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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

Swelling of Spherical Polyelectrolyte Gels

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Chinese Journal of Polymer Science 2024年第9期42卷 1386-1392,I0009页

作者： Ming-Yu Duan Jia-Dong Chen Yi-Ming Liu Zhao-Feng Peng Guang Chen department of Advanced Manufacturing and robotics College of EngineeringPeking UniversityBeijing 100871China

Polyelectrolyte(PE)gels,distinguished by their unique stimuli-responsive swelling behavior,serve as the basis of broad applications,such as artificial muscles and drug *** this work,we present a theoretical model to analyze the electrostatics and its contribution to the swelling behavior of PE gels in salt *** minimizing the free energy of PE gels,we obtain two distinct scaling regimes for the swelling ratio at equilibrium with respect to the salt *** compare our predictions for the swelling ratio with experimental measurements,which show excellent *** addition,we employ a finite element method to assess the applicability range of our theoretical model and *** anticipate that our model will also provide valuable insights into drug adsorption and release,deformation of red blood cells,4D printing and soft robotics,where the underlying mechanism of swelling remains enigmatic.

关键词： Gels Polyelectrolytes Swelling Stimuli-responsive Electrostatic interaction Cell model

Construction and manipulation of origami-inspired tubular structures with controlled mechanical buckling for collection and transportation of microspheres based on optically induced electrokinetics

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Science China(Technological Sciences) 2024年第9期67卷 2954-2964页

作者： YANG WenGuang WANG WenHao TENG XiangYu QIAO ZeZheng YU HaiBo School of Electromechanical and Automotive engineering Yantai UniversityYantai 264005China State Key Laboratory of robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China

The development of microengineered hydrogels has opened up unlimited possibilities for designing complex structures at the microscale. In this study, we constructed an origami-inspired tubular structure with controlled mechanical buckling based on optically induced electrokinetics(OEK). By inducing a stress gradient in the thickness, a tubular structure can be formed from a poly(ethylene glycol) diacrylate(PEGDA) hydrogel film of various shapes that have been custom fabricated. To achieve an ideal three-dimensional(3D) structure, the amplitude of the tubular structure can be controlled by adjusting the aspect ratios or polymerization time. Furthermore, the tubular structure can be manipulated for the collection and transportation of *** summary, we provide an effective method for designing 3D structures at the micro-nano scale. This forming method holds great potential for achieving various functions in tissue engineering, drug packaging, and transportation in the future.

关键词： origami-inspired tubular structures optically induced electrokinetics microfabrication mechanical buckling

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)

Cooperative Target Fencing of Multiple Vehicles for a General Target with Connectivity Preservation and Collision Avoidance

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Journal of Systems Science & Complexity 2024年第1期37卷 136-151页

作者： PAN Zini CHEN Ben M department of Mechanical and automation engineering The Chinese University of Hong KongHong KongChina

In this paper,the authors study the cooperative target-fencing problem for n-dimensional systems and a target with a general *** using the velocity of the vehicles,a position feedback control law is proposed to fence the general target into the convex hull formed by the ***,the dynamics of each vehicle is described by a double-integrator *** potential functions are designed to guarantee connectivity preservation of the communication network and collision avoidance among the *** proposed approach can deal with a target whose trajectory is any twice continuously differentiable function of *** effectiveness of the result is verified by a numerical example.

关键词： Multi-agent systems networked systems target fencing

Optimal Positioning Strategy for Multi-Camera Zooming Drones

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IEEE/CAA Journal of Automatica Sinica 2024年第8期11卷 1802-1818页

作者： Manuel Vargas Carlos Vivas Teodoro Alamo department of System engineering and automation University of SevilleSeville 41092Spain

In the context of multiple-target tracking and surveillance applications,this paper investigates the challenge of determining the optimal positioning of a single autonomous aerial vehicle or agent equipped with multiple independently-steerable zooming cameras to effectively monitor a set of targets of *** camera is dedicated to tracking a specific target or cluster of *** key innovation of this study,in comparison to existing approaches,lies in incorporating the zooming factor for the onboard cameras into the optimization *** enhancement offers greater flexibility during mission execution by allowing the autonomous agent to adjust the focal lengths of the onboard cameras,in exchange for varying real-world distances to the corresponding targets,thereby providing additional degrees of freedom to the optimization *** proposed optimization framework aims to strike a balance among various factors,including distance to the targets,verticality of viewpoints,and the required focal length for each *** primary focus of this paper is to establish the theoretical groundwork for addressing the non-convex nature of the optimization problem arising from these *** this end,we develop an original convex approximation *** paper also includes simulations of diverse scenarios,featuring varying numbers of onboard tracking cameras and target motion profiles,to validate the effectiveness of the proposed approach.

