Shenyang Institute of Automation,Chinese Academy Of Sciences
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一种适应多尺寸跳台的滑雪跳台曲面修整机器人
No full text本发明涉及冰雪运动场地建设技术领域，特别涉及一种适应多尺寸跳台的滑雪跳台曲面修整机器人。包括移动平台、机械臂可调基座、机械臂及跳台曲面修整工具，其中机械臂可调基座设置于移动平台上，机械臂设置于机械臂可调基座上，跳台曲面修整工具设置于机械臂的执行末端。本发明采用机械臂作为跳台曲面修整工具的支撑结构，整个修整过程作业精度高，修整作业过的跳台曲面一致性好
一种模块化鼻口咽拭子采样机器人
No full text本发明涉及医疗机器人领域，特别涉及一种模块化鼻口咽拭子采样机器人。包括操作平台及设置于操作平台上的采样机械臂、隔离套安装工位、拭子准备工位、拭子掰断装瓶工位、试管转运工位、隔离套拆卸工位及采样窗口模块；采样机械臂的执行末端设有采样工具；隔离套安装工位用于在采样工具的外侧安装隔离套；拭子准备工位用于脱掉拭子外侧的包装袋；拭子掰断装瓶工位用于将已采样的拭子进行掰断后装瓶；试管转运工位用于空置或装有鼻咽拭子样本的试管的转运；隔离套拆卸工位用于拆卸采样工具外侧的隔离套；采样窗口模块用于对受试者进行鼻咽拭子样本采集。本发明实现采样过程相对于医护人员的隔离防护，避免受试者之间的交叉感染，保证采样的质量
一种水下机器人被动式滑轨布放回收系统及方法
No full text本发明属于水下机器人技术领域，特别涉及一种水下机器人被动式滑轨布放回收系统及方法。布放回收系统包括牵引机构、固定转运单元、可回转滑轨单元及绞车组件，其中可回转滑轨单元与固定转运单元铰接，可回转滑轨单元与固定转运单元均用于承载水下机器人；牵引机构设置于固定转运单元上，用于牵引水下机器人在固定转运单元和可回转滑轨单元上滑动；绞车组件设置于母船艉部甲板上，绞车组件与可回转滑轨单元连接，用于驱动可回转滑轨单元进行俯仰动作。本发明助于解决水下机器人利用科考船艉部A架来进行布放回收水下机器人，且能够在恶劣海况下最少仅需四位操作人员完成布放回收水下机器人，加快水下机器人常规化海上作业的进程
基于推进器矢量布局的水下机器人的全姿态运动控制方法
No full text本发明涉及到自主水下机器人运动控制领域，具体说是基于推进器矢量布局的水下机器人的全姿态运动控制方法。包括以下步骤：控制计算：根据水下机器人的结构与姿态构造姿态球形模型，根据该模型，设计基于航向角偏差弧线的PID航向控制方法，计算满足水下机器人各个姿态下的纵倾与偏航所需力矩；推力分配：通过推进器矢量布局结构以及水下机器人的机构，对推进器产生的纵倾力矩与偏航力矩进行计算，并设计横滚自适应的矢量布局推力与力矩分配方法，从而完成对水下机器人的运动控制。本发明基于矢量布局推进器的自主水下机器人的全姿态运动控制方法，保证推进器矢量布局的全姿态运动自主水下机器人能够全姿态平稳航行
Research and application of a multi-degree-of-freedom soft actuator
No full textIn recent years, soft pneumatic actuators with soft and flexible materials have been widely studied in the field of soft gripper and soft bionic robot. Up to present, the soft actuators studied usually have one motion manner such as extending, bending, twisting or rotation. In this paper, we propose a new type of multi-degree-of-freedom soft pneumatic actuator (MDoF SPA) that can extend or rotate in response to pressured air inputted in different chambers. A fabrication method was proposed. A mathematical model based on large deformation theory was presented to predict the elongation displacement and bending angle. Moreover, finite element analysis and experimental investigation were performed to verify the theoretical results. The output force during elongation and blocking force during bending were also tested. Finally, two MDoF SPAs were utilized to fabricate a crawling robot. The gait and hardware of crawling robot were shown. The average moving speed of linear motion, maximum bending angle were investigated as well. Experiments revealed the robot actuated by MDoF SPAs has a good comprehensive performance, which has great potential in search, detection, rescue and other operations in a narrow environment. This work can guide the design and application of MDoF SPAs in the future.</p
Migration node selection strategy based on gray prediction algorithm in trusted environment
No full textThis paper studies the selection strategy of task migration nodes. Considering the security of nodes, this paper analyzes the trusted security model of each node of migration candidates. Security credibility includes three aspects: time credibility, behavior credibility and resource credibility. By calculating the trusted values of migration nodes in these three aspects, Three nodes with the lowest trust value are obtained to preliminarily screen the migration nodes, and the final nodes are determined in the remaining nodes. Because the gray prediction algorithm requires a small number of original data models and has a strong discrete type, it is more suitable for the model selected by the task migration nodes. This paper uses the gray prediction algorithm to finally determine the migration nodes, In the experiment, the cloud simulation platform is used to compare the algorithm and random algorithm, and the results show the effectiveness of the algorithm
Acoustics-Based Autonomous Docking for A Deep-Sea Resident ROV
No full textThis paper presents autonomous docking of an inhouse built resident Remotely Operated Vehicle (ROV), called Rover ROV, through acoustic guided techniques. A novel cage-type docking station has been developed. The docking station can be placed on a deep-sea lander, taking the Rover ROV to the seafloor. Instead of using vision-based pose estimation techniques and expensive navigation sensors, the Rover ROV docking adopts an ultra-short baseline (USBL) and low-cost inertial sensors to build an adaptive fault-tolerant integrated navigation system. To solve the problem of sonar-based failure positioning, the measurement residuals are exploited to detect measurement faults. Then, an adaptation scheme for estimating the statistical characteristics of noise in real-time is proposed, which can provide robust and smooth positioning results. It is more suitable for a compact and low-cost deep-sea resident ROV. Field experiments have been conducted successfully in the Qiandao Lake and the South China Sea area with a depth of 3000 m, respectively. The experimental results show that the functionality of autonomous docking has been achieved. Under the guidance of the navigation system, the Rover ROV can autonomously and efficiently return to the docking station within a range of 100 m even when the amounts of outliers exist in the acoustic positioning data. These achievements can be applied to current ROVs by an easy retrofit
Laser induced breakdown spectroscopy online monitoring of laser cleaning quality on carbon fiber reinforced plastic
