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17th IEEE International Conference on Mechatronics and Automation, ICMA 2020

作者： Xu, Xinyue Liu, Xiaoming Lin, Yuqing Li, Pengyun Liu, Fengyu Tang, Xiaoqing Huang, Qiang Arai, Tatsuo Beijing Institute of Technology Key Laboratory of Biomimetic Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex System Beijing Advanced Innovation Center for Intelligent Robots and Systems School of Mechatronical Engineering Beijing100081 China

ISBN: (纸本)9781728164151

In the biomicromanipulation field, single-cell manipulation is receiving attention due to its potential applications in many aspects of biomedicine. Cell injection, as a typical cell micromanipulation technique, is devoted to introducing foreign substances into living cells by penetrating a fine micropipette into cell membranes. Direct access to the intracellular environment, especially the nucleus, provides an ideal way to gain insight into the dynamic processes of living cells. This paper presents the comparison of controlled penetrations of two types of adherent cells and their nuclei by two types of micropipettes, made of borosilicate glass and quartz respectively. Due to the differences in the cell properties (e.g., height, adhesion strength), two corresponding penetration strategies optimizing the puncture angle and puncture height, are proposed to improve the success rate of the puncture process and the survival rate of cells after the puncture. Real nucleus puncture experiments adopting the optimal puncture strategy for each type of cells and carried out by a semi-automatic system, indicated a better puncture effect by quartz pipettes. Through this method, functional materials such as peptides and nanoparticles can be potentially introduced to perturb the cell activities and then realize its full automation. © 2020 IEEE.

关键词： Quartz

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Preface——Special Issue on New Directions in Nonlinear and Distributed Control

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Journal of systems Science & Complexity 2018年第1期31卷 1-3页

作者： LIU Tengfei XIN Bin JIANG Zhong-Ping State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang 110819 China School of Automation State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology Beijing 100081 China Tandon School of Engineering New York University Brooklyn NY 11201 USA

Nonlinearity is ubiquitous in engineering and natural *** development of nonlinear control can be traced back to decades *** date,the research has reached the stage that emphasizes developing methodologies that can ha... 详细信息

关键词：控制问题非线性分布式工程应用程序电子物理自然系统生产线相互作用

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A Method of Human-Like Compliant Assembly Based on Variable Admittance Control for Space Maintenance

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Cyborg and Bionic systems 2023年第1期4卷 106-120页

作者： Xiaolei Cao Xiao Huang Yan Zhao Zeyuan Sun Hui Li Zhihong Jiang Marco Ceccarelli School of Mechatronical Engineering Advanced Innovation Center for Intelligent Robots and SystemsKey Laboratory of Biomimetic Robots and Systems of Chinese Ministry of EducationBeijing Institute of TechnologyBeijing 100081China China Northern Vehicle Research Institute Beijing 100071China Department of Industrial Engineering University of Rome Tor VergataVia del Politecnico 100133 RomaItaly

On-orbit assembly has become a crucial aspect of space operations,where the manipulator frequently and directly interacts with objects in a complex assembly *** traditional manipulator control has limitations in adapting to diverse assembly tasks and is vulnerable to vibration,leading to assembly *** address this issue,we propose a human-like variable admittance control method based on the variable damping characteristics of the human *** collecting the velocity and contact force of human arm operations in assembly,we analyze the damping change of human arm and establish the active compliance model based on S-type damping variation rule in ***,3 passive contact models are proposed between the end of the human arm and the environment:one-sided bevel contact,both sides bevel contact,and pin-hole *** the basis of these active and passive models,a typical space assembly task for a robot is designed,and a human-like variable admittance controller is established and ***,we build a ground verification platform and complete different assembly tasks,thereby successfully verifying the safety,robustness,and adaptability of the human-like variable admittance control method.

关键词： robot operations passive

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Design of Multifunctional pedal-actuated wheelchair for locomotion and rehabilitation training 2

Design of Multifunctional pedal-actuated wheelchair for loco...

