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IEEE International Conference on robotics and Automation (ICRA)

作者： Haitao Zhou Haoyang Yu Xu Li Haibo Feng Songyuan Zhang Yili Fu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

In this paper, the configuration transformation of Wheel-Legged Robot (WLR) is studied, which can enable the robot to change its multilinks configuration on Inverted Equilibrium Manifold (IEM), while keeping balance with a small location drift on the floor. First of all, the general form of dynamics equation of planar Articulated Wheeled Inverted Pendulum (AWIP) with a wheel and n − 1 rigid links, is derived. The Partial Feedback Linearization (PFL) combined with a Sliding Mode Control (SMC) is used to design the inverse dynamics controller of AWIP, while considering full dynamics terms. The well-known WLR model is used as a simple example of AWIP to accomplish the configuration transformation task. An optimization based configuration transformation algorithm is proposed to realize a comprehensive optimization of the shortest path in joint space and the minimum location drift of WLR on the floor. Finally, the effectiveness of the proposed algorithm is demonstrated through simulation to implement the configuration transformation task.

关键词： Heuristic algorithms Dynamics Wheels Mathematical models Trajectory Mobile robots Task analysis

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Chromatic-aberration-free full-color augmented reality display via triple-stacked liquid crystal polarization volume grating waveguides

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Optics express 2025年第11期33卷 24185-24192页

作者： Xudong Yan Mingxuan Liu Jiaxin Zhu Quanming Chen Dan Luo State Key Laboratory of Optical Fiber and Cable Manufacture Technology Guangdong Provisional Key Laboratory of Functional Oxide Materials and Devices Department of Electrical & Electronic Engineering Southern University of Science and Technology Shenzhen Guangdong 518055 China School of Electronics and Information Engineering Harbin Institute of Technology Harbin Heilongjiang 150001 China chenqm@*** luod@***

Liquid crystal polarization volume gratings (LC-PVGs) have attracted significant attention as optical combiners of diffractive optical waveguides in augmented reality (AR) displays due to intrinsic high diffraction efficiency, polarization-selectivity, and ultra-thin profile. However, conventional LC-PVGs based diffractive waveguide architectures face significant challenges in full-color imaging due to inherent chromatic aberration, which stems from the wavelength-dependent diffraction angles of waveguide coupling gratings, leading to unavoidable color separation as a critical barrier to practical full-color display implementation. To address this challenge, we propose an AR display system employing a triple-stacked waveguide structure with red, green, and blue liquid crystal polarization volume gratings (LC-PVGs). Through meticulous design and optimization of the horizontal grating periods in each color-specific waveguide layer, we achieve consistent diffraction angles for all three color channels during waveguide propagation. This angular synchronization enables subsequent chromatic recombination at the output grating, ultimately realizing achromatic imaging. The presented solution offers a promising approach to overcoming chromatic dispersion limitations in full-color diffractive waveguide AR displays, potentially advancing their applicability in high-fidelity augmented reality systems.

关键词： Chromatic aberration Diffraction efficiency Holographic gratings Liquid crystals Volume gratings Waveguide gratings

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I2EKF-LO: A Dual-Iteration Extended Kalman Filter Based LiDAR Odometry

arXiv

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arXiv 2024年

作者： Yu, Wenlu Xu, Jie Zhao, Chengwei Zhao, Lijun Nguyen, Thien-Minh Yuan, Shenghai Bai, Mingming Xie, Lihua State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin150001 China The School of Electrical and Electronic Engineering Nanyang Technological University 639798 Singapore Hangzhou Guochen Robot Technology Company Limited Hangzhou311200 China State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou310000 China

LiDAR odometry is a pivotal technology in the fields of autonomous driving and autonomous mobile robotics. However, most of the current works focus on nonlinear optimization methods, and still existing many challenges in using the traditional Iterative Extended Kalman Filter (IEKF) framework to tackle the problem: IEKF only iterates over the observation equation, relying on a rough estimate of the initial state, which is insufficient to fully eliminate motion distortion in the input point cloud;the system process noise is difficult to be determined during state estimation of the complex motions;and the varying motion models across different sensor carriers. To address these issues, we propose the Dual-Iteration Extended Kalman Filter (I2EKF) and the LiDAR odometry based on I2EKF (I2EKF-LO). This approach not only iterates over the observation equation but also leverages state updates to iteratively mitigate motion distortion in LiDAR point clouds. Moreover, it dynamically adjusts process noise based on the confidence level of prior predictions during state estimation and establishes motion models for different sensor carriers to achieve accurate and efficient state estimation. Comprehensive experiments demonstrate that I2EKF-LO achieves outstanding levels of accuracy and computational efficiency in the realm of LiDAR odometry. Additionally, to foster community development, our code is open-sourced. Copyright © 2024, The Authors. All rights reserved.

