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IEEE International Conference on robotics and Automation (ICRA)

作者： Zhuqing Zhang Dongxuan Li Jiayao Ma Yijia He Pan Ji Rong Xiong Hongdong Li Yue Wang State Key Laboratory of Industrial Control Technology and Institute of Cyber-Systems and Control Zhejiang University Zhejiang China Tencent Holdings Tencent XR Vision Labs Shenzhen China College of Engineering and Computer Science Australian National University Canberra

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Ensuring robust tracking of controllers’ movement is critical for human-robot interaction in virtual reality (VR) scenarios. This paper proposes a robust tracking algorithm based on a novel wearable ring-shaped controller equipped with an inertial measurement unit (IMU) and a light-emitting diode (LED). This novel controller design allows users to free up their hands for more immersive experiences. To track the controller’s motion accurately and robustly, we resort to various forms of visual measurements, including 6 DoF and 5 DoF pose measurements from hand gesture detection, as well as 3 DoF position measurement and 2 DoF image measurement derived from the LED. We theoretically analyze the performances of these observation models and propose an optimal observation model combination scheme. Moreover, the necessity and rationale of online estimating system gravity are illustrated. The effectiveness of our tracking method is validated through extensive experiments.

关键词： Solid modeling Analytical models Visualization Measurement units Tracking Virtual reality Inertial navigation

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EVA-Planner: Environmental Adaptive Quadrotor Planning

EVA-Planner: Environmental Adaptive Quadrotor Planning

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IEEE International Conference on robotics and Automation (ICRA)

作者： Lun Quan Zhiwei Zhang Xingguang Zhong Chao Xu Fei Gao State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou China Huzhou Institute Zhejiang University Huzhou China National Engineering Research Center for Industrial Automation (Ningbo Institute) Ningbo China

The quadrotor is popularly used in challenging environments due to its superior agility and flexibility. In these scenarios, trajectory planning plays a vital role in generating safe motions to avoid obstacles while ensuring flight smoothness. Although many works on quadrotor planning have been proposed, a research gap exists in incorporating self-adaptation into a planning framework to enable a drone to automatically fly slower in denser environments and increase its speed in a safer area. In this paper, we propose an environmental adaptive planner to adjust the flight aggressiveness effectively based on the obstacle distribution and quadrotor state. Firstly, we design an environmental adaptive safety aware method to assign the priority of the surrounding obstacles according to the environmental risk level and instantaneous motion tendency. Then, we apply it into a multi-layered model predictive contouring control (Multi-MPCC) framework to generate adaptive, safe, and dynamical feasible local trajectories. Extensive simulations and real-world experiments verify the efficiency and robustness of our planning framework. Benchmark comparison also shows superior performances of our method with another advanced environmental adaptive planning algorithm. Moreover, we release our planning framework as open-source ros-packages¹ .

关键词： Adaptation models Trajectory planning Heuristic algorithms Predictive models Prediction algorithms Robustness Planning

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Modeling and analyzing nano-particle pushing with an AFM by using nano-hand strategy

Modeling and analyzing nano-particle pushing with an AFM by ...

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IEEE International Conference on Nano/Micro Engineered and Molecular systems (NEMS)

作者： Jing Hou Zhidong Wang Lianqing Liu Yongliang Yang Zaili Dong Chengdong Wu College of Information Science and Engineering Northeastern University China School of Information and Control Engineering Shenyang Jianzhu University Shenyang China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy and Sciences Shenyang China Department of Advanced Robotics Chiba Institute of Technology Chiba Japan

One of the major limitations for Atomic Force Microscopy (AFM) based nanoparticle pushing is that AFM only has one sharp tip as the end-effector. The interaction force between the nanoparticle and the tip is applied through a single point, which often leads the AFM tip to slip-away from the nanoparticle due to their small touch area. Then several minutes is needed to relocate the missed nanoparticle by a new image scan. Moreover, if the nanoparticle is very soft, the sharp tip may damage the particle instead of pushing it away due to the cutting effect of the sharp tip. In this paper, a nano-hand strategy is proposed to resolve this problem. Based on the theoretical analysis to the behavior model of nanoparticle, the pushing points, pushing step-length and pushing speed of AFM tip are planned artfully, through which a multi-tip manipulation effect can be imitated with a single tip. The nanoparticle is pushed as by a virtual nano-hand during manipulation,. In this way, the slip-away problem due to single AFM tip pushing can be get rid of efficiently. The simulation and experiments results show the increased effectiveness of AFM based nanomanipulation.

