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IEEE International Conference on robotics and Biomimetics

作者： Hang Gao Xiaodong Zhang Huanbin Xu Tao Xiao Chao Ma School of Mechanical Engineering University of Science and Technology Beijing Beijing China Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Application Beijing Institute of Spacecraft System Engineering Cast China

ISBN: (纸本)9781665405362

In this paper, a single-dimensional intuitive teaching algorithm for space robots is proposed to solve the motion control problem when the operating space is limited or the moving direction is relatively special under complex space environments. More precisely, the developed method can specify the direction and reaches the specified position under the drag motion of the hand. The realization algorithm of single-dimension intuitive teaching is derived according to the structure of the robot. In the end, an experiment example is given, which proves the feasibility of the proposed algorithm.

关键词： Robot kinematics Education Aerospace electronics Robot sensing systems Sensor systems Sensors Reliability

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Distributed Force Synchronization for Networked robotic Manipulators with Transmission Delays

Distributed Force Synchronization for Networked Robotic Mani...

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IEEE International Conference on robotics and Biomimetics

作者： Xiaodong Zhang Chao Ma Tao Xiao Liziyi Hao Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Application Beijing Institute of Spacecraft System Engineering CAST China School of Mechanical Engineering University of Science and Technology Beijing Beijing China

ISBN: (纸本)9781665405362

This paper investigates the force synchronization problem for multiple robotic manipulators with network-induced transmission delays. More specifically, the synchronization control strategy is proposed under distributed framework to deal with interaction forces. Based on the developed control and information exchange strategy, sufficient synchronization criterion under directed topology is established by means of Lyapunov-Krasovskii method. Finally, an illustrate example is provided with simulation results to validate the effectiveness of the theoretical results.

关键词： Network topology Control design Simulation Force Decentralized control Manipulators Delays

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Combined active and passive adaptive variable admittance compliant control for space robotic manipulators

Combined active and passive adaptive variable admittance com...

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IEEE International Conference on robotics and Biomimetics

作者： Hang Gao Xiaodong Zhang Chao Ma Cheng Zhou School of Mechanical Engineering University of Science and Technology Beijing Beijing China Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Application Beijing Institute of Spacecraft System Engineering CAST China

This paper develops a combined active and passive adaptive variable admittance compliant control algorithm for space robotic manipulators. In fact, the assembly task for space robots requires compliance and precision while ensuring avoidance of any occurrences of rigid collision throughout the process. Therefore, we design a new combined active and passive variable admittance control structure combined with the following three parts to meet these acquirements. Firstly, we develop an active variable admittance algorithm to facilitate the space robot rapid movement, enabling it to achieve higher speeds while maintaining compliance. Then, to mitigate the occurrence of unforeseen rigid collisions during the robot motion, we devise a passive variable admittance control algorithm, which aims to minimize the impact of collision events and ensure the robot safe operation. Furthermore, by employing the Lyapunov theory, a new active adaptive variable admittance control algorithm is presented for robot constant force output. Consequently, through contrast experiments, we demonstrate the effectiveness and enhanced performance of the proposed algorithm.

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Design of Planar Antenna and space Deployable Mast Based on a New 8r Origami Mechanism

SSRN

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SSRN 2024年

作者： Li, Ruixing Zhou, Guangwu Luo, Pei Zhao, Zhijun School of Aeronautics and Astronautics Sichuan University Chengdu610065 China Sichuan University Chengdu610065 China Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System Engineering Beijing100092 China

The modular origami mechanism has great application prospect. In this paper, origami based on 8R mechanism is designed, the mechanism can be array. The kinematics of the 8R origami mechanism is analyzed, and the model reconstruction and motion bifurcation of the mechanism are found. There are two kinds of 8R mechanism that can satisfy the array: MMMN mechanism and NNNM mechanism. The motion bifurcation and model reconstruction of the mechanism are avoided in the design of thickness-plate origami. Taking into account the bearing capacity of the mechanism, the 8R mechanism of heavy plate origami is designed. The motion bifurcation and model reconstruction of the mechanism are avoided in the design of thickness-plate origami. The twisting direction of MMMN mechanism and NNNM mechanism is opposite. The planar antenna is designed using multiple MMMN mechanisms. The spread area of the planar antenna reaches 1350〖cm〗^2. NNNM mechanism and MMMN mechanism are used to design space deployable mast. The performance of planar antenna and space deployable mast is tested. The space deployable mast has a self-locking function in the unfolded state. The space deployable mast has a load-carrying capacity of more than 41N and requires only 6N folding force. © 2024, The Authors. All rights reserved.

关键词： Bifurcation (mathematics)

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An Approach on Visual Detecting Multi-Targets in the Unstructured and Complex Scenes Based on RGB-D Images

An Approach on Visual Detecting Multi-Targets in the Unstruc...

