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15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Li, Rui Feng, Ying Hu, Zedong School of Automation Science and Engineering Key Laboratory of Autonomous Systems and Networked Control South China University of Technology Guangzhou510640 China

ISBN: (纸本)9781538660720

Shape Memory Alloys actuators are a class of smart materials-based actuators, and show a good output performance with high force to mass ratio, biocompatibility and small size. However, the internal hysteresis nonlinearities between the input temperature and output displacement adversely affect the output accuracy and they cannot be mitigated directly because of the strong non-smooth feature of SMA materials. To improve the actuating ability of SMA system, an estimated hysteresis inverse is employed based on Duhem model as the compensation of SMA actuator in this paper. Considering the dynamics of the SMA actuating system and the compensation error, a dynamic surface controller (DSC) is designed. The simulation results validate the effectiveness of the proposed approach. © 2018 IEEE.

关键词： Hysteresis

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A registration-aided domain adaptation network for 3D Point cloud based place recognition

arXiv

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arXiv 2020年

作者： Qiao, Zhijian Hu, Hanjiang Shi, Weiang Chen, Siyuan Liu, Zhe Wang, Hesheng Department of Automation Insititue of Medical Robotics Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Jiao Tong University Shanghai200240 China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology China Department of Mechanical Engineering Carnegie Mellon University United States Department of Computer Science and Technology University of Cambridge United Kingdom

In the field of large-scale SLAM for autonomous driving and mobile robotics, 3D point cloud based place recognition has aroused significant research interest due to its robustness to changing environments with drastic daytime and weather variance. However, it is time-consuming and effort-costly to obtain high-quality point cloud data for place recognition model training and ground truth for registration in the real world. To this end, a novel registration-aided 3D domain adaptation network for point cloud based place recognition is proposed. A structure-aware registration network is introduced to help to learn features with geometric information and a 6-DoFs pose between two point clouds with partial overlap can be estimated. The model is trained through a synthetic virtual LiDAR dataset through GTA-V with diverse weather and daytime conditions and domain adaptation is implemented to the real-world domain by aligning the global features. Our results outperform state-of-the-art 3D place recognition baselines or achieve comparable on the real-world Oxford RobotCar dataset with the visualization of registration on the virtual dataset. Copyright © 2020, The Authors. All rights reserved.

关键词： Three dimensional computer graphics

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A Guide for Human Walking Model and control — Insights from Mechanical Property Analysis of Human Walking

A Guide for Human Walking Model and Control — Insights from...

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Chinese control and Decision Conference, CCDC

作者： Guangrong Chen Bowen Hou Sheng Guo Junzheng Wang Robotics Research Center Beijing Jiaotong University Beijing P.R. China Beijing Engineering and Technology Research Center of Rail Transit Line Safety and Disaster Prevention Beijing P.R. China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing P.R. China

ISBN: (数字)9781728158556

ISBN: (纸本)9781728158563

This paper aims to establish the simplest human walking model and provide a guide for controlling biped robots. Firstly, a human motion capture system was utilized to sample the motion data of human walking and a representative subject was selected. Secondly, one of the simplest human walking model was set up. The mechanical property analysis of human walking was done based on the established walking model via fitting. Thirdly, the feasibility and effectiveness of proposed walking model were validated by numerical simulations. Finally, the intrinsical relationships among human walking, biped walking model and control were discussed to provide a guide and insight for controlling biped robots.

关键词： Legged locomotion Numerical models Force Analytical models Numerical simulation

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LocNet: Global Localization in 3D Point Clouds for Mobile Vehicles

LocNet: Global Localization in 3D Point Clouds for Mobile Ve...

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2018 IEEE Intelligent Vehicles Symposium, IV 2018

作者： Yin, Huan Tang, Li DIng, Xiaqing Wang, Yue Xiong, Rong State Key Laboratory of Industrial Control and Technology Zhejiang University Hangzhou China IPlus Robotics Hangzhou China

ISBN: (纸本)9781538644522

Global localization in 3D point clouds is a challenging problem of estimating the pose of vehicles without any prior knowledge. In this paper, a solution to this problem is presented by achieving place recognition and metric pose estimation in the global prior map. Specifically, we present a semi-handcrafted representation learning method for LiDAR point clouds using siamese LocNets, which states the place recognition problem to a similarity modeling problem. With the final learned representations by LocNet, a global localization framework with range-only observations is proposed. To demonstrate the performance and effectiveness of our global localization system, KITTI dataset is employed for comparison with other algorithms, and also on our long-time multi-session datasets for evaluation. The result shows that our system can achieve high accuracy. © 2018 IEEE.

