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Grasp Detection with Hierarchical Multi-Scale Feature Fusion and Inverted Shuffle Residual

Tsinghua Science and Technology 2024年第1期29卷 244-256页

作者： Wenjie Geng Zhiqiang Cao Peiyu Guan Fengshui Jing Min Tan Junzhi Yu State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049China department of advanced manufacturing and robotics College of EngineeringPeking UniversityBeijing 100871China

Grasp detection plays a critical role for robot *** pixel-wise grasp detection networks with encoder-decoder structure receive much attention due to good accuracy and ***,they usually transmit the high-level feature in the encoder to the decoder,and low-level features are *** is noted that low-level features contain abundant detail information,and how to fully exploit low-level features remains ***,the channel information in high-level feature is also not well ***,the performance of grasp detection is *** solve these problems,we propose a grasp detection network with hierarchical multi-scale feature fusion and inverted shuffle *** low-level and high-level features in the encoder are firstly fused by the designed skip connections with attention module,and the fused information is then propagated to corresponding layers of the decoder for in-depth feature *** a hierarchical fusion guarantees the quality of grasp ***,an inverted shuffle residual module is created,where the high-level feature from encoder is split in channel and the resultant split features are processed in their respective *** such differentiation processing,more high-dimensional channel information is kept,which enhances the representation ability of the ***,an information enhancement module is added before the encoder to reinforce input *** proposed method attains 98.9%and 97.8%in image-wise and object-wise accuracy on the Cornell grasping dataset,respectively,and the experimental results verify the effectiveness of the method.

关键词： grasp detection hierarchical multi-scale feature fusion skip connections with attention inverted shuffle residual

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Intuitive Human-Robot-Environment Interaction With EMG Signals:A Review

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IEEE/CAA Journal of Automatica Sinica 2024年第5期11卷 1075-1091页

作者： Dezhen Xiong Daohui Zhang Yaqi Chu Yiwen Zhao Xingang Zhao State Key Laboratory of robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016 Institutes for robotics and Intelligent manufacturing Chinese Academy of SciencesShenyang 110169 University of Chinese Academy of Sciences Beijing 100049China

A long history has passed since electromyography(EMG)signals have been explored in human-centered robots for intuitive ***,it still has a gap between scientific research and real-life *** studies mainly focused on EMG decoding algorithms,leaving a dynamic relationship between the human,robot,and uncertain environment in real-life scenarios seldomly *** fill this gap,this paper presents a comprehensive review of EMG-based techniques in human-robot-environment interaction(HREI)*** general processing framework is summarized,and three interaction paradigms,including direct control,sensory feedback,and partial autonomous control,are ***-based intention decoding is treated as a module of the proposed *** key issues involving precision,stability,user attention,compliance,and environmental awareness in this field are *** important directions,including EMG decomposition,robust algorithms,HREI dataset,proprioception feedback,reinforcement learning,and embodied intelligence,are proposed to pave the way for future *** the best of what we know,this is the first time that a review of EMG-based methods in the HREI system is *** provides a novel and broader perspective to improve the practicability of current myoelectric interaction systems,in which factors in human-robot interaction,robot-environment interaction,and state perception by human sensations are considered,which has never been done by previous studies.

关键词： robot summarized Robot

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Advances in sodium-ion batteries at low-temperature: Challenges and strategies

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Journal of Energy Chemistry 2024年第3期90卷 518-539,I0012页

作者： Haoran Bai Xiaohui Zhu Huaisheng Ao Guangyu He Hai Xiao Yinjuan Chen Key Laboratory of advanced Catalytic Materials and Technology Advanced Catalysis and Green Manufacturing Collaborative Innovation CenterChangzhou UniversityChangzhou 213164JiangsuChina department of Chemistry Tsinghua UniversityBeijing 100084China