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2nd IEEE International Conference on Power, Electronics and Computer Applications, ICPECA 2022

作者： Xiong, Lingxuan Zhang, Weimin Li, Fangxing Jin, Jiahao Huang, Gao Chi, Zhipeng Huang, Qiang Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing100081 China School of Mechatronical Engineering Beijing Institute of Technology Beijing100081 China

ISBN: (纸本)9781665442763

Patients with lower limb disabilities have caused a great burden both to society and themselves. The combination of wheelchair and cycling achieves both locomotion and rehabilitation training at the same time, which meets their needs. This paper presents a new multifunctional electric wheelchair with a rehabilitation training module based on our previous research. We remove the exoskeleton and replace it with the leg structure of the user to form a crank-rocker mechanism. The rehabilitation module can now be adjusted forward and backward or hidden under the wheelchair completely. We also replace the force sensors with software to detect users' intentions. A new friendly human-computer interface is designed to enable users to control the wheelchair easier. Experiments are conducted on several volunteers. Meanwhile, more than 100 people in a hospital and a nursing home have tried our product, which obtains a high praise rate. Experiment data is presented and analyzed to test the functions of the new design, and results show that our design can meet the need for rehabilitation and locomotion of different people. © 2022 IEEE.

关键词： Wheelchairs

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An Experimental Characterization of the BIT Astronaut Robot

An Experimental Characterization of the BIT Astronaut Robot

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作者： Tao, Zheng Marco, Ceccarelli Hui, Li Yang, Mo Key Laboratory of Biomimetic Robots and Systems Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology Beijing100081 China Lab Robot Mechatronics University of Rome Tor Vergata Rome Italy

In this paper a prototype of BIT (Beijing Institute of Technology) astronaut robot with three leg-arm limbs is presented with performance characteristics from a demo test. An experimental demo for basic operation modes is presented simulating the BIT astronaut robot moving outside an orbital station with a lab testbed set up for experimental activity of robot characterization. Results of the demo tests are used to characterize the feasibility of the robot design and its operation also with experiences at ground gravity. © 2020, Springer Nature Switzerland AG.

关键词： robots

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POMDP-Based Real-Time Path Planning for Manipulation of Multiple Microparticles via Optoelectronic Tweezers

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Cyborg and Bionic systems 2022年第1期2022卷 303-313页

作者： Jiaxin Liu Huaping Wang Menghua Liu Ran Zhao Yanfeng Zhao Tao Sun Qing Shi Intelligent Robotics Institute School of Mechatronical Engineering Bejing Institute of TechnologyBeijing 10081China Key Laboratory of Biomimetic Robots and Systems(Beijing Institute of Technology) Ministry of EducationBeijing 100081China School of Medical Technology Beijing Institute of TechnologyBeijing 100081China Bejing Advanced Innovation Center for Itelligent Robots and Systems Beijing Institute of TechnologyBeijing 100081China

With high throughput and high flexibility,optoelectronic tweerers(OETs)hold huge potential for massively parallel ***,the trajectory of the virtual electrode has been planned in advance in most synchronous manipulations for multiple targets based on an optically induced dielectrophoresis(ODEP)mechanism,which is insuficient to ensure the stability and eficiency in an environment with potential collision *** this paper,a synchronously discretized manipulation method based on a centralized and decoupled path planner is proposed for transporting microparticles of diferent types with an OET *** approach based on the K uhn-Munkres algorithm is utilized to achieve the goal assignment between target microparticles and goal *** the assistance of a visual feedback module,a path planning approach based on the POMDP algorithm dynamically determines the motion strategies of the particle movement to avoid potential *** geometrical parameters of the virtual electrodes are optimized for different types of particles with the goal of maximum transport *** experiments of micropatterning with different morphologies and transporting multiple micropartides(e.g,polystyrene microspheres and 3T3 cells)to goal positions are *** results demonstrate that the proposed manipulation method based on optoelectronic tweezers is effective for multicell transport and promises to be used in biomedical manipulation tasks with high flexibility and efficiency.

关键词： manipulation positions assignment

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Force-free control of low drag resistance for humanoid robot joint 2

Force-free control of low drag resistance for humanoid robot...

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2nd International Conference on Defence Technology, ICDT 2020

作者： Yu, Han Huang, Gao Liu, Yaliang Meng, Libo Chen, Xuechao Yu, Zhangguo School of Mechatronical Engineering Beijing Institute of Technology Beijing China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology Beijing China

A method for the force-free control of humanoid robot joints is presented that meets human–machine cooperation functions of a humanoid robot. To ensure accurate torque control, the current loop of the permanent magnet synchronous motor was initially optimised and its dynamic response improved with a compensating back electromotive force. The motor speed is then estimated by sampling the voltage and current, the values of which are used in the calculation of the joint angle and the gravitational-force compensation. Finally, a method to evaluate the dynamic force compensation is applied that then yields the motor output offset, the total gravitational load, the partial inertia force, and the partial friction moment. Experimental results show that this method reduces the drag torque to less than 1 Nm. This method can be widely applied to a variety of robotic joints. © 2021 Institute of Physics Publishing. All rights reserved.

