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2024 IEEE International Conference on Bioinformatics and Biomedicine, BIBM 2024

作者： Ma, Jixin Yu, Hongjian Du, Zhijiang Hua, Xin Li, Zibo Zhao, Hui Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China The 6th Medical Center Chinese Pla General Hospital Senior Department of Otolaryngology Head and Neck Surgery Beijing China

ISBN: (纸本)9798350386226

Deep learning-based super-resolution (SR) reconstruction is a critical approach which is used to generate high-resolution images from corresponding low-resolution images. However, the CNN-based methods are ineffective in capturing global information, whereas the Transformer-based methods have limited ability to model long-range dependencies caused by window self-attention. Besides, it is a challenging task to recover lost high-frequency information from downsampled images. In this paper, a Hybrid Information Enhanced Network (HIEN) is proposed for MRI super-resolution task. Specifically, we propose a Spatial-Channel Hybrid Attention (SCHA) to enhance specific semantics representation by combining spatial and channel self-attention together. To recover more high-frequency components, we propose a Dynamic High-Frequency Pass Filter (DHPF) to preserve high-frequency information adaptively in pixel-wise. The results of our extensive experiments indicate that HIEN outperforms other state-of-the-art methods. © 2024 IEEE.

关键词： Image reconstruction

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A Collision Avoidance Path Planning Method for 7-DOF Space Manipulator

A Collision Avoidance Path Planning Method for 7-DOF Space M...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Han, Xu Yang, Guocai Jin, Minghe Wang, Qi Harbin Institute of Technology State Key Laboratory of Robotics and System Heilong Jiang Harbin China Military Representative Office of the Equipment Department of the Aerospace Systems Department Changchun China

ISBN: (纸本)9798350325706

This paper proposes a collision avoidance path planning approach for redundant robotic arms based on the RRT algorithm. The study focuses on a 7-DOF robotic arm with an SSRMS configuration. The method involves improved RRT-based path planning in configuration space (C-space) and collision detection in Cartesian space. The results of collision detection are employed to guide the path planning process. Emulating the SSRMS configuration robotic arm, a kinematic model is established. By enhancing the RRT algorithm with the following points: probabilistic sampling towards the target configuration, guided exploration near existing tree nodes, parent node reassignment for new nodes, and the adoption of a bidirectional searching tree, the randomness of sampling is reduced and the planning process is accelerated. By continuously mapping points on the surface of the arm to both the base coordinate system and the self-collision coordinate system, collision detection and self-collision detection are performed in the Cartesian space using a combination of surface equations and projection methods. Finally, a series of simulation experiments were conducted to analyze the impact of various parameters, different obstacles and different methods on the planning process. This validation confirmed the feasibility and effectiveness of the approach. © 2023 IEEE.

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Design of A Rigid-soft Hybrid Robotic Glove with Force Sensing Function

Design of A Rigid-soft Hybrid Robotic Glove with Force Sensi...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Hexin Li Li Jiang Ruichen Zhen Ming Cheng Kehan Ding State Key Laboratory of Robotics and System Harbin Institute of Technology

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Soft robotic gloves can not only provide timely, effective, safe and cheap rehabilitation training for patients with impaired movement function of hand, but also assist in completing daily grasping activities. However, most soft robotic gloves are completely composed of flexible structures. Although they have high flexibility and safety, there are problems such as poor fit and low output force. In order to solve these problems, this paper refers to the structure of the human hand and designs an articulated rigid-soft hybrid robotic glove, which combines the advantages of rigid robotic gloves and soft robotic gloves, and has high flexibility, high output force and good fit. In addition, soft robotic gloves generally lack the ability to sense the force between the human hand and the glove. Therefore, this paper designed an array flexible force sensor, and studied the structure, signal acquisition and preparation process of the sensor. Finally, a complete test platform was built to test the performance of the rigid-soft hybrid robotic glove with force sensing function. The test results show that the robotic glove has good fit and high output force, can effectively assist training and assist grasping, and can perceive the contact force.

关键词： Training Sensitivity Force Grasping Soft robotics Robot sensing systems Safety

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Recent Advances in Space-Deployable Structures in China

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Engineering 2022年第10期17卷 207-219页

作者： Xiaofei Ma Tuanjie Li Jingya Ma Zhiyi Wang Chuang Shi Shikun Zheng Qifeng Cui Xiao Li Fan Liu Hongwei Guo Liwu Liu Zuowei Wang Yang Li Xi’an Institute of Space Radio Technology Xi’an 710100China School of Electromechanical Engineering Xidian UniversityXi’an 710071China Beijing Institute of Spacecraft System Engineering Beijing 100094China Aerospace System Engineering Shanghai Shanghai 201109China State Key Laboratory of Robotics Harbin Institute of TechnologyHarbin 150001China Department of Astronautical Science and Mechanics Harbin Institute of TechnologyHarbin 150001China

Deployable space structure technology is an approach used in building spacecraft,especially when realizing deployment and folding *** in orbit,the structures are released from the fairing,deployed,and *** the development of communication,remote-sensing,and navigation satellites,space-deployable structures have become cutting-edge research topics in space science and *** paper summarizes the current research status and development trend of spacedeployable structures in China,including large space mesh antennas,space solar arrays,and deployable structures and mechanisms for deep-space *** technologies of space-deployable structures are addressed from the perspectives of deployable mechanisms,cable-membrane form-finding,dynamic analysis,reliable environmental adaptability analysis,and ***,future technology developments and trends are elucidated in the fields of mesh antennas,solar arrays,deployable mechanisms,and on-orbit adjustment,assembly,and construction.

