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Journal of Materiomics 2024年第5期10卷 1160-1164页

作者： Swati Panda Hyoju Shin Sugato Hajra Yumi Oh Wonjeong Oh Jeonghyeon Lee P.M.Rajaitha Basanta Kumar Panigrahi Jyoti Shukla Alok Kumar Sahu Perumal Alagarsamy Hoe Joon Kim Department of robotics and Mechatronics Engineering Daegu Gyeongbuk Institute of Science and Technology(DGIST)Daegu 42988South Korea Department of Electrical Engineering Siksha‘O’Anusandhan UniversityBhubaneswar 751030India Department of Electrical Engineering Poornima College of EngineeringJaipur 303903India Department of Physics Indian Institute of Technology-GuwahatiAssam 781039India robotics and Mechatronics Research center Daegu Gyeongbuk Institute of Science and Technology(DGIST)Daegu 42988South Korea

In this contribution,we reply to comments made by Tkach et *** our publication *** 2023;9:*** main interest of our work is to synthesize a lead-free material,SrTi_(2)O_(5)(STO),and then utilize it in the formation of composites and finally design the piezoelectric nanogenerator(PENG)for self-powered sensor *** authors have observed the presence of piezoelectric voltage and current output from the *** authors humbly indicate that the PENG devices were poled using a DC poling setup as conditions mentioned in *** 2023;9:609(Panda et al.,2023)[1].The doping of STO into the PDMS increased from 2% to 20%(in mass).In this process,the piezoelectric output of the PENG device was observed to be highest for 15%(in mass)STO-PDMS ***,we agree with the comment raised by Tkach et al.,and further we have addressed the issues in a step-by-step response as follows.

关键词： Ferroelectric Lead-free Piezoelectric Polycrystalline

Reorientation and obstacle avoidance control of free-floating modular robots using sinusoidal oscillator

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Chinese Journal of Aeronautics 2024年第6期37卷 262-275页

作者： Zhiyuan YANG Mingzhu LAI Jian QI Ning ZHAO Xin SUI Jie ZHAO Yanhe ZHU State Key Laboratory of robotics and System Harbin Institute of TechnologyHarbin 150001China School of Mathematics and Statistics Hainan Normal UniversityHaikou 571158China

This paper presents that a serpentine curve-based controller can solve locomotion control problems for articulated space robots with extensive flight phases,such as obstacle avoidance during free floating or attitude adjustment before *** proposed algorithm achieves articulated robots to use closed paths in the joint space to accomplish the above *** snakes,which can shuttle through gaps and adjust their landing posture by swinging their body during gliding in jungle environments,inspired the design of two *** first maneuver generates a rotation of the system by varying the moment of inertia between the joints of the robot,with the magnitude of the net rotation depending on the controller *** maneuver can be repeated to allow the robot to reach arbitrary *** second maneuver involves periodic undulations,allowing the robot to avoid collisions when the trajectory of the global center of Mass(CM)passes through the *** maneuvers are based on the improved serpenoid curve,which can adapt to redundant systems consisting of different numbers of ***,the simulation illustrates that combining the two maneuvers can help a free-floating chain-type robot traverse complex *** proposed algorithm can be used with similar articulated robot models.

关键词： Collision avoidance Modularrobots Reorientation Free-floating space robots Nonholonomic systems Biologically inspired controllers Serpenoid curve

Dynamics Modeling and Parameter Identification for a Coupled-Drive Dual-Arm Nursing Robot

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Chinese Journal of Mechanical Engineering 2024年第4期37卷 243-257页

作者： Hao Lu Zhiqiang Yang Deliang Zhu Fei Deng Shijie Guo College of Electronic Information and Automation Tianjin University of Science and TechnologyTianjin 300222China Academy for Engineering&Technology Fudan UniversityShanghai 200433China Shanghai Engineering Research center of AI&robotics Shanghai 200433China School of Mechanical Engineering Hebei University of TechnologyTianjin 300130China