关键词： Learning systems

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Design and Validation of an Asymmetric Bowden-Cable-Driven Series Elastic Actuator

Design and Validation of an Asymmetric Bowden-Cable-Driven S...

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IEEE International Conference on robotics and Biomimetics

作者： Ning Sun Long Cheng Lin Tian Zeng-Guang Hou Min Tan State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

Weight, size and torque control for hand exoskeleton robots are challenging due to lack of small and compact bidirectional torque actuators. In this paper, an asymmetric Bowden-cable-driven series elastic actuator (ABLE-SEA) for hand exoskeleton robots was proposed based on the fact that the required torques for finger movements are asymmetric. Compared to series elastic actuator and transmission system that were designed separately, the elastic elements of ABLESEA were placed in transmission parts to connect series elastic actuator with transmission system, which makes system compact. ABLE-SEA is 71 mm × 19.5mm × 20mm in dimension and weighs 30g except motor which is placed remotely. The dynamic model of ABLE-SEA was established, and feedback proportional-derivative (PD) control plus a feed-forward term was used to track the reference torque for the ABLE-SEA. The reference torque tracking test at different frequencies was performed at the developed prototype. Meanwhile, the peak torque of ABLE-SEA was tested. The experimental results verified that the torque bandwidth of the proposed series elastic actuator could reach 4Hz, and the peak torque of ABLE-SEA could reach 0.3Nm, which meet the design requirement.

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Design of a Robotic Fish Based on a Passive Flexible Mechanism*

Design of a Robotic Fish Based on a Passive Flexible Mechani...

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IEEE International Conference on robotics and Biomimetics

作者： Ben Lu Yuzhuo Fu Qianqian Zou Sai Deng Chao Zhou State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

In recent years, along with the rapid development of manufacturing, control, sensing and other technologies, biomimetic robotic fish has played an increasingly important role in marine exploration, underwater rescue, water quality monitoring and other fields. This paper designed a robotic fish based on a passive flexible mechanism to realize the fish-like propulsion function. The motion simulation of the designed transmission mechanism was carried out to get the actual curve of the structure. Through the analysis of the force of the fishtail, the preliminary selection scheme of the elastic joints based on the passive flexible mechanism was obtained. Finally, this paper built a robotic fish based on a passive flexible mechanism, which could achieve the motion frequency adjustable from 0.5 to 9 Hz, and the maximum swimming speed reaching 1.05 BL/s (BL, body length). This design scheme provided a new reference for the design of the biomimetic robotic fish and had certain practical significance.

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A Grasping CNN with Image Segmentation for Mobile Manipulating Robot

A Grasping CNN with Image Segmentation for Mobile Manipulati...

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IEEE International Conference on robotics and Biomimetics

作者： Yingying Yu Zhiqiang Cao Shuang Liang Zhicheng Liu Junzhi Yu Xuechao Chen State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China Beijing Advanced Innovation Center for Intelligent Robots and Systems Intelligent Robotics Institute BIT Beijing China

This paper presents a grasping convolutional neural network with image segmentation for mobile manipulating robot. The proposed method is cascaded by a feature pyramid network FPN and a grasping network DrGNet. The FPN network combined with point cloud clustering is used to obtain the mask of the target object. Then, the grayscale map and the depth map corresponding to the target object are combined and sent to the DrGNet network for providing multi-scale images. On this basis, depthwise separable convolution is used for encoding. The results of encoders are refined according to the light-weight RefineNet as well as sSE, which can achieve a better grasp detection. The proposed method is verified by the experiments on mobile manipulating robot.

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Design of a control Platform for Mobile Robot with SSVEP-BCI System

Design of a Control Platform for Mobile Robot with SSVEP-BCI...

