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A novel robotic visual perception framework for underwater operation

Frontiers of Information Technology & Electronic Engineering 2022年第11期23卷 1602-1619页

作者： Yue LU Xingyu CHEN Zhengxing WU Junzhi YU Li WEN State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China Ytech Kuaishou TechnologyBeijing 100085China State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and RoboticsCollege of EngineeringPeking UniversityBeijing 100871China School of Mechanical Engineering and Automation Beihang UniversityBeijing 100191China

Underwater robotic operation usually requires visual perception(e.g.,object detection and tracking),but underwater scenes have poor visual quality and represent a special domain which can affect the accuracy of visual *** addition,detection continuity and stability are important for robotic perception,but the commonly used static accuracy based evaluation(i.e.,average precision)is insufficient to reflect detector performance across *** response to these two problems,we present a design for a novel robotic visual perception ***,we generally investigate the relationship between a quality-diverse data domain and visual restoration in detection *** a result,although domain quality has an ignorable effect on within-domain detection accuracy,visual restoration is beneficial to detection in real sea scenarios by reducing the domain ***,non-reference assessments are proposed for detection continuity and stability based on object ***,online tracklet refinement is developed to improve the temporal performance of ***,combined with visual restoration,an accurate and stable underwater robotic visual perception framework is ***-overlap suppression is proposed to extend video object detection(VID)methods to a single-object tracking task,leading to the flexibility to switch between detection and *** experiments were conducted on the ImageNet VID dataset and real-world robotic tasks to verify the correctness of our analysis and the superiority of our proposed *** codes are available at https://***/yrqs/Visperception.

关键词： Underwater operation robotic perception Visual restoration Video object detection

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Knot-inspired optical sensors for slip detection and friction measurement in dexterous robotic manipulation

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Opto-Electronic Advances 2023年第10期6卷 45-53页

作者： Jing Pan Qi Wang Shuaikang Gao Zhang Zhang Yu Xie Longteng Yu Lei Zhang Research Center for Humanoid Sensing Zhejiang LabHangzhou 311100China State Key Laboratory of Modern Optical Instrumentation College of Optical Science and EngineeringZhejiang UniversityHangzhou 310027China.

Friction plays a critical role in dexterous robotic ***,realizing friction sensing remains a challenge due to the difficulty in designing sensing structures to decouple multi-axial *** by the topological mechanics of knots,we construct optical fiber knot(OFN)sensors for slip detection and friction *** introducing localized self-contacts along the fiber,the knot structure enables anisotropic responses to normal and frictional *** employing OFNs and a change point detection algorithm,we demonstrate adaptive robotic grasping of slipping *** further develop a robotic finger that can measure tri-axial forces via a centrosymmetric architecture composed of five *** a tactile finger allows a robotic hand to manipulate human tools *** work could provide a straightforward and cost-effective strategy for promoting adaptive grasping,dexterous manipulation,and human-robot interaction with tactile sensing.

关键词： robotic perception adaptive grasping slip detection force decoupling polymer optical fiber

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