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Robotic telemanipulation with EMG-driven strategy-assisted shared control method

Science china(Technological Sciences) 2024年第12期67卷 3812-3824页

作者： XIONG DeZhen FU Xin ZHANG DaoHui CHU YaQi ZHAO Yi Wen ZHAO XinGang State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China

The transfer of information between a human and a robot is of vital importance for robotic telemanipulation *** this paper,we propose a novel strategy-assisted shared control(SASC)scheme driven by electromyography(EMG)signals for robot ***,we develop an EMG decoding scheme to achieve reliable online performance,where ten features are extracted and selected and then classified by machine learning *** feature selection methods are compared to learn a compact representation from original feature ***,a vision-based module is designed for object detection and localization,which helps to grasp or release objects ***,online visual feedback of environmental states and audio feedback of EMG decoding results are used for better perception of environmental contexts.A platform integrated with a robot arm,an RGB-D camera,and a pneumatic sucker,among others,is developed to evaluate the proposed *** best accuracy of EMG recognition is 97.18%±10.61%,achieved by the support vector machine and features selected by recursive feature *** paradigms driven by a joystick or EMG are compared with SASC in a robotic telemanipulation *** performance shows that SASC reaches a successful rate of 100% with the least time of 61.97±9.89 *** completion times of SASC are only 67.78% and 55.71% of the two contrast methods,*** shows that the proposed scheme has the potential to replace classical methods with reliable performance and less time,which provides a novel solution for this field of study.

关键词： EMG shared control robotic telemanipulation vision autonomous

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Shape Memory Polymer Composite Booms with Applications in Reel-Type Solar Arrays

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Chinese Journal of Mechanical Engineering 2023年第3期36卷 326-338页

作者： Hong Xiao Sijie Wu Dongdong Xie Hongwei Guo Li Ma Yuxuan Wei Rongqiang Liu State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150006China Yinhe Hangtian Internet Technology Co. Ltd.Beijing 100192China China Academy of Space Technology Beijing 100098China

Solar arrays are the primary energy source for *** traditional rigid solar arrays improve power supply,the quality increases ***,it is difficult to satisfy the requirements of high-power and low-cost space *** this study,a shape-memory polymer composite(SMPC)boom was designed,fabricated,and characterized for flexible reel-type solar *** SMPC boom was fabricated from a smart material,a shape-memory polymer composite,whose mechanical properties were ***,a mathematical model of the bending stiffness of the SMPC boom was developed,and the bending and buckling behaviors of the boom were further analyzed using the ABAQUS *** SMPC boom was fabricated to demonstrate its shape memory characteristics,and the driving force of the booms with varying geometric parameters was *** also designed and manufactured a reel-type solar array based on an SMPC boom and verified its self-deployment *** results indicated that the SMPC boom can be used as a deployable unit to roll out flexible solar arrays.

关键词： Shape memory polymer composite Reel-type solar array Deployable boom Bending behavior

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Scientific issues and critical technologies in planetary defense

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Chinese Journal of Aeronautics 2024年第11期37卷 24-65页

作者： Qinkun CHENG Wei ZHANG State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China

In history,the Earth has encountered frequent and massive *** today,it is still a collided target for Potentially Hazardous Objects(PHOs),gradually making planetary defense a concerned and important research topic in the field of aerospace *** this background,this work clarifies and discusses some important scientific issues and various critical technologies of planetary ***,the current status of planetary defense research is ***,the classification and characteristics of PHOs are introduced,focusing on their potential impact on planetary defense and related scientific research *** the purpose of protecting the Earth and maintaining space safety,the monitoring and characterization,deflection,and mitigation of PHOs have basically occupied all the attention of planetary defense ***,the critical technologies in planetary defense are discussed from these three aspects,and are also compared and analyzed in *** on the current research progress in planetary defense,the challenges for planetary defense are discussed,and future development directions are also ***,a summary of the entire study is provided.

