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16th International Federation of Theory of Machines and Mechanisms World Congress, IFToMM WC 2023

作者： Li, Mi Shi, Wujie Chen, Junpeng Zhuang, Zheming Dai, Jian S. Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems Southern University of Science and Technology Shenzhen518055 China Centre for Advanced Mechanisms and Robotics Key Laboratory of Mechanism Theory and Equipment Design of the Ministry of Education Tianjin University Tianjin300350 China Centre for Robotics Research King’s College London LondonWC2R 2LS United Kingdom

ISBN: (纸本)9783031457081

After completing the design of the rigid torso structure robot, the mobility and topology of the torso are fixed. As a result, it becomes challenging to meet the requirements of robots in multiple working conditions. By applying the torso structure of the reconfigurable metamorphic mechanism, we can address the above-mentioned problems in robot designing. In this paper, based on the reconfigurable mechanism design method of motion bifurcation, the 2-URU mechanism and its derived 8R-Folding mechanism are designed. The 8R-Folding mechanism is innovatively applied to the torso design of the wheel-legged robot, and kinematic analysis, model simulation, and prototype experiments are conducted. The results show that the robot can realize two deployments/folds, and the ratio can reach 3. The waist can achieve left and right rotation and up and down pitching effects after the folding process, allowing it to adapt to a variety of working environments. The article provides a new solution for the robot to achieve one machine with multiple functions. © 2024, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Robots

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Research on Optimum Autofrettage Pressure of Thick-Walled Cylinders 13th

Research on Optimum Autofrettage Pressure of Thick-Walled Cy...

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13th International Workshop of Advanced Manufacturing and Automation, IWAMA 2023

作者： Sun, Lihua Li, Guiqin Wang, Yi Mitrouchev, Peter Engineering Training Center of Changchun University of Technology Changchun China Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai University Shanghai China University Grenoble Alpes G-SCOP Grenoble France

ISBN: (纸本)9789819706648

The method of calculating the value of the optimum autofrettage pressure for thick-walled cylinders based on the von Mises yield criterion and considering the Bauschinger effect is proposed in this paper. The internal stress distribution of the autofrettaged thick-walled cylinder under working load is obtained through the simulation. The results of the simulation demonstrate that the autofrettage technology has a significant effect on improving the load-bearing capacity of the cylinder and the optimum autofrettage pressure can maximize the load-bearing capacity of the cylinder. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Finite element method

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Simulation of magnetization process and Faraday effect of magnetic bilayer films

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Chinese Physics B 2024年第9期33卷 590-597页

作者： Sheng Gao An Du Lei Zhang Tian-Guang Li Da-Cheng Ma Department of Basic and General Studies Shenyang Institute of Science and TechnologyShenyang 110167China College of Science Northeastern UniversityShenyang 110819China National Frontiers Science Center for Industrial Intelligence and Systems Optimization Northeastern UniversityShenyang 110819China Office of Academic Research Shenyang Institute of Science and TechnologyShenyang 110167China State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy ofSciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang110016China

We described ferromagnetic film and bilayer films composed of two ferromagnetic layers coupled through antiferromagnetic interfacial interaction by classical Heisenberg model and simulated their magnetization state,magnetic permeability,and Faraday effect at zero and finite temperature by using the Landau–Lifshitz–Gilbert(LLG)*** results indicate that in a microwave field with positive circular polarization,the ferromagnetic film has one resonance peak while the bilayer film has two resonance ***,the resonance peak disappears in ferromagnetic film,and only one resonance peak emerges in bilayer film in the negative circularly polarized microwave *** the microwave field’s frequency exceeds the film’s resonance frequency,the Faraday rotation angle of the ferromagnetic film is the greatest,and it decreases when the thickness of the two halves of the bilayer is *** the microwave field’s frequency remains constant,the Faraday rotation angle fluctuates with temperature in the same manner as spontaneous magnetization *** a DC magnetic field is applied in the direction of the anisotropic axis of the film,the Faraday rotation angle varies with the DC magnetic field and shows a similar shape of the hysteresis loop.

关键词： magnetic bilayer films magnetic permeability hysteresis loop Faraday effect Landau-Lifshitz-Gilbert(LLG)equation

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Learning Rat-Like Behavior for a Small-Scale Biomimetic Robot

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Engineering 2022年第10期17卷 232-243页

作者： Zihang Gao Guanglu Jia Hongzhao Xie Qiang Huang Toshio Fukuda Qing Shi Key Laboratory of Biomimetic Robots and Systems(Beijing Institute of Technology) Ministry of EducationBeijing 100081China Intelligent Robotics Institute School of Mechatronical EngineeringBeijing Institute of TechnologyBeijing 100081China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of TechnologyBeijing 100081China