No full textCarbon fiber reinforced polymer (CFRP) has attracted extensive attention in the industrial field due to its advantages of light weight and high hardness. The use of laser to clean the epoxy resin film on the surface of the carbon fiber is beneficial to improve the bonding performance. Combined with laser-induced breakdown spectroscopy (LIBS) technology, an on-line monitoring system for laser cleaning is designed to monitor the quality of laser cleaning in real time. The laser used in the experiment is a fiber laser widely used in laser cleaning, which has high cleaning efficiency, flexible use, and can be processed in a multi-dimensional space. The system is coupled with the scanning galvanometer which can be cleaned dynamically in all directions. The function of fast, real-time and high-resolution on-line monitoring of cleaning quality is realized. In this paper, prior information such as element composition and LIBS spectrum of epoxy resin and substrate carbon fiber in CFRP materials were obtained, and the differences were compared and analyzed. The results shown that the LIBS technology was feasible to monitor the cleaning quality. Subsequently, the experiment tested the influence of the laser process parameters on the LIBS characteristic spectrum, and it was confirmed that the average spectral intensity value at the wavelength (588.819 nm) was positively correlated with the average laser power. After that, according to the measured LIBS characteristic strength value, three evaluation grades of cleaning quality were effectively delineated. The piecewise linear fitting method was used to solve the value range of LIBS mapped by different grades, and the key data such as the optimal cleaning parameter threshold were calculated. Finally, scanning electron microscope (SEM) was used to observe the morphological characteristics of samples after laser cleaning under different grades, confirming that the LIBS characteristic line could effectively characterize the quality of laser cleaning.</p
An improved minimal error model for the robotic kinematic calibration based on the POE formula
No full textSummary The conventional product of exponentials (POE)-based methods dissatisfy the parametric minimality for the kinematic calibration of serial robots due to overlooking the magnitude and pitch constraints. Thus, the minimal kinematic model is presented to solve this problem, which can be developed further. This paper puts forward an improved algorithm for the minimal parameter calibration. An actual kinematic model with the minimal parameters (MP) is constructed according to the geometric properties of actual joint twists in the auxiliary frames established on the basis of the nominal joint axes. Then, the initial pose error is defined in the tool coordinate frame, which is expressed as the exponential map of the twist, and all twist descriptions are unified, so as to give a unified kinematic model in mathematics. By differentiating the kinematic model, a minimal error model is derived in explicit form. Subsequently, we propose a novel parameter identification method, which identifies the orientation error and position error parameters separately by the iterative least-squares method and updates the MP uniformly. Finally, the simulations and experiments on the different serial robots are conducted to verify the correctness and effectiveness of the proposed algorithm. The simulation results show our calibration algorithm outperforms the existing ones in the accuracy aspect, and the experiment result shows that the absolute pose accuracy of the UR5 industrial robot is upgraded about 9 times under a statistics sense after the calibration.</p
Lifelong robotic visual-tactile perception learning
No full textLifelong machine learning can learn a sequence of consecutive robotic perception tasks via transferring previous experiences. However, 1) most existing lifelong learning based perception methods only take advantage of visual information for robotic tasks, while neglecting another important tactile sensing modality to capture discriminative material properties; 2) Meanwhile, they cannot explore the intrinsic relationships across different modalities and the common characterization among different tasks of each modality, due to the distinct divergence between heterogeneous feature distributions. To address above challenges, we propose a new Lifelong Visual-Tactile Learning (LVTL) model for continuous robotic visual-tactile perception tasks, which fully explores the latent correlations in both intra-modality and cross-modality aspects. Specifically, a modality-specific knowledge library is developed for each modality to explore common intra-modality representations across different tasks, while narrowing intra-modality mapping divergence between semantic and feature spaces via an auto-encoder mechanism. Moreover, a sparse constraint based modality-invariant space is constructed to capture underlying cross-modality correlations and identify the contributions of each modality for new coming visual-tactile tasks. We further propose a modality consistency regularizer to efficiently align the heterogeneous visual and tactile samples, which ensures the semantic consistency between different modality-specific knowledge libraries. After deriving an efficient model optimization strategy, we conduct extensive experiments on several representative datasets to demonstrate the superiority of our LVTL model. Evaluation experiments show that our proposed model significantly outperforms existing state-of-the-art methods with about 1.16%similar to 15.36% improvement under different lifelong visual-tactile perception scenarios. (C) 2021 Elsevier Ltd. All rights reserved