关键词： state estimation

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Generalizing 6-DoF Grasp Detection via Domain Prior Knowledge

arXiv

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arXiv 2024年

作者： Ma, Haoxiang Shi, Modi Gao, Boyang Huang, Di State Key Laboratory of Software Development Environment Beihang University Beijing China School of Computer Science and Engineering Beihang University Beijing China School of Computer Science and Technology Harbin Institute of Technology Harbin China Geometry Robotics China

We focus on the generalization ability of the 6-DoF grasp detection method in this paper. While learning-based grasp detection methods can predict grasp poses for unseen objects using the grasp distribution learned from the training set, they often exhibit a significant performance drop when encountering objects with diverse shapes and structures. To enhance the grasp detection methods’ generalization ability, we incorporate domain prior knowledge of robotic grasping, enabling better adaptation to objects with significant shape and structure differences. More specifically, we employ the physical constraint regularization during the training phase to guide the model towards predicting grasps that comply with the physical rule on grasping. For the unstable grasp poses predicted on novel objects, we design a contact-score joint optimization using the projection contact map to refine these poses in cluttered scenarios. Extensive experiments conducted on the GraspNet-1billion benchmark demonstrate a substantial performance gain on the novel object set and the real-world grasping experiments also demonstrate the effectiveness of our generalizing 6-DoF grasp detection method. Code is available at https://***/mahaoxiang822/ Generalizing-Grasp. Copyright © 2024, The Authors. All rights reserved.

关键词： Benchmarking

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China’s larch stock volume estimation using Sentinel-2 and LiDAR data

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Geo-Spatial Information Science 2023年第3期26卷 392-405页

作者： Tao Yu Yong Pang Xiaojun Liang Wen Jia Yu Bai Yilin Fan Dongsheng Chen Xianzhao Liu Guang Deng Chonggui Li Xiangnan Sun Zhidong Zhang Weiwei Jia Zhonghua Zhao Xiao Wang Institute of Forest Resource Information Techniques Chinese Academy of ForestryBeijingChina Key Laboratory of Forestry Remote Sensing and Information System National Forestry and Grassland AdministrationBeijingChina Key Laboratory of Tree Breeding and Cultivation of State Forestry Administration Research Institute of ForestryChinese Academy of ForestryBeijingChina College of Geomatics Xi’an University of Science and TechnologyXi’anChina Academy of Inventory and Planning National Forestry and Grassland AdministrationBeijingChina College of Forestry Hebei Agricultural UniversityBaodingChina College of Forestry Northeast Forestry UniversityHarbinChina Ecology and Nature Conservation Institute Chinese Academy of ForestryKey Laboratory of Forest Ecology and Environment of National Forestry and Grassland AdministrationBeijingChina

Forest Stock Volume(FSV)is one of the key indicators in forestry resource investigation and management on local,regional,and national *** by the saturation problems of optical satellite remote-sensing imagery in the retrieving of stock volume,and the high cost of Light Detection And Ranging(LiDAR)data,it is still challenging to estimate FSV in a large area using single-sensor remote-sensing *** this paper,a method integrated multispectral satellite imagery and LiDAR data was developed to map stock volume in a large area.A random forest model was adopted to estimate the stock volume of larch forest in China based on the training samples from the Airborne Laser Scanning(ALS)-derived stock volume and corresponding Sentinel-2 *** using National Forest Inventory(NFI)data,ALS-derived stock volume and ground investigation data demonstrated that the estimated stock volume had a high accuracy(R2=0.59,RMSE=59.69 m^(3)/ha,MD=39.96 m^(3)/ha when validated with NFI data;R2 ranged from 0.77 to 0.85,RMSE ranged from 38.68 m^(3)/ha to 67.38 m^(3)/ha,MD ranged from 24.90 m^(3)/ha to 37.27 m^(3)/ha when validated with ALS stock volume;R2=0.42,RMSE=79.10 m^(3)/ha,MD=62.06 m^(3)/ha when validated with field investigation data).Results of this paper indicated the applicability of estimating stock volume of larch forest in a large area by combining Sentinel-2 data and airborne LiDAR data.

