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Effect of variable-angle trajectory structure on mechanical performance of CF/PEEK laminates made by robotic fiber placement

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Chinese Journal of Aeronautics 2022年第12期35卷 336-356页

作者： Shouzheng SUN Haiyang MEI Yang WANG Jiahai ZHANG Zhenyu HAN Jinglan GUO State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China Wuhu Robot Technology Research Institute Harbin Institute of TechnologyWuhu 241000China Shanghai Spaceflight Precision Machinery Institute Shanghai 201600China School of Mechanical and Power Engineering Harbin University of Science and TechnologyHarbin 150080China

In comparison to the traditional fixed-angle trajectory,the variable-angle trajectory has a greater design ***,it is a challenge to determine which common design curve structure is the most effective for improving mechanical *** work explores the effects of various design curves such as fixed-angle curve,linear curve,arc curve,sine curve,Bezier curve,and cubic polynomial curve trajectories on mechanical performance of laminates,including vibration modal performance and buckling *** algorithm and improved NSGA-II algorithm are then used to optimize various curve *** results are confirmed utilizing thermoplastic Carbon Fiber(CF)/Polyether-Ether-Ketone(PEEK)laminates made by robotic fiber placement *** relationship model between different mechanical performance and curve design variables is *** optimization of variable-angle structure with mechanical properties as input variables is ***,a full-process angle-variable laying software platform from trajectory planning(CAD),trajectory optimization to manufacturing(CAM)is developed for facilitating the fiber placement application.

关键词： Fiber reinforced plastics Mechanical properties Robotic fiber placement Thermoplastics Trajectory design Variable-angle laminate

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Review:Wearable Sweat Sensors for Diseases Prevention and Monitoring

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Journal of harbin institute of technology(New Series) 2023年第3期30卷 1-21页

作者： Yanan Ding Haiying Xiao Ping’an Hu School of Chemistry and Chemical Engineering Harbin Institute of TechnologyHarbin 150080China MOE Key Lab of Micro-System and Micro-Structures Manufacturing Harbin Institute of TechnologyHarbin 150080China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150080China School of Materials Science and Engineering Harbin Institute of TechnologyHarbin 150080China

Advanced in wireless technologies and flexible materials with great biocompatibility,wearable devices have been utilized in the field of healthcare,sports management,and diseases prevention,which have been widely applied in current electronic ***,as a common metabolite on the skin surface,contains a wealth of biomarkers for disease detection and ***,developing wearable sweat sensors can provide a non⁃invasive method for health data collecting,sports monitoring,and clinical diagnosis in a convenient *** research in sweat metabolomics has offered a lot of information for sweat analysis and the wearable sweat sensors with small size,various sensing,and transmission units,and good skin contact has exhibited dynamic multi⁃signal *** article introduces the biomarkers in sweat related to different diseases and the current development of sweat sensors for user􀆳s activation monitoring and diseases *** barriers and difficulties in the future are also discussed and perspectives in the next generation sweat sensors are proposed.

关键词： sweat sensor sweat metabolites disease monitoring wearable device

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Swarming magnetic photonic-crystal microrobots withon-the-fly visual pH detection and self-regulated drug delivery

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InfoMat 2023年第10期5卷 64-79页

作者： Zheng Yu Luolin Li Fangzhi Mou Shimin Yu Di Zhang Manyi Yang Qing Zhao Huiru Ma Wei Luo Tianlong Li Jianguo Guan State Key Laboratory of Advanced Technology for Materials Synthesis and Processing International School of Materials Science and Engineering Wuhan University of TechnologyWuhanthe People's Republic of China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbinthe People's Republic of China Wuhan Institute of Photochemistry and Technology Wuhanthe People's Republic of China

Swarming magnetic micro/nanorobots hold great promise for biomedical applications,but at present suffer from inferior capabilities to perceive and respond to chemical signals in local *** we demonstrate swarming magnetic photonic crystal microrobots(PC-bots)capable of sponta-neously performing on-the-fly visual pH detection and self regulated drug delivery by perceiving local pH *** magnetic PC-bots consist of pH-responsive hydrogel microspheres with encapsulated one-dimensional periodic assemblies of Fe3O4 *** programming extemnal rotating magnetic fields,they can self-organize into large swarms with much-enhanced collective velocity to actively find targets while shining bright“blinking”structural *** approaching the target with abnormal pH conditions(*** ulcerated superficial tumor lesion),the PC-bots can visualize local pH changes on the fly via pH-responsive structural colors,and realize self-regulated release of the loaded drugs by recognizing local *** work facilita tes the develop-ment of intelligent micro/nanorobots for active“motile-targeting”tumor diag-nosis and treatment.

