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Sensorless End-Effector Force Estimation of Multi-DOF Manipulators Using Semiparametric Joint Model and Generalized Momentum Observer

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IEEE Sensors Journal 2025年

作者： Xing, Hongjun Ding, Liang Xia, Kerui Chen, Jinbao Gao, Haibo Deng, Zongquan Nanjing University of Aeronautics and Astronautics National Key Laboratory of Aerospace Mechanism Nanjing210016 China Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150001 China International Institute for Research and Innovation Hefei230000 China

With end-effector force estimation, manipulators can safely interact with the environment or operators, eliminating the need for conventional wrist sensors that measure force and torque. This paper introduces a new approach to estimating the force exerted by the end-effector, utilizing a two-step method. The first step is to build an accurate semiparametric joint model. The joint model integrates a harmonic drive parametric model with a local Gaussian process regression (LGPR)-based learning model. A combined parametric model of the harmonic drive offers the analytical joint torque component, which is employed in the LGPR process to reconstruct the unmodeled portion. This reconstruction is based on the motor-side joint angle, the link-side joint angle, and the controlled motor current. Compared to the parametric or learning models alone, this semiparametric joint model considerably improves modeling precision. In the second step, an external force observer is developed by estimating joint torque. The force observer developed in this paper is based on generalized momentum. Multi-DOF manipulators benefit from this design because joint dynamics are separated from link dynamics, thereby reducing the complexity of dynamic modeling. In addition to joint torque sensors, a wrist force/torque sensor is utilized to compare the estimated joint torques and end-effector forces with the actual measured values. Experimental results obtained using a custom-built manipulator have demonstrated the advantages and effectiveness of this approach. © 2001-2012 IEEE.

关键词： Manipulators

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Laser Implicit Interaction technology Based on Object Affordance for Wmra

SSRN

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SSRN 2022年

作者： Liu, Yaxin Liu, Yan Yao, Yufeng Zhong, Ming State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

It is particularly important for the disabled to operate the wheelchair mounted robotic arm (WMRA) with as few limb movements as possible. This human-robot implicit interaction problem for the elderly and handicapped has attracted extensive attention. Several studies have documented that laser pointer interaction is an attractive method enabling humans to unambiguously point out objects and pick them up. However, how to further convey user intention and instruct the robot to complete complex tasks based on this method has yet to be studied. Therefore, based on the idea of object affordance, this paper proposes an implicit intention interaction technology using a laser pointer. The user could point to the object in the scene through the residual limb movement ability and the WMRA will reason the action intention and assemble the task content according to the intention. Firstly, a laser semantic identification algorithm based on the YOLOv4 & the SVM is proposed to identify laser points in the scene, which can effectively avoid the error operation caused by hand twitch. Then, an automatic execution technology based on the concept of object affordance is proposed to perform household tasks, which would identify the implicit action intention of the selected objects based on the conditional random field and assemble the mapping action of intention based on the finite state machine. Finally, the feasibility of the proposed implicit interaction technology is verified on the WMRA platform. The evaluation results show that the user only needs a simple operation and the WMRA can recognize the user's desired intentions and perform household tasks automatically. Compared with previous methods, the proposed method can output the desired intention faster and significantly reduce the user's limb involvement time (about 85%) in operating the WMRA under the same task. © 2022, The Authors. All rights reserved.

关键词： Random processes

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DeepMatcher: A Deep Transformer-based Network for Robust and Accurate Local Feature Matching

arXiv

引用

arXiv 2023年

作者： Xie, Tao Dai, Kun Wang, Ke Li, Ruifeng Zhao, Lijun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150006 China SenseTime Group Inc. Beijing100080 China