关键词： Small celestial body Potentially hazardous object(PHO) Near-Earth asteroid(NEA) Planetary defense technology Space robot

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Model and Data Hybrid Driven Approach for Quantifying the Meteorology-Dependent Demand Flexibility of Building Thermal Loads

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CSEE Journal of Power and Energy systems 2025年第1期11卷 394-405页

作者： Bo Hu Xin Cheng Changzheng Shao Tao Niu Chunyan Li Yue Sun Wei Huang Kaigui Xie State Key Laboratory of Power Transmission Equipment and System Security Chongqing UniversityChongqing400030China

Recently, the heat and electricity integrated energy system (HE-IES) has become a hot topic in both industry and academia. In the HE- IES, the potential flexibility of the buildings' thermal loads can be exploited to relax the heat power balance constraints and consequently allow a more flexible operation of the combined heat and power units. In this paper, model-driven and data-driven techniques are combined to quantify the demand flexibility of the buildings' thermal loads in a non-instructive way. First, the explicit analytical equivalent thermal parameter (ETP) model of the aggregated buildings is developed. The heat transfer coefficient (k) and thermal inertia coefficient (C) of the ETP model are designated to measure the potential demand flexibility. Second, the Particle Swarm Optimization optimized Radial Basis Function neural network (PSO-RBF) is used to identify the relationship between the values of k and C and the meteorological factors. To obtain the training data, an innovative two-stage regression method based on the adaptive temporal resolution is proposed to extract k and C values from the historical thermal load data. Finally, a flexible thermal load model is built based on the predictions of the meteorological factors, which can be conveniently incorporated into the online dispatch of the HE-IES. A comprehensive simulation environment is designed to verify the accuracy and availability of the proposed technique.

关键词： Flexibility of buildings'thermal loads heat and electricity integrated energy system meteorological factors model and data hybrid driven

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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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Development of a cable-driven redundant space manipulator with large bending angle by combining quaternion joints and segmented coupled linkages mechanism

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Chinese Journal of Aeronautics 2023年第11期36卷 483-499页

作者： Taiwei YANG Jian HUANG Wenfu XU Ke SHAO Bin LIANG School of Mechanical Engineering and Automation Harbin Institute of TechnologyShenzhen 518055China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China Department of Automation Tsinghua UniversityBeijing 100854China

A cable-driven redundant manipulator has significant potential in confined space applications, such as environmental exploration, equipment monitoring, or maintenance. A traditional design requires 3N driving motors/cables to supply 2N degrees of freedom(DOF) movement *** number of motors is 1.5 times that of the joints’ DOF, increasing the hardware cost and the complexity of the kinematics, dynamics, and control. This study develops a novel redundant space manipulator with decoupled cable-driven joints and segmented linkages. It is a 1680 mm continuum manipulator with eight DOF, consisting of four segmented linkages driven by eight motors/pairs of cables. Each segment has two equivalent DOF, which are realized by four quaternion joints synchronously driven by two linkage cables. The linkage cables of adjacent joints are symmetrically decoupled and offset at 180°. This design allows equal-angle movement of all the joints of each segment. Moreover, each decoupling driving mechanism is designed based on a pulley block composed of two fixed and movable pulleys. The two movable pulleys realize the opposite but equidistant motions of the two driving cables, i.e., pulling and loosening, assuring symmetrical movements of the two driving cables of each segment. Consequently, the equivalent 2N-DOF joints are driven only by 2N motors, significantly reducing the hardware cost and simplifying the mapping relationship between the motor angle/cable length and the joint angle. Furthermore, the bending range of each segment could reach 360°, which is three times that of a traditional design. Finally, a prototype has been developed and experimented with to verify the performance of the proposed mechanism and the corresponding algorithms.

关键词： Cable-driven Mechanism design Redundant manipulators Segmented linkages Kinematics

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Characteristic model-based control of aerial manipulator for improved interaction stability

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Science china(Technological Sciences) 2025年第4期68卷 166-178页

作者： Bingkai XIU Zhan LI Yipeng YANG Huijun GAO Research Institute of Intelligent Control and Systems Harbin Institute of TechnologyHarbin150001China State Key Laboratory of Robotics and Systems(HIT) Harbin Institute of TechnologyHarbin150001China

Maintaining contact stability is crucial when the aerial manipulator interacts with the surrounding environment. In this paper, a novel output feedback framework based on a characteristic model is proposed to improve the contact stability of the aerial manipulator. First, only position measurements of the aerial manipulator are introduced to design the practical finite-time command filter-based force observer. Second, an attitude control architecture including characteristic modeling and controller design is presented. In the modeling part, input-output data is utilized to build the characteristic model with fewer parameters and a simpler structure than the traditional dynamic model. Different from conventional control methods, fewer feedback values,namely only angle information, are required for designing the controller in the controller part. In addition, the convergence of force estimation and the stability of the attitude control system are proved by the Lyapunov analysis. Numerical simulation comparisons are conducted to validate the effectiveness of the attitude controller and force observer. The comparative results demonstrate that the tracking error of x and θ channels decreases at least 10.62% and 10.53% under disturbances and the force estimation precision increases at least 45.19% in the different environmental stiffness. Finally, physical flight experiments are conducted to validate the effectiveness of the proposed framework by a self-built aerial manipulator platform.

