CAS IR GRID研究单元&专题: 沈阳自动化研究所
中国科学院沈阳自动化研究所(Shenyang Institute of Automation Chinese Academy of Sciences )成立于1958年11月。成立之初被称为辽宁电子技术研究所,1960年4月更名为中国科学院辽宁分院自动化研究所,1962年至1972年的名称为中国科学院东北工业自动化研究所,1972年起正式定名为中国科学院沈阳自动化研究所。研究所主要研究方向是机器人、工业自动化和光电信息处理技术。该所作为中国机器人事业的摇篮,在中国机器人事业发展历史上创造了二十多个第一,引领中国机器人技术的研究发展。此外,该所还是“实验1”号科考船的船东单位。
http://www.irgrid.ac.cn:8080/handle/1471x/121051
2024-03-28T11:44:27Z
2024-03-28T11:44:27Z
Dual Aligned Siamese Dense Regression Tracker
Fan BJ(范保杰)
Zhang, Hui
Cong Y(丛杨)
Tang YD(唐延东)
Fan HJ(范慧杰)
Tian JD(田建东)
http://www.irgrid.ac.cn:8080/handle/1471x/7145711
2022-06-08T02:49:36Z
2022-06-08T02:49:52Z
题名: Dual Aligned Siamese Dense Regression Tracker
作者: Fan BJ(范保杰); Zhang, Hui; Cong Y(丛杨); Tang YD(唐延东); Fan HJ(范慧杰); Tian JD(田建东)
摘要: <p>Anchor or anchor-free based Siamese trackers have achieved the astonishing advancement. However, their parallel regression and classification branches lack the tracked target information link and interaction, and the corresponding independent optimization maybe lead to task-misalignment, such as the reliable classification prediction with imprecisely localization and vice versa. To address this problem, we develop a general Siamese dense regression tracker (SDRT) with both task and feature alignments. It consists of two cooperative and mutual-guidance core branches: dense local regression with RepPoint representation, the global and local multi-classifier fusion with aligned features. They complement and boost each other to constrain the results with well-localized followed to also be well-classified. Specifically, a dense local regression with RepPoint representation, directly estimates and averages multiple dense local bounding box offsets for accurate localization. And then, the refined bounding boxes can be used to learn the global and local affine alignment features for reliable multi-classifier fusion. The classified scores in turn guide the assigned positive bounding boxes for the regression task. The mutual guidance operations can bridge the connection between classification and regression substantially, since the assigned labels of one task depend on the prediction quality of the other task. The proposed tracking module is general, and it can boost both the anchor or anchor-free based Siamese trackers to some extent. The extensive tracking comparisons on six tracking benchmarks verify its favorable and competitive performance over states-of-the-arts tracking modules.</p>
2022-06-08T02:49:52Z
Vibration suppression of collaborative robot based on modified trajectory planning
Tian, Yong
Yue X(岳湘)
Wang, Lin
Feng, Yan
http://www.irgrid.ac.cn:8080/handle/1471x/7145730
2022-06-08T02:49:36Z
2022-06-08T02:49:52Z
题名: Vibration suppression of collaborative robot based on modified trajectory planning
作者: Tian, Yong; Yue X(岳湘); Wang, Lin; Feng, Yan
摘要: <p>Purpose The paper aims to reduce the low-frequency resonance and residual vibration of the robot during the operation, improve the working accuracy and efficiency. A reduced weight and large load-to-weight ratio can improve the practical application of a collaborative robot. However, flexibility caused by the reduced weight and large load-to-weight ratio leads to low-frequency resonance and residual vibration during the operation of the robot, which reduces the working accuracy and efficiency. The vibrations of the collaborative robot are suppressed using a modified trajectory-planning method. Design/methodology/approach A rigid-flexible coupling dynamics model of the collaborative robot is established using the finite element and Lagrange methods, and the vibration equation of the robot is derived. Trajectory planning is performed with the excitation force as the optimization objective, and the trajectory planning method is modified to reduce the vibration of the collaborative robot and ensure the precision of the robot terminal. Findings The vibration amplitude is reduced by 80%. The maximum torque amplitude of the joint before the vibration suppression reaches 50 N center dot m. After vibration suppression, the maximum torque amplitude of the joint is 10 N center dot m, and the resonance phenomenon is eliminated during the operation process. Consequently, the effectiveness of the modified trajectory planning method is verified, where the vibration and residual vibration in the movement of the collaborative robot are significantly reduced, and the positioning accuracy and working efficiency of the robot are improved. Originality/value This method can greatly reduce the vibration and residual vibration of the collaborative robot, improve the positioning accuracy and work efficiency and promote the rapid application and development of collaborative robots in the industrial and service fields.</p>
2022-06-08T02:49:52Z
