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学者姓名：叶锦华
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Abstract ：
Technology is nudging robot into automation and intelligence field, making dynamic collision avoidance indispensable in robotics. Aiming at safety control of mobile manipulator in human-robot coexistence environment, a novel artificial potential field based on danger index (DIAPF) approach is proposed. Firstly, hinged on the kinematic and dynamic model of mobile manipulators, a danger index system is established to take precautions against accident during the operation. We further improve the repulsion field and velocity repulsive field to promote dynamic obstacle avoidance in the human-robot coexistence environments. Feasibility and effectiveness of the proposed method are verified in simulation environment. © 2025 Acta Press. All rights reserved.
Keyword ：
Accident prevention Accident prevention Accidents Accidents Industrial robots Industrial robots Intelligent robots Intelligent robots Mobile robots Mobile robots Social robots Social robots
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| GB/T 7714 | Ye, Jinhua , Hong, Linxin , Wu, Haibin et al. AN IMPROVED APF METHOD FOR SAFETY CONTROL OF MOBILE MANIPULATOR IN HUMAN-ROBOT COEXISTENCE ENVIRONMENT [J]. | International Journal of Robotics and Automation , 2025 , 40 (3) : 184-193 . |
| MLA | Ye, Jinhua et al. "AN IMPROVED APF METHOD FOR SAFETY CONTROL OF MOBILE MANIPULATOR IN HUMAN-ROBOT COEXISTENCE ENVIRONMENT" . | International Journal of Robotics and Automation 40 . 3 (2025) : 184-193 . |
| APA | Ye, Jinhua , Hong, Linxin , Wu, Haibin , Zheng, Gengfeng . AN IMPROVED APF METHOD FOR SAFETY CONTROL OF MOBILE MANIPULATOR IN HUMAN-ROBOT COEXISTENCE ENVIRONMENT . | International Journal of Robotics and Automation , 2025 , 40 (3) , 184-193 . |
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针对机器人示教编程过程中使用高斯混合模型(GMM)规划运动轨迹时存在的高斯分布个数难以选择、复现轨迹精度较低等问题,提出了一种复合的机器人运动轨迹学习策略.该策略包含动态时间规整(DTW)算法、高斯混合模型与道格拉斯-普克(DP)算法.首先,针对示教过程中采集的多条轨迹在时间长度上存在差异的问题,采用DTW 算法来统一示教轨迹在时域上的变化.其次,使用 GMM 算法对示教轨迹的特征进行提取,并利用高斯混合回归(GMR)算法将其重构为复现轨迹.在这个过程中采用DP算法来预估GMM算法的关键参数高斯分布的数量,与传统方法相比,能够简单直观地得到相对准确的参数值.利用 DP 算法对复现轨迹的数据点进行稀疏化并优化,不仅确保了机器人最终运动轨迹的精度,而且大幅减少了最终轨迹数据点的数量.最后,进行了不同形状的模拟焊接轨迹学习规划实验.结果表明:经由 DTW 对齐后的示教轨迹具有更加明显的运动特征,经过 GMM-GMR 学习输出的复现轨迹具有良好的表征结果;在使用GMM-GMR算法学习示教轨迹的过程中,采用DP算法可以有效预估高斯分布个数;经过DP算法稀疏化并优化的最终轨迹的平均位置误差均在 0.500 mm以内,其最大误差可以控制在0.800 mm以内,可以满足焊接轨迹规划的精度要求,验证了该策略的有效性和优越性.
