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IEEE International Conference on robotics and Biomimetics

作者： Sanfeng Hu Guoxing Wang Jianguo Tao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Beijing Spacecraft Beijing China

ISBN: (纸本)9781665405362

A novel hybrid suspension of six-wheeled planetary rover based on serial multi-articulated suspension is proposed. The differential balance support mechanism that is important component of the hybrid suspension and solves the problem of weak carrying capacity of serial suspension, is synthesized by using the constraint synthesis method based on screw theory and mechanism combination method. Taking the envelope volume and the maximum height of obstacles that can be overcome of the hybrid suspension rover as objective functions, the geometric parameters of the hybrid suspension structure are optimized through the elitist nondominated sorting genetic algorithm. The proposed hybrid suspension not only can conform passively to very rugged terrain, but also provides active mobility to cross obstacles and ditches, as well as passes soft terrain and steep slopes in wheel-legged locomotion. The established 3D and simulation models are used to simulate and verily the mobile performance of the hybrid suspension rover. The novel hybrid suspension has important reference significance for the design of the future lunar south pole rover.

关键词： Space vehicles Solid modeling Three-dimensional displays Simulation Moon Prototypes Fasteners

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Filter algorithm based on cochlear mechanics and neuron filter mechanism and application on enhancement of audio signals

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Journal of Central South University 2021年第6期28卷 1813-1828页

作者： GAO Wa KAN Yue ZHA Fu-sheng College of Furnishings and Industrial Design Nanjing Forestry UniversityNanjing 210037China School of Mechanical and Power Engineering Henan Polytechnic UniversityJiaozuo 454003China The State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

A filter algorithm based on cochlear mechanics and neuron filter mechanism is proposed from the view point of *** helps to solve the problem that the non-linear amplification is rarely considered in studying the auditory filters.A cochlear mechanical transduction model is built to illustrate the audio signals processing procedure in cochlea,and then the neuron filter mechanism is modeled to indirectly obtain the outputs with the cochlear properties of frequency tuning and non-linear *** mathematic description of the proposed algorithm is derived by the two *** parameter space,the parameter selection rules and the error correction of the proposed algorithm are *** unit impulse responses in the time domain and the frequency domain are simulated and compared to probe into the characteristics of the proposed *** a 24-channel filter bank is built based on the proposed algorithm and applied to the enhancements of the audio *** experiments and comparisons verify that,the proposed algorithm can effectively divide the audio signals into different frequencies,significantly enhance the high frequency parts,and provide positive impacts on the performance of speech enhancement in different noise environments,especially for the babble noise and the volvo noise.

关键词： cochlea neuron filter audio signal processing speech enhancement

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Research on Programmable Spatial Capture Mechanism and its Motion Characteristics Based on Origami Principle

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SSRN 2022年

作者： Wang, Gang Wang, Jingtian Yao, Yimeng Yang, Fei Yue, Honghao Hebei Province Micro-nano Satellite Collaborative Innovation Center North China Institute Of Aerospace Engineering Langfang065000 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

In view of the capture requirements of non-cooperative targets in space debris removal tasks, this paper designs a programmable spatial capture mechanism by using the closed envelope characteristic of the origami mechanism. An enveloping origami mechanism was proposed and its programmable parametric design was carried out. Firstly, the kinematic model of the origami mechanism was established and the motion law of the axisymmetric folding state of the origami mechanism was analyzed. The folding performance of the origami mechanism under the three parameter characteristics of equal proportion crease length, equal proportion folding plate area and equal proportional configuration angle. The optimal parameters of the origami mechanism with closed edges, large envelope space, smooth envelope contour, small windup and smooth folding motion were obtained. The drive mechanism was designed for the motion characteristics of the axisymmetric folding origami mechanism. The simulation software was used to simulate the capture of space debris by origami mechanisms in a microgravity environment. The simulation results show that the origami mechanism can achieve the space debris capture task with highly reliable, large tolerance and enveloping. © 2022, The Authors. All rights reserved.

关键词： Space debris

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Bioinspired frog adaptive-mass quasi-zero stiffness vibration isolator

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International Journal of Mechanical Sciences 2025年 301卷

作者： Wentao Wu Tianci Jiang Guangdong Sui Xiaobiao Shan Chenghui Sun Xiyan Xie Chunyu Zhou State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China Institute of Ultra-precision Optoelectronic Instrument Engineering Harbin Institute of Technology Harbin 150001 China