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IEEE Conference on Cybernetics and Intelligent systems

作者： Yang Liu Xinyang Li Chenguang Yang Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and Engineering South China University of Technology Guangzhou China Hammersmith Campus Imperial College London National Heart and Lung Institute London Bristol Robotics Laboratory University of the West of England Bristol UK

ISBN: (数字)9781728134581

ISBN: (纸本)9781728134598

This paper introduces a control platform based on brain-computer interface(BCI) for the mobile robot. The proposed platform consists of three parts: Path Planning, SSVEP-BCI and Mobile Robot control. The path planning part aims to seek an optimal path out from the starting point to the target point, which is denoted as A* algorithm in this work. The found path is shown to the user who determines the actual movement direction using SSVEP-BCI. The signal is sent to the mobile robot to control the movement of the robot. In the BCI part, the collected EEG signals are analyzed with the CCA method to obtain the homologous control signals. The mobile robot is required to complete the movement from the initial point to the destination without collision. The platform is evaluated with an off-line experiment with 4 subjects and the off-line analysis shows the feasibility of the proposed platform.

关键词： Mobile robots Visualization Electroencephalography Path planning Heuristic algorithms Frequency modulation

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Anchor-based spatio-temporal attention 3D convolutional networks for dynamic 3D point cloud sequences

arXiv

引用

arXiv 2020年

作者： Wang, Guangming Chen, Muyao Liu, Hanwen Yang, Yehui Liu, Zhe Wang, Hesheng The Department of Automation Institute of Medical Robotics Key Laboratory of System Control and Information Processing Ministry of Education Key Laboratory of Marine Intelligent Equipment System of Ministry of Education Shanghai Jiao Tong University Shanghai200240 China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology China The Department of Computer Science and Engineering Shanghai Jiao Tong University Shanghai200240 China The Department of Computer Science and Technology University of Cambridge

With the rapid development of measurwement technology, LiDAR and depth cameras are widely used in the perception of the 3D environment. Recent learning based methods for robot perception most focus on the image or video, but deep learning methods for dynamic 3D point cloud sequences are underexplored. Therefore, developing efficient and accurate perception method compatible with these advanced instruments is pivotal to autonomous driving and service robots. An Anchor-based Spatio-Temporal Attention 3D Convolution operation (ASTA3DConv) is proposed in this paper to process dynamic 3D point cloud sequences. The proposed convolution operation builds a regular receptive field around each point by setting several virtual anchors around each point. The features of neighborhood points are firstly aggregated to each anchor based on the spatio-temporal attention mechanism. Then, anchor-based 3D convolution is adopted to aggregate these anchors' features to the core points. The proposed method makes better use of the structured information within the local region and learns spatio-temporal embedding features from dynamic 3D point cloud sequences. Anchor-based Spatio-Temporal Attention 3D Convolutional Neural Networks (ASTA3DCNNs) are built for classification and segmentation tasks based on the proposed ASTA3DConv and evaluated on action recognition and semantic segmentation tasks. The experiments and ablation studies on MSRAction3D and Synthia datasets demonstrate the superior performance and effectiveness of our method for dynamic 3D point cloud sequences. Our method achieves the state-of-the-art performance among the methods with dynamic 3D point cloud sequences as input on MSRAction3D and Synthia datasets. Copyright © 2020, The Authors. All rights reserved.

关键词： Embeddings

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Fuzzy rate analysis of operators and its applications in linear spaces

arXiv

引用

arXiv 2020年

作者： Zhang, Yijin Li, Honggang Jin, Maoming Lin, Zongbing Key Lab of Intelligent Analysis and Decision on Complex Systems Key Laboratory of Industrial Internet of Things and Networked Control Ministry of Education Chongqing University of Posts and Telecommunications Chongqing400065 China Pass College of Chongqing Technology and Business University Chongqing401520 China Institute of Nonlinear Analysis Research Changjiang Normal University Chongqing400803 China School of Mathematics and Computer Science Panzhihua University Panzhihua617000 China

In this paper, a new concept, the fuzzy rate of an operator in linear spaces is proposed for the very first time. Some properties and basic principles of it are studied. Fuzzy rate of an operator B which is specific i... 详细信息

关键词： Membership functions

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