With the continuing boost in the demand for energy storage,there is an increasing requirement for batteries to be capable of operation in extreme environmental ***-ion batteries(SIBs) have emerged as a highly promising energy storage solution due to their promising performance over a wide range of temperatures and the abundance of sodium resources in the earth's *** to lithiumion batteries(LIBs),although sodium ions possess a larger ionic radius,they are more easily desolvated than lithium *** rthermore,SIBs have a smaller Stokes radius than lithium ions,resulting in improved sodium-ion mobility in the ***,SIBs demonstrate a significant decrease in performance at low temperatures(LT),which constrains their operation in harsh weather *** the increasing interest in SIBs,there is a notable scarcity of research focusing specifically on their mechanism under LT *** review explores recent research that considers the thermal tolerance of SIBs from an inner chemistry process perspective,spanning a wide temperature spectrum(-70 to100℃),particularly at LT *** addition,the enhancement of electrochemical performance in LT SIBs is based on improvements in reaction kinetics and cycling stability achieved through the utilization of effective electrode materials and electrolyte ***,the safety concerns associated with SIBs are addressed and effective strategies are proposed for mitigating these ***,prospects conducted to extend the environmental frontiers of commercial SIBs are discussed mainly from three viewpoints including innovations in materials,development and research of relevant theoretical mechanisms,and intelligent safety management system establishment for larger-scale energy storage SIBs.

关键词： Low-temperature Sodium-ion batteries Reaction kinetics Cycle stability Safety concerns of Sodium-ion batteries

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TibetanGoTinyNet:a lightweight U-Net style network for zero learning of Tibetan Go

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Frontiers of Information Technology & Electronic Engineering 2024年第7期25卷 924-937页

作者： Xiali LI Yanyin ZHANG Licheng WU Yandong CHEN Junzhi YU Key Laboratory of Ethnic Language Intelligent Analysis and Security Governance Ministry of EducationMinzu University of ChinaBeijing 100081China School of Information Engineering Minzu University of ChinaBeijing 100081China department of advanced manufacturing and robotics College of EngineeringPeking UniversityBeijing 100871China

The game of Tibetan Go faces the scarcity of expert knowledge and research ***,we study the zero learning model of Tibetan Go under limited computing power resources and propose a novel scaleinvariant U-Net style two-headed output lightweight network *** lightweight convolutional neural networks and capsule structure are applied to the encoder and decoder of TibetanGoTinyNet to reduce computational burden and achieve better feature extraction *** autonomous self-attention mechanisms are integrated into TibetanGoTinyNet to capture the Tibetan Go board’s spatial and global information and select important *** training data are generated entirely from self-play *** achieves 62%–78%winning rate against other four U-Net style models including Res-UNet,Res-UNet Attention,Ghost-UNet,and Ghost *** also achieves 75%winning rate in the ablation experiments on the attention mechanism with embedded positional *** model saves about 33%of the training time with 45%–50%winning rate for different Monte–Carlo tree search(MCTS)simulation counts when migrated from 9×9 to 11×11 *** for our model is available at https://***/paulzyy/TibetanGoTinyNet.

关键词： Zero learning Tibetan Go U-Net Self-attention mechanism Capsule network Monte-Carlo tree search

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A flat-foldable equiangular spiral folding pattern inspired by sunflowers for deployable structures

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Chinese Journal of Aeronautics 2024年第6期37卷 425-438页

作者： Shuangqing YU Jinguo LIU Pengyuan ZHAO Yingying TANG State Key Laboratory of robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for robotics and Intelligent manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China

Flasher origami pattern has been widely utilized to improve the stowage efficiency of deployable ***,flasher origami cannot be folded fully flat,and they still have great potential for optimization in terms of storage volume and folding *** this paper,a flat foldable equiangular spiral folding pattern inspired by the sunflower disk is ***,a parametric design method for this equiangular spiral crease diagram is introduced in ***,a kinematic model of the equiangular spiral folding pattern is established based on the kinematic equivalence between rigid origami and spherical linkages.A simulation of the developed model demonstrates that the equiangular spiral folding pattern can be folded *** the folded ratio as an evaluation index,the calculated results and experiments show that the equiangular spiral crease pattern can yield fewer creases and improve stowage efficiency in comparison to flasher origami *** spiral folding pattern can save a considerable amount of space and provide a new approach to spatially deployable structures.

