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2023 IEEE International Conference on Applied Superconductivity and Electromagnetic Devices, ASEMD 2023

作者： Yu, Guodong Sun, Shuqi Li, Junlong Xiao, Lijun Xu, Yongxiang Zou, Jibin Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9798350301571

Although IPM motor with 1/2 slot per phase per pole has a relatively less rotor loss in comparison with other fractional slot concentrated winding (FSCW), the problems of THD of back-EMF and cogging torque are worse, which limits its application in electric vehicles and other industry fields. This paper proposes an effective rotor-shape optimization method to suppress both THD of back-EMF and cogging torque for improving torque ripple problem. Different from the prevalent rotor optimization methods, the proposed rotor-shape optimization method associates both shape function optimization of rotor surface with PM shaping, which can effectively decrease optimization parameters, and enhance optimization efficiency. To clarify the optimization strategy, the back-EMF and cogging torque for this PM motor with 1/2 slot per phase per pole are analyzed firstly. Then, the proposed optimization method is presented in detail. Finally, the optimized IPM motor is prototyped and its experimental results verifies the effectiveness of the proposed optimization method. © 2023 IEEE.

关键词： back-EMF cogging torque IPM motor optimization method

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GCA-Net: A Global Context Aggregation Network for Effective Optical Flow 49

GCA-Net: A Global Context Aggregation Network for Effective ...

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49th Annual Conference of the IEEE Industrial Electronics Society, IECON 2023

作者： Xie, Tao Gao, Jinghan Wang, Ke Li, Ruifeng Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9798350331820

Optical flow seeks to estimate the per-pixel 2D motion between two frames by identifying corresponding pixels. Current flow estimators typically involve per-pixel feature extraction, multi-scale 4D correlation volume construction, and iterative flow field updates through a Conv-GRU module. However, the locality of convolutional features in these methods renders the calculated correlations vulnerable to different noises. In addition, the Conv-GRU module of these methods is only executed with a convolution layer, which is incapable of exploiting context clues from larger window sizes even inside the image being queried itself, thus raising it more difficult for the model to process images with challenging regions, e.g., textureless areas. To this end, we introduce GCA-Net, a global context aggregation network for credible yet effective optical flow estimation. More specifically, we propose a highly efficient multi-scale transformer (MSFormer) layer which enables the per-pixel feature to aggregate long-range information from other features, hence building more accurate 4D correlation volumes. Besides, we develop an attention-enhanced Conv-GRU block (AttGRU) that can incorporate information alongside a larger context window even within itself empowering our network to estimate optical flow in even the most challenging regions. Experimentally, we demonstrate that GCA-Net outperforms previous state-of-the-art methods by large margins on Sintel (Final) and KITTI 2015 (background and foreground) benchmarks. © 2023 IEEE.

关键词： Optical flows

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Dual-Arm Dynamic Planning with Considering Arm Reachability Constraint in Task Space 16th

Dual-Arm Dynamic Planning with Considering Arm Reachability ...

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16th International Conference on Intelligent robotics and Applications, ICIRA 2023

作者： Shu, Xin Fan, Xinyang Min, Kang Ji, Zhu Ni, Fenglei Liu, Hong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9789819964888

This paper aims to address the issue of planning dual-arm motions in scenarios involving tracking dynamic desired pose and obstacle avoidance. In situations where dual-arm motion requires synchronous behavior, inflexible planning, encountering obstacles, and beyond-the-arm motion capability may lead to task failure. To overcome these issues, we propose a dynamic-system-based method for dual-arm collaborative planning. The method can coordinate the motions of dual arms while keeping synchronous behavior in tracking the moving target and avoiding obstacles. Meanwhile, we incorporate the reachability by modeling the motion boundary to ensure that the arms moving within the reachable space. The experiment successfully verified the above scenarios, showcasing its adaptability in dual-arm planning and its potential applicability in dual-arm applications such as transportation. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Target tracking

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LTM: A Fast and Error-sensitive Point Cloud Clustering Algorithm for LiDAR Panoptic Segmentation 9

LTM: A Fast and Error-sensitive Point Cloud Clustering Algor...

