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Variable Curvature Modeling Method of Soft Continuum Robots with Constraints

Chinese Journal of Mechanical Engineering 2023年第6期36卷 51-61页

作者： Yuwang Liu Wenping Shi Peng Chen Liang Cheng Qing Ding Zhaoyan Deng State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110016China School of Mechanical Engineering Northeastern UniversityShenyang 110016China University of Chinese Academy of Sciences Beijing 100049China School of Automation and Electrical Engineering Shenyang Ligong UniversityShenyang 110016China

The inherent compliance of continuum robots holds great promise in the fields of soft manipulation and safe human–robot *** compliance reduces the risk of damage to the manipulated object and its ***,continuum robots possess theoretically infinite degrees of freedom,and this high flexibility usually leads to complex deformations when subjected to external forces and positional *** these complex deformations is the main challenge in modeling continuum *** this study,we investigated a novel variable curvature modeling method for continuum robots,considering external forces and positional *** robot configuration curve is described using the developed mechanical model,and then the robot is fitted to the curve.A ten-section continuum robot prototype with a length of 1 m was developed in order to validate the *** feasibility and accuracy of the model were verified by the ability of the robot to reach target points and track complex trajectories with a *** work was able to serve as a new perspective for the design analysis and motion control of continuum robots.

关键词： Continuum robots Variable curvature modeling Boundary conditions Nonlinear mechanics

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Inflatable Metamorphic Origami

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Research 2023年第2期6卷 53-63页

作者： Sen Wang Peng Yan Hailin Huang Ning Zhang Bing Li School of Mechanical Engineering and Automation Harbin Institute of TechnologyShenzhen 518052P.R.China Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Harbin Institute of TechnologyShenzhen 518052P.R.China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001P.R.China

This study created a new type of inflatable metamorphic origami that has the advantage of being a highly simplified deployable system capable of realizing multiple sequential motion patterns with a monolithic actuation.

关键词： simplified lata system

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Research on miniaturized power transmission system of ROV 4

Research on miniaturized power transmission system of ROV

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4th International Conference on Mechanical, Electronics, and Electrical and automation Control, METMS 2024

作者： Yang, Mingyu Zhao, Shiyu Tao, Yichun Yang, Yang State Key Laboratory Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110016 China

ISBN: (数字)9781510679887

ISBN: (纸本)9781510679870

As the basic guarantee for power distribution, navigation control, motion control and underwater operation of ROV, power transmission system provides energy security for ROV. Reasonable power transmission system design is an important guarantee for ROV comprehensive performance. In the design of the power transmission system, the high-voltage and power-frequency transmission has the characteristics of small transmission current but large volume of underwater transformer. The medium-voltage and medium-frequency transmission has the characteristics of small volume but low transmission efficiency of the underwater transformer. In order to reduce the energy loss caused by the long-distance transmission of medium-voltage and medium-frequency power electricity in the armored cable, reduce the volume of the underwater transformer, and solve the conflict between the efficiency and the volume, this paper presents an ROV power transmission method based on matrix transformation. This method conducts the long-distance transmission in the armored cable by the high-voltage and power-frequency method so as to reduce transmission loss. By increasing the transmission frequency in the underwater end, the volume of the underwater transformer is reduced under the condition of ensuring the transmission efficiency. In this way, the space occupied by the transformer on the ROV can be reduced to meet the application requirements of the ROV underwater transformer device with small volume, high power and efficient transmission. © 2024 SPIE.

关键词： Power transmission

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A Lightweight Network Framework for Fault Diagnosis of Quadruped Robot Joint Modules 5

A Lightweight Network Framework for Fault Diagnosis of Quadr...

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5th International Conference on Sensing, Measurement and Data Analytics in the Era of Artificial Intelligence, ICSMD 2024

作者： Shi, Maoping Xiong, Xin Fan, Beibei Chen, Yufan School of Mechatronic Engineering and Automation Shanghai University Shanghai China Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai China

ISBN: (纸本)9798331529192

With the widespread deployment of quadruped robots across various application scenarios, they are required to adapt to diverse motion patterns when performing different tasks. This necessity imposes complex stresses and loads on the components within the robot's joint modules during movement, leading to a higher risk of wear and failure. To address these challenges, this study proposes a novel lightweight multi-scale neural network based on a dual attention mechanism and Depthwise Separable Convolution (DSconv), named Atten-MSDsN, for diagnosing faults in joint modules. This approach captures critical fine-grained features across the global scope of the signal through the attention mechanism, extracts multi-scale features from fault signals using convolution kernels of varying sizes, and reduces the number of parameters in the feature extractor via DSconv. Experimental analysis demonstrates that the Atten-MSDsN framework offers the advantages of being lightweight and robust. © 2024 IEEE.

关键词： Multipurpose robots

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Fault Diagnosis of Quadruped Robot Joint Modules Based on TDIC and Random Forest 5

Fault Diagnosis of Quadruped Robot Joint Modules Based on TD...

