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Micro and Nanotechnology for Power Generation and Energy Conversion Applications (PowerMEMS)

作者： Tianyi Tang Yunfei Li Heng Zhao Lining Sun Huicong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin CHINA School of Mechanical and Electrical Engineering Jiangsu Provincial Key Laboratory of Advanced Robotics Soochow University Suzhou CHINA

ISBN: (数字)9798350380200

ISBN: (纸本)9798350380217

This paper presents an ultra-low-frequency and high-power wave energy harvester (WEH). It utilizes a vertical pendulum structure to achieve motion response to ultra-low-frequency wave excitation and then converts the mechanical energy of the pendulum into high-frequency and high-power electrical energy output through the MagBoost Mechanism. The design of WEH ensures stable output even under excitation conditions below 1 Hz. At the excitation frequency of 1.4 Hz and resistance load of $20 \Omega$, the maximum power output can reach 1.16 W with a power density of $0.54 \mathrm{~mW} / \mathrm{cm}^{3}$. The high energy density allows stable power supplementation for ocean observation buoy within a limited volume, thereby enabling long-term, unattended operation of the buoy in remote offshore areas.

关键词： Resistance Power system measurements Density measurement Oceans Frequency conversion Sensor systems Sensors Mechanical energy Wave energy conversion Power generation

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Design and motion performance of new inspection robot for steam generator heat transfer tubes

Design and motion performance of new inspection robot for st...

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2021 IEEE International Conference on Real-Time Computing and robotics, RCAR 2021

作者： Xu, Biying Li, Ge Xing, Zhenming Cai, Hegao Zhao, Jie Fan, Jizhuang Harbin Institute of Technology State Key Laboratory of Robotics and System Heilongjiang Province Harbin China

ISBN: (纸本)9781665436786

The reliability of the Steam Generator is a key factor affecting the overall efficiency and safety of nuclear power plant reactors. Under the influence of nuclear radiation, remote control robots are currently used for Steam Generator heat transfer tubes inspection. In this paper, a new inspection robot is designed with better structure and higher working efficiency. Structural modeling and kinematic analysis are carried out. A modular control system is designed and applied for system integration. To verify the practicality of the robot, tube sheet motion experiments and performance analysis are undertaken. It results that the proposed inspection robot efficiently moves on the tube sheet and has excellent motion performance. © 2021 IEEE.

关键词： Steam generators

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Study on the Shock Resistance of Double-Layer Vibration Isolation system for Ship Power Equipment

Study on the Shock Resistance of Double-Layer Vibration Isol...

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China Instrument and Control Society (ACCIS), Academic Conference of

作者： Zhongyi Cheng Junning Cui Xinbin Zhang Yizhong Zhuang Bo Kang Yamin Zhao Center of Ultra-precision Optoelectronic Instrument Engineering Harbin Institute of Technology Harbin China Key Lab of Ultra-precision Intelligent Instrumentation Harbin Institute of Technology (Harbin Institute of Technology) Ministry of Industry and Information Technology Harbin China Laboratory for Space Environment and Physical Sciences Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (数字)9798350350326

ISBN: (纸本)9798350350333

Given the problem that the influences of different vibration isolation parameters on the dynamic characteristics of isolated equipment in the double-layer vibration isolation system of ship power equipment is still unclear, a double-layer vibration isolation model for ship power equipment is established to study the time-domain response characteristics of the isolated equipment under the action of a half-sine wave shock. The dimensionless differential equations of system motion are derived using dimensional analysis, and the numerical simulation based on the fourth-order Runge-Kutta method is used to analyze the influences of vibration isolation parameters on shock resistance performance of the system, which provides a theoretical basis for the shock resistance design of the double-layer vibration isolation system of ship power equipment and is of significant instruction to the practice.

关键词： Vibrations Resistance Damping Isolators Electric shock Numerical simulation Shock absorbers Numerical models Marine vehicles Time-domain analysis

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Effect of filament winding process parameters on interlaminar performance for CF/PP thermoplastic composite 4

Effect of filament winding process parameters on interlamina...