关键词： Force Friction Real time systems Substrates Mathematical model Nanoparticles Kinematics

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Distributedly Solving Boolean Equations over Networks

Distributedly Solving Boolean Equations over Networks

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IEEE Conference on Decision and control

作者： Hongsheng Qi Bo Li Rui-Juan Jing Alexandre Proutiere Guodong Shi Key Laboratory of Systems and Control Institute of Systems Science Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing China School of Mathematical Sciences University of Chinese Academy of Sciences Beijing China Key Laboratory of Mathematics Mechanization Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing China Faculty of Science Jiangsu University Zhenjiang China KTH Royal Institute of Technology Stockholm Sweden Australian Center for Field Robotics School of Aerospace Mechanical and Mechatronic Engineering The University of Sydney NSW Australia

ISBN: (数字)9781728174471

ISBN: (纸本)9781728174488

In this paper, we propose distributed algorithms that solve a system of Boolean equations over a network, where each node in the network possesses only one Boolean equation from the system. The Boolean equation assigned at any particular node is a private equation known to this node only, and the nodes aim to compute the exact set of solutions to the system without exchanging their local equations. We show that each private Boolean equation can be locally lifted to a linear algebraic equation under a basis of Boolean vectors, leading to a network linear equation that is distributedly solvable. A number of exact or approximate solutions to the induced linear equation are then computed at each node from different initial values. The solutions to the original Boolean equations are eventually computed locally via a Boolean vector search algorithm. We prove that given solvable Boolean equations, when the initial values of the nodes for the distributed linear equation solving step are i.i.d selected according to a uniform distribution in a high-dimensional cube, our algorithms return the exact solution set of the Boolean equations at each node with high probability.

关键词： Signal processing algorithms Heuristic algorithms Consensus algorithm Distributed algorithms Approximation algorithms Signal processing Convergence

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EGO-Swarm: A Fully Autonomous and Decentralized Quadrotor Swarm System in Cluttered Environments

EGO-Swarm: A Fully Autonomous and Decentralized Quadrotor Sw...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Xin Zhou Jiangchao Zhu Hongyu Zhou Chao Xu Fei Gao State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou China National Engineering Research Center for Industrial Automation (Ningbo Institute) Ningbo China Huzhou Institute Zhejiang University Huzhou China

This paper presents a decentralized and asynchronous systematic solution for multi-robot autonomous navigation in unknown obstacle-rich scenes using merely onboard resources. The planning system is formulated under gradient-based local planning framework, where collision avoidance is achieved by formulating the collision risk as a penalty of a nonlinear optimization problem. In order to improve robustness and escape local minima, we incorporate a lightweight topological trajectory generation method. Then agents generate safe, smooth, and dynamically feasible trajectories in only several milliseconds using an unreliable trajectory sharing network. Relative localization drift among agents is corrected by using agent detection in depth images. Our method is demonstrated in both simulation and real-world experiments. The source code is released for the reference of the community.

关键词： Location awareness Systematics Codes Navigation Conferences Robustness Trajectory

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Coupled Dynamic Modeling and Simulation of Seabed Hexapod Robot

Coupled Dynamic Modeling and Simulation of Seabed Hexapod Ro...

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IEEE International Conference on Cyber Technology in Automation, control, and Intelligent systems

作者： Jingming Zhang Xiuwen Bi Yiqun Liu Liang Ding Kunpeng Wang Haibo Gao Zongquan Deng School of Automotive Engineering Harbin Institute of Technology Weihai China State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China China Academy of Aerospace Aerodynamics CH UAV Technology Co. Ltd China

ISBN: (数字)9781728107707

ISBN: (纸本)9781728107714

With the development of human exploration of the ocean, the manipulation capability of underwater detection equipment in the marine has become one of the key technologies that restrict the development of deep-sea exploration and work. In this paper, we propose a new type of hexapod robot that works on the seabed. Two manipulator arms are installed in the front of the body for mining seabed minerals. In order to design and control a seabed hexapod robot, the dynamics on the seabed are analyzed. Considering the complex seabed environment, the interactions between the arms, legs, body and seabed environment are analyzed and calculated, and a water-terrain-robot coupled dynamic modeling method is proposed. Based on the Vortex simulation platform, a predictive simulation platform for a seabed hexapod robot with two working arms was developed to verify the coupled dynamic model. Simulation results show that the coupled dynamic model is correct.

关键词： Legged locomotion Force Torque Hydrodynamics Manipulator dynamics

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A Preliminary Study on the Functional Coupling between Nerve and Blood Microcirculation for Applications in Rehabilitation Robots

A Preliminary Study on the Functional Coupling between Nerve...

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IEEE International Conference on robotics and Biomimetics

作者： Qingge Li Yuanzhe Dong Yuxiang Zhang Xin Wang Naifu Jiang Jianping Huang Han Cui Lan Tian Yue Zheng Xiangxin Li Lin Wang Guanglin Li Wenyuan Liang Liang Peng Peng Fang CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institute of Advanced Technology Shenzhen China Shenzhen College of Advanced Technology University of Chinese Academy of Sciences Shenzhen China National Research Center for Rehabilitation Technical Aids Beijing China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

