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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Chen, Jian Wen, Xiaodong Wang, Hao Gong, Wei Deng, Zongquan Yu, Haitao Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China Tianjin Institute of Aerospace Mechanical and Electrical Equipment Tianjin Key Laboratory of Aerospace Intelligent Equipment Technology Tianjin China

ISBN: (纸本)9781665481090

Modular robots are gaining increasing attention in space services. The docking mechanism plays a critical role in performing self-healing and self-reconfiguration of modular robots. It is beneficial for the docking mechanism to operate with high efficiency, homogeneity and high misalignment tolerances. To meet these requirements, this paper presents a novel genderless docking mechanism. The construction of the docking mechanism is designed with features of passive locking and single-sided electromagnetic unlocking. To demonstrate the advantages of passive locking, the working processes of the axial and circumferential locking mechanisms are described in detail. Based on theoretical calculations and simulations, it is shown that the docking mechanism can provide fast connections or disconnections with a degree of translational and angular misalignment tolerances. This docking mechanism is intended for future applications in modular space robots or unstructured environment exploration robots. © 2022 IEEE.

关键词： Modular robots

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Passive Suspension Design and Dynamics Analysis of Manned Lunar Rover

Passive Suspension Design and Dynamics Analysis of Manned Lu...

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Mechatronics and robotics Engineering (ICMRE), International Conference on

作者： Junyang Zhang Zhen Liu Zhonghao Qin State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Special Robot Equipment Group Harbin Institute of Technology Zhengzhou Research Institute Harbin China

ISBN: (数字)9798350394276

ISBN: (纸本)9798350394283

The lunar surface environment differs significantly from that of Earth, thus necessitating the specialized design of suspension systems for lunar rovers. Within this study, a double wishbone independent suspension system is specifically designed for a manned lunar rover, with its dynamics attributes investigated through theoretical analyses and simulations. Firstly, the structural parameters of the double wishbone suspension are designed. Secondly, the theoretical dynamics model of the suspension is established, the dynamics equations are deduced, and an exploration into the impact of diverse system parameters on the suspension’s dynamics performance is conducted. Finally, the suspension underwent multi-body dynamics analysis using ADAMS to verify compliance with specified requirements for obstacle-crossing performance.

关键词： Space vehicles Suspensions (mechanical systems) Analytical models Mechatronics Moon Mathematical models Shock absorbers

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Robot learning from demonstration for path planning: A review

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Science China(Technological Sciences) 2020年第8期63卷 1325-1334页

作者： XIE ZongWu ZHANG Qi JIANG ZaiNan LIU Hong State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

Learning from demonstration(LfD)is an appealing method of helping robots learn new *** papers have presented methods of LfD with good performance in ***,complicated robot tasks that need to carefully regulate path planning strategies remain *** or non-contact constraints in specific robot tasks make the path planning problem more difficult,as the interaction between the robot and the environment is *** this paper,we focus on the path planning of complex robot tasks in the domain of LfD and give a novel perspective for classifying imitation learning and inverse reinforcement *** classification is based on constraints and obstacle ***,we summarize these methods and present promising directions for robot application and LfD theory.

关键词： learning from demonstration path planning imitation learning inverse reinforcement learning obstacle avoidance

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Torque Ripple Suppression Under Open-Circuit Fault for DTPPMSM Considering Back EMF Harmonics

Torque Ripple Suppression Under Open-Circuit Fault for DTPPM...

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International Conference on Applied Superconductivity and Electromagnetic Devices, ASEMD

作者： Chengsi Liu Jibin Zou State Key Laboratory of Robotics and System Harbin Institute of Technology HIT Harbin China

This paper analyzed the impact of phase back electromotive force (back EMF) harmonics on torque of dual three phase permanent magnet synchronous motor (DTPPMSM) from the view of electromagnetic power, and proposed a torque ripple suppression fault-tolerant method for open-circuit fault of DTPPMSM. The proposed method can consider the phase back EMF harmonics, thus achieveing both minimum torque ripple and maximum average torque. The proposed method is verified by both finite element analysis (FEA) and prototype experiment.