关键词： Deployable space structures Mesh antennas Solar arrays Deep-space exploration

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A review of solar concentration technology applications in deep space exploration: Environmental adaptability and performance comparison

Space Solar Power and Wireless Transmission

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Space Solar Power and Wireless Transmission 2025年第1期2卷 43-53页

作者： Yanlong Zhang Pengzhen Guo Mengfan Tian Huazhi Chen Rongqiang Liu Zongquan Deng Lifang Li National Key Laboratory of Aerospace Mechanism Harbin Institute of Technology Harbin 150001 PR China National Key Laboratory of Laser Spatial Information Harbin Institute of Technology Harbin 150001 PR China National Key Laboratory of Space Environment and Matter Behaviors Harbin Institute of Technology Harbin 150001 PR China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 PR China

Deep space exploration missions and the construction of planetary research stations impose strict demands on energy self-sufficiency systems. Solar energy, due to its abundant availability and sustainability, has become the preferred solution. However, extreme environmental conditions in space – including drastic temperature fluctuations, vacuum environments, high-energy particles, and intense radiation – pose significant challenges to the performance and lifespan of solar energy systems. Concentration technology, which enhances photoelectric and photothermal conversion efficiency by focusing sunlight, is crucial for space missions. This review examines the primary environmental factors affecting the performance of solar concentrators, including solar irradiance, thermal cycling, vacuum-induced outgassing, radiation effects, and impacts from micrometeoroids and orbital debris. The analysis focuses on three types of high-temperature concentrators: Fresnel lenses, Scheffler concentrators, and parabolic dish concentrators. Fresnel lenses are characterized by low cost and simple structure but are susceptible to optical degradation at high temperatures. Scheffler concentrators utilize geometric optimization to improve uniformity of light distribution, while parabolic dish concentrators achieve high optical efficiency, making them suitable for high-energy applications though requiring precise solar tracking. Performance comparisons in the thermal power range of 0 to 25 kW reveal that parabolic dish concentrators excel in high-power scenarios with greater efficiency and smaller aperture sizes. Conversely, Fresnel lenses and Scheffler concentrators are more effective in medium to low-temperature applications. Based on these findings, this review emphasizes the need to select concentrators according to mission requirements and outlines future research directions. These include the development of advanced materials, optimized optical designs, and improvements in system integr

关键词： Deep space exploration Solar concentrators Extreme environmental conditions

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Piezoelectric inertial robot for operating in small pipelines based on stick-slip mechanism:modeling and experiment

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Frontiers of Mechanical Engineering 2022年第3期17卷 109-124页

作者： Jichun XING Chao NING Yingxiang LIU Ian HOWARD School of Mechanical Engineering Yanshan UniversityQinhuangdao066004China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150001China School of Civil and Mechanical Engineering Curtin UniversityPerth6001Australia

Small pipes exist in industrial and biomedical fields,and require microrobots with high operational precision and large load capacity to inspect or perform functional tasks.A piezoelectric inertial pipeline robot using a“stick-slip”mechanism was proposed to address this *** this study,the driving principle of the proposed robot was analyzed,and the strategy of the design scheme was presented.A dynamics model of the stick-slip system was established by combining the dynamics model of the driving foot system and the LuGre friction model,and the simulation analysis of the effect of system parameters on the operating trajectory was *** experimental system was established to examine the output characteristics of the proposed *** results show that the proposed pipeline robot with inertial stick-slip mechanism has a great load capacity of carrying 4.6 times(70 g)its own mass and high positioning *** speed of the pipeline robot can reach up to 3.5 mm/s(3 mm/s)in the forward(backward)direction,with a minimum step distance of 4µ*** potential application for fine operation in the pipe is exhibited by a demonstration of contactless transport.

关键词： pipeline robot piezoelectric inertial drive stick-slip large load capacity dynamics model small pipeline

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Transformer-Enhanced Motion Planner: Attention-Guided Sampling for state-Specific Decision Making

arXiv

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arXiv 2024年

作者： Zhuang, Lei Zhao, Jingdong Li, Yuntao Xu, Zichun Zhao, Liangliang Liu, Hong The State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