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9th International Conference on robotics and Automation Engineering, ICRAE 2024

作者： Wu, Peng Hu, Zhengxi Zhang, Qianyi Guang, Jinzheng Liu, Jingtai Nankai University Robotics and Automatic Information System Tianjin China Tianjin Key Laboratory of Intelligent Robotics China Nankai University Tbi Center China

ISBN: (纸本)9798331518301

Point cloud clustering is a crucial approach to understand and analyze geometric information for both robotic systems and autonomous driving. To meet real-time requirements, several existing point cloud clustering algorithms are based on Connected Component Labeling. It means that classification decisions are made locally based on the geometric relationships among neighboring points. However, the existing neighborhood connection criterion lack robustness. This is because the difference in resolution between point clouds in the horizontal and vertical directions and various depth affect the distance between adjacent points, thereby affecting connectivity determination. In this paper, we propose a novel clustering algorithm LTM (includes Linearization, Trunk extraction and Merge). It processes the horizontal and vertical directions separately in two steps and innovatively utilizes three points to determine neighborhood connectivity. Thus, it can reduce the impact of these constraints on the effectiveness. We cascade the proposed clustering algorithm with existing semantic segmentation models and perform a panoptic segmentation task on the SemanticKITTI. Experimental results demonstrate that LTM achieved the best results among all published methods of the same category. Furthermore, the single-frame processing time for clustering is within 10 milliseconds. © 2024 IEEE.

关键词： Semantic Segmentation

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Reinforcement Learning Navigation for Robots Based on Hippocampus Episode Cognition

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Journal of Bionic Engineering 2024年第1期21卷 288-302页

作者： Jinsheng Yuan Wei Guo Zhiyuan Hou Fusheng Zha Mantian Li Pengfei Wang Lining Sun State Key Laboratory of Robotics and System Harbin Institute of Technology(HIT)Harbin 150001China Shenzhen Academy of Aerospace Technology Shenzhen 518057China School of Mechanical and Electrical Engineering Lanzhou University of TechnologyLanzhou 730050China

Artificial intelligence is currently achieving impressive success in all ***,autonomous navigation remains a major challenge for *** learning is used for target navigation to simulate the interaction between the brain and the environment at the behavioral level,but the Artificial Neural Network trained by reinforcement learning cannot match the autonomous mobility of humans and *** hippocampus–striatum circuits are considered as key circuits for target navigation planning and *** paper aims to construct a bionic navigation model of reinforcement learning corresponding to the nervous system to improve the autonomous navigation performance of the *** ventral striatum is considered to be the behavioral evaluation region,and the hippocampal–striatum circuit constitutes the position–reward *** this paper,a set of episode cognition and reinforcement learning system simulating the mechanism of hippocampus and ventral striatum is constructed,which is used to provide target guidance for the robot to perform autonomous *** with traditional methods,this system reflects the high efficiency of learning and better Environmental *** research is an exploration of the intersection and fusion of artificial intelligence and neuroscience,which is conducive to the development of artificial intelligence and the understanding of the nervous system.

关键词： Episode cognition Reinforcement learning Hippocampus Robot navigation

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Generating Socially Acceptable Robot Poses for Approaching Conversational Groups with Generative Adversarial Networks 42

Generating Socially Acceptable Robot Poses for Approaching C...

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42nd Chinese Control Conference, CCC 2023

作者： Zhao, Kunxu Hu, Zhengxi Liu, Jingtai Institute of Robotics and Automatic Information System Nankai University Tianjin Key Laboratory of Intelligent Robotics Tianjin300350 China

ISBN: (纸本)9789887581543

Service robots should navigate to the conversation group in a safe and socially acceptable way to interact with humans, not only to ensure safety and avoid collisions, but also to take into account human comfort. Therefore, it is crucial for robots to actively generate a target pose that conforms to social rules and satisfies human comfort feelings. At present, most methods focus on human-aware navigation and do not take into account the final pose of robots approaching the group. The target point is still manually selected by human beings, which is not conducive to improving the intelligence of robots. In this paper, we propose a target pose generation architecture based on generative adversarial networks for robots approaching conversational groups. We take into account not only the environmental information in the map, so that the robot?s target pose can avoid obstacles, but also the social etiquette of the human group, so that the robot will not disrupt the human group relationship. Our architecture uses graph convolutional neural networks to extract high-dimensional features from conversation groups, taking into account human location and gaze information. We performed a comparison experiment with a state-of-the-art pose generation model on the Cocktail Party dataset, and the results showed that our model outperformed the baseline. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Generative adversarial networks

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A fast scanning strategy based on trajectory shaping for atomic force microscopy

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Nano Research 2022年第7期15卷 6438-6446页

作者： Yinan Wu Yingao Chang Yongchun Fang Zhi Fan Institute of Robotics and Automatic Information System College of Artificial IntelligenceNankai UniversityTianjin 300350China Tianjin Key Laboratory of Intelligent Robotics Nankai UniversityTianjin 300350China

