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12th International Conference on CYBER technology in Automation, Control, and Intelligent systems, CYBER 2022

作者： Dai, Xiaolin Liu, Yixiang Liu, Xinyu Zang, Xizhe Song, Rui Li, Yibin School of Control Science and Engineering Shandong University Jinan250061 China Engineering Research Center of Intelligent Unmanned System Ministry of Education Jinan250061 China Jiangsu Automation Research Institute Lianyungang222000 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

In the process of walking, humans are accompanied by the important action of foot rotation. The foot rotates taking the heel and toe as the axis of rotation when landing on and leaving the ground, respectively. Although having high similarity to humans, many biped robots do not reproduce this important feature. This paper describes a method for adding foot rotation into biped robots using the passive metatarsophalangeal joint. Firstly, the biomechanics of human metatarsophalangeal joint during walking is analyzed. Then, the control strategy based on finite state machine for human-like biped walking with foot rotation is proposed for a simplified biped robot model that is composed of eight joints. Finally, the simulation results of the walking gait of the biped robot in MATLAB demonstrate the effectiveness of the control strategy. © 2022 IEEE.

关键词： Rotation

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A Helium Type Turbo-blasting Device (TBD) into a Penetrating Probe for Main-belt Comets Volatiles Exploration

A Helium Type Turbo-blasting Device (TBD) into a Penetrating...

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IEEE International Conference on robotics and Biomimetics

作者： Junyue Tang Zekun Ha Junxiao Xiao Cheng Chi Ziyun Yao He Liang Shengyuan Jiang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin P. R. China

ISBN: (纸本)9781665481106

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. Since mineral volatiles are normally covered underground, it is difficult to accurately detect its composition from remote observation. Herein, a subsurface penetrating probe integrated with non-contamination detonation is proposed to realize an in-situ exploration. Under the rapid turbo-blasting interaction, the surrounding rubble piles will be definitely blown away, leaving an artificial crater for later remote observation. A novel a helium type turbo-blasting device (TBD) is proposed and designed. The simulant rubble pile structure detonation experiments verified the detonation equivalent.

关键词： Comets Earth Satellites Belts Turning Ice Helium

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WSC-Trans: A CNN-Transformer Structure-Based 3D Multi-Structural Automatic Segmentation Model for Temporal Bone CT

WSC-Trans: A CNN-Transformer Structure-Based 3D Multi-Struct...

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IEEE International Conference on Bioinformatics and Biomedicine (BIBM)

作者： Xin Hua Jixin Ma Hongjian Yu Zhijiang Du Fanjun Zheng Chen Zhang Qiaohui Lu Hui Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Senior Department of Otolaryngology Head and Neck Surgery The 6th Medical Center of Chinese PLA General Hospital Beijing China

ISBN: (数字)9798350386226

ISBN: (纸本)9798350386233

Cochlear implantation is the most effective treatment for severe deafness, which requires accurate localization of temporal bone anatomy. Preoperative CT image segmentation is an essential technique to determine the location of relevant tissues in the temporal bone. However, manual segmentation is usually time-consuming and suffers from low accuracy due to the complex and small structures of these tissues in temporal bone CT. To address this issue, we proposed a CNN-Transformer structure-based 3D multi-structured model for the automatic segmentation of fine and complex tissues such as the cochlea, facial nerve, ossicles, vestibule and semicircular canal in the temporal bone CT. Our model adopts a new Transformer deformation structure, which effectively utilizes the spatial attention mechanism to capture feature dependencies, and uses the channel attention mechanism to fuse different channel semantic representations to improve segmentation accuracy. Extensive experiments on a private temporal bone CT dataset show that our model achieves higher DSS and JSS scores, and lower HD95 and ASSD scores for all targets compared with other existing segmentation methods, demonstrating its superior performance.

关键词： Image segmentation Solid modeling Irrigation Three-dimensional displays Accuracy Attention mechanisms Computed tomography Ear Bones Transformers

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MRI Super-Resolution via Hybrid Information Enhancement Network based on Multi-Attention and Adaptive Convolution

MRI Super-Resolution via Hybrid Information Enhancement Netw...

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IEEE International Conference on Bioinformatics and Biomedicine (BIBM)

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

ISBN: (数字)9798350386226

ISBN: (纸本)9798350386233

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.