This study proposes and systematically investigates a bioinspired frog vibration isolator (BFVI) featuring quasi-zero stiffness (QZS) characteristics and adaptive load capacity, aiming to address the degradation in vibration isolation performance commonly observed in traditional isolators under varying load conditions. A composite electromagnetic structure integrating horizontal and vertical configurations is constructed. The electromagnetic force model is derived using the filament method, and the influence of key geometric parameters—including structural rod length, initial angle, magnet dimensions, and current intensity—on the quasi-zero stiffness behavior is thoroughly analyzed. A nonlinear dynamic differential equation is established based on the Lagrange approach, and the harmonic balance method (HBM) is employed to reveal the transmission rate shift induced by mass variation. The effectiveness of adaptive current control in mitigating this shift is theoretically demonstrated. Furthermore, an active controller based on the nonlinear backstepping method is designed. Simulation results confirm adaptive current regulation effectively compensates for equilibrium deviation and performance loss caused by load fluctuations. Static experiments validate the QZS characteristics of the BFVI while time-varying load experiments confirm the controller's regulation capabilities and system response. Transmission rates under both fixed and adaptive current conditions are compared. Results show the system provides strong active regulation and effective low-frequency isolation under varying loads. This work offers new insights and strategies for integrating intelligent active control with bioinspired vibration isolation in complex engineering scenarios.

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Bidirectional Visual-Tactile Cross-Modal Generation Using Latent Feature Space Flow Model

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SSRN 2023年

作者： Fang, Yu Zhang, Xuehe Xu, Wenqiang Liu, Gangfeng Zhao, Jie State Key Laboratory of Robotics and System Harbin Institute of Technology No.2Yikuang StreetNangang District Heilongjiang Harbin150001 China Department of Computer Science and Engineering Shanghai Jiao Tong University No.800 Dongchuan Road Minhang District Shanghai Shanghai200240 China

Inspired by visual-tactile cross-modal bidirectional mapping of the human brain, this paper introduces a novel approach to bidirectional mapping between visual and tactile data, an area not fully explored in the predominantly unidirectional existing studies. First, we adopt separate Variational AutoEncoder (VAE) models for visual and tactile data. Furthermore, we introduce a conditional flow model built on the VAE latent feature space, enabling cross-modal bidirectional mapping between visual and tactile data using one model. The experimental results show that our method achieves excellent performance in terms of the similarity between the generated data and the ground truth (SSIM of visual data: 0.57, SSIM of tactile data: 0.80), the classification accuracy on generated data (visual data: 93.63\%, tactile data: 88.52\%), and the zero-shot classification accuracy between generated data and language (visual data: 45.14\%, tactile data: 45.57\%). To the best of our knowledge, the method proposed in this paper is the first one to utilize a single model to achieve bidirectional mapping between visual and tactile data. Our model and code will be made public after the acceptance of the paper. © 2023, The Authors. All rights reserved.

关键词： Mapping

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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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IEEE International Conference on robotics and Biomimetics

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

关键词： Comets Analytical models Projectiles Oceans Ice Real-time systems Solar system

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Intelligent Fault Diagnosis Using Limited Data Under Different Working Conditions Based on SEflow Model and Data Augmentation 16th

Intelligent Fault Diagnosis Using Limited Data Under Differe...

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16th International Conference on Intelligent Information Hiding and Multimedia Signal Processing, IIH-MSP 2020 in conjunction with the 13th International Conference on Frontiers of Information technology, Applications and Tools, FITAT 2020

作者： Li, Sijue Peng, Gaoliang Mao, Daoyong Zhu, Zhiyu Ji, Mengyu Chen, Yuanhang State Key Laboratory of Robotics and System Harbin Institute of Technology No. 92 Xidazhi Street Harbin Heilongjiang Province150001 China China Electronics Technology Group Corporation no. 38 Research Institute Hefei Anhui Province China Department of Computer Science City University of Hong Kong Hong Kong

ISBN: (纸本)9789813364196

Accurate fault diagnosis of machine components is quite important for normal operation of equipment. Nowadays, artificial intelligent methods have been widely researched in fault diagnosis of rolling element bearings (REB). However, due to the variation of machine working conditions, the diagnosis accuracy always degrade seriously. Besides, as it is really hard to achieve large amounts of labeled health condition signals from real equipment, data deficiency is another trouble. Both issues impede the practical application of data-driven fault diagnosis. So as to solve the problems, a data augmentation method SEflow based on squeeze-and-excitation networks (SEnet) and flow-generative model is proposed. Proposed SEflow can learn the data distributions from limited data, then generate augmented signals among different machine working conditions. The experiments applied on bearing datasets and ball screw signals verify the effectiveness of proposed method on solving domain adaption and data deficiency. © 2021, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Failure analysis

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基于自解耦三明治结构的横向运动栅场效应晶体管MEMS微力传感器

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Engineering 2023年第2期21卷 61-74,M0004页

作者：高文迪乔智霞韩香广王小章 Adnan Shakoor 刘存朗卢德江杨萍赵立波王永录王久洪蒋庄德孙东 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 265503China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of TechnologyBeijing 100081China State Key Laboratory of Robotics and Systems Harbin Institute of TechnologyHarbin 150006China Eleventh Research Institute Sixth Academy of China Aerospace Science and Technology Co.Xi’an 710100China Department of Control and Instrumentation Engineering King Fahd University of Petroleum and MineralsDhahran 31261Saudi Arabia Department of Biomedical Engineering City University of Hong KongHong Kong 999077China

