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IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Shimin Yu Tianlong Li Shaopeng Wu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Harbin Institute of Technology Harbin China

ISBN: (数字)9781728151694

ISBN: (纸本)9781728151700

Untethered micro-/nanorobots at low Reynolds numbers present significant potential in biomedical applications as result of their enhanced power, remote actuation, and versatility. Herein, a highly efficient asymmetric Janus microdimer swimmer propelled by a rotating uniform magnetic field was investigated experimentally. The asymmetric microdimers can achieve speed of 98 μm·s -1 at 20 Hz and 5 mT. Besides, the controllable and flexible motility performance of microdimer motors can be easily obtained by adjusting the magnetic field. Such an asymmetric Janus microdimer swimmer is highly promising in a variety of realistic micro-/nanoscale scenarios.

关键词： Industrial electronics Navigation Conferences Propulsion Nanoscale devices Trajectory Magnetic fields

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A Bipolar Myoelectric Sensor-Enabled Human-Machine Interface Based On Spinal Module Activations

A Bipolar Myoelectric Sensor-Enabled Human-Machine Interface...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Chunzhi Yi Feng Jiang Guangming Lu Chifu Yang Zhen Ding Jianfei Zhu Jie Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China School of Computer Science and Technology Harbin Institute of Technology Harbin Heilongjiang China Pengcheng Laboratory Shenzhen Guangdong China Nanjing Jinling Hospital Clinical School Medical College Nanjing University Nanjing Jiangsu China AI Research Institute Harbin Institute of Technology Shenzhen Guangdong China

The surface electromyography (sEMG) signal-based human-machine interface (HMI) has been widely used for various scenarios of physical human-robot interaction. However, current HMIs based on bipolar myoelectric sensors are hindered by the limitations of global sEMG features, which are prone to variability and delay. In this letter, we define a HMI that takes advantage of the underlying neural information of spinal module activations from bipolar sEMG signals, inspired by recent findings of neural codes. Firstly, the spinal module activations are identified by the spiking trains of the muscle synergies extracted from bipolar sEMG signals. Secondly, we extract the information encoded in both firing rates and spike timings of the spinal module activation in a population coding manner, which follows the information encoding principle of neurons. Thirdly, we map the series of spinal module activations into gait phases, locomotion modes, joint moment and human identity in order to experimentally reveal the physiological information contained in the spinal module activations. The contained information and the benefit of our design are demonstrated and experimentally explained by the presented results and comparisons with the traditionally used global sEMG features. The proposed bipolar myoelectric sensor-enabled human-machine interface could contribute to various scenarios of physical human-robot interaction.

关键词： Sociology Neurons Human-robot interaction Sensor phenomena and characterization Muscles Robot sensing systems Encoding

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An investigation on laser-induced damage resistance of KDP optics repaired by different micro-milling strategies 20

An investigation on laser-induced damage resistance of KDP o...

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20th International Conference of the European Society for Precision Engineering and Nanotechnology, EUSPEN 2020

作者： Liu, Qi Cheng, Jian Yang, Hao Zhao, Linjie Tan, Chao Chen, Mingjun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Machining and Condition Monitoring Group Faculty of Engineering University of Nottingham NG7 2RD United Kingdom

ISBN: (纸本)9780995775176

Although micro-milling has been regarded as the most promising method to repair the micro-defects on KH2PO4 (KDP) optics surfaces, residual tool marks are inevitably generated on the repaired surfaces and would pose a direct impact on the laser-induced damage (LID) threshold of repaired KDP optics. In this work, a residual tool marks model was developed to characterize the repaired surface morphologies processed by different milling strategies (e.g. layer-milling and spiral-milling strategies). Then the predicted tool marks were utilized to built a light-filed intensity modulation model to reveal the relationship between the residual tool marks and its related optical performance. The practical of LID tests well verified the simulation results. It was revealed that the milling strategies indeed have a significant influence on the ultimate LID resistance of KDP optics after repair through impacting the generation of residual tool marks. The spiral-milling method with a smaller path interval can produce a laser-friendly repaired surfaces, which have a equivalent laser-induced resistance with the original fly cutitng surface, while the layer-milling method has a higher machining efficiency. Therefore, an optimized repair procedure, adopting layer-milling path as rough milling and spiral-milling as fine milling, was proposed for pratical engineering application in ICF facilities in the future. Copyright © Proceedings of the 20th International Conference of the European Society for Precision Engineering and Nanotechnology, EUSPEN 2020. All rights reserved.