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4th International Conference on Graphene and Novel Nanomaterials, GNN 2022

作者： Chang, C. Geng, H.B. Feng, Y. Han, Z.Y. Sun, S.Z. State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Inner Mongolia Aerospace Honggang Machinery Corporation Limited Hohhot010020 China Wuhu Robot Technology Research Institute Harbin Institute of Technology Wuhu241000 China

This paper focuses on the in-situ consolidation process of thermoplastic composites by winding, aiming to explore the influence of key process parameters on samples' quality. During the consolidation of thermoplastic composites, they need to go through resin melting-bonding-consolidation process, in which each parameter affects the interlaminar bond strength. Through preliminary simulation and experiments, the process parameters were selected. In this paper, wound NOL ring samples made of carbon fiber reinforced polypropylene thermoplastic composite prepregs were obtained with a hot gas assisted filament winding equipment. The influence rule of winding temperature, winding tension and winding speed on the interlaminar shear strength were analyzed based on response surface methodology. Through the analysis, in the range of the experiments winding tension and temperature had more effect on the shear strength while speed's influence was small. With the increase of tension and temperature, the interlaminar shear strength increased, but after reaching a certain value, the laminar shear strength decreased instead. © Published under licence by IOP Publishing Ltd.

关键词： Filament winding

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Design and Control for WLR-3P:A Hydraulic Wheel-Legged Robot

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Cyborg and Bionic systems 2023年第1期4卷 243-259页

作者： Xu Li Haoyang Yu Haibo Feng Songyuan Zhang Yili Fu State Key Laboratory of Robotics and System College of Mechatronics EngineeringHarbin Institute of TechnologyHarbin 150001China State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang UniversityHangzhou 310027China Intelligent Robot Research Center Zhejiang LaboratoryHangzhou 311100China

The robot used for disaster rescue or field exploration requires the ability of fast moving on flat road and adaptability on complex *** hybrid wheel-legged robot(WLR-3P,prototype of the third-generation hydraulic wheel-legged robot)has the characteristics of fast and efficient mobility on flat surfaces and high environmental adaptability on rough *** this paper,3 design requirements are proposed to improve the mobility and environmental adaptability of the *** meet these 3 requirements,2 design principles for each requirement are put ***,for light weight and low inertia with high stiffness,3-dimensional printing technology and lightweight material are ***,the integrated hydraulically driven unit is used for high power density and fast response ***,the microhydraulic power unit achieves power autonomy,adopting the hoseless design to strengthen the reliability of the hydraulic *** is more,the control system including hierarchical distributed electrical system and control strategy is *** mobility and adaptability of WLR-3P are demonstrated with a series of ***,the robot can achieve a speed of 13.6 km/h and a jumping height of 0.2 m.

关键词： robot Robot terrain

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Speed Fluctuation Suppression of Current Scaling Errors Based on Improved Iterative Learning Control Method

Speed Fluctuation Suppression of Current Scaling Errors Base...

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International Conference on Electrical Machines and systems (ICEMS)

作者： Haoyi Mu Guodong Yu Shaobin Li Pengcheng Zhu Yongxiang Xu School of Electrical Engineering and Automation Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and System Harbin China

In recent years, there has been a growing demand for high-precision speed control of permanent magnet synchronous motor (PMSM), drawing significant attention to the issue of inherent current measurement errors in drive control. This paper presents a novel approach to mitigate periodic speed fluctuations using an expert system-based iterative learning control (ILC) method. The proposed method employs an expert system to dynamically adjust the weight values of the memory factor during online updates. This ensures the calculated relaxation factor optimally suppresses speed fluctuations across all operating conditions. Furthermore, the stability and parameter tuning aspects are analyzed from the perspective of transfer functions, and the feasibility of the proposed method is demonstrated through simulation.

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Study of the shear strength behavior in flip chip under thermo-mechano-electrical coupling and different solder height

Study of the shear strength behavior in flip chip under ther...