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5th International Conference on Sensing, Measurement and Data Analytics in the Era of Artificial Intelligence, ICSMD 2024

作者： Chen, Yufan Fan, Beibei Xiong, Xin Shi, Mapping School of Mechatronic Engineering and Automation Shanghai University Shanghai China Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai China

ISBN: (纸本)9798331529192

As robotics technology advances, quadruped robots are increasingly instrumental in diverse applications, including rescue operations and healthcare. However, the intricate operating conditions expose the components within the joint modules of these robots to alternating and impact loads. Consequently, research into signal processing and fault diagnosis techniques for planetary gearboxes in joint modules holds significant engineering importance. Given the challenges associated with fault signal extraction from planetary gearboxes, this study proposes a novel fault feature extraction method based on Time-Dependent Intrinsic Correlation (TDIC), integrated with a random forest classifier for fault classification. This approach leverages signal frequency analysis to adaptively extract segments characterized by high correlation among different physical field signals as fault features. The random forest model is utilized for fault classification and its performance is compared against CNN, KNN, and XGBoost models. Experimental results validate the superior fault classification efficacy of the proposed method. © 2024 IEEE.

关键词： Multipurpose robots

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PCEB-YOLOV8: An Improved PCB Defect Detection Method Based on YOLOV8 8

PCEB-YOLOV8: An Improved PCB Defect Detection Method Based o...

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8th International Conference on Electrical, Mechanical and Computer Engineering, ICEMCE 2024

作者： Li, Meihui Song, Chunhe Yu, Xia Chu, Mengmeng Li, Rui Shenyang University of Technology State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Key Laboratory of Networked Control Systems Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang Shenyang China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Key Laboratory of Networked Control Systems Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang Shenyang China Shenyang University of Technology Shenyang China

ISBN: (纸本)9798331506230

Printed circuit board defect recognition is of great significance to ensuring the quality of electronic products. This paper proposes an improved PCB defect detection method based on YOLOV8. Firstly, the data augmentation method PredMix (prediction mix) is adopted to simulate scenarios such as overlapping and occlusion in images, where the displays are incomplete or blurred, thereby enhancing the robustness of the network model. Secondly, BiFPN is used to replace PAN-FPN in the fusion layer to strengthen the feature fusion capability. Finally, the CESE_C2f module is employed in the Backbone part, leveraging a lightweight attention mechanism to improve the detection effect while reducing the number of parameters. Experimental results show that compared with the original YOLOV8, the MAP value of this improved algorithm reaches 92.6%, with a 2.3% increase in accuracy. © 2024 IEEE.

关键词： Deep learning

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T-Bot: A Programmable Platform for Morphogenesis in Robot Swarms

T-Bot: A Programmable Platform for Morphogenesis in Robot Sw...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Wang, Yu Pan, Mengyun Qin, Xiaoyang Hao, Lina Yang, Yongliang Shenyang Institute of Automation Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang110016 China School of Mechanical Engineering and Automation Northeastern University Shenyang110819 China

ISBN: (纸本)9781665481090

The field of robotic self-organizing morphogenesis has traditionally relied on sensing and feedback mechanisms, limiting the robustness of robotic systems in dynamic environments. Recently, the swarms of robots with minimum computational and perceptional capabilities have been developed to achieve global morphogenesis through physical interactions among robots. The automation level of these systems, however, is still limited. Here, we developed the T-bot platform, which is capable of automatic programming. The T-bot system adopts a rule-based control strategy utilizing programmable, automatically switched magnetic shells. These shells mimic differences in cell adhesion by altering the magnetic distribution along the shell, achieving morphogenesis without external sensors or feedback mechanisms. This design improves the robustness of the robotic system. The T-bot assembles pieces to form specific shapes and automatically adjusts its morphology according to task requirements. The T-bot system demonstrates morphogenesis by transitioning between predefined shapes and maintaining effectiveness even when some components fail. The successful application of DAH-inspired programmable magnetic shells opens new avenues for the design of intelligent robotic systems, potentially transforming their applications in various dynamic and unpredictable environments. © 2024 IEEE.

关键词： Cell adhesion

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Model predictive control and replanning for magnetic microrobots in fluid environments

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Science China(Technological Sciences) 2025年第5期68卷 138-150页

作者： Junjian ZHOU Mengyue LI Na LI Huanyu ZHOU Xiaodong WANG Jingyi WANG Lianqing LIU Niandong JIAO State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China University of Chinese Academy of Sciences Beijing 100049China College of Information and Electrical Engineering Shenyang Agricultural UniversityShenyang 110866China