A dual-arm nursing robot can gently lift patients and transfer them between a bed and a *** its lightweight design,high load-bearing capacity,and smooth surface,the coupled-drive joint is particularly well suited for these ***,the coupled nature of the joint disrupts the direct linear relationship between the input and output torques,posing challenges for dynamic modeling and practical *** study investigated the transmission mechanism of this joint and employed the Lagrangian method to construct a dynamic model of its internal *** on this foundation,the Newton-Euler method was used to develop a dynamic model for the entire robotic arm.A continuously differentiable friction model was incorporated to reduce the vibrations caused by speed transitions to *** experimental method was designed to compensate for gravity,inertia,and modeling errors to identify the parameters of the friction *** method establishes a mapping relationship between the friction force and motor *** addition,a Fourier series-based excitation trajectory was developed to facilitate the identification of the dynamic model parameters of the robotic *** tracking experiments were conducted during the experimental validation phase,demonstrating the high accuracy of the dynamic model and the parameter identification method for the robotic *** study presents a dynamic modeling and parameter identification method for coupled-drive joint robotic arms,thereby establishing a foundation for motion control in humanoid nursing robots.

关键词： Nursing-care robot Coupled-drive joint Dynamic modeling Parameter identification

Feedback linearization and equivalent-disturbance compensation control strategy for piezoelectric stage

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Nanotechnology and Precision Engineering 2024年第2期7卷 49-59页

作者： Tao Huang Yingbin Wang Zhihong Luo Huajun Cao Guibao Tao Mingxiang Ling State Key Laboratory of Mechanical Transmissions for Advanced Equipment Chongqing UniversityChongqing 400044China College of Mechanical and Vehicle Engineering Chongqing UniversityChongqing 400044China Hongdu Aviation Industry Group NanchangJiangxi 330000China robotics and Microsystems center Soochow UniversitySuzhou 215123China

Piezoelectric stages use piezoelectric actuators and flexure hinges as driving and amplifying mechanisms,*** systems have high positioning accuracy and high-frequency responses,and they are widely used in various precision/ultra-precision positioning ***,the main challenge with these devices is the inherent hysteresis nonlinearity of piezoelectric actuators,which seriously affects the tracking accuracy of a piezoelectric *** by this challenge,in this work,we developed a Hammerstein model to describe the hysteresis nonlinearity of a piezoelectric *** particular,in our proposed scheme,a feedback-linearization algorithm is used to eliminate the static hysteresis *** addition,a composite controller based on equivalent-disturbance compensation was designed to counteract model uncertainties and external *** analysis of the stability of a closed-loop system based on this feedback-linearization algorithm and composite controller was performed,and this was followed by extensive comparative experiments using a piezoelectric stage developed in the *** experimental results confirmed that the feedback-linearization algorithm and the composite controller offer improved linearization and trajectory-tracking performance.

关键词： Piezoelectric stage Hysteresis nonlinearity Feedback linearization Equivalent-disturbance compensation

Spatial-channel transformer network based on mask-RCNN for efficient mushroom instance segmentation

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International Journal of Agricultural and Biological Engineering 2024年第4期17卷 227-235页

作者： Jiaoling Wang Weidong Song Wengang Zheng Qingchun Feng Mingfei Wang Chunjiang Zhao Northwest Agriculture and Forestry University Xi’an 712199China Nanjing Institute of Agricultural Mechanization Ministry of Agriculture and Rural AffairsNanjing 210014China intelligent equipment Technology Research center Beijing Academy of Agriculture and Forestry SciencesBeijing 100097China Zhejiang Provincial Key Laboratory of Agricultural intelligent Equipment and Roboics/College of Biosystems Engineering and Food Science Zhejiang UniversityHangzhou 310058China

Edible mushrooms are rich in nutrients;however,harvesting mainly relies on manual *** localization of each mushroom is necessary to enable a robotic arm to accurately pick edible *** studies used detection algorithms that did not consider mushroom pixel-level *** these algorithms are combined with a depth map,the information is ***,in instance segmentation algorithms,convolutional neural network(CNN)-based methods are lightweight,and the extracted features are not *** guarantee real-time location detection and improve the accuracy of mushroom segmentation,this study proposed a new spatial-channel transformer network model based on Mask-CNN(SCT-Mask-RCNN).The fusion of Mask-RCNN with the self-attention mechanism extracts the global correlation outcomes of image features from the channel and spatial ***,Mask-RCNN was used to maintain a lightweight structure and extract local features using a spatial pooling pyramidal structure to achieve multiscale local feature fusion and improve detection *** results showed that the SCT-Mask-RCNN method achieved a segmentation accuracy of 0.750 on segm_Precision_mAP and detection accuracy of 0.638 on Bbox_Precision_*** to existing methods,the proposed method improved the accuracy of the evaluation metrics Bbox_Precision_mAP and segm_Precision_mAP by over 2%and 5%,respectively.