关键词： Sentinel-2 LiDAR stock volume larch validation

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Puncture Status Perception Method for a Venipuncture Robot Based on Force Prediction

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IEEE Transactions on Instrumentation and Measurement 2025年 74卷

作者： He, Tianbao Guo, Chuangqiang Jiang, Li Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150001 China

Research on venipuncture robots has excellent potential for reducing workload and addressing healthcare professional shortages while advancing medical automation and intelligent healthcare. This paper proposes a method for improving the perception ability of venipuncture robots by predicting the puncture force to efficiently determine whether the puncture needle has entered the vein, thus increasing the safety and success rate of the robot. Initially, the characteristics of the puncture force are analyzed, and a force‒time-series-prediction model is established via a BiLSTM network and Kalman filter error compensation. A time series dataset is constructed using puncture force data collected under different conditions. The experimental results indicate that the model’s prediction error is less than 0.01 N, and the calculation time is less than 0.02 s. Based on this prediction model, a puncture status perception method is proposed, which considers the trend and regularity of puncture force changes during venipuncture to determine whether the needle has entered the vein. Finally, experiments are conducted via this method in a venipuncture phantom and compared with those of other methods. The findings indicate a substantial improvement in puncture status perception efficacy of 82% and a corresponding 11% increase in the success rate of robot-assisted venipuncture. These results demonstrate the effectiveness of this method in enhancing the performance and safety of venipuncture robots and highlight its potential for practical application. © 1963-2012 IEEE.

关键词： Intelligent robots

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Muscle-fiber array inspired, multiple-mode, pneumatic artificial muscles through planar design and one-step rolling fabrication

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National Science Review 2021年第10期8卷 68-78页

作者： Jiang Zou Miao Feng Ningyuan Ding Peinan Yan Haipeng Xu Dezhi Yang Nicholas X.Fang Guoying Gu Xiangyang Zhu State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Robotics Institute School of Mechanical Engineering Shanghai Jiao Tong University Department of Mechanical Engineering Massachusetts Institute of Technology

Advances in development of artificial muscles have enabled creation of soft robots with biological dexterity and self-adaption in unstructured environments; however, production of scalable artificial muscles with multiple-mode actuations remains elusive. Inspired by muscle-fiber arrays in muscular hydrostats, we present a class of versatile artificial muscles called MAIPAMs(muscle-fiber array inspired pneumatic artificial muscles), capable of multiple-mode actuations(such as parallel elongation-bending-spiraling actuations, 10 parallel bending actuations and cascaded elongation-bending-spiraling actuations). Our MAIPAMs consist of active 3 D elastomer-balloon arrays reinforced by a passive elastomer membrane,achieved through a planar design and one-step rolling fabrication approach. We introduce prototypical designs for the MAIPAMs and demonstrate their muscle-mimic structures and versatility, as well as their scalable ability to integrate flexible but non-stretchable layers for contraction and twisting actuation modes and compliant electrodes for self-sensing. We further demonstrate that this class of artificial muscles shows potential for versatile robotic applications, such as carrying a camera for recording videos, gripping or manipulating objects, and climbing a pipe-line.

关键词： soft robotics pneumatic artificial muscles multiple-mode actuations bio-inspired design

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Statistical properties of hot flow anomalies around Mars

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Earth and Planetary Physics 2025年第4期9卷 891-903页

作者： Wu, MingYu Wang, HeYin Wang, Lei Wang, GuoQiang Xiao, SuDong Chen, YangJun Lü, Qi Peng, E. Du, AiMin Zhang, TieLong Shenzhen Key Laboratory of Numerical Prediction for Space Storm Harbin Institute of Technology Shenzhen518055 China Key Laboratory of Solar Activity and Space Weather National Space Science Center Chinese Academy of Sciences Beijing100190 China Harbin Institute of Technology Harbin150001 China State Key Laboratory of Lunar and Planetary Sciences Macau University of Science and Technology Macao999078 China Space Research Institute Austrian Academy of Sciences Graz8042 Austria Institute of Geology and Geophysics Chinese Academy of Sciences Beijing100029 China

Hot flow anomalies (HFAs) are not only a terrestrial phenomenon, but also a solar-system-wide phenomenon, one that can cause significant perturbations in planetary magnetospheres and ionospheres. In this study, based on the observations of Mars Atmosphere and Volatile EvolutioN (MAVEN) mission in the region upstream of the Martian bow shock from the year 2014 to 2020, we have investigated the statistical properties of HFAs around Mars. Our results show that HFAs can be found in a wide region of Mars, from the dayside to the terminator region. On average, these HFAs last 63 seconds, with a thickness of 28 local proton gyroradii. They are more prevalent when the ambient solar wind is denser and faster, and usually occur when the interplanetary magnetic field magnitude is between 1−4 nT. Martian HFAs can also lead to solar wind dynamics multiplying in pressure by factors of ten within only tens of seconds, which could significantly influence the heights of the Martian ionopause and induced magnetosphere boundary. By comparing HFAs around Earth, we suggest that these phenomena are primarily governed by solar wind dynamics rather than local planetary conditions. ©2025 by Earth and Planetary Physics.