Elastic deformation modeling of series robots with consideration of gravity
Hu MW(胡明伟)
Wang HG(王洪光)
Pan XA(潘新安)
Liao, Liangchuang
Sun, Hongwei
http://www.irgrid.ac.cn:8080/handle/1471x/7145729
2022-06-08T02:49:36Z
2022-06-07T06:30:44Z
题名: Elastic deformation modeling of series robots with consideration of gravity
作者: Hu MW(胡明伟); Wang HG(王洪光); Pan XA(潘新安); Liao, Liangchuang; Sun, Hongwei
摘要: <p>In this paper, an elastic deformation modeling method of series robots with consideration of gravity that combines the finite element structure method (FESM) with the virtual joint method (VJM) is proposed to improve the positioning accuracy of robots. This method has characteristics of low computational complexity, high precision, as well as high real time. Compared with the previous research, the influence of joint and link mass on the elastic deformation of robots can be considered. Firstly, the entire robot model is split into several independent components and these components are expressed as a combination of a rigid body and a 6-Dofs virtual joint. Through the VJM, an extended kinematic model of series robots is built with these 6-Dofs virtual joints. Secondly, the stiffness parameters of robot components or virtual joints are extracted and considered comprehensively by the FESM. Thirdly, according to the extended kinematic model, the elastic deformation model is established to obtain the positioning error caused by external wrenches and gravity of robots. Lastly, a series robot SHIR5-II is taken as an illustration to perform elastic deformation modeling by the proposed method. Based on laser tracker and finite element software, the static compliance test, the static compliance simulation and the 7-Dofs VJM-based elastic deformation modeling of SHIR5-II robot are performed to verify the effectiveness of this modeling method. © 2022, The Author(s), under exclusive licence to Springer-Verlag GmbH Germany, part of Springer Nature.</p>
2022-06-07T06:30:44Z
An Efficient Online Trajectory Generation Method Based on Kinodynamic Path Search and Trajectory Optimization for Human-Robot Interaction Safety
Liu HY(刘鸿雁)
Qu DK(曲道奎)
Xu F(徐方)
Du ZJ(杜振军)
Jia K(贾凯)
Liu MM( 刘明敏)
Liu MM(刘明敏)
http://www.irgrid.ac.cn:8080/handle/1471x/7145721
2022-06-08T02:49:36Z
2022-06-07T06:30:43Z
题名: An Efficient Online Trajectory Generation Method Based on Kinodynamic Path Search and Trajectory Optimization for Human-Robot Interaction Safety
作者: Liu HY(刘鸿雁); Qu DK(曲道奎); Xu F(徐方); Du ZJ(杜振军); Jia K(贾凯); Liu MM( 刘明敏); Liu MM(刘明敏)
摘要: <p>With the rapid development of robot perception and planning technology, robots are gradually getting rid of fixed fences and working closely with humans in shared workspaces. The safety of human-robot coexistence has become critical. Traditional motion planning methods perform poorly in dynamic environments where obstacles motion is highly uncertain. In this paper, we propose an efficient online trajectory generation method to help manipulator autonomous planning in dynamic environments. Our approach starts with an efficient kinodynamic path search algorithm that considers the links constraints and finds a safe and feasible initial trajectory with minimal control effort and time. To increase the clearance between the trajectory and obstacles and improve the smoothness, a trajectory optimization method using the B-spline convex hull property is adopted to minimize the penalty of collision cost, smoothness, and dynamical feasibility. To avoid the collisions between the links and obstacles and the collisions of the links themselves, a constraint-relaxed links collision avoidance method is developed by solving a quadratic programming problem. Compared with the existing state-of-the-art planning method for dynamic environments and advanced trajectory optimization method, our method can generate a smoother, collision-free trajectory in less time with a higher success rate. Detailed simulation comparison experiments, as well as real-world experiments, are reported to verify the effectiveness of our method. © 2022 by the authors. Licensee MDPI, Basel, Switzerland.</p>
2022-06-07T06:30:43Z
Extraction algorithm for longitudinal and transverse mechanical information of AFM
Hao, Chunxue
Wang SJ(王守金)
Yuan S(袁帅)
(1,2)
Wu Boyu
Yu P(于鹏)
Shi JL(施佳林)
http://www.irgrid.ac.cn:8080/handle/1471x/7145713
2022-06-08T02:49:36Z
2022-06-07T06:30:42Z
题名: Extraction algorithm for longitudinal and transverse mechanical information of AFM
作者: Hao, Chunxue; Wang SJ(王守金); Yuan S(袁帅); (1,2); Wu Boyu; Yu P(于鹏); Shi JL(施佳林)