关键词： aerial manipulator interaction stability contact force observer characteristic model

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Soft-landing control for a six-legged mobile repetitive lander

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Frontiers of Mechanical Engineering 2024年第5期19卷 1-14页

作者： Qingxing XI Zhijun CHEN Ke YIN Feng GAO State Key Laboratory of Mechanical System and Vibration School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai 200240China National Key Laboratory of Aerospace Mechanism Institute of Aerospace System Engineering ShanghaiShanghai 201108China

The primary mode of extraterrestrial exploration is a robotic system comprising a lander and a ***,the lander is immovable,and the rover has a restrictive detection area because of the difficulties of reaching complex terrains,such as those with deep *** this study,a six-legged mobile repetitive lander with landing and walking functions is designed to solve these ***,a six-legged mobile repetitive lander and its structure are ***,a soft-landing method based on compliance control and optimal force control is addressed to control the landing ***,the experiments are conducted to validate the soft-landing method and its *** show that the soft-landing method for the six-legged mobile repetitive lander can successfully control the joint torques and solve the soft-landing problem on complex terrains,such as those with steps and slopes.

关键词： six-legged mobile repetitive lander soft-landing method compliance control optimal force control complex terrains

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Modified Dynamic Model and Small-signal Stability Analysis for LCC- HVDC systems

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CSEE Journal of Power and Energy systems 2025年第2期11卷 750-759页

作者： Chunyi Guo Jiaqing Zhang Shuo Yang Huan Li Chuang Fu State Key Laboratory of Alternate Electrical Power System with Renewable Energy Sources North China Electric Power UniversityBeijing 102206China Electric Power Research Institute China Southern Power Grid State Key Laboratory of HVDCGuangzhouChina

Inaccuracy of modeling for line commutated converter based high voltage direct current (LCC-HVDC) systems will degrade the reliability of small-signal stability analysis results. Taking a practical project as the study system, this paper establishes a modified dynamic model by modifying the current switching function, firing angle calculation and DC voltage calculation. Then, the accuracy of the modified model is verified by a detailed electromagnetic transient (EMT) simulation. Finally, with the modified dynamic model, the impact of the control parameters and AC system strength on the small-signal stability of the overall system is investigated by adopting the eigen-analysis. The results clearly demonstrate that the modified model shows higher accuracy than the original model.

关键词： LCC-HVDC modified dynamic model practical project small-signal analysis

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Vibration reduction for a new-type maglev vehicle with mid-mounted suspension under levitation failure

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Science china(Technological Sciences) 2023年第12期66卷 3475-3487页

作者： ZHANG Min LIU Jing CAO Yi CHEN XianFa MA WeiHua State Key Laboratory of Rail Transit Vehicle System Southwest Jiaotong UniversityChengdu 610031China

Levitation failure occasionally occurs when a maglev vehicle runs on a track. At the moment of levitation failure, the levitation module falls and hits the track, and there is a violent impact on the maglev vehicle-bridge coupled system. In this paper, the response of the maglev vehicle-bridge coupled system at the moment of and after levitation failure is analyzed, and three methods of reducing the vibration are proposed. First, a dynamics model of the maglev vehicle-bridge coupled system, which considers the control system, five flexible bridges, and track irregularity, is established, and the correctness of the model is verified using test data. The system response for different failure cases is then analyzed. Finally, the three methods of reducing vibration under levitation failure are proposed, and their effectiveness is evaluated. The results show that the failure position and speed barely affect the response, whereas the maximum impact forces due to levitation failure reduced by 13%, 63%, and 50% by adopting the three methods, namely connecting the first and third coils in series, coupling the ends of the levitation module vertically, and adopting two sets of anti-roll devices, respectively. When the latter two schemes are combined, the maximum impact force reduced from 133 kN(without vibration-reduction measures) to 9 kN, and the vibration-reduction measure is also effective for failures of the levitation units at the ends of the vehicle.

关键词： mid-and low-speed maglev vehicle maglev vehicle with mid-mounted suspension coupled vibration levitation failure vibration reduction

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