ICIRA 2022

Smart Robotics for Society

The 15th International Conference on Intelligent Robotics and Applications

Harbin, China

August 1-3, 2022

  • Technical Advances and Commerilization of Endoscopic Surgical Robotic Systems

    August 1, 2022, Harbin

    Professor Kai Xu

    Abstract

    This talk presents a comprehensive technical review for the development and advances in endoscopic surgical robotic systems for both multi-port and single-port procedures. Design consensus as well as disruptive technologies are analyzed in depth. The commercialization practices and opportunities are discussed, inspiring new attempts for possibly revolutionizing the current already prosperous business sector.

    Biography

    Kai Xu, founder of the Beijing Surgerii Technology Co., as well as professor of Shanghai Jiao Tong University, received his B.E. and M.S. degrees from Tsinghua University, China, and Ph.D. degree with distinction from Columbia University. He received the Presidential Distinguished Fellowship, Columbia’s highest fellowship in 2004, and the Chinese Government Award for Outstanding Self-Financed Students Abroad in 2008. He was selected into the Program for New Century Excellent Talents in University (NCET Program) by the Ministry of Education, China in 2009, as well as the Pujiang Scholar Program and the Rising Star Program by the Shanghai Metropolitan Government in 2011 and 2014, respectively. He was awarded the NSFC Grant for Excellent Young Scholars in 2017. He has published more than 100 scientific articles, been awarded more than 60 patents, as well as served as the Principal Investigator of more than 20 research projects, sponsored by the National Key R&D Program of China, the National Natural Science Foundation of China, etc. He served as an Associate Editor for IEEE Transactions on Robotics, as well as an international expert on the ISO/TC184 representing China.

  • The principle of biological hypersensitivity and bionic technology

    August 1, 2022, Harbin

    Professor Zhiwu Han

    Abstract

    Exploring and imitating the unique sensing functions of living things is a new way to expand the limits of human perception and develop a new generation of high-precision sensing technology. In order to meet the needs of activities such as predation, courtship, and avoidance of natural enemies, scorpions with highly degraded visual systems have evolved slit sensilla on their cuticle surface that are extremely sensitive to low-frequency micro-vibrations, which can accurately perceive weak mechanical signals. The slit sensilla cleverly uses the coincidence of the neuron receptive field and the slit tip stress field to realize the super-sensitive signal. The biomimetic strain sensing element made by its structure, material and neuron characteristics has a sensitivity value under weak strain far greater than that of traditional metal strain gauges. The research on bionic perception provides new principles and new technologies for sensing technology, and is expected to solve many challenges faced by current mechanical sensors.

    Biography

    Zhiwu Han, professor and doctoral supervisor, is currently the director of Key Laboratory of Bionic Engineering (Ministry of Education) of Jilin University. Winner of the National Science Fund for Distinguished Young Scholars, Distinguished Professor of the Major Talent Project of the Ministry of Education, and Head of the Innovation Research Group of the National Natural Science Foundation of China. He mainly engaged in the research of mechanical bionics, bionic perception theory and technology, bionic functional surface and advanced biomimetic composites.

  • Three-Dimensional Vision for Intelligent Robots

    August 1, 2022, Harbin

    Professor Shengyong Chen

    Abstract

    This talk presents the principle of 3D vision perception and some ongoing projects on machine vision for robots and aerial vehicles, including object localization, segmentation, recognition, reconstruction, representation, feature extraction, target tracking, pattern analysis, etc. Examples of implementation are shown with practical intelligent systems, e.g. for self-localization of the robots, planning a path for tracking a person, classification of objects in industrial production, or interpretation of traffic events.

    Biography

    Prof. Shengyong Chen received the Ph.D. degree from City University of Hong Kong in 2003. He worked as a guest researcher at University of Hamburg, Germany, where he received a fellowship from the Alexander von Humboldt Foundation in 2006. He was a visiting professor at Imperial College London, from 2008 to 2009. He is currently a full Professor and Vice-President in Tianjin University of Technology. He is an IET Fellow and an IEEE senior member. His research interests include machine vision and robotics. He received the National Outstanding Youth Foundation Award of NSFC. He has applied over 100 patents and published over 400 scientific papers, including 80 in IEEE Transactions, and 5 Best Paper Awards from international organizations. His work received over 12000 citations in Google Scholar.