关键词： collective behaviors drug delivery micro/nanorobots on-the-fly sensing responsivephotonic crystals

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PMM-Net: Single-Stage Multi-Agent Trajectory Prediction with Patching-Based Embedding and Explicit Modal Modulation

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IEEE robotics and Automation Letters 2025年第7期10卷 6664-6671页

作者： Huajian, Liu Wei, Dong Kunpeng, Fan Chao, Wang Yongzhuo, Gao Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150001 China

Analyzing and forecasting trajectories of agents like pedestrians plays a pivotal role for embodied intelligent applications. The inherent indeterminacy of human behavior and complex social interaction among a rich variety of agents makes this task more challenging than common time-series forecasting. In this letter, we aim to explore a distinct formulation for multi-agent trajectory prediction framework. Specifically, we propose a patching-based temporal feature extraction module and a graph-based social feature extraction module, enabling effective feature extraction and cross-scenario generalization. Moreover, we reassess the role of social interaction and present a novel method based on explicit modality modulation to integrate temporal and social features, thereby constructing an efficient single-stage inference pipeline. Results on public benchmark datasets demonstrate the superior performance of our model compared with the state-of-the-art methods. © 2025 IEEE.

关键词： Signal modulation

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Optimization of Energy Storage for a Miniature Water Jumping Robot 1

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16th International Conference on Intelligent robotics and Applications, ICIRA 2023

作者： Zhang, Shihao Zhang, Xin Yan, Jihong State Key Laboratory of Robotics and System Harbin Institute of Technology Heilongjiang Harbin150001 China Laboratory for Space Environment and Physical Sciences Harbin Institute of Technology Heilongjiang Harbin150001 China

ISBN: (数字)9789819964987

ISBN: (纸本)9789819964970

The water-jumping robot’s energy storage size is the key to improving the jumping performance. Materials with high energy density and large deformability are chosen as robotic energy storage elements, and the storage energy size of water jumping robots can be increased. We design an energy storage mechanism with latex and carbon composite fiber with large deformability and high energy density. The carbon composite fiber deformation was solved the by differential iteration method, and we developed its deformation-force-energy storage model. The energy storage size is increased by optimizing the energy storage elements’ dimensional parameters and their installation location. We designed a water jumping robot based on the optimized energy storage mechanism. The optimized robot prototype is manufactured with a weight of 95 g, and the length, width, and height of the robot are 260 mm, 150 mm, and 100 mm, respectively. It has the ability to take off from the water. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Iterative methods

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Design and Experimental Evaluation of WLR-III

Design and Experimental Evaluation of WLR-III

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Li, Xu Fu, Yili Zhejiang University State Key Laboratory of Robotics and System Harbin Institute of Technology State Key Laboratory of Fluid Power and Mechatronic Systems China Harbin Institute of Technology Intelligent Robot Research Center Zhejiang Laboratory State Key Laboratory of Robotics and System Heilongjiang Province Harbin150001 China

ISBN: (纸本)9798350325706

This paper introduces the design and experimental evaluation of WLR-III, which stands for the third-generation hydraulic wheel-legged robot. WLR-III is expected to be applied to disaster scenarios where the mobility, adaptability and manipulation capability are required. Based on the development of the previous two generations of wheel-legged robots, this work continuously optimizes the design to achieve higher mobility and stronger adaptability by reducing weight & inertia. The hydraulic power transmission system adopts a hose-less design method to ensure the robustness of the system. What's more prominent is that the successful development of hydraulic power unit (HPU) enables WLR-III to realize hydraulic power autonomy. In addition, to accomplish all kinds of operational tasks in the rescue scene, the electro-hydraulic hybrid drives anthropomorphic arms with heavy load grippers were developed. Finally, the effectiveness and reliability of design optimization have been evaluated through a series of experiments, including grassland movement, load bearing, obstacle-stepping and tool-operating. To the authors' best knowledge, this is the first time that a hydraulic powered autonomous wheel-legged humanoid robot with the ability to operate simple tools has been developed. © 2023 IEEE.

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Human-machine shared control:New avenue to dexterous prosthetic hand manipulation

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Science China(Technological Sciences) 2021年第4期64卷 767-773页

作者： YANG DaPeng LIU Hong State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150080China Artificial Intelligence Laboratory Harbin Institute of TechnologyHarbin 150080China

At present,albeit the dexterous hand prostheses of multiple degrees of freedom(DOFs)have become prosperous on the market,the user’s demand on intuitively operating these devices have not been well addressed so that their acceptance rate is relatively *** unintuitive control method and inadequate sensory feedback are frequently cited as the two barriers to the successful application of these dexterous ***,driven by the wave of artificial intelligence(AI),a series of shared control methods have emerged,in which"bodily function"(myoelectric control)and"artificial intelligence"(local autonomy,computer vision,etc.)are tightly integrated,and provided a new conceptual solution for the intuitive operation of dexterous *** this paper,the background and development trends of this type of methods are described in detail,and the potential development directions and the key technologies that need breakthroughs are *** practice,we instantiate this shared control strategy by proposing a new method combining simultaneous myoelectric control,multi-finger grasp autonomy,and augmented reality(AR)feedback *** method"divides"the human sophisticated reach-and-grasp task into several subtasks,and then"conquers"them by using different strategies from either human or machine *** is highly expected that the shared control methods with hybrid human-machine intelligence could address the control problem of dexterous prostheses.