Existing biomimetic robots can perform some basic rat-like movement primitives(MPs)and simple behavior with stiff combinations of these *** mimic typical rat behavior with high similarity,we propose parameterizing the behavior using a probabilistic model and movement ***,an analysis of fifteen 10 min video sequences revealed that an actual rat has six typical behaviors in the open field,and each kind of behavior contains different bio-inspired combinations of eight *** used the softmax classifier to obtain the behavior-movement hierarchical probability ***,we specified the MPs using movement parameters that are static and *** obtained the predominant values of the static and dynamic movement parameters using hierarchical clustering and fuzzy C-means clustering,*** predominant parameters were used for fitting the rat spinal joint trajectory using a second-order Fourier series,and the joint trajectory was generalized using a back propagation neural network with two hidden ***,the hierarchical probability model and the generalized joint trajectory were mapped to the robot as control policy and commands,*** implemented the six typical behaviors on the robot,and the results show high similarity when compared with the behaviors of actual rats.

关键词： Biomimetic Bio-inspired robot Neural network learning system Behavior generation

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Curing curve prediction using genetic algorithm optimized back propagation neural network 9

Curing curve prediction using genetic algorithm optimized ba...

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2023 9th International Forum on Manufacturing technology and Engineering Materials, ICMTEM 2023

作者： Zhang, Ruming Guan, Kunpeng Wu, Chenchen Shenyang University of Technology Shenyang110870 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Science Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China University of Science and Technology Liaoning Anshan114051 China

Thermoset composites constructed with monolithic moulding can significantly reduce the number of parts and connectors, improve the reliability of the composite structure, and reduce production costs. For such composite components, the degree-of-cure (DoC) curve is normally considered to evaluate the curing process, so that the curing process-induced deformation and residual stress can meet the manufacturing requirements. In this paper, a method is proposed to predict the DoC curve based on the neural network. First, the DoC curves for AS4/3501-6 composite structures were obtained from ABAQUS and HETVAL subroutine, and the results were verified by published values. Next, the curves of temperature over time and DoC over time were generated to train the neural network. Finally, the back propagation (BP) neural network is optimized using the genetic algorithm (GA), and the DoC curve prediction model is created. The results demonstrate that, with a maximum error of 3.24%, the simulated curves essentially correspond with published values. Evaluation and validation analyses show that the prediction of the DoC curve using the GA-BP neural network yields high computational efficiency and accuracy. © Published under licence by IOP Publishing Ltd.

关键词： Genetic algorithms

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A Flexible Wearable Glove with Extendable Segmented Fabric-Based Bellows Actuators (ES-FBAs) for Hand Rehabilitation

A Flexible Wearable Glove with Extendable Segmented Fabric-B...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Ren, Shuheng Zhang, Daohui Han, Baisong Fu, Xin Zhao, Xingang Chinese Academy of Sciences Shenyang Institute of Automation State Key Laboratory of Robotics Liaoning Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Liaoning Shenyang110016 China University of Chinese Academy of Sciences Beijing China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Liaoning Shenyang China Shenyang University of Technology Shenyang China

ISBN: (纸本)9781665481090

Considering the high repetition and strong interactive nature of the rehabilitation process, the design of hand-assisting robots should prioritize not only high force output but also coordination and cooperation with the human hand. In this paper, inspired by the segmented motion patterns of the human hand and the mechanisms of skin stretching, we propose an extendable segmented fabric-based bellows actuator (ES-FBA), designed for assisting in finger flexion of stroke patients, comprising innovative fishing line elastic bands, elastic velcro fasteners, and a TPU bladder. The key feature of the ES-FBA is its bending deformation, which aligns with the natural bending motions of the human hand. Moreover, its unique extension-limiting layer adapts to skin stretching and facilitates modular integration. The optimal number of folds at the actuator's joints is determined through structural optimization. Our investigation into the extension capability and output force performance of the ES-FBA reveals its ability to achieve a maximum extension of 61.8 ± 1.50% at the joints and generate a tip-blocked force of 15.29 ± 0.11{N} under conditions of 25% extension and 150 kPa. Meanwhile, we also showcase a quick integration example of a wearable glove fitted with the ES-FBAs and evaluate its ability to assist in finger flexion. Building on this, the potential applications of the wearable soft glove in hand rehabilitation scenarios are explored, with demonstrations of rapid actuator swapping and assistance in grasping objects of varying weights. © 2024 IEEE.

关键词： Bellows

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Scoliosis detection method based on fringe projection profilometry and deep learning

Scoliosis detection method based on fringe projection profil...