Local feature matching between images remains a challenging task, especially in the presence of significant appearance variations, e.g., extreme viewpoint changes. In this work, we propose DeepMatcher, a deep Transformer-based network built upon our investigation of local feature matching in detector-free methods. The key insight is that local feature matcher with deep layers can capture more human-intuitive and simpler-to-match features. Based on this, we propose a Slimming Transformer (SlimFormer) dedicated for DeepMatcher, which leverages vector-based attention to model relevance among all keypoints and achieves long-range context aggregation in an efficient and effective manner. A relative position encoding is applied to each SlimFormer so as to explicitly disclose relative distance information, further improving the representation of keypoints. A layer-scale strategy is also employed in each SlimFormer to enable the network to assimilate message exchange from the residual block adaptively, thus allowing it to simulate the human behaviour that humans can acquire different matching cues each time they scan an image pair. To facilitate a better adaption of the SlimFormer, we introduce a Feature Transition Module (FTM) to ensure a smooth transition in feature scopes with different receptive fields. By interleaving the self- and cross-SlimFormer multiple times, DeepMatcher can easily establish pixel-wise dense matches at coarse level. Finally, we perceive the match refinement as a combination of classification and regression problems and design Fine Matches Module to predict confidence and offset concurrently, thereby generating robust and accurate matches. Experimentally, we show that DeepMatcher significantly outperforms the state-of-the-art methods on several benchmarks, demonstrating the superior matching capability of DeepMatcher. The code is available at https://***/XT1997/DeepMatcher. © 2023, CC BY.

关键词： Behavioral research

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Experimental research on GM-APD LIDAR point cloud classification algorithm based on deep learning

Experimental research on GM-APD LIDAR point cloud classifica...

引用

2022 Applied Optics and Photonics China: Advanced Laser technology and Applications, AOPC 2022

作者： Jiang, Yanze Sun, Jianfeng Ding, Yuanxue Jiang, Peng Zhang, Hailong Li, Sining Zhou, Shuaijun National Key Laboratory of Science and Technology on Tunable Laser Institute of OptoElectronic Harbin Institute of Technology Heilongjiang Harbin150001 China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China Beijing Aerospace Automatic Control Institute Beijing100854 China

ISBN: (纸本)9781510662223

Geiger mode Avalanche Photo Diode (Gm-APD) array lidar is a lidar that can perform single-photon detection. It offers a wide range of applications due to its low power consumption, small size, and extended detecting distance. There haven't been many research on this detector's target classification because of its late development and small detector array. The classification technique based on the Gm-APD array lidar point cloud is the focus of this paper's research: Firstly, the Gm-APD array lidar is utilized to perform imaging tests on four targets from various angles in order to create a target classification *** that, several data preprocessing methods were chosen and implemented based on the characteristics of the obtained data, such as filling in missing values, performing range image and intensity image interpolation, using the principle of keyhole imaging to convert the range image to point cloud data, realizing the information fusion of distance image and intensity image, and using multiple point cloud data enhancement methods. Finally, the point cloud classification networks PointNet and PointNet++ are trained on point cloud data with varying levels of preprocessing, the results are compared and analyzed, and the impact of different preprocessing methods on the classification accuracy of the two networks is determined. Inferences were made and experiments were carried out to verify the inferences. The data set preprocessing method with the highest classification accuracy of the two networks is discovered, laying the groundwork for future Gm-APD lidar target classification and detection research. © 2023 SPIE.

关键词： Optical radar

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Scattering of SH waves by a scalene triangular hill with a shallow cavity in half-space

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Earthquake Engineering and Engineering Vibration 2022年第4期21卷 877-897页

作者： Sun Yingchao Yang Zailin Yang Yong Wang Guangyi College of Aerospace and Civil Engineering Harbin Engineering UniversityHarbin 150001China AVIC-HONGDU Nanchang 330024China Key Laboratory of Advanced Material of Ship and Mechanics Ministry of Industry and Information TechnologyHarbin Engineering UniversityHarbin 150001China Engineering Research Institute of Appraisal and Strengthening Shandong Jianzhu UniversityJinan 250101China Jiangxi Technology Innovation Center of Advanced Aviation Structure and System Integration Nanchang 330024China

In this study,a theoretical approach is used to investigate the scattering problem of circular holes under a scalene triangle on the *** wave displacement function is obtained by solving the Helmholtz equation that meets the zero-stress boundary conditions by adopting the method of separation of *** on the complex function,multi-polar coordinate method,and region-matching technique,algebraic equations are established at auxiliary boundaries and free boundaries conditions in a complex *** auxiliary circle is used to solve the singularity of the reflex angle at the triangle ***,according to sample statistics,the least squares method is used instead of the Fourier expansion method to solve the undetermined coefficient of the algebraic equations by discrete *** results show that the continuity of the auxiliary boundaries and the accuracy of the zero-stress boundaries are adequate,and the displacement of the free surface and the stress of the circular hole are related to the shape of the triangle,the position of the circular hole,the direction of the incident wave,and the frequency content of the ***,time-domain responses are calculated by FFT based on the frequency domain theory,and the results reveal the wave propagation mechanism in a complicated structure.