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Bio-inspired design of alternate rigid-flexible segments to improve the stiffness of a continuum manipulator

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Science China(Technological Sciences) 2020年第8期63卷 1549-1559页

作者： LIU Hong WANG HaiRong FAN ShaoWei YANG DaPeng State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

Intrinsic flexible structures enable a continuum manipulator to exhibit attractive dexterity and intrinsic compliance over traditional hyper-redundant ***,its insufficient stiffness makes the performance of continuum manipulators unsatisfactory and thus limits the applications in many fields.A significant challenge is how to make a trade-off among dexterity,compliance and *** an evolutionary perspective,this paper compares several biological structures that enable the continuum manipulator function,and intends to reveal the mechanism on how the biological structures can improve the *** notochord and the vertebral column with acoelous centra are abstracted and physically implemented.A fundamental roddriven continuum manipulator is also introduced as a *** stiffness models of these three continuum manipulators are proposed,and comparative experiments are conducted to verify their stiffness *** results demonstrate that the rigid-flexible segmental structure can improve the stiffness properties of a continuum manipulator.

关键词： continuum robots biologically inspired robot flexible arm stiffness kinematics

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Poly-MOT: A Polyhedral Framework For 3D Multi-Object Tracking

arXiv

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arXiv 2023年

作者： Li, Xiaoyu Xie, Tao Liu, Dedong Gao, Jinghan Dai, Kun Jiang, Zhiqiang Zhao, Lijun Wang, Ke State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150006 China

3D Multi-object tracking (MOT) empowers mobile robots to accomplish well-informed motion planning and navigation tasks by providing motion trajectories of surrounding objects. However, existing 3D MOT methods typically employ a single similarity metric and physical model to perform data association and state estimation for all objects. With large-scale modern datasets and real scenes, there are a variety of object categories that commonly exhibit distinctive geometric properties and motion patterns. In this way, such distinctions would enable various object categories to behave differently under the same standard, resulting in erroneous matches between trajectories and detections, and jeopardizing the reliability of downstream tasks (navigation, etc.). Towards this end, we propose Poly-MOT, an efficient 3D MOT method based on the Tracking-By-Detection framework that enables the tracker to choose the most appropriate tracking criteria for each object category. Specifically, Poly-MOT leverages different motion models for various object categories to characterize distinct types of motion accurately. We also introduce the constraint of the rigid structure of objects into a specific motion model to accurately describe the highly nonlinear motion of the object. Additionally, we introduce a two-stage data association strategy to ensure that objects can find the optimal similarity metric from three custom metrics for their categories and reduce missing matches. On the NuScenes dataset, our proposed method achieves state-of-the-art performance with 75.4% AMOTA. The code is available at https://***/lixiaoyu2000/Poly-MOT. © 2023, CC BY-NC-SA.

关键词： Motion planning

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Three-line structured light vision system for non-cooperative satellites in proximity operations

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Chinese Journal of Aeronautics 2020年第5期33卷 1494-1504页

作者： Yang LIU Zongwu XIE Hong LIU State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150000China

Adapter ring is a commonly used component in non-cooperative satellites,which has high strength and is suitable to be recognized and grasped by the space *** proximity operations,this circle feature may be occluded by the robot arm or limited field of ***,the captured images may be underexposed when there is not enough *** address these problems,this paper presents a structured light vision system with three line lasers and a monocular *** lasers project lines onto the surface of the satellite,and six break points are formed along both sides of the adapter ring.A closed-form solution for real-time pose estimation is given using these break ***,a virtual structured light platform is constructed to simulate synthetic images of the target *** with the predefined camera parameters and relative positions,the proposed method is demonstrated to be more effective,especially at a close ***,a physical space verification system is set up to prove the effectiveness and robustness of our method under different light *** results indicate that it is a practical and effective method for the pose measurement of on-orbit tasks.

关键词： Adapter ring Line detection Non-cooperative target Pose measurement Space robot Structured light

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Design and Verification of a Projectile Structure for Main-belt Comets Penetration Exploration

Design and Verification of a Projectile Structure for Main-b...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Tang, Junyue Liang, He Chi, Cheng Xiao, Junxiao Lu, Zixiao Yao, Ziyun Ha, Zekun Jiang, Shengyuan Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China CAS Center for Excellence in Nanoscience National Center for Nanoscience and Technology Beijing100190 China

ISBN: (纸本)9781665481090

Comparing the isotopic composition of the D/H ratio of the water ice in Main-belt Comets (MBCs) to that of the oceans on the Earth can enhance the understanding of where the water comes from and of how the distribution of the water ices in our early solar system. Herein, a jet penetrator with a turbo-blasting explosion device and a high-precision accelerometer has been proposed to realize a 1m class subsurface detection for China next asteroidal exploration mission. Considering the ruggedness of rubble pile structure in the low-gravity environment, the projectile's posture and its overloads determined by its structure and velocity during the penetration is highly uncertain. By establishing the rubble pile structure penetrating mechanism model, the real-time overloads and posture is analyzed to acquire an optimized projectile structure. Finally, a frozen rubble pile simulant penetrating experiment under gas gun system verified the optimized structure. © 2022 IEEE.