Sampling-based motion planning (SBMP) algorithms are renowned for their robust global search capabilities. However, the inherent randomness in their sampling mechanisms often result in inconsistent path quality and limited search efficiency. In response to these challenges, this work proposes a novel deep learning-based motion planning framework, named Transformer-Enhanced Motion Planner (TEMP), which synergizes an Environmental Information Semantic Encoder (EISE) with a Motion Planning Transformer (MPT). EISE converts environmental data into semantic environmental information (SEI), providing MPT with an enriched environmental comprehension. MPT leverages an attention mechanism to dynamically recalibrate its focus on SEI, task objectives, and historical planning data, refining the sampling node generation. To demonstrate the capabilities of TEMP, we train our model using a dataset comprised of planning results produced by the RRT*. EISE and MPT are collaboratively trained, enabling EISE to autonomously learn and extract patterns from environmental data, thereby forming semantic representations that MPT could more effectively interpret and utilize for motion planning. Subsequently, we conducted a systematic evaluation of TEMP's efficacy across diverse task dimensions, which demonstrates that TEMP achieves exceptional performance metrics and a heightened degree of generalizability compared to state-of-the-art SBMPs. Copyright © 2024, The Authors. All rights reserved.

关键词： Motion planning

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"Volume Transfer": A New Design Concept for Fabric-Based Pneumatic Exosuits

arXiv

引用

arXiv 2024年

作者： Liu, Chendong Yang, Dapeng Chen, Jiachen Dai, Yiming Jiang, Li Liu, Hong Liu, C. Yang, D. Chen, J. Dai, Y. Jiang, L. Liu, H. State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

The fabric-based pneumatic exosuit is now a hot research topic because it is lighter and softer than traditional exoskeletons. Existing research focused more on the mechanical properties of the exosuit (e.g., torque and speed), but less on its wearability (e.g., appearance and comfort). This work presents a new design concept for fabric-based pneumatic exosuits: "Volume Transfer", which means transferring the volume of pneumatic actuators beyond the garment's profile to the inside. This allows for a concealed appearance and a larger stress area while maintaining adequate torques. In order to verify this concept, we develop a fabric-based pneumatic exosuit for knee extension assistance. Its profile is only 26mm and its stress area wraps around almost half of the leg. We use a mathematical model and simulation to determine the parameters of the exosuit, avoiding multiple iterations of the prototype. Experiment results show that the exosuit can generate a torque of 7.6Nm at a pressure of 90kPa and produce a significant reduction in the electromyography activity of the knee extensor muscles. We believe that "Volume Transfer" could be utilized prevalently in future fabric-based pneumatic exosuit designs to achieve a significant improvement in wearability. Copyright © 2024, The Authors. All rights reserved.

关键词： Pneumatic actuators

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Target-driven Object Grasping Method for Mobile Manipulator in Clutter

Target-driven Object Grasping Method for Mobile Manipulator ...

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2022 IEEE International Conference on Unmanned systems, ICUS 2022

作者： Yu, Xinkai Gao, Yongzhuo Dong, Wei Li, Mingyang Liu, Huajian Wang, Chao Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China Beijing Institute of Control Engineering Beijing China

ISBN: (数字)9781665484565

ISBN: (纸本)9781665484565

The demand for mobile manipulator in the military field is strong, but there is no product that can achieve autonomous grasping in a cluttered environment. In this paper, a target-driven grasp pose detection algorithm is proposed, which can be used to detect the grasp pose of a specified target object in a cluttered environment. After that, based on the lightweight requirements of the military, a mobile manipulator platform is built, and the forward and inverse kinematics model of the mobile manipulator is established. At the same time, a vehicle-arm coordination algorithm is designed to make the grasping efficiency higher. Finally, we use the mobile manipulator to perform autonomous grasping in a cluttered environment to verify the system functionality. © 2022 IEEE.

关键词： Manipulators

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Design, Analysis, and Experiment of a Novel Ultrasonic Printing system

Design, Analysis, and Experiment of a Novel Ultrasonic Print...

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2022 IEEE International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale, 3M-NANO 2022

作者： Pei, Zhichao Zhao, Haoxiang Li, Dongjie Wang, Lefeng Rong, Weibin Sun, Lining Harbin Institute of Technology State Key Laboratory of Robotics and Systems Harbin China Harbin University of Science and Technology Heilongjiang Provincial Key Laboratory of Complex Intelligent System and Integration Harbin China

ISBN: (数字)9781665475433

ISBN: (纸本)9781665475433

Ultrasonic-driven printing technology is widely used in bioprinting because of its high precision, good biocompatibility, and low cost. However, the conventional ultrasonic printing technology still has problems such as cross-contamination of bio-ink during storage, transportation, and processing, and cumbersome ink replacement process. Therefore, a new ultrasonic printing device is developed in this paper, which uses PZT plates as the driving element. And a fluid sub-system has been fabricated based on the self-made glass micro-nozzle, which is connected to the drive element using ultrasonic couplant gel. The separation of the fluid system and the drive system has been realized through the modular design, thereby realizing the rapid replacement of different inks and this relatively independent fluid system is of great benefit to better sealing and aseptic operation. In addition, a digital model is built to analyze its working mechanism. And an experimental system is established to characterize the performance of the device. The results show that the system can generate droplets stably and accurately, and the droplet volume can be controlled by the excitation voltage amplitude and pulse width. © 2022 IEEE.

关键词： Biocompatibility

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