Keyword ：
动态时间规整 动态时间规整 工业机器人 工业机器人 示教编程 示教编程 轨迹复现 轨迹复现 道格拉斯-普克算法 道格拉斯-普克算法 高斯混合模型 高斯混合模型
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| GB/T 7714 | 肖洒 , 陈旭阳 , 叶锦华 et al. 一种基于DTW-DP-GMM的工业机器人轨迹学习策略 [J]. | 天津大学学报（自然科学与工程技术版） , 2025 , 58 (1) : 68-80 . |
| MLA | 肖洒 et al. "一种基于DTW-DP-GMM的工业机器人轨迹学习策略" . | 天津大学学报（自然科学与工程技术版） 58 . 1 (2025) : 68-80 . |
| APA | 肖洒 , 陈旭阳 , 叶锦华 , 吴海彬 . 一种基于DTW-DP-GMM的工业机器人轨迹学习策略 . | 天津大学学报（自然科学与工程技术版） , 2025 , 58 (1) , 68-80 . |
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针对随机采样一致性(random sample consensus,RANSAC)算法对含有噪声的点云数据进行平面拟合时效果不佳和容易产生误识别的问题,对算法进行改进.通过基于密度的噪声应用空间聚类(density-based spatial clustering of applications with noise,DBSCAN)算法改变RANSAC算法初始点集合的选择策略,并使用主成分分析法(principal component analysis,PCA)计算点云各点法向量,以点到平面距离以及点的法向量与平面法向量夹角两个约束条件同时作为RANSAC算法平面拟合模型内点判定的准则.采用无噪声与分别含有300个噪声点和500个噪声点的点云仿真数据进行测试,本文算法拟合结果均接近理论值且内点距离标准差分别为1.007×10-8、0.003、0.007,优于RANSAC算法.采用实际工件点云数据在两种工况场景下进行测试,本文算法拟合平面内点比率相对于传统RANSAC算法分别提高24.7%和24.6%,平面提取完整度及准确率同样优于RANSAC算法.仿真模拟及实例分析证明了本文算法的有效性.
Keyword ：
主成分分析 主成分分析 噪声 噪声 密度聚类 密度聚类 点云平面拟合 点云平面拟合 随机采样一致性 随机采样一致性
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| GB/T 7714 | 叶锦华 , 林旭敏 , 吴海彬 . 基于DBSCAN的改进RANSAC点云平面拟合算法 [J]. | 湖南大学学报（自然科学版） , 2025 , 52 (2) : 76-87 . |
| MLA | 叶锦华 et al. "基于DBSCAN的改进RANSAC点云平面拟合算法" . | 湖南大学学报（自然科学版） 52 . 2 (2025) : 76-87 . |
| APA | 叶锦华 , 林旭敏 , 吴海彬 . 基于DBSCAN的改进RANSAC点云平面拟合算法 . | 湖南大学学报（自然科学版） , 2025 , 52 (2) , 76-87 . |
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PurposeImitation learning is a powerful tool for planning the trajectory of robotic end-effectors in Cartesian space. Present methods can adapt the trajectory to the obstacle; however, the solutions may not always satisfy users, whereas it is hard for a nonexpert user to teach the robot to avoid obstacles in time as he/she wishes through demonstrations. This paper aims to address the above problem by proposing an approach that combines human supervision with the kernelized movement primitives (KMP) model.Design/methodology/approachThis approach first extracts the reference database used to train KMP from demonstrations by using Gaussian mixture model and Gaussian mixture regression. Subsequently, KMP is used to modulate the trajectory of robotic end-effectors in real time based on feedback from its interaction with humans to avoid obstacles, which benefits from a novel reference database update strategy. The user can test different obstacle avoidance trajectories in the current task until a satisfactory solution is found.FindingsExperiments performed with the KUKA cobot for obstacle avoidance show that this approach can adapt the trajectories of the robotic end-effector to the user's wishes in real time, including trajectories that the robot has already passed and has not yet passed. Simulation comparisons also show that it exhibits better performance than KMP with the original reference database update strategy.Originality/valueAn interactive learning approach based on KMP is proposed and verified, which not only enables users to plan the trajectory of robotic end-effectors for obstacle avoidance more conveniently and efficiently but also provides an effective idea for accomplishing interactive learning tasks under constraints.