To improve the scanning speed of an atomic force microscopy(AFM),a smooth scanning pattern is elaborately devised via trajectory shaping in this paper,so as to achieve fast imaging without hardware ***,in the proposed scanning method,the piezoelectric actuator tracks a well-designed smooth periodic signal in x-direction,and simultaneously tracks a step signal in *** advantage of the proposed method is that it does not require additional data reprocessing to construct the morphology of the sample surface,while significantly increasing the scanning bandwidth restricted by the raster scanning ***,to directly utilize the height data collected by scanning to produce the sample morphology,the forward process in the common raster scanning mode is retained in the proposed method,the tracking signal in the forward process is thus set to a ramp function in *** addition,to ensure the continuity and smoothness of the entire tracking signal in x-direction,a segment of a sine curve is uniquely determined as the backward tracking signal by position and acceleration constraints,so as to ensure that the forward and backward curves are continuous and acceleration-continuous at the intersection ***,the frequency spectrum analysis of the designed smooth signal is carried out to exhibit the depressed amplitudes of high-frequency components,which demonstrates that the proposed method is able to reduce the resonance in AFM high-speed scanning,so as to improve the capacity of rapidly generating high-quality ***,convincing comparison experiments are implemented to verify the imaging performance of the designed scanning algorithm.

关键词： atomic force microscopy fast scanning smooth signal trajectory shaping

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Structural Design and Experiment of a Small Wheel-legged Mobile Robot with Variable Configuration 20

Structural Design and Experiment of a Small Wheel-legged Mob...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Cui, Xiulong Fan, Jizhuang Dong, Zhihui Ou, Yue Zhao, Jie Harbin Institute of Technology The State Key Laboratory of Robotics and System Harbin150001 China

ISBN: (纸本)9798350320831

In this paper, we made an improved design on the traditional quadruped robot structure and developed a new small wheel-legged mobile robot structure. It has four legged configurations, which can be selected according to different situations, improving the mobility and operability of the robot. In wheeled mode, the robot can adjust its center of gravity according to actual needs. Including the rotational degree of freedom of the wheel, each leg has four degrees of freedom. Each leg adopts a series structure and moves the knee drive motor to the fuselage position using a parallel four-link mechanism and is symmetrically arranged with the hip drive motor. A wheel is installed at the end of the shank, and a DC brushless motor is built inside it, enabling the robot to have the function of wheeled motion. This article introduces the details of the wheel-legged robot, emphasizing the innovative design of the physical structure and the diversity of deformation. The forward kinematics was analyzed. Based on the full-elbow configuration (a type of legged configuration), a cycloidal motion optimization simulation was completed for the single leg structure. Simulation experiment has proven that the optimized robot's single leg motion is smoother. Finally, we conducted a typical experiment using an embedded controller to control single leg motion. The experimental results verify that the optimized cycloidal motion of the robot meets the desired motion effect. © 2023 IEEE.

关键词： Mobile robots

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Inflatable Metamorphic Origami

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Research 2023年第2期6卷 53-63页

作者： Sen Wang Peng Yan Hailin Huang Ning Zhang Bing Li School of Mechanical Engineering and Automation Harbin Institute of TechnologyShenzhen 518052P.R.China Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Harbin Institute of TechnologyShenzhen 518052P.R.China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001P.R.China

This study created a new type of inflatable metamorphic origami that has the advantage of being a highly simplified deployable system capable of realizing multiple sequential motion patterns with a monolithic actuation.

关键词： simplified lata system

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TMPU: A Framework for Terrain Traversability Mapping and Planning in Uneven and Unstructured Environments 42

TMPU: A Framework for Terrain Traversability Mapping and Pla...

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42nd Chinese Control Conference, CCC 2023

作者： Bi, Qingchen Zhang, Xuebo Zhang, Shiyong Pan, Zhangchao Wang, Runhua Nankai University Institute of Robotics and Automatic Information System Tianjin Key Laboratory of Intelligent Robotics Tianjin300350 China

ISBN: (纸本)9789887581543

In this paper, we propose an autonomous navigation framework (TMPU) for ground mobile robots in uneven and unstructured environments. The novelty of this framework is twofold: 1) The terrain traversability mapping module is proposed to build a low-resolution 2D (Two-Dimensional) occupancy map by plane analysis based on plane slope and terrain roughness. 2) A multi-resolution motion planning framework is proposed to obtain a high-resolution traversable corridor by A∗ low-resolution search. Then an improved global planning H-lattice planning is performed on the traversable corridor. Furthermore, extensive experiments are conducted to demonstrate the feasibility and safety of the proposed autonomous navigation framework. All test results show that the computing time consumption is reduced by up to 97.1%, compared with an advanced 3D navigation framework. (Supplemented video link: https://***/rvYoyR3imEk) © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Motion planning

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