation Moon Prototypes Fasteners

来源：评论

学校读者我要写书评

暂无评论

Optimal Energy Shaping Control for a Backdrivable Hip Exoskeleton

Optimal Energy Shaping Control for a Backdrivable Hip Exoske...

引用

American Control Conference (ACC)

作者： Jiefu Zhang Jianping Lin Vamsi Peddinti Robert D. Gregg Electrical Engineering and Computer Science University of Michigan Ann Arbor MI USA State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai China Robotics University of Michigan Ann Arbor MI USA

Task-dependent controllers widely used in exoskeletons track predefined trajectories, which overly constrain the volitional motion of individuals with remnant voluntary mobility. Energy shaping, on the other hand, provides task-invariant assistance by altering the human body’s dynamic characteristics in the closed loop. While human-exoskeleton systems are often modeled using Euler-Lagrange equations, in our previous work we modeled the system as a port-controlled-Hamiltonian system, and a task-invariant controller was designed for a knee-ankle exoskeleton using interconnection-damping assignment passivity-based control. In this paper, we extend this framework to design a controller for a backdrivable hip exoskeleton to assist multiple tasks. A set of basis functions that contains information of kinematics is selected and corresponding coefficients are optimized, which allows the controller to provide torque that fits normative human torque for different activities of daily life. Human-subject experiments with two able-bodied subjects demonstrated the controller’s capability to reduce muscle effort across different tasks.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Mixed Motivation Driven Social Multi-Agent Reinforcement Learning for Autonomous Driving

引用

IEEE/CAA Journal of Automatica Sinica 2025年第6期12卷 1272-1282页

作者： Long Chen Peng Deng Lingxi Li Xuemin Hu State Key Laboratory of Multimodal Artificial Intelligence Systems and the State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing WAYTOUS Inc. Beijing Guangdong Laboratory of Artificial Intelligence and Digital Economy (SZ) Shenzhen Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University Xi'an China School of Computer Science and Information Engineering Hubei University Wuhan China Purdue School of Engineering and Technology Indiana University-Purdue University Indianapolis Indianapolis IN USA School of Artificial Intelligence Hubei University Wuhan Key Laboratory of Intelligent Sensing System and Security (Hubei University) Ministry of Education Wuhan China

Despite great achievement has been made in autonomous driving technologies, autonomous vehicles (AVs) still exhibit limitations in intelligence and lack social coordination, which is primarily attributed to their reliance on single-agent technologies, neglecting inter-AV interactions. Current research on multi-agent autonomous driving (MAAD) predominantly focuses on either distributed individual learning or centralized cooperative learning, ignoring the mixed-motive nature of MAAD systems, where each agent is not only self-interested in reaching its own destination but also needs to coordinate with other traffic participants to enhance efficiency and safety. Inspired by the mixed motivation of human driving behavior and their learning process, we propose a novel mixed motivation driven social multi-agent reinforcement learning method for autonomous driving. In our method, a multi-agent reinforcement learning (MARL) algorithm, called Social Learning Policy Optimization (SoLPO), which takes advantage of both the individual and social learning paradigms, is proposed to empower agents to rapidly acquire self-interested policies and effectively learn socially coordinated behavior. Based on the proposed SoLPO, we further develop a mixed-motive MARL method for autonomous driving combined with a social reward integration module that can model the mixed-motive nature of MAAD systems by integrating individual and neighbor rewards into a social learning objective for improved learning speed and effectiveness. Experiments conducted on the MetaDrive simulator show that our proposed method outperforms existing state-of-the-art MARL approaches in metrics including the success rate, safety, and efficiency. More-over, the AVs trained by our method form coordinated social norms and exhibit human-like driving behavior, demonstrating a high degree of social coordination.

关键词： Measurement Reinforcement learning Safety Driver behavior Autonomous vehicles Optimization

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：