关键词： Flasher origami Sunflower-inspired Deployable structures Flat-foldability Equiangular spiral folding pattern

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Determination of Material Parameters of EVA Foam under Uniaxial Compressive Testing Using Hyperelastic Models

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Journal of Wuhan University of Technology(Materials Science) 2024年第3期39卷 800-804页

作者： Nattapong Sangkapong Fasai Wiwatwongwana Nattawit Promma department of Mechanical Engineering Faculty of EngineeringChiang Mai UniversityChiang Mai 50300Thailand department of advanced manufacturing Technology Faculty of EngineeringPathumwan Institute of TechnologyBangkok 10330Thailand

The objective of this research was to determine the mechanical parameter from EVA foam and also investigate its behavior by using Blatz-Ko,Neo-Hookean,Mooney model and experimental *** physical characteristic of EVA foam was also evaluated by scanning electron microscopy(SEM).The results show that Blatz-Ko and Neo-Hookean model can fit the curve at 5%and 8%strain,*** Mooney model can fit the curve at 50%*** modulus of rigidity evaluated from Mooney model is 0.0814±0.0027 *** structure of EVA foam from SEM image shows that EVA structure is a closed cell with homogeneous porous *** the result,it is found that Mooney model can adjust the data better than other *** model can be applied for mechanical response prediction of EVA foam and also for reference value in engineering application.

关键词： hyperelastic models modulus of rigidity EVA foam curve fitting method strain energy function uniaxial compressive testing

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Elliptical vibration chiseling:a novel process for texturing ultra-high-aspect-ratio microstructures on the metallic surface

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International Journal of Extreme manufacturing 2024年第2期6卷 449-467页

作者： Zhiwei Li Jianfu Zhang Zhongpeng Zheng Pingfa Feng Dingwen Yu Jianjian Wang State Key Laboratory of Tribology in advanced Equipment Department of Mechanical EngineeringTsinghua UniversityBeijing 100084People’s Republic of China Beijing Key Laboratory of Precision/Ultra-precision manufacturing Equipments and Control Department of Mechanical EngineeringTsinghua UniversityBeijing 100084People’s Republic of China Division of advanced manufacturing Shenzhen International Graduate SchoolTsinghua UniversityShenzhen 518055People’s Republic of China

High-aspect-ratio metallic surface microstructures are increasingly demanded in breakthrough applications,such as high-performance heat transfer enhancement and surface plasmon ***,the fast and cost-effective fabrication of high-aspect-ratio microstructures on metallic surfaces remains challenging for existing *** study proposes a novel cutting-based process,namely elliptical vibration chiseling(EV-chiseling),for the high-efficiency texturing of surface microstructures with an ultrahigh aspect *** conventional cutting,EV-chiseling superimposes a microscale EV on a backward-moving *** tool chisels into the material in each vibration cycle to generate an upright chip with a high aspect ratio through material *** to the tool’s backward movement,the chip is left on the material surface to form a microstructure rather than falling *** one microstructure is generated in one vibration cycle,the process can be highly efficient using ultrafast(>1 kHz)tool vibration.A finite element analysis model is established to explore the process mechanics of ***,a mechanistic model of the microstructured surface generation is developed to describe the microstructures’aspect ratio dependency on the process ***,surface texturing tests are performed on copper to verify the efficacy of *** micro ribs with a spacing of 1–10μm and an aspect ratio of 2–5 have been successfully textured on *** with the conventional EV-cutting that uses a forward-moving tool,EV-chiseling can improve the aspect ratio of textured microstructure by up to 40 *** experimental results also verify the accuracy of the developed surface generation model of ***,the effects of elliptical trajectory,depth of cut,tool shape,and tool edge radius on the surface generation of micro ribs have been discussed.