关键词： Comets

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Experimental Study on Frog-inspired Swimming Robot Based on Articulated Pneumatic Soft Actuator

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Journal of Bionic Engineering 2020年第2期17卷 270-280页

作者： Jizhuang Fan Shuqi Wang Qingguo Yu Yanhe Zhu State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

This paper presents a frog-inspired swimming robot based on articulated pneumatic soft *** realize the miniaturization of the robot and enhance its environmental adaptability,combined with the advantages and characteristics of soft materials,an articulated pneumatic soft actuator is designed based on analysis of a frog's propulsion characteristics.A structural model is established to analyse the mechanical properties of the soft *** the goal of making full use of the driving torque of the actuator and enhancing the propulsion efficiency of the robot,the motion trajectories of each joint of the robot are *** on the trajectory planning,the control strategy of the soft actuator is determined to realize the frog-like swimming of the *** torso size after assembly is 0.175 m×0.100 m×0.060 m,which realizes the miniaturization of the frog-inspired *** the movement of the robot,the torso moves stably and flexibly,and can realize continuous linear and turning *** rationality of the structure and trajectory planning are verified by prototype experiments.

关键词： bionic robotic frog articulated pneumatic soft actuator trajectory planning prototype experiment

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Layered structural engineering of Bi 2 O 3 /PP and WO 3 /PP composites for γ-ray shielding in high energy range: anisotropic attenuation mechanisms via Monte Carlo simulation and experiments

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Journal of Materials Research and technology 2025年 36卷 10324-10336页

作者： Xiangjie Duan Jie Zhao Shuaida Song Na Zhou Jizhuang Fan Bo Tian Yunchen Du State Key Laboratory of Space Power-Sources School of Chemistry and Chemical Engineering Harbin Institute of Technology Harbin 150001 People's Republic of China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150006 People's Republic of China Heilongjiang Institute of Atomic Energy Heilongjiang Academy of Sciences Harbin 150081 People's Republic of China

The development of non-toxic and flexible polymer-based shielding composites has become a research hotspot due to the severe harm of γ ray to living organisms, mechanical equipment, and environment. However, the γ-ray shielding performance of polymer-based composites in high-energy range remains unsatisfactory. Herein, FLUKA Monte Carlo simulations capable of visualizing γ-photon transport behaviors are investigated in Bi 2 O 3 /PP and WO 3 /PP multi-layer composites with various layered configurations. The simulation results reveal significant anisotropic attenuation effects on shielding characteristics caused by layered configurations and incident path of γ-photons relative to the interface position. Subsequently, single-layer, AB, and sandwich-like ABA composites with a fixed thickness of 2.0 mm are experimentally fabricated via melt-mixing and hot press methods. At 1332 keV, sandwich-like WPPBPPWPP composite (WO 3 /PP outer layers + Bi 2 O 3 /PP core) achieves linear attenuation coefficients and radiation protection efficiency of 0.31 cm −1 and 6 %, respectively, which are 29 % higher than those of single-layer composite. These improvements originate from multiple scattering induced by interlayer interface. Additionally, layered configurations with externally placed high-density fillers (WO 3 ) and internally placed high atomic number fillers (Bi 2 O 3 ) further promote γ-photon attenuation in high-energy range. Experimental results validate the anisotropic shielding trends observed in MC simulations. Moreover, multi-layer composites demonstrate significantly improved energy storage capacity, thermal stability, and oxidation resistance while maintaining comparable to those of single-layer composites. This work provides a scalable strategy for developing non-toxic and flexible shielding materials applicable in nuclear protection, medical devices, and aerospace systems, where lightweight and efficient radiation attenuation are critical.

关键词： Polymer-based composites Multi-layer structural engineering γ-Ray shielding Monte Carlo simulation Anisotropy attenuation Heterogeneous interface

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