  • Robot autonomous manipulation based on visual reasoning and learning

    August 1, 2022, Harbin

    Professor Xuguang Lan

    Abstract

    This talk briefly introduces the progress and challenges of robots in terms of intelligence, especially the difficulty of robots understanding, learning and manipulation in collaboration scenarios. Aiming at the difficult problems, a manipulation method based on visually physical reasoning is proposed for partially observable scenes. The interaction between learning and planning (POMDP) enables the robot to perform visual reasoning on dynamic unstructured scenes and autonomously complete tasks for specific objects. In order to further expand the learning effect on few-shot, we studied the zero-shot learning method, by constructing the orthogonal latent space and orthogonal quantization method to realize the transfer learning of the model method. Finally, we will also introduce the robot learning using hindsight trust region policy optimization on spares reward scenarios, and the multi-robot autonomous cooperation method and related applications.

    Biography

    Xuguang Lan received Ph.D. degree in Pattern Recognition and Intelligent System from Xi’an Jiaotong University in 2005. Currently, he is a professor at Institute of Artificial Intelligence and Robotics, and vice dean of the college of Artificial Intelligence of in Xi’an Jiaotong University.

    His main research areas include computer vision, robot learning, and human-robot collaboration. He is the director of the “Coexisting-Cooperative-Cognitive Robot, Tri-Co Robot” Committee of the Automation Society, a member of a council and deputy secretary-general of the Chinese Society of Cognitive Science, etc. He is a member of the editorial board of the international journal IET “Cognitive Computation and Systems”, “Pattern Recognition and Artificial Intelligence”, and Robotics, and IEEE CYBER 2019/ICIRA2021 Program Co-Chair. He has published more than 100 papers in journals and conferences such as IEEE Transactions and CVPR/RSS, and has obtained more than 10 national invention patents. In recent years, he has presided over more than 10 scientific research projects such as the Distinguished Young Scientist/key program of National Natural Science Foundation of China, the National Science and Technology Major Project, etc. He is a senior member of IEEE.

  • Research of Cooperative Robot for Nursing Tasks

    August 1, 2022, Harbin

    Professor Bing Li

    Abstract

    During the past decades, the issue of human-friendly robotic applications has been a mainstream direction for the service robots and assistive robots in both domestic and hospital environments. This presentation will introduce research in our group on the cable-driven serial-parallel robot for the high-payload transferring tasks of patients and the variable stiffness actuator for the safely physical human-robot interaction. Towards the transferring tasks, using intelligent robots is an effective way to help the patients turn over, or transfer the patients between the bed and wheelchair. This requires the nursing robot to have a higher load capability and be safer enough for patients. For the heavy-load transferring robot, this presentation addresses the following issues: the design of high-payload cable-driven manipulator, kinematics and dynamic modeling, motion control and transferring experiments. Considering the robotic applications where robots and humans cooperate, the need for the development of variable stiffness actuator is heightened which is suitable for energy storage, shock resistance and safety in human-robot interaction scenarios. This presentation will also share some thoughts regarding the design of variable stiffness actuator, external force estimation based on current-deflection fusion, and the stiffness/force control for the physical human-robot interaction.

    Biography

    Dr Bing Li is a professor of Harbin Institute of Technology Shenzhen, he got a Ph. D. degree from the Hong Kong Polytechnic University, Currently serve as executive dean of school of mechatronics engineering and automation, Harbin Institute of Technology Shenzhen. Research interests focus on mechanisms and robotics. He served as vice president of intelligent vehicle and robot branch of China Instrument Society, member of Production Engineering Branch of China Mechanical Engineering Society, associate editors of the journal of “IMechE Part C: Journal of Mechanical Engineering Science, Intelligent Service Robotics, and editorial board member of Industrial Robot. The research outputs have achieved the second prize of national technological invention award, two provincial science and technology awards, and one second prize of natural science award of Shenzhen.

  • Recent Progress of Underwater Acoustic Communication and Networking for Autonomous Underwater Vehicles

    August 1, 2022, Harbin

    Professor Gang Qiao

    Abstract

    Underwater acoustic (UWA) communication and networking technologies have played a great role in cooperation of multiple autonomous underwater vehicles (AUVs), while they are facing great challenges such as extremely large propagation delays, high marine noises, limited bandwidth, rapid time variation, large Doppler spread and so on. In this report, we will discuss the opportunities and challenges of UWA communication and networking technologies for AUVs, low-speed and reliable communication for AUV remote control, high-speed communication for AUV data retrieval, and efficient MAC protocols in AUV Networks. Besides, some applications and experimental results of UWA communication and networking for AUVs in recent years will be presented.