关键词： metallic microstructure high aspect ratio backward-moving cutting vibration cutting chiseling material deformation

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Neural Dynamics for Cooperative Motion Control of Omnidirectional Mobile Manipulators in the Presence of Noises: A Distributed Approach

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IEEE/CAA Journal of Automatica Sinica 2024年第7期11卷 1605-1620页

作者： Yufeng Lian Xingtian Xiao Jiliang Zhang Long Jin Junzhi Yu Zhongbo Sun the department of Control Engineering Changchun University of TechnologyChangchun 130012China IEEE the College of Information Science and Engineering Northeastern UniversityShenyang 110819 the National Mobile Communications Research Laboratory Southeast UniversityNanjing 210096China the School of Information Science and Engineering Lanzhou UniversityLanzhou 730000China the State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and RoboticsCollege of EngineeringPeking UniversityBeijing 100871China

This paper presents a distributed scheme with limited communications, aiming to achieve cooperative motion control for multiple omnidirectional mobile manipulators(MOMMs).The proposed scheme extends the existing single-agent motion control to cater to scenarios involving the cooperative operation of MOMMs. Specifically, squeeze-free cooperative load transportation is achieved for the end-effectors of MOMMs by incorporating cooperative repetitive motion planning(CRMP), while guiding each individual to desired poses. Then, the distributed scheme is formulated as a time-varying quadratic programming(QP) and solved online utilizing a noise-tolerant zeroing neural network(NTZNN). Theoretical analysis shows that the NTZNN model converges globally to the optimal solution of QP in the presence of noise. Finally, the effectiveness of the control design is demonstrated by numerical simulations and physical platform experiments.

关键词： Cooperative motion control noise-tolerant zeroing neural network(NTZNN) omnidirectional mobile manipulator(OMM) repetitive motion planning

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Vision-based docking system for an aromatic-hydrocarbon-inspired reconfigurable robot

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Science China(Technological Sciences) 2024年第6期67卷 1798-1816页

作者： XING FangYi XU Cheng LIU JinGuo XUE ZhiHui State Key Laboratory of robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang110016China School of Automation and Electrical Engineering Shenyang Ligong UniversityShenyang110158China Institutes for robotics and Intelligent manufacturing Chinese Academy of SciencesShenyang110169China University of Chinese Academy of Sciences Beijing100049China

Aromatic hydrocarbons generally refer to compounds containing benzene *** types of isomers can be formed by replacing hydrogen atoms on the benzene *** this paper,an aromatic-hydrocarbon-inspired modular robot(AHIMR)is *** robot can be reassembled into different configurations suitable for various task requirements.A vision-based docking system is designed for the *** system primarily consists of two stages:a remote guidance stage and a precise docking *** the remote guidance stage,an object module is identified using an illumination adaptive target recognition algorithm,and then the active module moves to the docking area through communication with *** the precise docking stage,the active module calculates the relative pose with the object module using a perspective-n-point method and dynamically adjusts its posture to *** this process,a Kalman filter is used to reduce target occlusion and jitter *** addition,the docking system feasibility is verified via several simulation *** module docking accuracy is controlled within 0.01 m,which meets the reconfiguration task requirements of the *** the AHIMR submodule docking experiment,the active module accurately moves to the expected position with a docking success rate of 95%.

关键词： modular robot reconfiguration aromatic hydrocarbon autonomous docking visual identification

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Mathematical modeling and simulations of stress mitigation by coating polycrystalline particles in lithium-ion batteries

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Applied Mathematics and Mechanics(English Edition) 2024年第6期45卷 947-962页

作者： N.IQBAL J.CHOI S.F.SHAH C.LEE S.LEE department of Mechanical Roboticsand Energy EngineeringDongguk University-SeoulSeoul 04620Republic of Korea

A chemo-mechanical model is developed to investigate the effects on the stress development of the coating of polycrystalline Ni-rich LiNixMnyCo_(z)O_(2)(x≥0.8)(NMC)particles with poly(3,4-ethylenedioxythiophene)(PEDOT).The simulation results show that the coating of primary NMC particles significantly reduces the stress generation by efficiently accommodating the volume change associated with the lithium diffusion,and the coating layer plays roles both as a cushion against the volume change and a channel for the lithium transport,promoting the lithium distribution across the secondary particles more ***,the lower stiffness,higher ionic conductivity,and larger thickness of the coating layer improve the stress *** paper provides a mathematical framework for calculating the chemo-mechanical responses of anisotropic electrode materials and fundamental insights into how the coating of NMC active particles mitigates stress levels.

关键词： lithium-ion battery(LIB) polycrystalline particle coating finite element simulation Ni-rich LiNixMnyCo_(z)O_(2)(x>0.8)(NMC)

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