关键词： Milling (machining)

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Recent advances on human-robot interface of wheelchair-mounted robotic arm

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Recent Patents on Mechanical Engineering 2019年第1期12卷 45-54页

作者： Chi, Mingshan Yao, Yufeng Liu, Yaxin Zhong, Ming State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Rongcheng Campus Harbin University of Science and Technology Rongcheng264300 China Industrial Research Institute of Robotics and Intelligent Equipment Weihai264209 China

Background: Wheelchair mounted robotic arm is a typical assistive robot, which is widely used to help the elders and the disabled to complete the activities of daily life. But limited by the restrictions of the users’ athletic ability and cognitive ability, how to flexibly manipulate such robot is still a problem in front of them. The human-computer interaction technology is the core technology of the robot. Its performance directly affects the user's acceptability, satisfaction and promotion of intelligent wheelchairs. Objective: The study aims to give a general summary of recent human-robot interface of wheelchair mounted robotic arm and introduce their respective characteristics. Methods: Based on various patents and research developments about the human-robot interface of the assistive robot at home and abroad, this paper puts forward the basic principle of designing the human-robot interaction mode, divides the man-robot interface into two categories based on the perspective of user control robot arm, and describes in detail, the typical human-robot interface and its related characteristics contained in each classification. Results: The development trends of the human-robot interface in future are predicted, so as to provide some research reference for the related scientific researchers. Conclusion: Wheelchair mounted robotic arm has important practical significance. Further improvements are needed in the design of the human-robot interface. It can effectively improve the operation performance of the WMRA, and take full advantage of the user’s existing movement ability to meet the requirement of dominating the control process. Furthermore, these improvements in the human-robot interface will allow more and more users to accept the WMRA, manipulate the WMRA, and enjoy improvements in the quality of their life for these assistive robots. © 2019 Bentham Science Publishers.

关键词： Human robot interaction

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Dynamic Visual SLAM Based on Semantic Information and Multi-View Geometry

Dynamic Visual SLAM Based on Semantic Information and Multi-...

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Automation, Control and robotics Engineering (CACRE), International Conference on

作者： Junyi Shi Fusheng Zha Wei Guo Pengfei Wang Mantian Li State Key Laboratory of Robotics and System Harbin Institute of Technology

ISBN: (数字)9781728198880

ISBN: (纸本)9781728198897

Visual Simultaneous Localization and Mapping(Visual SLAM) is considered to be one of the important foundations for mobile robots to move toward intelligence, which gives robots the ability to autonomously locate and construct maps in an unknown environment. In the past decades, great progress has been made in the field of visual SLAM, relatively mature algorithm system and program architecture are gradually ***, the current researches on visual SLAM mostly assume that the surrounding environment is static, which greatly limits the application of SLAM systems in real world. Aiming at the urgent need of mobile robots for precise localization and map construction in dynamic environment, methods are proposed in this paper. Image semantic segmentation based on deep learning and multi-view geometry methods are combined to recognize and segment moving objects. Only background features are used for camera tracking to avoid the impact of moving ***, an experimental platform is built using RGBD camera and motion capture device, the effectiveness of the algorithm is verified by public datasets and real scene data.