本文介绍了一种基于横向可移动栅极场效应晶体管(LMGFET)的新型微型力传感器的开发。提出了一种精确的电气模型,用于小型LMGFET器件的性能评估,与以前的模型相比,其精度有所提高。采用了一种新型三明治结构,该结构由一个金交叉解耦栅阵... 详细信息

本文介绍了一种基于横向可移动栅极场效应晶体管(LMGFET)的新型微型力传感器的开发。提出了一种精确的电气模型,用于小型LMGFET器件的性能评估,与以前的模型相比,其精度有所提高。采用了一种新型三明治结构,该结构由一个金交叉解耦栅阵列层和两个软光阻层SU-8组成。通过所提出的双差分传感结构,LMGFET横向工作在垂直干扰下的输出电流被大大消除,所提出传感器的相对输出误差从4.53%(传统差分结构)降低到0.01%。提出了一种实用的传感器制造工艺,并对其进行了模拟。基于LMGFET的力传感器的灵敏度为4.65μA·nN^(-1),可与垂直可移动栅极场效应晶体管(VMGFET)器件相媲美,但非线性度提高了0.78%,测量范围扩大了±5.10μN。这些分析为LMGFET器件的电气和结构参数提供了全面的设计优化,并证明了所提出的传感器在生物医学显微操作应用中具有良好的力传感潜力。

关键词：力传感器场效应晶体管横向运动三明治结构电气模型显微操作非线性度双差分

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Modelling and experimental investigation of frequency splitting of hemispherical resonator with machining errors

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Chinese Journal of Aeronautics 2025年

作者： Chuanzhen MA Henan LIU Jian CHENG Mingjun CHEN State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China School of Mechatronics Engineering Harbin Institute of Technology Harbin 150001 China Zhengzhou Research Institute Harbin Institute of Technology Zhengzhou 450000 China

Hemispherical Resonator (HSR) is a typical high-performance component due to the complex coupling relationship between the machining errors and performance parameters. To understand the impact of machining errors on frequency splitting, the frequency splitting model that couples the multiple machining errors was developed to elucidate the mechanism of frequency splitting and reveal the effect of geometric error parameters on frequency splitting innovatively. In addition, a method for characterizing machining errors is established to describe the circumferential mass uniformity of the hemispherical shell. Furthermore, measurement experiments of HSRs were performed to verify the accuracy of the model, and the results showed that the predicted errors of the model were within 15%. Both theoretical and experimental results demonstrated that the direct cause of frequency splitting is the uneven circumferential mass of HSR. In particular, the radial concentricity has the most significant influence on frequency splitting, followed by the coaxiality and roundness. Within the error range of 0-0.5 μm, frequency splitting values change by 0.945 Hz, 0.098 Hz, and 0.039 Hz, respectively. Furthermore, the coupling effect of machining errors and surface quality on frequency splitting was discussed, which showed machining errors is the predominant factor contributing to frequency splitting. This work not only enhance the understanding of the mechanism of frequency splitting, but also provide theoretical guidance for the parameter optimization involved in high-performance manufacturing of HSR.

关键词： Hemispherical resonator Frequency splitting Mass nonuniformity Machining errors Surface quality

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SpringExo, a spring-based exoskeleton for providing knee assistance: Design, Characterization and Feasibility Study

SpringExo, a spring-based exoskeleton for providing knee ass...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Dongbao Sui Biing-Chwen Chang Rand Hidayah Yanhe Zhu Sunil K. Agrawal State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Columbia University New York NY USA

This paper presents the design and preliminary evaluation of a portable spring-based knee exoskeleton, the SpringExo, which is designed to provide assistance to the leg while minimizing interference with the natural leg movement. Traditional rigid exoskeletons are unable to accurately align with a user’s anatomical joints. In addition, the user’s natural motion pattern is likely to change due to the constraints of the rigid exoskeleton. Though some textile-based soft exosuits and cable-driven soft exoskeletons have been developed to achieve better alignment with human’s biological joints, forces applied by the cables have to be sustained by human skeleton and joints. SpringExo, in comparison, uses a coil spring which the user wears around the thigh and shank, and does not require alignment with the joints. The spring stores energy and provides minimal interference during elastic deformation. A key feature of the SpringExo is that the springs store energy during the flexion phase and release this energy to assist the knee extension in the extension phase. We conducted human subjects study to verify its biomechanical and physiological effects on the user during stair ascent. Results from a six-subject study showed that the device did not interfere with the natural joint angles and assisted knee extension during stair ascent. However, further redesign and optimization are needed on the actuation system to offset SpringExo’s drawback of hindering knee flexion.

关键词： Knee Legged locomotion Exoskeletons Thigh Interference Stairs Skeleton

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