关键词： earthquake ground motions theoretical seismology wave scattering and diffraction wave propagation

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Simulation and Experimental Study of Piezoelectric Stack Energy Harvester with Arch Beam Applied to the Railway system

SSRN

引用

SSRN 2022年

作者： Min, Zhaowei Hou, Chengwei Sui, Guangdong Shan, Xiaobiao Xie, Tao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

As one of the most important modes of transportation, the safety of running vehicles and railway track is significant. It is essential to power sensors that detect and track health in remote areas. The vibration energy of the track structure is enormous and stable, which is not limited by weather factors such as solar and wind power. A new type of arch beam piezoelectric stack energy harvester for railway systems is studied in this paper. Through simulation analysis and experimental verification of the energy harvester, the influences of external resistance, load, pre-pressure, and load frequency on the energy harvesting performance of the piezoelectric energy harvester are discussed. When the frequency is less than 6Hz, the energy capture efficiency is greatly affected by the frequency. When the frequency exceeds 6Hz, the frequency has little effect, and the load dramatically affects the energy capture efficiency. The pre-pressure is not the more significant, the better, but there is an optimal value at 4.5kN. The energy capture circuit can be combined with the supercapacitor to power the sensor, forming a self-power device for real-time monitoring of track health and driving safety. © 2022, The Authors. All rights reserved.

关键词： Arches

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Prescribed burning alters soil microbial community structure by changing soil physicochemical properties in temperate forests of northern China

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Journal of Forestry Research 2025年第2期36卷 61-77页

作者： Tongxin Hu Yu Han Kajar Köster Jianyu Wang Haiqing Hu Xu Dou Long Sun Yiyang Ding Key Laboratory of Sustainable Forest Ecosystem Management of Ministry of Education Northern Forest Fire Management Key Laboratory of State Forestry and Grassland AdministrationNortheast Forestry UniversityHarbin 150040People’s Republic of China Department of Environmental and Biological Sciences University of Eastern Finland80101 JoensuuFinland Department of Forest Sciences/Institute for Atmospheric Sciences and Earth System Research(INAR) Department of PhysicsUniversity of Helsinki00014 HelsinkiFinland

Prescribed burning is commonly used to main-tain forest ecosystem functions and reduce the risk of future *** many studies have investigated the response of microbial community to wildfires in forest eco-systems,the effects of prescribed burnings on soil micro-bial community structure are less *** is also unclear that how post-fire soil physiochemical properties changes affected soil microbial ***,we studied the impacts of prescribed burning on soil microbiome in three typical temperate forests of northern China by collecting soil physicochemical and high-throughput sequencing for 16S rRNA and 18S rRNA was applied to analyze the diversity and community composition of soil microbes(bacteria and fungi).Compared with pre-fire condition,prescribed burn-ing significantly decreased Chao1 index and altered soil bac-terial communities(P<0.05),whereas it had no significant effect on fungal diversity and community structure of the(P>0.05).Planctomycetes and Actinobacteria made the greatest contributions to the bacterial community dissimi-larity between the pre-fire and post-fire *** main variables influencing the post-fire soil microbial community structure are soil pH,available phosphorus,total nitrogen,and the ratio of soil total carbon to soil total nitrogen,which could account for 73.5%of the variation in the microbial community structure in these *** findings demon-strated a great discrepancy in the responses of bacteria and fungi to prescribed *** burning altered the soil microbial structure by modifying the physicochemical *** results pointed that it is essential to evalu-ate the impact of prescribed burnings on forest ecosystem *** findings provide an important baseline for assessing post-fire microbial recovery in the region and offer critical guidance for restoration efforts.