关键词： robotic hand dexterous prostheses shared control computer vision deep learning

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A Dual-Mode Micro Flapping Wing Robot with Water Gliding and Taking-Off Motion 16th

A Dual-Mode Micro Flapping Wing Robot with Water Gliding and...

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16th International Conference on Intelligent robotics and Applications, ICIRA 2023

作者： Wang, Fuguang Xu, Zhidong Yan, Jihong State Key Laboratory of Robotics and System Harbin Institute of Technology Heilongjiang Harbin150001 China Laboratory for Space Environment and Physical Sciences Harbin Institute of Technology Heilongjiang Harbin150001 China

ISBN: (纸本)9789819964918

Multi-mode motion equips robots with better flexibility and adaptation for dynamically complex environments as well as low energy consumption, becoming a hot spot of robot research. In this work, a dual-mode miniature flapping wing robot featuring gliding and take-off on the water surface is designed via string actuation and attitude adjustment mechanism. The string actuation composed of line and roller is lightweight and adjustable, providing the pneumatic power required for the robot. The posture-modulation mechanism of spatial six bar ensures non-interference of the two motion manners without increasing weight. The dynamic model is established to optimize water-surface glide performance, and lift-force experiments with different wings are carried out for better taking-off properties. The gliding speed and take-off height of the robot are 290.9 mm/s with body length ratio 2.64 and 105 mm with body height 2.1, respectively. This work can provide a reference for the research of the multi-mode flapping wing robot. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd 2023.

关键词： Robots

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S2H-GNN: Learning Soft to Hard Feature Matching with Sparsified Graph Neural Network

S2H-GNN: Learning Soft to Hard Feature Matching with Sparsif...

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2023 IEEE International Conference on Real-Time Computing and robotics, RCAR 2023

作者： Xie, Tao Li, Ruifeng Jiang, Zhiqiang Dai, Kun Wang, Ke Zhao, Lijun Li, Shuozhan Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150006 China -HIT Research Institute of Engineering and Technology Quanzhou China

ISBN: (纸本)9798350327182

In this work, we introduce a soft-to-hard network (S2H-GNN) for precise local feature matching between image pairs. The core of S2H-GNN is a weighted context aggregation algorithm that enables nodes to receive information from their neighbors in order to form a more global understanding. S2HGNN leverages a sparsified graph neural network to enhance the features, consisting of the following modules alternately: (1) Inducing Point Initial Module that uses cosine correlation to identify highly scored keypoints as Inducing points. (2) Message Passing Module that integrates the features of original keypoints into those of Inducing points, which are further leveraged to exchange messages through self attention and cross attention. (3) Attention Upsample Module that propagates the feature of Inducing points to that of original keypoints, obtaining discriminative feature representation. Additionally, we propose an assignment layer to obtain a soft assignment matrix, which views feature matching as a graphy matching problem. Finally, we introduce a novel gap loss to guide S2H-GNN in learning a discriminative cognition of matching and non-matching keypoints, ultimately obtaining the hard assignment matrix. Experimental results demonstrate that S2H-GNN achieves comparable or higher performance in image matching and homography estimation tasks. © 2023 IEEE.

关键词： Graph neural networks

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On-Orbit Thermal Analysis of Ring Truss-Type Deployable Antenna 23rd

On-Orbit Thermal Analysis of Ring Truss-Type Deployable Ante...

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23rd IFToMM China International Conference on Mechanism and Machine Science and Engineering, IFToMM CCMMS 2022

作者： Zhang, Xiong Kang, Xi Huang, Hailin Li, Bing State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen518055 China

ISBN: (纸本)9789811993978

As space antenna tends to be large-scale, deployable antenna is more and more widely used. As a key part of antenna structure, the antenna profile will be deformed due to uneven heating during on-orbit operation, which affects the service performance of the antenna. In this paper, the thermal effect mode of space environment on the on-orbit antenna is analyzed firstly, and the differential heat conduction equation is obtained by taking the profile as research object. Then, thermal simulation of the ring truss-type deployable antenna in the sun-synchronous orbit is carried out by using the NX-TMG software. The temperature characteristics of the antenna profile and the influence law of material parameters on the profile temperature during on-orbit operation are analyzed. It is concluded that temperature of antenna profile changes in one orbital period. The selection of low absorption rate and high density materials can reduce the profile temperature difference, which provides the reference for ring truss-type deployable antenna design. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Antennas

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