Magnetic microrobots,given their unique characteristics,hold great potential in biomedical applications such as targeted therapy and microscale operations and are receiving widespread *** on the autonomous navigation of magnetic microrobots is highly focused,as it is an essential prerequisite for achieving functions such as targeted delivery in medical *** success of autonomous navigation determines the level of intelligence and precision in the motion of magnetic ***,uncertainties stemming from environmental changes and time-varying disturbances in electromagnetic systems adversely affect the control accuracy of magnetic ***,the random appearance of dynamic obstacles along expected trajectories challenges their autonomous *** this study,we demonstrate a method for the exact autonomous navigation of magnetic microrobots in fluid environments,successfully avoiding dynamic obstacles that suddenly appear in predefined *** versions of the A^(*) algorithm and dynamic window approach are integrated as path planners,that can generate smooth and collision-free trajectories that adhere to kinematic constraints in fluid environments with dynamic obstacles.A learning-based model predictive control strategy is employed,where radial basis function neural networks are used to effectively predict and compensate for fluid disturbances and inevitable errors introduced by electromagnetic system coupling,thereby ensuring the control accuracy of the magnetic microrobot in a flowing *** in a constructed microfluidic environment validate the effectiveness of our navigation approach in motion control,autonomous navigation,and replanning,with an average error of less than 8%of the body length of the microrobot.

关键词： magnetic microrobot model predictive control path planning radial basis function neural network

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The Autonomous Pipeline Navigation of a Cockroach Bio-Robot with Enhanced Walking Stimuli

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Cyborg and Bionic Systems 2023年第1期4卷 47-55页

作者： Songsong Ma Yuansheng Chen Songlin Yang Shen Liu Lingqi Tang Bing Li Yao Li State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbinChina Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Harbin Institute of TechnologyShenzhenChina School of Mechanical Engineering and Automation Harbin Institute of TechnologyShenzhenChina The Biorobotics Institute Scuola Superiore Sant'AnnaPisaItaly

Tens of crawling bio-robots with cockroaches as the mobile platform have been developed with various *** with artificial crawling robots of the same size,they revealed better flexibility,larger payload,and stronger *** features made bio-robots ideal for pipeline inspection scenarios because the advancements in locomotion mechanisms and efficient power systems are still hurdles for current artificial *** this study,we controlled the bio-robot to crawl in the confined dark pipeline and achieved autonomous motion control with the help of an onboard sensing ***,a micro-camera was mounted on the electronic backpack of the cockroach for image collection,and an IMU sensor was used to compute its body *** electronic backpack transmitted images to the host computer for junction recognition and distance ***,the insect's habituation to electrical stimulation has long been an uncertain factor in the control of ***,a synergistic stimulation strategy was proposed to markedly reduce the habituation and increase the number of effective turning controls to over 100 *** is also found that both the increase of payload and the application of stimulations could promote the metabolic rate by monitoring carbon dioxide *** the integration of synergistic stimulation and autonomous control,we demonstrated the fully autonomous pipeline navigation with our cockroach bio-robot,which realized the cycle number of approximately 10 in a *** research provides a novel technology that has the potential for practical applications in the future.

关键词： robot artificial Robot

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Exploring Eye-Tracking Based Biomarkers to Assess Cognitive Abilities in Autistic Children: A Feasibility Study

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IEEE Journal of Biomedical and Health Informatics 2025年第6期29卷 4401-4414页

作者： Zhang, Hanlin Hu, Chunchun Wang, Zhiyong Zhou, Bingrui Wang, Xinming Nie, Wei Ye, Qinyi Lin, Ruihan Xu, Xiu Liu, Honghai Harbin Institute of Technology State Key Laboratory of Robotics and System School of Mechanical Engineering and Automation Shenzhen518055 China Children's Hospital of Fudan University Department of Child Health Care Shanghai201102 China Peng Cheng Laboratory Shenzhen518000 China

Cognitive assessment can reveal a person's cognitive processing and behavioral patterns, making it an indispensable component of autism intervention and prognosis. Existing machine-assisted cognitive assessment methods primarily focus on children's performance outcomes, overlooking distinctive behavioral models, particularly characteristics of eye movement behavior, which have been demonstrated as the most direct indicators of cognitive abilities. In this study, we explore eye-tracking biomarkers for assisting cognitive assessment through a series of meticulously designed multi-level human-computer interaction protocols, encompassing three cognitive abilities: pairing and categorization, emotion recognition, and social interaction. A platform embedded with an eye-tracking module has been developed to reliably collect and analyze eye movement data, even in the presence of unrestricted large head movements in children. Experimental results indicate that there are significant group differences between autism and typically developing children in the eye-tracking features of total fixation duration, response latency, time to first fixation, mean fixation duration, and visit count in the absence of significant intergroup differences in the Wechsler Preschool and Primary Scale of Intelligence (WPPSI) and Wechsler Intelligence Scale for Children (WISC) assessment results. In addition, certain eye-tracking features in each group are correlated with WPPSI/WISC scale scores, enabling clinical cognitive assessments within each group based on these eye movement features. This study suggests that using eye-tracking features as biomarkers to assist detailed cognitive assessments holds significant potential for the intervention and prognosis of autism. © 2013 IEEE.

关键词： Diseases

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