关键词： semantic SLAM dynamic mapping multi-view geometry

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Payload-agnostic decoupling and hybrid vibration isolation control for a maglev platform with redundant actuation

arXiv

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arXiv 2020年

作者： Gong, Zhaopei Ding, Liang Li, Shaozhen Yue, Honghao Gao, Haibo Deng, Zongquan State Key Laboratory of Robotics and System Harbin Institute of Technology

Payload-specific vibration control may be suitable for a particular task but lacks generality and transferability required for adapting to the various payload. Self-decoupling and robust vibration control are the crucial problem to achieve payload-agnostic vibration control. However, there are problems still unsolved. In this article, we present a maglev vibration isolation platform (MVIP), which aims to attenuate vibration in payload-agnostic task under dynamic environment. Since efforts trying to suppress disturbance will encounter inevitable coupling problems, we analyzed the reasons resulting in it and proposed unique and effective solutions. To achieve payload-agnostic vibration control, we proposed a new control strategy, which is the main contribution of this article. It consists of self-construct radial basis function neural network inversion (SRBFNNI) decoupling scheme and hybrid adaptive feed-forward internal model control (HAFIMC). The former one enables the MVIP creating a self inverse model with little prior knowledge and achieving self-decoupling. For the unique structure of MVIP, the vibration control problem is stated and addressed by the proposed HAFIMC, which utilizes the adaptive part to deal with the periodical disturbance and the internal mode part to deal with the stability. Copyright © 2020, The Authors. All rights reserved.

关键词： Inverse problems

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A Novel Path Planning Approach with Bidirectional A* Algorithm Based on Road Characteristics

A Novel Path Planning Approach with Bidirectional A* Algorit...

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International Conference on Mechatronics and Machine Vision in Practice (M2VIP)

作者： Weihua Li Bowen Chen Pengpeng Li Xuewen Geng Jianfeng Wang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China School of Automotive Engineering Harbin Institute of Technology-Weihai Weihai China SGCC Smart Energy and Electric Transportation Technology Innovation Center (Suzhou) Co.Ltd. Suzhou China

ISBN: (纸本)9781665431545

The global path planning of a traditional A* algorithm is investigated to obtain the shortest path, which considers only the straight-line distance between grids without considering the effects of road slope and road resistance on the path distance and the energy consumption for ground vehicles. The heuristic function of shortest path based on road slope and the heuristic function of minimum energy consumption based on road resistance coefficient are respectively developed in this paper. Combining the two improvements, a novel comprehensive heuristic function is proposed in this paper. Through the distribution of weight coefficients between the shortest path and the minimum energy consumption, one more reasonable path can be obtained. In addition, a bidirectional A* search algorithm is also applied. The case studies validate that the improved A* search algorithm in this paper can generate a more reasonable path considering the distance and the energy consumption.

关键词： Resistance Energy consumption Mechatronics Roads Heuristic algorithms Machine vision Focusing

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Long-term Dependency for 3D Reconstruction of Freehand Ultrasound Without External Tracker

arXiv

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arXiv 2023年

作者： Li, Qi Shen, Ziyi Li, Qian Barratt, Dean C. Dowrick, Thomas Clarkson, Matthew J. Vercauteren, Tom Hu, Yipeng The UCL Centre for Medical Image Computing The Wellcome/EPSRC Centre for Interventional and Surgical Sciences Department of Medical Physics and Biomedical Engineering University College London LondonWC1E 6BT United Kingdom State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China School of Biomedical Engineering & Imaging Sciences King’s College London LondonWC2R 2LS United Kingdom