关键词： Convolution Magnetic resonance imaging Magnetic separation Superresolution Semantics Magnetic resonance Transformers Information filters Image reconstruction Biomedical imaging

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A bionic approach for the mechanical and electrical decoupling of an MEMS capacitive sensor in ultralow force measurement

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Frontiers of Mechanical Engineering 2023年第2期18卷 297-317页

作者： Wendi GAO Bian TIAN Cunlang LIU Yingbiao MI Chen JIA Libo ZHAO Tao LIU Nan ZHU Ping YANG Qijing LIN Zhuangde JIANG Dong SUN State Key Laboratory for Manufacturing Systems Engineering International Joint Laboratory for Micro/Nano Manufacturing and Measurement TechnologiesOverseas Expertise Introduction Center for Micro/Nano Manufacturing and Nano Measurement Technologies Discipline InnovationXi’an Jiaotong University(Yantai)Research Institute for Intelligent Sensing Technology and SystemSchool of Mechanical EngineeringXi’an Jiaotong UniversityXi’an 710049China Shandong Laboratory of Yantai Advanced Materials and Green Manufacturing Yantai 265599China State Key Laboratory of Robotics and Systems(HIT) Harbin 150006China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of TechnologyBeijing 100081China Department of Biomedical Engineering City University of Hong KongHong KongChina

Capacitive sensors are efficient tools for biophysical force measurement,which is essential for the exploration of cellular ***,attention has been rarely given on the influences of external mechanical and internal electrical interferences on capacitive *** this work,a bionic swallow structure design norm was developed for mechanical decoupling,and the influences of structural parameters on mechanical behavior were fully analyzed and optimized.A bionic feather comb distribution strategy and a portable readout circuit were proposed for eliminating electrostatic *** instability was evaluated,and electrostatic decoupling performance was verified on the basis of a novel measurement method utilizing four complementary comb arrays and applicationspecific integrated circuit *** electrostatic pulling experiment showed that the bionic swallow structure hardly moved by 0.770 nm,and the measurement error was less than 0.009% for the area-variant sensor and 1.118% for the gap-variant sensor,which can be easily compensated in *** proposed sensor also exhibited high resistance against electrostatic rotation,and the resulting measurement error dropped below 0.751%.The rotation interferences were less than 0.330 nm and(1.829×10^(-7))°,which were 35 times smaller than those of the traditional differential *** on the proposed bionic decoupling method,the fabricated sensor exhibited overwhelming capacitive sensitivity values of 7.078 and 1.473 pF/μm for gap-variant and area-variant devices,respectively,which were the highest among the current *** immunity to mechanical disturbances was maintained simultaneously,i.e.,less than 0.369% and 0.058% of the sensor outputs for the gap-variant and area-variant devices,respectively,indicating its great performance improvements over existing devices and feasibility in ultralow biomedical force measurement.

关键词： micro-electro-mechanical system capacitive sensor bionics operation instability mechanical and electrical decoupling biomedical force measurement

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Theoretical Modeling and Performance Analysis on the Linear Electromagnetic Actuator with High Nonlinear Dynamic Negative Stiffness

SSRN

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SSRN 2024年

作者： Wang, Chuchao Lu, Shizhou Liu, Xiaohan Mo, Wenyin Zhang, Bin Li, Kai Sun, Lining Mechanical Electrical & Information Engineering Shandong University Weihai264209 China School of Mechanical Engineering Dalian University of Technology Dalian116081 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

Electromagnetic mechanisms are introduced to adjust the stiffness and improve the performance of mechanical systems, which have been widely researched. In this paper, the transient performance of a novel linear solenoid elastic actuator with higher nonlinear negative stiffness and speed by introducing the negative stiffness mechanism is analyzed and predicted. The actuator can achieve an initial theoretical stiffness of -20.96 N/m at 1 A current and a maximum stroke of 9 mm in 0.5 s. The performance indicators including peak time, overshoot, and steady-state displacement are obtained through electromagnetic-mechanical coupled modeling. The influence of system parameters including natural frequency, equivalent stiffness and damping coefficient on performance indicators is also studied. First, the approximate analytical model of the electromagnetic force is derived by constructing an innovative magnetic field distribution model. Second, the nonlinear vibration equation is solved theoretically to obtain the analytical results of the performance indicators and system parameters. Finally, the transient displacements and performance indicators obtained from the analytical model, the numerical model established in Simulink software and the simulation model obtained in Adams software are compared. The maximum errors of the peak time, overshoot and stable displacement through the analytical model and experiment are 2.56 ms, 9.37% and 0.32 mm, respectively. The theoretical and experimental results show the nonlinear effects of input currents on performance indicators and system parameters. The overshoot has a strong positive following feature on the damping coefficient, but the vibration frequency mainly depends on the equivalent stiffness of the system. This research provides a reference for the transient solution of nonlinear electromagnetic-dynamic coupling models and performance improvement of linear electromagnetic actuators. © 2024, The Authors. All rights reserved.