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

作者： Qimeng Tan Yikun Sun Pengfei Xin Yimin Lin Chao Ma Xinyu Wang Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System Engineering Propellant Injection Laboratory Beijing Special Engineering Design and Research Institute Institute of Optical Communication &Optoelectronics Beijing University of Posts &Telecommunications School of Instrument Science and Optoelectronic Engineering Beijing Information Science and Technology University

ISBN: (数字)9781728198880

ISBN: (纸本)9781728198897

The technology of detecting and identifying multitarget is of significance for robotic visual navigation within the unknown, unstructured, complex scenes, whose result could be considered as important references of 3 D map building and path planning for mobile robot. Traditional algorithms of target detection can be applied to 2 D images without depth information generally, which is disturbed by few factors such as illumination, view and scale easily. Therefore, an approach on visual detecting multi-target of unstructured and complex scenes based on RGBD images is proposed in this article to solve the above problem, which is composed of extracting descriptor of rotation and scale invariance feature, local encoding of targets, random ferns classifier training, Hough map generation, Hough voting theoretical model and local maximum search. Experimental results have shown that the proposed approach reduce the calculation of extracting and matching local feature, improve the accuracy of object recognition and detection in unknown complex environments, be capable of well robust against few disturbing factors i.e. rotation, scale, illumination, occlusion and non-rigid body deformation.

关键词： robotic Visual Navigation RGB-D Image Target Detection RFC(Random Ferns Classifier) RSI-LBF(Rotation and Scale Invariance-Local Binary Feature)

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Near-Zero Thermal Mismatch Flexure Metamaterial with High-Resonant Frequency

SSRN

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SSRN 2022年

作者： Zhou, Hao Yu, Huabin Wang, Zhe Guo, Xiaogang Qi, Junfeng Zhang, Xiaoyu Fang, Daining Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System Engineering China Academy of Space Technology No. 104 Youyi Road Beijing100094 China Beijing Key Laboratory of Lightweight Multi-functional Composite Materials and Structures Beijing Institute of Technology No. 5 Zhongguancun South Street Beijing100081 China Beijing Spacecrafts Manufacture Company Beijing100094 China

Heterogeneous mechanical metamaterials, especially fabricated by additive manufacturing techniques, have attracted attention in lightweight multifunctional material engineering. Near-zero thermal expansion materials play an important role in precision equipment. However, undesired thermal mismatch flexure distortion occurs when the precision equipment is mounted on the main load-bearing structures of spacecraft and the environmental temperature changes. The present study presents a near-zero thermal mismatch flexure metamaterial, including the design strategy inspired by plants with axisymmetric distributing anisotropic microstructures , the thermal deformation constitutive relation derived by the flexibility method, and the fabrication of this metamaterial sandwich structure by selective laser melting. Thermal deformation experiments demonstrate that the coefficient of thermal flexure reduces by 92.4% compared with traditional bi-material plates connected by screws. Mechanical vibration experiments demonstrate that the fundamental resonant frequency of this metamaterial sandwich structure can be as high as 956 Hz, which is 5.8 times larger than the common requirements of functional components for spacecraft to avoid mechanical resonance with the main structure during launch. The excellent thermal mismatch shape stability and high-resonant frequency properties make it a potential candidate for thermal geometric stable structures working in variable thermal and mechanical environments. © 2022, The Authors. All rights reserved.

关键词： Metamaterials

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Meta-fences: Blocking waves utilizing a layer of identical tiny scatters

arXiv

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arXiv 2021年

作者： Zhang, Yunhao Sha, Zhendong Su, Guangyuan Zhou, Hao Yang, Jiangzhong Jiang, Peng Liu, Yongquan Li, Bing Wang, Tiejun State Key Laboratory for Strength and Vibration of Mechanical Structures School of Aerospace Engineering Xi’an Jiaotong University Xi’an710049 China Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System Engineering China Academy of Space Technology Beijing100094 China School of Aeronautics Northwestern Polytechnical University Shaanxi Xi'an710072 China

Wave steering by artificial materials (for example, phononic crystals and acoustic metamaterials) is a fascinating frontier in modern physics and engineering, but suffers from bulky sizes and intractable challenges in fabrication. Here, a sparse layer of identical tiny scatters, which we call meta-fences, is presented with a non-destructive way to omnidirectionally block flexural waves in plates. The underlying mechanism is that the restraining force and moment of the scatter are tuned simultaneously to counter-balance the incident wave. Both our experimental results and numerical analysis have demonstrated that broadband wave sources ranging from 3 to 7 kHz can be segregated from the protected area by the meta-fence. In addition, the meta-fence is further assembled into a waveguide routing with an arbitrary configuration. Compared with previous isolators and waveguides, our meta-fences exhibit absolute advantages in compact size, flexible configuration, and high structural strength. The current scenario sheds light on the design of lightweight-and-strong architectures for vibration control and energy harvesting with a high efficiency, and can be extended to microfluidics, acoustics, seismology and other fields. Copyright © 2021, The Authors. All rights reserved.