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International Conference on (ICEPT) Electronic Packaging technology

作者： Bin Zhou Jianxin Qiao Yunkang Su Dapeng Liu Wentao Huang Longqiu Li State Key Laboratory of Robotics and System Key Laboratory for Microsystems and Microstructure Manufacturing Harbin Institute of Technology Harbin China School of Mechanical and Electrical Engineering Harbin Institute of Technology Harbin China

Complicated service environment such as thermo-mechano-electrical coupling field and limited solder height have brought great challenges to the reliability of flip chips packaging and hindered the chip integration process. In this work, mechanical properties of 3.0Ag-0.5Cu(SAC305) solder under different service environment and height were investigated at macroscopic and microcosmic level. The flip chip shear test is realized on the universal test machine use the proposed fixture. The shear strength shows declining trend with the increment of coupling fields and solder heights. The underlying mechanism of strength loss is thermal softening effect and reduction rate could reach 42.77% at most. The Scanning Electron Microscopy (SEM) is used to analysis the fracture morphology and intermetallic compound (IMC) layer. The shear strength was negatively correlated with the thickness of IMC layer, and was positively correlated with fractal dimension of fracture morphology. The result shows that the thickness of IMC layer is the highest while the field is thermo-mechano-electrical and the solid height is 398μm. Meanwhile, the fractal dimension of fracture morphology is the lowest.

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Enveloping grasp planning of a three-fingered deployable metamorphic robotic grasper

Enveloping grasp planning of a three-fingered deployable met...

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IEEE International Conference on Cyborg and Bionic systems (CBS)

作者： Changqing Gao Yang Zhang Hong Lei Xi Kang Peng Xu Bing Li School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

This paper takes a three-fingered deployable metamorphic robotic grasper as the studied object and presents a novel enveloping grasp planning method, by which the robotic grasper can grasp objects with different sizes and shapes more effectively and stably. Firstly, the mechanism design and key performances of the robotic grasper are briefly introduced. Secondly, the static analysis of the grasping motion process is conducted and the factors affecting static equilibrium are also analyzed, based on which the mathematical model of static equilibrium is established, and the relationship between grasping force and grasping posture is obtained. Then, an optimization model of static enveloping grasp with the grasping angle as the variable is proposed, by which the best grasping posture can be obtained. Thirdly, to prove the effectiveness of the proposed enveloping grasp planning method, a group of grasping simulations is performed and the results show that this method is feasible and reliable.

关键词： Shape Biological system modeling Force Grasping Static analysis Mathematical models Planning

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A Trajectory Planning Algorithm of Spray Robot for Workpieces with Complex Geometric Features based on 3D Point Cloud 5

A Trajectory Planning Algorithm of Spray Robot for Workpiece...

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5th IEEE Information technology, Networking, Electronic and Automation Control Conference, ITNEC 2021

作者： Kong, Minxiu Li, Ang Gao, Feng Harbin Institute of Technology School of Mechatronics Engineering Harbin China State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9781665415989

Trajectory planning of spray robot for workpieces with complex geometric features is always a challenging problem. Combined with the actual process requirements of surface spraying and edge spraying, a new spraying path design method based on 3D point cloud is proposed in this paper. During surface spraying, the automatic segmentation algorithm of spraying area based on the determination of hole ratio and Euclidean clustering is studied. For the area with dense features, the point cloud slicing algorithm is used to generate the spray path. For the narrow area, the flexible midline extraction algorithm is proposed. We also discussed the edge extraction algorithm to generate the edge spray path. According to the simulation results of coating thickness, this method can not only ensure the uniformity of coating thickness, but also ensure high spraying efficiency with low paint waste. © 2021 IEEE.

关键词： Clustering algorithms

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Research status and development trend of inspection robot for steam generator heat transfer tubes

Research status and development trend of inspection robot fo...

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2021 IEEE International Conference on Real-Time Computing and robotics, RCAR 2021

作者： Zhang, Kuan Xu, Biying Xing, Zhenming Wang, Shuqi Zhao, Jie Fan, Jizhuang Harbin Institute of Technology State Key Laboratory of Robotics and System Heilongjiang Province Harbin City China

ISBN: (纸本)9781665436786

The steam generator is an important heat transfer equipment in nuclear power plant. Its main component is the tube sheet with thousands of U-shaped heat transfer tubes. The inspection robot repairs the heat transfer tubes by positioning various types of tools to the specific heat transfer pipe, greatly reducing human intervention in the nuclear environment. Based on a brief overview of the research status of inspection robots used in steam generators, the mechanical structure of the body, tube-holding mechanism, collision detection, and trajectory planning are analyzed, problems and challenges are summarized, and the future development trend is prospected. © 2021 IEEE.

关键词： Tubes (components)

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