关键词： edible mushrooms picking instance segmentation deep learning algorithm

Correcting of the unexpected localization measurement for indoor automatic mobile robot transportation based on a neural network

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Transportation Safety and Environment 2024年第2期6卷 24-35页

作者： Jiahao Huang Steffen Jung inger Hui Liu Kerstin Thurow center for Life Science Automation(CELISCA) University of RostockRostock 18119Germany Institute of Automation University of RostockRostock 18119Germany Institute of Artificial Intelligence&robotics(IAIR) School of Traffic&Transportation EngineeringCentral South UniversityChangsha 410075HunanChina

The increasing use of mobile robots in laboratory settings has led to a higher degree of laboratory ***,when mobile robots move in laboratory environments,mechanical errors,environmental disturbances and signal interruptions are *** can compromise the accuracy of the robot’s localization,which is crucial for the safety of staff,robots and the laboratory.A novel time-series predicting model based on the data processing method is proposed to handle the unexpected localization measurement of mobile robots in laboratory *** proposed model serves as an auxiliary localization system that can accurately correct unexpected localization errors by relying solely on the historical data of mobile *** experimental results demonstrate the effectiveness of this proposed method.

关键词： mobile robots laboratory automation indoor localization neural network

Structure design and rice threshing performance of the variable-speed inertial pulley for simulating artificial threshing

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International Journal of Agricultural and Biological Engineering 2024年第1期17卷 33-40页

作者： Tiantian Jing Zhong Tang Shuaihua Hao Cheng Shen Ting Wang Meilin Wang School of Agricultural Engineering Jiangsu UniversityZhenjiang 212013JiangsuChina Key Laboratory of intelligent Equipment and robotics for Agriculture of Zhejiang Province Hangzhou 310058China College of Engineering China Agricultural UniversityBeijing 100083China Nanjing Institute of Agricultural Mechanization Ministry of Agriculture and Rural AffairsNanjing 210014China Jiangsu World Agriculture Machinery Co. Ltd(WORLD A/M)Zhenjiang 212311JiangsuChina

Due to the small models and compact structures,small harvesters have also caused problems such as poor threshing separation performance and large loss *** order to solve unstable cleaning effects of small harvesters when they facing different working conditions,this study selected rice plants in hilly areas for the *** breaking force of different parts of mature rice was tested,which revealed the fracture mechanism of each part under the combined *** threshing method was used to simulate artificial plate bin and design three kinds of non-circular pulley variable speed transmission threshing *** the help of transient inertia force,threshing force was *** paper tested the harvesting performance of the variable speed threshing device with the help of the harvest performance *** show when facing the small rice planting area,the T/2 variable speed threshing device has better cleaning performance,and also the harvest loss rate of T/4 variable speed threshing device is the *** with the constant speed threshing device,the impurity content rate of the variable speed threshing device is increased by 0.64%to 8.76%;the loss rate is reduced by 0.45%to 1.79%,which provides a basis for the optimization design of small combine harvester in hilly areas.