关键词： Convex optimization projective transformation unmanned aerial vehicle visual object tracking visual surveillance.

Distributed Nash Equilibrium Seeking on Compact Action Sets over Jointly Strongly Connected Switching Networks

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Journal of Systems Science & Complexity 2024年第1期37卷 63-81页

作者： HE Xiongnan HUANG Jie department of Mechanical and automation engineering The Chinese University of Hong KongHong Kong 999077China.

This paper studies the distributed Nash equilibrium seeking(DNES)problem for games whose action sets are compact and whose network graph is switching satisfying the jointly strongly connected *** keep the actions of all players in their action sets all the time,one has to resort to the projected gradient-based *** the assumption that the unique Nash equilibrium is the unique equilibrium of the pseudogradient system,an algorithm is proposed that is able to exponentially find the Nash ***,the authors also consider the distributed Nash equilibrium seeking problem for games whose actions are governed by high-order integrator dynamics and belong to some compact *** examples are used to illustrate the proposed approach.

关键词： Compact action sets jointly strongly connected switching graphs Nash equilibrium seeking projected gradient-based algorithm.

SGT-Net: A Transformer-Based Stratified Graph Convolutional Network for 3D Point Cloud Semantic Segmentation

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Computers, Materials & Continua 2024年第6期79卷 4471-4489页

作者： Suyi Liu Jianning Chi Chengdong Wu Fang Xu Xiaosheng Yu Faculty of Robot Science and engineering Northeastern UniversityShenyang110167China State Key Laboratory of robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang110016China Institutes for robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang110169China SIASUN Robot&automation Co. Ltd.Shenyang110169China

In recent years,semantic segmentation on 3D point cloud data has attracted much *** 2D images where pixels distribute regularly in the image domain,3D point clouds in non-Euclidean space are irregular and inherently ***,it is very difficult to extract long-range contexts and effectively aggregate local features for semantic segmentation in 3D point cloud *** current methods either focus on local feature aggregation or long-range context dependency,but fail to directly establish a global-local feature extractor to complete the point cloud semantic segmentation *** this paper,we propose a Transformer-based stratified graph convolutional network(SGT-Net),which enlarges the effective receptive field and builds direct long-range ***,we first propose a novel dense-sparse sampling strategy that provides dense local vertices and sparse long-distance vertices for subsequent graph convolutional network(GCN).Secondly,we propose a multi-key self-attention mechanism based on the Transformer to further weight augmentation for crucial neighboring relationships and enlarge the effective receptive *** addition,to further improve the efficiency of the network,we propose a similarity measurement module to determine whether the neighborhood near the center point is *** demonstrate the validity and superiority of our method on the S3DIS and ShapeNet *** ablation experiments and segmentation visualization,we verify that the SGT model can improve the performance of the point cloud semantic segmentation.

关键词： 3D point cloud semantic segmentation long-range contexts global-local feature graph convolutional network dense-sparse sampling strategy

TFN-FICFM:sEMG-Based Gesture Recognition Using Temporal Fusion Network and Fuzzy Integral-based Classifier Fusion

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Journal of Bionic engineering 2024年第4期21卷 1878-1891页

作者： Fo Hu Kailun He Mengyuan Qian Mohamed Amin Gouda College of Information engineering Zhejiang University of TechnologyHangzhou310023China department of Mechanical engineering and automation Northeastern UniversityShenyang110819China

Surface electromyography(sEMG)-based gesture recognition is a key technology in the field of human–computer ***,existing gesture recognition methods face challenges in effectively integrating discriminative temporal feature representations from sEMG *** this paper,we propose a deep learning framework named TFN-FICFM comprises a Temporal Fusion Network(TFN)and Fuzzy Integral-Based Classifier Fusion method(FICFM)to improve the accuracy and robustness of gesture ***,we design a TFN module,which utilizes an attention-based recurrent multi-scale convolutional module to acquire multi-level temporal feature representations and achieves deep fusion of temporal features through a feature pyramid ***,the deep-fused temporal features are utilized to generate multiple sets of gesture category prediction confidences through a feedback ***,we employ FICFM to perform fuzzy fusion on prediction confidences,resulting in the ultimate *** study conducts extensive comparisons and ablation studies using the publicly available datasets Ninapro DB2 and *** demonstrate that the TFN-FICFM model outperforms state-of-the-art methods in classification *** research can serve as a benchmark for sEMG-based gesture recognition and related deep learning modeling.

关键词： Gesture recognition sEMG Deep learning Temporal fusion Fuzzy fusion