Keyword ：
Kernelized movement primitives (KMP) Kernelized movement primitives (KMP) Obstacle avoidance Obstacle avoidance Physical human-robot interaction Physical human-robot interaction Trajectory adaptation Trajectory adaptation
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| GB/T 7714 | Xiao, Sa , Chen, Xuyang , Lu, Yuankai et al. A KMP-based interactive learning approach for robot trajectory adaptation with obstacle avoidance [J]. | INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION , 2024 , 51 (2) : 326-339 . |
| MLA | Xiao, Sa et al. "A KMP-based interactive learning approach for robot trajectory adaptation with obstacle avoidance" . | INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION 51 . 2 (2024) : 326-339 . |
| APA | Xiao, Sa , Chen, Xuyang , Lu, Yuankai , Ye, Jinhua , Wu, Haibin . A KMP-based interactive learning approach for robot trajectory adaptation with obstacle avoidance . | INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION , 2024 , 51 (2) , 326-339 . |
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Data-driven methods have been widely used to estimate the State of health (SOH) of Lithium-Ion batteries (LIBs). However, these methods lack interpretability. In response to this issue, this article proposes a method called Physics-informed neural network (PIFNN) to enhance the interpretability of predictions made by a feedforward neural network (FNN). First, the features are extracted from incremental capacity (IC) curves and differential temperature curves, which can characterize battery aging from different perspectives. Specifically, the peaks of the IC curves (P-IC) reflect the electrochemical reactions that occur during the charge-discharge processes of LIBs. The decline of the P-IC is related to the loss of active materials in LIBs, which is a major cause of the decrease of the SOH. This article converts the monotonous relationship between the P-IC and the SOH into physical constraints to guide the "learning process" of the model. In the prediction process, a physics-constrained secondary "training" is applied to the FNN predictions to further enhance interpretability and improve prediction accuracy. The feasibility of the proposed method is validated using the Oxford and NASA battery datasets. The results indicate that PIFNN effectively improves prediction accuracy and reduces errors to below 1.5 %.
Keyword ：
Incremental capacity curves Incremental capacity curves Lithium -ion battery Lithium -ion battery Neural network Neural network Physical constraints Physical constraints State of health State of health
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| GB/T 7714 | Ye, Jinhua , Xie, Quan , Lin, Mingqiang et al. A method for estimating the state of health of lithium-ion batteries based on physics-informed neural network [J]. | ENERGY , 2024 , 294 . |
| MLA | Ye, Jinhua et al. "A method for estimating the state of health of lithium-ion batteries based on physics-informed neural network" . | ENERGY 294 (2024) . |
| APA | Ye, Jinhua , Xie, Quan , Lin, Mingqiang , Wu, Ji . A method for estimating the state of health of lithium-ion batteries based on physics-informed neural network . | ENERGY , 2024 , 294 . |
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Flexible tactile sensors with high sensitivity typically suffer from a dramatically reduces pressure resolution with increasing pressure, resulting in narrow linear ranges and limited application scenarios. Herein, a capacitive tactile sensor based on cone-shaped electrodes (CSE) that can maintain high sensitivity over a broad linearity range is proposed. The linear response comes from the novel sensing mechanism based on the change in the facing electrode area and the rational design of the conical architecture. Finite element analysis (FEA) confirms that the interfacial contact area between the elastic electrodes and the dielectric layer can respond linearly to pressure over a broad spectrum. Based on this strategy, the fabricated sensors perform a high sensitivity (0.23 kPa-1) and superior linearity (R2 = 0.999) across a wide pressure range of up to 130 kPa. The sensors demonstrate several key features, such as good repeatability, fast response speed, low detection limit, and high durability. These attributes enable the successful use of the sensors for monitoring artery pulses and providing weighting capabilities to robots, showing promising potential for applications in daily health monitoring and human-machine interaction. A flexible capacitive tactile sensor based on cone-shaped electrodes is hereby proposed. The sensor can maintain both high sensitivity and wide linearity range. The fabricated sensor samples being conformally attached to the wrist enable arterial pulse monitoring, and can also be integrated into electric hand jaws for linear weight sensing.image