关键词： Martian surface analysis

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Modified Activated Carbon Fiber Activation of Persulfate for the Removal of Perfluorinated Compounds and Thiocyanate from Wastewater

SSRN

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SSRN 2024年

作者： Song, Xintong Su, Bingqin Song, Zi Sun, Feiyun School of Environmental Science and Engineering Taiyuan University of Technology Jinzhong030600 China State Key Laboratory of Urban Water Resource and Environment Harbin Institute of Technology Shenzhen Shenzhen518055 China Shenzhen518055 China State Key Laboratory of Urban Water Resource and Environment Harbin Institute of Technology Harbin150090 China

In this study, NaOH-modified activated carbon fiber (ACF) was used as catalysts to activate persulfate (PS) for the removal of perfluorooctanoic acid (PFOA) and thiocyanate (SCN-) from wastewater. The effects of the crucial parameters in the NaOH-ACF/PS process, including NaOH-ACF dosage, PS concentration and initial pH were investigated. The experimental results indicated that, under specific conditions of NaOH-ACF dosage (0.40 g/L), PS concentration (2.0 mmol/L), pH (3.0), and temperature (25 ℃), the removal efficiencies for PFOA and SCN- reached 93.63% and 95.17%, respectively, within 60 min of reaction. When PFOA and SCN- coexisted in the reaction system, it was observed that PFOA had minimal effect on the removal of SCN-, while SCN- actually enhanced the removal of PFOA. Free radical identification experiments demonstrated that the NaOH-ACF/PS system generated free radicals (O2·-, SO4·-, ·OH) and non-free radicals (1O2), which cooperatively facilitated the degradation of PFOA and SCN-. Furthermore, Liquid Chromatograph-Mass Spectrometer (LC-MS) analysis results have been used to speculate on the possible degradation pathways and intermediates of PFOA. The material characterization results indicated that NaOH-ACF possesses abundant surface functional groups with excellent adsorption and catalytic properties. Thus, the NaOH-ACF-activated PS advanced oxidation process offered a promising approach for the simultaneous removal of Perfluorinated compounds and thiocyanates. © 2024, The Authors. All rights reserved.

关键词： Sodium hydroxide

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Microcarriers promote the through interface movement of mouse trophoblast stem cells by regulating stiffness

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Bioactive Materials 2023年第10期28卷 196-205页

作者： Zili Gao Jia Guo Bo Gou Zhen Gu Tan Jia Sinan Ma Liyuan Jiang Wenli Liu Lixun Zhou Qi Gu State Key Laboratory of Membrane Biology The State Key Laboratory of Stem Cell and Reproductive BiologyInstitute of ZoologyChinese Academy of SciencesBeijing100101PR China Beijing Institute for Stem Cell and Regenerative Medicine Beijing100101PR China University of Chinese Academy of Sciences Beijing100049PR China Department of Chemistry and Biological Engineering University of Science and TechnologyBeijing100083PR China School of Life Sciences Northeast Agricultural UniversityHarbin150030PR China

Mechanical force is crucial in the whole process of embryonic ***,the role of trophoblast mechanics during embryo implantation has rarely been *** this study,we constructed a model to explore the effect of stiffness changes in mouse trophoblast stem cells(mTSCs)on implantation:microcarrier was prepared by sodium alginate using a droplet microfluidics system,and mTSCs were attached to the microcarrier surface with laminin modifications,called T(micro).Compared with the spheroid,formed by the self-assembly of mTSCs(T(sph)),we could regulate the stiffness of the microcarrier,making the Young’s modulus of mTSCs(367.70±79.81 Pa)similar to that of the blastocyst trophoblast ectoderm(432.49±151.90 Pa).Moreover,T(micro)contributes to improve the adhesion rate,expansion area and invasion depth of ***,T(micro)was highly expressed in tissue migration-related genes due to the activation of the Rho-associated coiled-coil containing protein kinase(ROCK)pathway at relatively similar modulus of ***,our study explores the embryo implantation process with a new perspective,and provides theoretical support for understanding the effect of mechanics on embryo implantation.

关键词： Biomechanics Microcarriers Embryo implantation Cell migration

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