关键词： Energy harvesting

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Globally optimal consensus maximization for robust visual inertial localization in point and line map

Globally optimal consensus maximization for robust visual in...

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2020 IEEE/RSJ International Conference on intelligent Robots and systems (IROS)

作者： Yanmei Jiao Yue Wang Bo Fu Qimeng Tan Lei Chen Minhang Wang Shoudong Huang Rong Xiong State Key Laboratory of Industrial Control and Technology Zhejiang University Hangzhou P.R. China Beijing Key Laboratory of Intelligent Space Robotic System Technology and Applications Beijing Institute of Spacecraft System Engineering Beijing P.R. China Minhang Wang is with the Application Lab Huawei Incorporated Company P.R. China Shoudong Huang is with the Center for Autonomous Systems (CAS) the University of Technology Sydney Australia

ISBN: (数字)9781728162126

ISBN: (纸本)9781728162133

Map based visual inertial localization is a crucial step to reduce the drift in state estimation of mobile robots. The underlying problem for localization is to estimate the pose from a set of 3D-2D feature correspondences, of which the main challenge is the presence of outliers, especially in changing environment. In this paper, we propose a robust solution based on efficient global optimization of the consensus maximization problem, which is insensitive to high percentage of outliers. We first introduce translation invariant measurements (TIMs) for both points and lines to decouple the consensus maximization problem into rotation and translation subproblems, allowing for a two-stage solver with reduced search space. Then we show that (i) the rotation can be estimated by minimizing TIMs using only 1-dimensional branch-and-bound (BnB), (ii) the translation can be estimated by running 1-dimensional search for each of the three axes with prioritized progressive voting. Compared with the popular randomized solver, our solver achieves deterministic global convergence without requiring an initial value. Furthermore, ours is exponentially faster compared with existing BnB based methods. Finally, our experiments on both simulation and real-world datasets demonstrate that the proposed method gives accurate pose estimation even in the presence of 90% outliers (only 2 inliers).

关键词： Location awareness Visualization Pose estimation Search problems State estimation Optimization Rotation measurement

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Inchworm-inspired soft climbing robot using microspine arrays

Inchworm-inspired soft climbing robot using microspine array...

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2019 IEEE/RSJ International Conference on intelligent Robots and systems (IROS)

作者： Qiqiang Hu Erbao Dong Gang Cheng Hu Jin Jie Yang Dong Sun CAS Key Laboratory of Mechanical Behavior and Design of Materials University of Science and Technology of China Hefei China CAS Key Laboratory of Mechanical Behavior and Design of Materials University of Science and Technology of China Hefei PRC Anhui Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System Engineering Beijing PRC Department of Biomedical Engineering City University of Hong Kong Hong Kong SAR

Animals in nature, such as geckos, inchworms, and felines can climb on various surfaces using different mechanisms and serve as references for the study of bio-inspired robots. This paper presents an inchworm-inspired climbing robot that consists of soft body and feet. The soft robot is actuated by shape memory alloy wires and utilizes microspine arrays to attach its feet to rough or soft surfaces. A series of experiments to test the functionality of the feet and torso of the designed robot have verified the theoretical feasibility of the robot. Results have shown that the designed bio-inspired robot can climb on inclined or vertical curved surfaces and flat surfaces. The robot can also adapt to the underwater environment. Thus, this robot has great potential for various applications such as pipeline inspection.

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Study on Control Strategy of the Vascular Interventional Surgical Robot Based on LADRC 20

Study on Control Strategy of the Vascular Interventional Sur...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Zhang, Wenqiang Guo, Jian Guo, Shuxiang Fu, Qiang Tianjin University of Technology Tianjin Key Laboratory for Control Theory & Applications Complicated Systems and Intelligent Robot Laboratory Binshui Xidao Extension 391 Tianjin300384 China Shenzhen Institute of Advanced Biomedical Robot Co. Ltd. No.12 Ganli Sixth Road Jihua Street Longgang District Shenzhen518100 China Beijing Institute of Technology Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science No.5Zhongguancun South Street Beijing100081 China

ISBN: (纸本)9798350320831

As a medical device used in surgery, the vascular interventional surgical robot itself needs to have good control accuracy to ensure the safety of the surgery process. Given this security problem, this paper selects the Line Active Disturbance Rejection Control (LADRC) as the control strategy of the vascular interventional robot, aiming at improving the master-slave tracking accuracy of the vascular interventional robot. This article compares the LADRC and PID(Proportional-Integral-Derivative) control strategies through simulation and experiments. The experimental results show that LADRC has good control performance for master-slave tracking and can be applied to the vascular interventional surgical robots. © 2023 IEEE.

关键词： robotic surgery

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