摘要: <p>The atomic force microscope (AFM) can measure nanoscale morphology and mechanical properties and has a wide range of applications. The traditional method for measuring the mechanical properties of a sample does so for the longitudinal and transverse properties separately, ignoring the coupling between them. In this paper, a data processing and multidimensional mechanical information extraction algorithm for the composite mode of peak force tapping and torsional resonance is proposed. On the basis of a tip-sample interaction model for the AFM, longitudinal peak force data are used to decouple amplitude and phase data of transverse torsional resonance, accurately identify the tip-sample longitudinal contact force in each peak force cycle, and synchronously obtain the corresponding characteristic images of the transverse amplitude and phase. Experimental results show that the measured longitudinal mechanical characteristics are consistent with the transverse amplitude and phase characteristics, which verifies the effectiveness of the method. Thus, a new method is provided for the measurement of multidimensional mechanical characteristics using the AFM. © 2022 Author(s).</p>
2022-06-07T06:30:42Z
Multibranch Feature Difference Learning Network for Cross-Spectral Image Patch Matching
Yu C(余创)
Liu YP(刘云鹏)
Li CX(李晨曦)
Qi L(亓琳)
Xia X(夏鑫)
Liu TC(刘天赐)
Hu ZH(胡祝华)
http://www.irgrid.ac.cn:8080/handle/1471x/7145718
2022-06-08T02:49:36Z
2022-06-07T06:30:41Z
题名: Multibranch Feature Difference Learning Network for Cross-Spectral Image Patch Matching
作者: Yu C(余创); Liu YP(刘云鹏); Li CX(李晨曦); Qi L(亓琳); Xia X(夏鑫); Liu TC(刘天赐); Hu ZH(胡祝华)
摘要: <p>Cross-spectral image patch matching is still challenging due to significant nonlinear differences between image patches. Recently, image patch matching methods based on feature relation learning have attracted increasing attention and achieved good performance. However, we find that the metric learning methods based on feature difference cannot comprehensively and effectively extract useful discriminative information between image patch pairs by only adopting two branches network structure. Therefore, we propose a novel multi-branch feature difference learning network (MFD-Net). Specifically, we build a multi-branch parallel feature difference extraction network, which can capture richer and more discriminative feature difference information and achieve significant improvements on matching tasks. Furthermore, we propose a combined metric network composed of a master metric network module and multiple branch metric network modules, which promotes the forward update of network weights and reduces the similarity of features extracted by each feature difference extraction module with negligible increase in inference time. Extensive experimental results show that the proposed MFD-Net achieves superior performances on cross-spectral image patch matching and single spectral image patch matching.</p>
2022-06-07T06:30:41Z
Incremental Learning and Fault-tolerant Classifier for Myoelectric Pattern Recognition against Multiple Bursting Interferences
Ding QC(丁其川)
Zhang, Xiaoliang
Zhao XG(赵新刚)
Wu CD(吴成东)
http://www.irgrid.ac.cn:8080/handle/1471x/7145712
2022-06-08T02:49:36Z
2022-06-07T06:30:40Z
题名: Incremental Learning and Fault-tolerant Classifier for Myoelectric Pattern Recognition against Multiple Bursting Interferences
作者: Ding QC(丁其川); Zhang, Xiaoliang; Zhao XG(赵新刚); Wu CD(吴成东)
摘要: <p>Bursting interference that causes a sudden and significant change in surface electromyography (sEMG) characteristics, can reduce the stability and security of myoelectric assistive robots. Current adaptation strategies for progressive-generated interference are incapable of dealing with bursting interference. To address this problem, an incremental learning and fault-tolerant classifier (ILFTC) was proposed by combining a Gaussian mixture model (GMM) ensemble and linear discriminant analysis (LDA), in conjunction with online update and marginalization schemes. Subsequently, an ILFTC-based myoelectric pattern recognition (MPR) strategy was developed to improve the robustness of MPR against multiple interferences, including outlier motion and missing/fault data owing to electrode loosening. Experiments on hand/wrist motions were conducted to validate the anti-interference performance of the ILFTC. Experimental results showed that the ILFTC could effectively resist the two types of bursting interference and produce a significant improvement in the recognition performance over traditional classifiers, as well as the methods presented in previous studies. The results show that the proposed method has the potential to enhance the robustness of myoelectric assistive robots.</p>
2022-06-07T06:30:40Z
Gradient eigendecomposition invariance biogeography-based optimization for mobile robot path planning
Na XD(那晓栋)
Wang, Jiaqian
Han M(韩敏)
Li DC(李德才)
http://www.irgrid.ac.cn:8080/handle/1471x/7145710
2022-06-08T02:49:36Z
2022-06-07T06:30:38Z