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2024 International Conference on Optical and Photonic Engineering, icOPEN 2024

作者： Wang, Meng He, Dong Xu, Shaolei Tang, Qijian Peng, Xiang Liu, Xiaoli State Key Laboratory of Radio Frequency Heterogeneous Integration College of Physics and Optoelectronic Engineering Shenzhen University Guangdong China Key Laboratory of Intelligent Optical Measurement and Detection of Shenzhen Shenzhen Institute of Information Technology Shenzhen Guangdong China School of Sino-German Robotics Shenzhen Institute of Information Technology Shenzhen Guangdong China

ISBN: (数字)9781510688117

ISBN: (纸本)9781510688100

In this paper, a fringe projection profilometry (FPP) system for three-dimensional (3D) imaging of the human back is proposed to assess scoliosis, which has developed into one of the top four health concerns affecting adolescents. The FPP system includes a binocular stereo vision system and an infrared projector, with a Field Programmable Gate Array (FPGA) based synchronization control system enabling a 240Hz acquisition frame rate. This high frame rate mitigates the impact of involuntary body movement on 3D image quality. Various features can be extracted from the generated 3D model of the back for quantitative postural assessment. Specifically, a deep learning approach is employed to analyze the extracted trunk rotation angle curve for scoliosis detection. Experimental results demonstrate a correlation between this method and X-ray detection, offering a promising exploratory approach to reduce reliance on X-ray imaging in scoliosis monitoring. © 2025 SPIE.

关键词： Stereo image processing

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Fluidic Ga–In liquid metal-modified cathode with improved cyclic performance and capacity of Li–O2 batteries

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Rare Metals 2022年第7期41卷 2223-2229页

作者： Ao-Hua Chai Chen-Hao Ji Dong Yuan Lian-Kun Yin Yan-Song Zhang Xiang-Qun Zhuge Zhi-Hong Luo Yi-Bing Li Kun Luo Guangxi Key Laboratory of Optical and Electronic Materials and Devices College of Materials Science and EngineeringGuilin University of TechnologyGuilin 541004China Jiangsu Province Engineering Research Center of Intelligent Manufacturing Technology for the New Energy Vehicle Power Battery School of Materials Science and EngineeringChangzhou UniversityChangzhou 213164China

The cathode passivation induced by the accumulated solid products is a serious issue which impede the application of Li-O_(2) ***,we applied Ga-In liquid metal(Ga-In LM)functionalized cathode to alleviate the cathode passivation by using the fluidity and self-healing surface of Ga-In LM microdrops,which could hardly be covered by the solid discharge products,such as Li_(2)O_(2) and LiOH during charge/discharge cycles.

关键词： cathode hardly healing

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Detection of Positional Accuracy Degradation of Industrial Robots Based on Kinematic Analysis

Detection of Positional Accuracy Degradation of Industrial R...

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2023 IEEE International Conference on Electrical, Automation and Computer Engineering, ICEACE 2023

作者： Yang, Kongping Qi, Yuming Xie, Bing Deng, Sanpeng Mo, Kaidi Institute of Robotics and Intelligent Equipment Tianjin Key Laboratory of Intelligent Robot Technology and Application Tianjin University of Technology and Education Tianjin China College of Mechanical Engineering Tianjin University of Science and Technology Tianjin China School of Technology Beijing Forestry University Beijing China

ISBN: (纸本)9798350309614

Aiming at the problem of positional accuracy degradation of industrial robots in long-term operation, a positional accuracy degradation detection method of industrial robots based on kinematic analysis is proposed. Firstly, the accuracy of the joint angles collected from the robot control cabinet and external high-precision sensors is compared and analyzed based on the MD- H method;secondly, the positional degradation detection model of the industrial robot is established based on the principle of differential kinematics;and finally, an experimental platform is built based on the KUKA KR 3 R540 industrial robot and experimental validation is carried out. The experimental results show that the root-mean-square error between the detected position error and the actual position error is 0.049 mm, and the method can effectively detect the position accuracy degradation of the robot. © 2023 IEEE.

关键词： Accuracy degradation Industrial robot MD-H method Position error

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Active Camera View Planning Based on Deep Reinforcement Learning in Indoor Exploration 42

Active Camera View Planning Based on Deep Reinforcement Lear...

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42nd Chinese Control Conference, CCC 2023

作者： Wang, Hao-Yu Meng, Qing-Hao Dai, Xu-Yang Institute of Robotics and Autonomous Systems School of Electrical and Information Engineering Tianjin University Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System Tianjin300072 China

ISBN: (纸本)9789887581543

In the last decades, significant progress has been made in the field of active vSLAM (visual simultaneous localization and mapping). However, the majority of active vSLAM methods suffer from the problem of coupling the camera's viewpoint to the robot's motion, which limits the initiative during the exploration of unknown environments. To address this issue, this study proposes a camera view planning method based on deep reinforcement learning (DRL), which makes the camera rotate independently. First, feature encoding is performed on the reconstructed navigation map using a multi-layer convolutional neural network (CNN). Second, the DRL-based camera view planning method is trained through the proximal policy optimization (PPO) algorithm. Last, a significant number of tests is performed on a public dataset of indoor environments. The simulation results show that the proposed camera view planning method improves the exploration coverage by an average of 4% (33.86 m2 for traditional vs. 35.21 m2 for the suggested method). Meanwhile, the kind of semantic information newly observed in each step increases by 21% (2.9 for traditional vs. 3.5 for the proposed method) on average, indicating the improvement in the efficiency of information acquisition. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Reinforcement learning

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