关键词： small harvesters fracture mechanism transient inertia force non-circular pulley

Enhancing Indoor User Localization:An Adaptive Bayesian Approach for Multi-Floor Environments

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Computers, Materials & Continua 2024年第8期80卷 1889-1905页

作者： Abdulraqeb Alhammadi Zaid Ahmed Shamsan Arijit De center for Artificial Intelligence and robotics(CAIRO) Malaysia-Japan International Institute of TechnologyUniversiti Teknologi MalaysiaKuala Lumpur54100Malaysia Department of Electrical Engineering College of EngineeringImam Mohammad Ibn Saud Islamic University(IMSIU)Riyadh11432Saudi Arabia Department of Information Engineering Electronics and TelecommunicationsSapienza UniversityRome00185Italy

Indoor localization systems are crucial in addressing the limitations of traditional global positioning system(GPS)in indoor environments due to signal attenuation *** complex indoor spaces become more sophisticated,indoor localization systems become essential for improving user experience,safety,and operational *** localization methods based on Wi-Fi fingerprints require a high-density location fingerprint database,but this can increase the computational burden in the online *** networks,which integrate prior knowledge or domain expertise,are an effective solution for accurately determining indoor user *** networks use probabilistic reasoning to model relationships among various localization parameters for indoor environments that are challenging to *** article proposes an adaptive Bayesian model for multi-floor environments based on fingerprinting techniques to minimize errors in estimating user *** proposed system is an off-the-shelf solution that uses existing Wi-Fi infrastructures to estimate user’s *** operates in both online and offline *** the offline phase,a mobile device with Wi-Fi capability collects radio signals,while in the online phase,generating samples using Gibbs sampling based on the proposed Bayesian model and radio map to predict user’s *** results unequivocally showcase the superior performance of the proposed model when compared to other existing models and *** proposed model achieved an impressive lower average localization error,surpassing the accuracy of competing ***,this noteworthy achievement was attained with minimal reliance on reference points,underscoring the efficiency and efficacy of the proposed model in accurately estimating user locations in indoor environments.

关键词： Localization positioning Bayesian fingerprinting received signal strength(RSS)

Deep Learning-based Methods for 6D Object Pose Estimation: A Comprehensive Review

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Deep Learning-based Methods for 6D Object Pose Estimation: A...

Distributed fixed-time observers for linear time-invariant systems

第35届中国过程控制会议

作者： Nanxin Huang Chi Xu Engineering Research center of intelligent Technology for Geo-Exploration Ministry of Education

With the rapid development of computer vision and robotics, 6-DOF pose estimation of objects has become a key technology in the field of computer vision, finding extensive applications in emerging fields such as robot grasping, autonomous driving, virtual reality, and augmented reality. The primary objective of this task is to accurately estimate the 3-DOF rotation and 3-DOF translation of an object relative to the camera. In recent years, significant research efforts have been devoted to 6-DOF pose estimation. This paper provides a comprehensive review of the current research status in this domain while introducing relevant datasets, evaluation metrics, and specific research methodologies. In addition to briefly introducing traditional methods, it provides detailed elaboration on deep learning approaches containing hand-object pose estimation. Finally, we discuss future directions for development in this field.

关键词： 6D Object Pose Estimation Computer vision Deep learning Hand-object interaction PnP

来源： cnki会议评论

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Kongzhi yu Juece/Control and Decision 2024年第11期39卷 3664-3672页

作者： Zhang, Tan Wu, Huai-Yu Zhu, Zhen-Hua Zheng, Xiu-Juan Guan, Zhi-Hong Engineering Research center for Metallurgical Automation and Measurement Technology of Ministry of Education Wuhan University of Science and Technology Wuhan 430081 China Institute of robotics and intelligent Systems Wuhan University of Science and Technology Wuhan 430081 China School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan 430074 China

A class of distributed fixed-time convergent observers is designed based on the bi-limit weighted homogeneous approximation theory and observability decomposition for the distributed state estimation of linear time-invariant systems. Firstly, for a single-input-single-output integrating chain system, a centralized fixed-time observer is designed for the system using bi-limit weighted homogeneous estimation. Then, the linear time-invariant system is decomposed into observable and unobservable subsystems based on the observability decomposition. Each agent in the sensor network reconstructs local observable sub-states in a fixed time based on the centralized observer by using only the system output measurements, and then state information between the agents is used to construct a consistent algorithm to estimate the local unobservable sub-states in a fixed time, thus realizing state omniscience in a fixed time. Unlike previous works, this paper does not need to construct a specific Lyapunov function to give an expression for the convergence time. Finally, the effectiveness of the designed observer is verified by simulations. © 2024 Northeast University. All rights reserved.

关键词： Lyapunov functions