题名: Gradient eigendecomposition invariance biogeography-based optimization for mobile robot path planning
作者: Na XD(那晓栋); Wang, Jiaqian; Han M(韩敏); Li DC(李德才)
摘要: <p>The path planning for mobile robots has attracted extensive attention, and evolutionary algorithms have been applied to this problem increasingly. In this paper, we propose a novel gradient eigendecomposition invariance biogeography-based optimization (GEI-BBO) for mobile robot path planning, which has the merits of high rotation invariance and excellent search performance. In GEI-BBO, we design an eigendecomposition mechanism for migration operation, which can reduce the dependency of biogeography-based optimization (BBO) on the coordinate system, improve the rotation invariance and share the information between eigensolutions more effectively. Meanwhile, to find the local optimal solution better, gradient descent is added, and the system search strategy can reduce the occurrence of local trapping phenomenon. In addition, combining the GEI-BBO with cubic spline interpolation will solve the problem of mobile robot path planning through a defined coding method and fitness function. A series of experiments are implemented on benchmark functions, whose results indicated that the optimization performance of GEI-BBO is superior to other algorithms. And the successful application of GEI-BBO for path planning in different environments confirms its effectiveness and practicability.</p>
2022-06-07T06:30:38Z
Fast and Accurate Hand Visual Detection by Using a Spatial-Channel Attention SSD for Hand-Based Space Robot Teleoperation
Gao Q(高庆)
Zhang X(张鑫)
Pang, Wenrao
http://www.irgrid.ac.cn:8080/handle/1471x/7145720
2022-06-08T02:49:36Z
2022-06-07T06:30:37Z
题名: Fast and Accurate Hand Visual Detection by Using a Spatial-Channel Attention SSD for Hand-Based Space Robot Teleoperation
作者: Gao Q(高庆); Zhang X(张鑫); Pang, Wenrao
摘要: <p>Space robot teleoperation is an important technology in the space human-robot interaction and collaboration. Hand-based visual teleoperation can make the operation more natural and convenient. The fast and accuracy hand detection is one of the most difficult and important problem in the hand-based space robot teleoperation. In this work, we propose a fast and accurate hand detection method by using a spatial-channel attention single shot multibox detector (SCA-SSD). The SSD framework is used and improved in our method by introducing spatial-channel attentions with feature fusion. To increase the restricted receptive field in shallow layers, two shallow layers are fused with deep layers by using feature fusion modules. And spatial attention and channel-wise attention are also used to extract more efficient features. This method can not only ease the computational burden but also bring more contextual information. To evaluate the effectiveness of the proposed method, experiments on some public datasets and a custom astronaut hand detection dataset (AHD) are conducted. The results show that our method can improve the hand detection accuracy by 2.7% compared with the original SSD with only 15 fps speed drops. In addition, the space robot teleoperation experiment proves that our hand detection method can be well utilized in the space robot teleoperation system.</p>
2022-06-07T06:30:37Z
Thrust Prediction Method of Jet Propulsion for Transformer Internal Inspection Robot
He Z(何震)
Wang YB(王亚彪)
Sun XS(孙先帅)
Zhao YM(赵宇明)
Li ZG(李智刚)
http://www.irgrid.ac.cn:8080/handle/1471x/7145715
2022-06-08T02:49:36Z
2022-06-07T06:26:14Z
题名: Thrust Prediction Method of Jet Propulsion for Transformer Internal Inspection Robot
作者: He Z(何震); Wang YB(王亚彪); Sun XS(孙先帅); Zhao YM(赵宇明); Li ZG(李智刚)
摘要: Robot technology has been successfully applied to the internal inspection of large power transformers. In order to further improve the level of robot intelligent control and realize robot motion control accuracy of the floating state, this paper analyzes the factors that affect the jet thrust of the robot propulsion system on the developed spherical transformer internal inspection robot platform based on jet propulsion, and builds an experimental platform. Combining experimental data to establish jet thrust equation. On this basis, the working state of the robot power system is further analyzed, the equivalent discharge model of the robot battery is established, the battery state parameters are introduced into the jet thrust equation. Finally, a mathematical model of jet thrust prediction is established that comprehensively considers the robot power system, control system, and environmental parameters. The establishment of this model lays a good theoretical foundation for the establishment of the robot's precise dynamics model, fine motion control and intelligent control algorithm.
2022-06-07T06:26:14Z