关键词： Anthropomorphic robots

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RS-Fusion: A novel virtual reality localization method based on RTK and visual SLAM

RS-Fusion: A novel virtual reality localization method based...

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2022 International Conference on Computer Graphics, Artificial Intelligence, and Data Processing, ICCAID 2022

作者： Li, Zhitian Zhang, Weimin Tian, Ye Li, Fangxing School of Mechatronical Engineering Beijing Institute of Technology Beijing100811 China Key Laboratory of Biomimetic Robots and Systems Beijing Institute of Technology Ministry of Education China Beijing Advanced Innovation Center for Intelligent Robots and Systems China

ISBN: (纸本)9781510663350

Virtual reality technology is a new multidisciplinary integrated technology, in which localization technology is the key technology to determine the user experience, and is the core of VR technology. RTK and visual slam are two common localization technologies, however they are limited by satellite conditions and rely heavily on feature point extraction and matching effects, which will affect the accuracy of localization process. So as to achieve high-precision virtual reality spatial localization, this paper proposed a novel virtual reality localization method called RS-fusion, which combined the RTK carrier phase difference technology and the visual SLAM technology by Kalman fusion. In addition, the gain matrix is used to calculate the spatial displacement state to meet the accuracy requirements of virtual reality and augmented reality localization in indoor and outdoor environment, and to obtain a more matching virtual reality fusion effect and simulation mapping. Experiment results show the robustness of the method and RS-fusion can realize the simultaneous localization of cameras in real space and virtual space. © 2023 SPIE.

关键词： Virtual reality

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In Situ Environmental Transmission Electron Microscopy Investigation on LiH Formation Prompted by LiF

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Nano Letters 2025年 2025 May 9页

作者： Yu, Xinyang Ruan, Digen Ma, Yuan Zheng, Xuzhi Hua, Ze Shao, Ruiwen Wang, Dazhuang Kang, Zhuo Ren, Xiaodi Qiao, Lijie He, Yang Beijing Advanced Innovation Center for Materials Genome Engineering School of Materials Science and Engineering University of Science and Technology Beijing Beijing100083 China Department of Materials Science and Engineering University of Science and Technology of China Anhui Hefei230026 China Academy for Advanced Interdisciplinary Science and Technology State Key Laboratory for Advanced Metals and Materials University of Science and Technology Beijing Beijing100083 China Beijing Advanced Innovation Center for Intelligent Robots and Systems School of Medical Technology Beijing Institute of Technology Beijing100081 China

Lithium hydride is a common but unfavorable component that leads to "dead Li" formation in lithium batteries. Since the hydrogen sources in the batteries are diverse and hardly evitable, unraveling the key factors promoting LiH formation is fundamentally crucial in improving lithium batteries’ cycling stability. Herein, by using in situ environmental transmission electron microscope, we revealed a critical role of lithium fluoride in the LiH formation during the electrochemical deposition of Li in a hydrogen environment, presumably by facilitating the kinetic process of hydrogen dissociation and the LiH nucleation. Ex situ coin-cell studies and DFT calculations corroborate this finding, further suggesting that the commonly used fluorine-rich electrolytes could promote LiH formation. Additionally, the LiH lattices in the dendrites are distorted and likely nonstoichiometric with face-centered cubic structured domains of Li metal. These fundamental insights on the LiH formation may pave the way for enhancing the cycle stability of lithium batteries. © 2025 American Chemical Society.

关键词： Lithium-ion batteries

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Cloud-based Distributed Predictive Consensus Control of Heterogeneous Multi-agent systems with Random Communication Constraints 41

Cloud-based Distributed Predictive Consensus Control of Hete...

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第41届中国控制会议

作者： Wencheng Luo Pingli Lu Changkun Du Haikuo Liu School of Automation Beijing Institute of Technology Beijing Advanced Innovation Center for Intelligent Robots and Systems School of Mechatronical EngineeringBeijing Institute of Technology School of Mechatronical Engineering Beijing Institute of Technology

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

The distributed consensus control problem of multi-agent systems is investigated in this paper.A cloud-based distributed predictive consensus control scheme is proposed to actively compensate the random network delays and packet dropouts between the cloud and each agent,where each controller is designed in the ***,necessary and sufficient conditions simultaneously reaching stability and consensus of multi-agent systems are derived,which is independent of the random network delays and packet ***,simulation results are shown to verify the effectiveness of proposed scheme.

关键词： Multi-agent systems consensus control predictive control cloud

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