    Biography

    Qiao Gang has been a full Professor with Harbin Engineering University (HEU), and served as the dean of College of Underwater Acoustic (UWA) Engineering, HEU. He is also the director of National Key Laboratory of UWA Science and Technology, and the director-general of Acoustical Society of Heilongjiang Province. His research interests lie in the areas of UWA communication and networking, bionic UWA communication and detection, UWA localization and navigation technologies. He and his group proposed the full-duplex UWA communication system and bionic covert UWA communications, and developed a series of UWA modems. He published over 150 papers, got over 50 China National Invention Patents and achieved over 10 Provincial and Ministerial-Level Science and Technology Awards.

  • Stability and Safety Control Technology for Heavy duty Hydraulic Manipulator

    August 1, 2022, Harbin

    Professor Bing Xu

    Abstract

    Heavy duty hydraulic manipulator is widely used in concrete machinery, Aerial work truck, rescue vehicles and other Non-Road mobile machines. Due to the characteristics of high reachable operation space, some of its mobile machine arms weigh tens of tons and reach tens of meters in length. Its operation control is difficult and its safety is poor. Following the Mandatory requirements of machine safety laws and regulations, the design of heavy-duty hydraulic manipulator is based on the framework of functional safety standards, and the research work of hydraulic transmission system configuration optimization, information perception and control for mechanism kinemics and system dynamics, system safety risk assessment and so on is carried out. Moreover, facing on the era of intelligent construction, the high inertia heavy-duty manipulator is developing towards the fine control of multi degree of freedom and higher stability, which brings great challenges to the hydraulic transmission control technology. This report mainly introduces the hydraulic circuits configuration optimization, stability control principle and method of large heavy-duty hydraulic manipulator with typical equipment, as well as the risk assessment and safety management, etc.

    Biography

    Xu Bing, received his PhD degree from Zhejiang University in 2001, and is currently a professor in the School of Mechanical Engineering, Zhejiang University, Hangzhou, P.R. China. He is now the director of State Key Laboratory of Fluid Power and Mechatronic Systems, and Chair of Department of Mechatronics Engineering. As the Chang Jiang Scholar of the China Ministry of Education, He is also a senior member of Chinese Society of Mechanical Engineering and Chinese Society of Aeronautics and Astronautics. His research interests are fluid power components, electro-hydraulic control system, energy saving and noise reduction of fluid power mechatronics equipment. He undertakes more than 40 finished and ongoing research projects, including the National Natural Science Fund, the National High-tech R&D Program (863 Program), the National Key Technology Support Program, the National Basic Research Program of China (973 Program) and industrial cooperation projects. He is awarded the second prize of state scientific and technological progress once, the first prize of province or ministry scientific and technological progress thrice, etc. He published more than 100 technical papers, and granted 50 National Invention Patents.

  • Computational Psychophysiology Based Emotion Analysis for Mental Health

    Professor Bin Hu

    August 1, 2022, Harbin

    Abstract

    Computational psychophysiology is a new direction that broadens the field of psychophysiology by allowing for the identification and integration of multimodal signals to test specific models of mental states and psychological processes. Additionally, such approaches allows for the extraction of multiple signals from large-scale multidimensional data, with a greater ability to differentiate signals embedded in background noise. Further, these approaches allows for a better understanding of the complex psychophysiological processes underlying brain disorders such as autism spectrum disorder, depression, and anxiety. Given the widely acknowledged limitations of psychiatric nosology and the limited treatment options available, new computational models may provide the basis for a multidimensional diagnostic system and potentially new treatment approaches.