Rehabilitation robots play an important role in the motor function rehabilitation for stroke survivors with hemiplegia. However, the rehabilitation effect of current robots is still limited partly because a single training of motor function can be strongly affected by the decreased blood supply function of the bedridden patients. This work proposed an approach to study the coupling relationship between the motor and blood supply functions by combining the synchronously recorded EEG and cerebral blood oxygen information, where the cerebrations in different movement paradigms were analyzed from an aspect of "functional coupling". The results show that the information of oxyhemoglobin concentration change (ΔHbO) can effectively indicate the cortex activation, and a stronger blood supply is needed in cortexes to perform body movements. The correlations within motor cortexes are significantly stronger than the ones between motor and prefrontal cortexes, and a higher resistance level of extremity training will cause stronger correlations. Calculation of transfer entropy (TE) shows that there exists a bidirectional information transmission between the electrophysiological and blood supply signals, and more information is transmitted always in the direction from ΔHbO to EEG than in the opposite direction. The information transmission or the coupling relationship can be significantly enhanced by extremity movements, and large TE values are achieved in the Theta, Beta and Gamma frequency bands of EEG that correspond to motor functions. This work has demonstrated the functional coupling between nerve and blood microcirculation, which would provide a technical guidance to improve the rehabilitation effect for current robot systems and have great application potentials.

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Enhanced Decentralized Autonomous Aerial Robot Teams with Group Planning

arXiv

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arXiv 2022年

作者： Hou, Jialiang Zhou, Xin Gan, Zhongxue Gao, Fei Academy for Engineering and Technology Fudan University Shanghai200433 China State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou310027 China Huzhou Institute of Zhejiang University Huzhou313000 China

Designing autonomous aerial robot team systems remains a grand challenge in robotics. Existing works in this field can be categorized as centralized and decentralized. Centralized methods suffer from scale dilemmas, while decentralized ones often lead to poor planning quality. In this paper, we propose an enhanced decentralized autonomous aerial robot team system with group planning. According to the spatial distribution of agents, the system dynamically divides the team into several groups and isolated agents. For conflicts within each group, we propose a novel coordination mechanism named group planning. The group planning consists of efficient multi-agent pathfinding (MAPF) and trajectory joint optimization, which can significantly improve planning quality and success rate. We demonstrate through simulations and real-world experiments that our method not only has applicability for a large-scale team but also has top-level planning quality. © 2022, CC BY-NC-ND.

关键词： Motion planning

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Optimization of Simulation Parameters of Input Shaper Based on Genetic Algorithm

Optimization of Simulation Parameters of Input Shaper Based ...

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Advanced Technologies in Intelligent control, Environment, Computing & Communication Engineering (ICATIECE), International Conference on

作者： Tao Yi Quanshen Pei Deying Li Shugong Wei Danping Jia Hualiang Zhang Hunan University of Information Changsha China School of Information Science and Engineering Shenyang University of Technology Shenyang China College of Physics and Electronic Engineering Guangxi Normal University for Nationalities Chongzuo China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China

ISBN: (纸本)9781665493970

In the motion control system, input shaper is often used to suppress the residual oscillation of high-precision positioning system, but the selection of input shaper parameters is difficult. In view of the difficulty of selecting input shaper parameters, this paper proposes to use genetic algorithm to select the parameters of input shaper. Firstly, the input shaper is designed in the light of the three-loop mathematical model of motor; Secondly, because the genetic algorithm directly optimizes the output of the motor and the algorithm can reduce the influence of the deviation of generator parameters on the parameter selection of the input shaper to a certain extent, the parameters of the input shaper are selected by the genetic algorithm to optimize the output of the motor; In the finish, a comparative experiment between a system with input shaper and a system with simple PID control is carried out. The results show that the optimized system can obtain higher robustness and smaller tracking deviation.

关键词： Vibrations Tracking Mathematical models Robustness Decoding Rigidity Motion control

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VID-Fusion: Robust Visual-Inertial-Dynamics Odometry for Accurate External Force Estimation

VID-Fusion: Robust Visual-Inertial-Dynamics Odometry for Acc...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Ziming Ding Tiankai Yang Kunyi Zhang Chao Xu Fei Gao State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou China Huzhou Institute Zhejiang University Huzhou China National Engineering Research Center for Industrial Automation Ningbo Institute Ningbo China

Recently, quadrotors are gaining significant attention in aerial transportation and delivery. In these scenarios, an accurate estimation of the external force is as essential as the six degree-of-freedom (DoF) pose since it is of vital importance for planning and control of the vehicle. To this end, we propose a tightly-coupled Visual-Inertial-Dynamics (VID) system that simultaneously estimates the external force applied to the quadrotor along with the six DoF pose. Our method builds on the state-of-the-art optimization-based Visual-Inertial system [1], with a novel deduction of the dynamics and external force factor extended from VIMO [2]. Utilizing the proposed dynamics and external force factor, our estimator robustly and accurately estimates the external force even when it varies widely. Moreover, since we explicitly consider the influence of the external force, when compared with VIMO [2] and VINS-Mono [1], our method shows comparable and superior pose accuracy, even when the external force ranges from neglectable to significant. The robustness and effectiveness of the proposed method are validated by extensive real-world experiments and application scenario simulation. We will release an open-source package of this method along with datasets with ground truth force measurements for the reference of the community.

关键词： Force measurement Torque Force Dynamics Pose estimation Estimation Transportation

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