Keyword ：
cone-shaped electrodes cone-shaped electrodes contact area contact area finite element analysis finite element analysis flexible tactile sensors flexible tactile sensors linear response linear response
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| GB/T 7714 | Chen, Liting , Zheng, Bingying , Ye, Jinhua et al. Cone-Shaped Electrodes for Capacitive Tactile Sensors with High Sensitivity and Broad Linearity Range [J]. | ADVANCED MATERIALS TECHNOLOGIES , 2023 , 8 (21) . |
| MLA | Chen, Liting et al. "Cone-Shaped Electrodes for Capacitive Tactile Sensors with High Sensitivity and Broad Linearity Range" . | ADVANCED MATERIALS TECHNOLOGIES 8 . 21 (2023) . |
| APA | Chen, Liting , Zheng, Bingying , Ye, Jinhua , Wu, Haibin . Cone-Shaped Electrodes for Capacitive Tactile Sensors with High Sensitivity and Broad Linearity Range . | ADVANCED MATERIALS TECHNOLOGIES , 2023 , 8 (21) . |
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Micro terminals are often used in every laptop, mobile, and other electrical product. It is challenging to automatically buckle the terminal head to its terminal base during manufacturing because of trouble in accurate positioning and gripping. A double-robots collaborative assembly system is developed to buckle millimeter-scale terminals in three-dimensional space. Robot 1 takes the terminal head horizontally by grasping its flexible line with a customized clamp, including two fingers. Robot 2 presses the aligned terminal head through a force control strategy to ensure that the terminal head and the terminal base can complete buckling accurately, even if there is a certain deviation in the vertical direction. There are two cameras to be used in the system. A horizontally placed camera is used to detect and calculate the angle between the terminal head and the horizontal plane. The angle data will drive robot 1 to make the terminal end face parallel to the horizontal plane to complete the pose correction of the terminal head. Another camera is vertically fixed at the end of industrial robot 1 and used to detect and calculate the position deviation between the terminal head and the terminal base. The position deviation will drive robot 1 to align the terminal head with the terminal base to complete the position correction. The YOLOv3, least square, and feature extraction algorithms are used in image processing. The accuracy of the YOLOv3 target detection model trained by self-made data set can reach more than 95% under different conditions. The detection period is within 65 ms. The experimental results show that the terminal assembly system designed in this paper has excellent reliability and assembly success rate. It also has a significant reference value for other terminals' automatic buckling assemblies.
Keyword ：
automatic assembly automatic assembly impedance control impedance control Terminals buckling Terminals buckling visual measurement visual measurement visual positioning visual positioning
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| GB/T 7714 | Jiang, Jinchao , Zhang, Junxin , Ye, Jinhua et al. Automatic buckling system of micro terminals combined vision and force signals [J]. | MEASUREMENT & CONTROL , 2023 , 56 (5-6) : 1099-1113 . |
| MLA | Jiang, Jinchao et al. "Automatic buckling system of micro terminals combined vision and force signals" . | MEASUREMENT & CONTROL 56 . 5-6 (2023) : 1099-1113 . |
| APA | Jiang, Jinchao , Zhang, Junxin , Ye, Jinhua , Zhou, Wenbo , Chen, Wei , Wu, Haibin . Automatic buckling system of micro terminals combined vision and force signals . | MEASUREMENT & CONTROL , 2023 , 56 (5-6) , 1099-1113 . |
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本发明涉及一种回字型凸起结构的变面积电容式压力传感器，包括具有凸起结构的上电极基底、上电极基底下方设置的下电极基底、及附着于上电极基底下端凸起结构表面的上电极层和附着于下电极基底上表面的下电极阵列层，所述下电极阵列层上端面附着有介电层，其特征在于：所述凸起结构自上电极基底下端朝下凸出并呈“回”字形，该上电极层能够通过改变电极表面结构的形状、尺寸有效调节传感器的性能，实现不同灵敏度、不同线性量程的电容压力传感器制作，且制作成本低。