    Biography

    Bin Hu is Professor and Dean of the school of Medical Technology in Beijing Institute of Technology and Adjunct Professor of Computing Department at Open University, UK, Lanzhou University, China. His research areas focus on affective computing and computational psychophysiology. He is currently an Institution of Engineering and Technology (IET) fellow. He is Chair of TC Computational Psychophysiology at IEEE SMC and Vice-Chair on the China Committee of International Society for Social Neuroscience. He is also currently serving as a member of the Steering Committee of Computer Science and Technology at the Chinese Ministry of Education. He has been PI of many key research projects funded by European FP7, National Key Research and Development Program of China, and National Basic Research Program of China (former 973 Program). He has published more than 400 research articles and been granted over a dozen patents. He was a recipient of many research awards, including the 2014 China Overseas Innovation Talent Award, the 2016 Chinese Ministry of Education Technology Invention Award, the 2018 Chinese National Technology Invention Award, and the 2019 WIPO-CNIPA Award for Chinese Outstanding Patented Invention . He was Chair or Steering Committee Member of many international conferences. He was the Guest Editor of Science supplement “Advances in Computational Psychophysiology” by the American Association for the Advancement of Science. He is currently Editor-in-Chief of IEEE Transaction on Computational Social Systems and Associate Editor of IEEE Transaction on Affective Computing.

  • Topology Optimization and Application of an Adaptive Compliant Gripper

    August 1, 2022, Harbin

    Professor Xianmin Zhang

    Abstract

    This work develops a cable-driven compliant robotic gripper with multi-input and multi-output using topology optimization considering geometric nonlinearity, which not only performs adaptive grasping but also enables finer manipulations such as rotating or panning the target. A scheme that can describe adaptive grasping behavior is proposed, which converts the contact between the clamping surface and the object into a boundary condition to circumvent complex contact nonlinearities. An additive hyperelasticity technique is used to overcome numerical instabilities. Numerical simulations and experimental results are performed to demonstrate the effectiveness of the optimization algorithm. In order to use the compliant gripper for the robotic sorting system, the compliant gripper is integrated into the UR5 manipulator, and a real-time communication method for the robotic sorting system using the ROS framework is proposed. Two thin film pressure sensors are mounted on the compliant gripper to provide force feedback signals. Based on the proposed communication and control method, the k-means clustering algorithm is used to realize the pre-classification of common objects. This compliant gripper is applied to an actual sorting task using a self-supervised deep reinforcement learning algorithm. The application results show that the compliant gripper can grip objects of different shapes more safely and stably.

    Biography

    Prof. Xianmin Zhang is currently the dean and doctoral supervisor of the School of Mechanical and Automotive Engineering, South China University of Technology. He was promoted to professor in 1998. He is the recipient of the National Science Fund for Distinguished Young Scholars (2008), the national candidate for the New Century Hundred Thousand Talents Project (2006), the Outstanding Talent of a special support program of Guangdong Province (2019), State Council Government Allowance Expert (2007), Winner of Ding Ying Science and Technology Award (2007). He also serves as the executive committee member of the IFToMM (International Federation for the Promotion of Mechanism and Machine Science), Associate Editor of Journal of Mechanism and Robotics (ASME) (2013-2016); His research fields involve robotics, mechanism kinematics and dynamics, machine vision, and precision manufacturing equipment. Published more than 400 SCI and EI indexed papers, of which more than 200 SCI indexed papers were published in important international journals, and the papers were cited more than 8000 times; Authorized more than 100 domestic and foreign patents. Some achievements have won the first prize of Guangdong Province Science and Technology Invention Award once, the first prize of Science and Technology Progress Award twice, the Guangdong Province Patent Gold Award once, and the China Excellent Patent Award twice.

  • Robot-assisted remote minimally invasive surgery based on 5G technology

    August 1, 2022, Harbin

    Professor Shuxin Wang

    Presentation Abstract

    Remote surgery helps to effectively balance medical resources. However, robot-assisted minimally invasive surgery faces time delay and safety problems in the remote surgical environment. In view of the above problems, this talk will introduce the design method of a minimally invasive robotic surgery system for remote operations. 5G technology is adopted to reduce the time delay of the robot, and artificial intelligence algorithm is combined to improve the safety of the system. A “MicroHand” minimally invasive surgical robot that can assist remote surgery is successfully developed. At present, the system has obtained the approval of China’s National Medical Products Administration, and 51 remote clinical trials have been successfully carried out.

    Biography

    Shuxin Wang is a professor at Tianjin University, China. His research field is medical robots. He successfully developed a minimally invasive surgical robot (called MicroHand) and obtained NMPA approval. At present, he is committed to the research of robot-assisted telesurgery. He is the chief scientist of the Institute of Medical Robots and Intelligent Systems (IMRIS) of Tianjin University. He was elected academician of the Chinese Academy of Engineering in 2021. He also won the ASME DED Leonardo Da Vinci Award in 2021.

2022 International Conference on Intelligent Robotics and Applications

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