关键词： Stiffness

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Model Design and Concept of Operations of Standard Interface for On-orbit Construction

Model Design and Concept of Operations of Standard Interface...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Jingdong Zhao Zirui Wang Ziyi Liu Liangliang Zhao Qifan Duan Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Chang Guang Satellite Technology Co. Ltd. Changchun China Beijing Honor Device Co. Ltd. Beijing China

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

The construction of large-scale space facilities requires the use of on-orbit construction technology. However, several of its key components, such as standard interface design, compliant control methods, and path planning for multi-branch robots, still need improvement before practical application. This paper presents a comprehensive solution for on-orbit construction tasks, encompassing a novel standard interface, docking control method, and path planning method for space multi-branch robots. Firstly, a novel standard interface is introduced, which features multiple mating modes and a lightweight design. Additionally, a compliant docking method is provided to generate lower contact forces along the Z-direction. Furthermore, for four-armed space robots, a hierarchical planning method is proposed, which innovates in environment map construction and locomotion planning. Specifically, the closed-form Minkowski sum method is employed to solve the robot’s free space, and a concise locomotion method is elucidated based on transition support points. Finally, simulations and experiments are conducted.

关键词： Visualization Machine vision Prototypes Aerospace electronics Path planning Planning Task analysis

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Dynamical Modeling and Numerical Simulation of Water Discharge Process of Spherical Objects

Dynamical Modeling and Numerical Simulation of Water Dischar...

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IEEE International Conference on Mechatronics and Automation

作者： Lin Zhong Jiawei Dong Jiabin Liu Wei Wang Riyue Wu Shuqi Wang Tao Zhang State Key Laboratory of Precision Electronic Manufacturing Technology and Equipment Guangdong University of Technology Guangzhou China School of Electromechanical Engineering Guangdong University of Technology Guangzhou China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

The process of an object leaping out of the water is very similar to the jumping process of an aquatic animal during prey or avoid predators. The study of the process of an object leaping out of the water is beneficial to the design of robots jumping out of water. In this work, the free jump of a sphere out of the water is successfully simulated based on the Computational Fluid Dynamics (CFD) software Fluent, with User-Defined Functions to control the motion of the sphere, the volume of Fluid model, dynamic meshing, and Detached Eddy Simulation. The velocity of the sphere at the water-air interface and the height of the sphere leaping out from the water surface obtained from the numerical simulation are compared with experimental results. The maximum error between the experimental and the simulated results is 2.28% in the water-discharge velocity and 2.65% in the leaping height from the water surface. In addition, this paper model the dynamics of the sphere during the water discharge process. The paper also analyses the free deformation of water surface, the water film rupture process on the surface of the sphere, the variation of fluid drag on the sphere, and the variation of the fluid velocity field during the free ascent of the sphere after acquiring an initial velocity of 2.81 m/s.

关键词：

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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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IEEE International Conference on robotics and Biomimetics

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

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.

关键词：

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Optical modulation of repaired damage site on fused silica produced by CO2 laser rapid ablation mitigation

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Chinese Physics B 2020年第5期29卷 288-296页

作者： Chao Tan Lin-Jie Zhao Ming-Jun Chen Jian Cheng Zhao-Yang Yin Qi Liu Hao Yang Wei Liao State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China Research Center of Laser Fusion China Academy of Engineering PhysicsMianyang 621900China

CO2 laser rapid ablation mitigation(RAM)of fused silica has been used in high-power laser systems owing to its advantages of high efficiency,and ease of implementing batch and automated *** order to study the effect of repaired morphology of RAM on laser modulation and to improve laser damage threshold of optics,an finite element method(FEM)mathematical model of 351 nm laser irradiating fused silica optics is developed based on Maxwell electromagnetic field equations,to explore the 3D near-field light intensity distribution inside optics with repaired site on its *** influences of the cone angle and the size of the repaired site on incident laser modulation are studied as *** results have shown that for the repaired site with a cone angle of 73.3°,the light intensity distribution has obvious three-dimensional *** relative light intensity on z-section has a circularly distribution,and the radius of the annular intensification zone increases with the decrease of *** the distribution of maximum relative light intensity on y-section is parabolical with the increase of *** the cone angle of the repaired site decreases,the effect of the repaired surface on light modulation becomes stronger,leading to a weak resistance to laser ***,the large size repaired site would also reduce the laser damage ***,a repaired site with a larger cone angle and smaller size is preferred in practical CO2 laser repairing of surface *** work will provide theoretical guidance for the design of repaired surface topography,as well as the improvement of RAM process.

关键词： fused silica laser repaired surface optical modulation finite element method(FEM)

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