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| GB/T 7714 | 叶锦华 , 杨达亮 . 回字型凸起结构的变面积电容式压力传感器及其制备方法 : CN202210398576.2[P]. | 2022-04-16 00:00:00 . |
| MLA | 叶锦华 et al. "回字型凸起结构的变面积电容式压力传感器及其制备方法" : CN202210398576.2. | 2022-04-16 00:00:00 . |
| APA | 叶锦华 , 杨达亮 . 回字型凸起结构的变面积电容式压力传感器及其制备方法 : CN202210398576.2. | 2022-04-16 00:00:00 . |
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In order to obtain external information and ensure the security of human-computer interaction, a double sensitive layer structured tactile sensor was proposed in this paper. Based on the EIT (Electrical Impedance Tomography) method, the sensor converts the information from external collisions or contact into local conductivity changes, and realizes the detection of one or more contact points. These changes can be processed into an image containing positional and force information. The experiments were conducted on the actual sensor sample. The OpenCV toolkit was used to process the positional information of contact points. The distributional regularities of errors in positional detection were analyzed, and the accuracy of the positional detection was evaluated. The effectiveness, sensitivity, and contact area of the force detection were analyzed based on the result of the EIT calculations. Furthermore, multi-object tests of pressure were conducted. The results of the experiment indicated that the proposed sensor performed well in detecting the position and force of contact. It is suitable for human-robot interaction.
Keyword ：
conductivity conductivity electrical impedance tomography electrical impedance tomography human-robot interaction human-robot interaction position and force detection position and force detection tactile sensor tactile sensor
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| GB/T 7714 | Wu, Haibin , Zheng, Bingying , Wang, Haomiao et al. New Flexible Tactile Sensor Based on Electrical Impedance Tomography [J]. | MICROMACHINES , 2022 , 13 (2) . |
| MLA | Wu, Haibin et al. "New Flexible Tactile Sensor Based on Electrical Impedance Tomography" . | MICROMACHINES 13 . 2 (2022) . |
| APA | Wu, Haibin , Zheng, Bingying , Wang, Haomiao , Ye, Jinhua . New Flexible Tactile Sensor Based on Electrical Impedance Tomography . | MICROMACHINES , 2022 , 13 (2) . |
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Efficiency can be improved through the cooperation of a dual-robot during assembly. However, how to effectively plan a simple and smooth path in a dynamic environment is a prominent problem in the process of dual-robot cooperative assembly. In this paper, a method based on RRT-Connect algorithm for trajectory planning and post-processing for trajectory optimization is proposed. This method takes full advantage of the excellent solution ability of RRT-Connect algorithm in the complex environment so as to obtain the initial path successfully. Through post-processing, the problem of RRT-Connect non-convergence to target is optimized. We use two 6-DOF industrial robots to build an experimental platform and design a dual-robot cooperative assembly system. According to the given task, the system can generate the original collision-free path based on RRT-Connect algorithm. Then the original path is simplified by Floyd algorithm and smoothed by multi-segment Bezier curve. Finally, the time parameter is sequenced for all the path points based on the iterative method, and the effective trajectory is obtained. The experimental results show that the algorithm proposed in this paper can effectively plan and optimize the trajectory of dual-robot. Compared to other methods, this approach has a higher success rate and less planning time.
Keyword ：
assembly assembly dual-robot cooperation dual-robot cooperation trajectory optimization trajectory optimization trajectory planning trajectory planning
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| GB/T 7714 | Chen, Xuyang , You, Xiaojun , Jiang, Jinchao et al. Trajectory Planning of Dual-Robot Cooperative Assembly [J]. | MACHINES , 2022 , 10 (8) . |
| MLA | Chen, Xuyang et al. "Trajectory Planning of Dual-Robot Cooperative Assembly" . | MACHINES 10 . 8 (2022) . |
| APA | Chen, Xuyang , You, Xiaojun , Jiang, Jinchao , Ye, Jinhua , Wu, Haibin . Trajectory Planning of Dual-Robot Cooperative Assembly . | MACHINES , 2022 , 10 (8) . |
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