Objective: Reconstructing freehand ultrasound in 3D without any external tracker has been a longstanding challenge in ultrasound-assisted procedures. We aim to define new ways of parameterising long-term dependencies, and evaluate the performance. Methods: First, long-term dependency is encoded by transformation positions within a frame sequence. This is achieved by combining a sequence model with a multi-transformation prediction. Second, two dependency factors are proposed, anatomical image content and scanning protocol, for contributing towards accurate reconstruction. Each factor is quantified experimentally by reducing respective training variances. Results: 1) The added long-term dependency up to 400 frames at 20 frames per second (fps) indeed improved reconstruction, with an up to 82.4% lowered accumulated error, compared with the baseline performance. The improvement was found to be dependent on sequence length, transformation interval and scanning protocol and, unexpectedly, not on the use of recurrent networks with long-short term modules;2) Decreasing either anatomical or protocol variance in training led to poorer reconstruction accuracy. Interestingly, greater performance was gained from representative protocol patterns, than from representative anatomical features. Conclusion: The proposed algorithm uses hyperparameter tuning to effectively utilise long-term dependency. The proposed dependency factors are of practical significance in collecting diverse training data, regulating scanning protocols and developing efficient networks. Significance: The proposed new methodology with publicly available volunteer data and code1 for parametersing the long-term dependency, experimentally shown to be valid sources of performance improvement, which could potentially lead to better model development and practical optimisation of the reconstruction application. © 2023, CC BY.

关键词： Ultrasonics

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The consistent behavior of negative Poisson's ratio with interlayer interactions

arXiv

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arXiv 2022年

作者： Wang, Yancong Yu, Linfeng Zhang, Fa Chen, Qiang Zhan, Yuqi Zheng, Xiong Wang, Huimin Qin, Zhenzhen Qin, Guangzhao State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body College of Mechanical and Vehicle Engineering Hunan University Changsha410082 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Hunan Key Laboratory for Micro-Nano Energy Materials & Device School of Physics and Optoelectronics Xiangtan University Hunan Xiangtan411105 China School of Physics and Microelectronics Zhengzhou University Zhengzhou450001 China

Negative Poisson's ratio (NPR) is of great interest due to the novel applications in lots of fields. Films are the most commonly used form in practical applications, which involves multiple layers. However, the effect of interlayer interactions on the NPR is still unclear. In this study, based on first principles calculations, we systematically investigate the effect of interlayer interactions on the NPR by comparably studying single-layer graphene, few-layer graphene, h-BN, and graphene-BN heterostructure. It is found that they almost have the same geometry-strain response. Consequently, the NPR in bilayer graphene, triple-layer graphene, and graphene-BN heterostructure are consistent with that in single-layer graphene and h-BN. The fundamental mechanism lies in that the response to strain of the orbital coupling are consistent under the effect of interlayer interactions. The deep understanding of the NPR with the effect of interlayer interactions as achieved in this study is beneficial for the future design and development of micro-/nanoscale electromechanical devices with novel functions based on nanostructures. © 2022, CC BY-NC-SA.

关键词： Graphene

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Foot terrain impact modeling and motion performance research of hexapod robot based on passive elastic leg 2

Foot terrain impact modeling and motion performance research...

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2nd Spring International Conference on Defence technology, ICDT 2020

作者： Liu, Y.F. Su, B. Zhou, L. Gao, H.B. Ding, L. Jiang, L. Zou, F.Q. Ma, C.Y. China North Vehicle Research Institute Beijing100072 China Equipment Project Management Center Beijing100072 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China MEMS Center Harbin Institute of Technology Harbin150080 China College of Mechanical Engineering Jiamusi University Jiamusi154007 China

In order to improve the performance of the multi-legged robot, the impact of foot-terrain is an important target to measure the performance of the robot. In order to ensure the compliance contact of foot-terrain for the legged robot, it is essential to add passive spring between the calf and foot. The mechanical structure makes the leg of hexapod robot retractable passive elastic structure. For multi-legged robots with passive elastic legs, the foot-terrain impact model is presented to measure the dynamic performance and provide theoretical support for the low impact force motion planning. The traditional planning method will cause additional impact for the switching case between the swing and stance phase. This paper presents a motion planning method that considers the deformable leg structure and impact performance. The experiments have been carried out, and the results have demonstrated the effectiveness of the foot terrain impact model and motion planning method in comparison with a conventional method. © Published under licence by IOP Publishing Ltd.

关键词： Motion planning

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