关键词： Prescribed burning High-throughput sequencing Temperate forest Bacteria Fungi

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YOWO-Plus: An Incremental Improvement

arXiv

引用

arXiv 2022年

作者： Yang, Jianhua State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

In this technical report, we would like to introduce our updates to YOWO, a real-time method for spatio-temporal action detection. We make a bunch of little design changes to make it better. For network structure, we use the same ones of official implemented YOWO, including 3D-ResNext-101 and YOLOv2, but we use a better pretrained weight of our reimplemented YOLOv2, which is better than the official YOLOv2. We also optimize the label assignment used in YOWO. To accurately detection action instances, we deploy GIoU loss for box regression. After our incremental improvement, YOWO achieves 84.9% frame mAP and 50.5% video mAP on the UCF101-24, significantly higher than the official YOWO. On the AVA, our optimized YOWO achieves 20.6% frame mAP with 16 frames, also exceeding the official YOWO. With 32 frames, our YOWO achieves 21.6 frame mAP with 25 FPS on an RTX 3090 GPU. We name the optimized YOWO as YOWO-Plus. Moreover, we replace the 3D-ResNext-101 with the efficient 3D-ShuffleNet-v2 to design a lightweight action detector, YOWO-Nano. YOWO-Nano achieves 81.0 % frame mAP and 49.7% video frame mAP with over 90 FPS on the UCF101-24. It also achieves 18.4 % frame mAP with about 90 FPS on the AVA. As far as we know, YOWO-Nano is the fastest state-of-the-art action detector. Our code is available on https://***/yjh0410/PyTorch_YOWO. © 2022, CC BY.

关键词：

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Prototype Design and Efficiency Analysis of a Novel Robot Drive Based on 3K-H-V Topology

arXiv

引用

arXiv 2022年

作者： Qi, Le Yang, Dapeng Cao, Baoshi Li, Zhiqi Gu, Yikun Xie, Zongwu Liu, Hong The State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China

Robot actuators directly affect the performance of robots, and robot drives directly affect the performance of robot actuators. With the development of robotics, robots have put higher requirements on robot drives, such as high stiffness, high accuracy, high loading, high efficiency, low backlash, compact size, and hollow structure. In order to meet the demand development of robot actuators, this research base proposes a new robot drive based on 3K-H-V topology using involute and cycloidal gear shapes, planetary cycloidal drive, from the perspective of drive topology and through the design idea of decoupling. In this study, the reduction ratio and the efficiency model of the 3K-H-V topology were analyzed, and a prototype planetary cycloidal actuator was designed. The feasibility of the drive is initially verified by experimentally concluding that the PCA has a hollow structure, compact size, and high torque density (69 Nm/kg). Copyright © 2022, The Authors. All rights reserved.

关键词： Topology

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Underwater Image Enhancement Based on Light Attenuation Prior and Dual-Image Multi-Scale Fusion

Underwater Image Enhancement Based on Light Attenuation Prio...

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2022 Global Conference on robotics, Artificial Intelligence and Information technology, GCRAIT 2022

作者： He, Liushanchuan Yan, Yongjie Cai, Chengtao School of Intelligent System Science and Engineering Harbin Engineering University Harbin China State Key Laboratory of Air Traffic Management System and Technology Nanjing China

ISBN: (数字)9781665481922

ISBN: (纸本)9781665481922

The focus of this work is solving the degradation of underwater images. Different from images taken on land, underwater images suffer from color bias and fuzzy details due to absorption and scattering. In order to solve the above problems of underwater images, we propose a novel method called LAPF, which includes two stages of restoration and dual-image multi-scale fusion. Restoration based on underwater light attenuation prior can initially restore the details of the underwater image by building a scene depth estimation model. Coupled with the use of image fusion, obtain the contrast-enhanced picture and color-corrected picture as fusion inputs, and calculate the normalized weight maps to add detail. Carrying out multi-scale decomposition and fusion of these two parts, successfully further enhance the contrast while realizing the color correction. Experimental results on a variety of underwater images show the power of the method proposed in this paper, which achieves good results in both subjective visual perception and objective quality evaluation parameters. © 2022 IEEE.

关键词： Restoration

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