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Optimal biaxial prestretch ratios of soft dielectric elastomer actuators for maximal voltage-induced displacement

Science China(Technological Sciences) 2023年第10期66卷 2871-2881页

作者： LUO Kai WU JiaNing CHEN FeiFei School of Mechanical Engineering Shanghai Jiao Tong UniversityShanghai 200240China State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong UniversityShanghai 200240China Meta Robotics Institute Shanghai Jiao Tong UniversityShanghai 200240China

Prestretch plays an indispensable role in programming the voltage-induced deformation of dielectric elastomer actuators(DEAs).However,lacking rational design methods,the level of prestretch is usually determined through time-consuming experiments and trial-and-error *** this paper,we aim to quantitatively determine the optimal biaxial prestretch ratios for maximizing the voltage-induced displacement of *** on the Lagrange method and adjoint sensitivity analysis,we obtain the derivative of the displacement field with respect to the principal prestretch ratios,in which the nonlinearities and complex electromechanical coupling of DEAs are rigorously taken into *** derivative information allows for performing gradient-based optimization at a high convergence *** propose a comprehensive optimization framework connecting the nonlinear finite element analysis and sensitivity analysis to iteratively identify the optimal prestretch *** validate our method on two classical types of DEAs,i.e.,planar DEAs with fixed boundaries and free-standing three-dimensional dielectric elastomer minimum energy structures(DEMES).The simulation and experiment results both show that remarkable improvements in concerned displacements are obtained compared with the non-optimized designs.

关键词： dielectric elastomer prestretch ratios design optimization

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Smoke Attention Based Laparoscopic Image Desmoking Network with Hybrid Guided Embedding

Smoke Attention Based Laparoscopic Image Desmoking Network w...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Liu, Ziteng Gao, Wenpeng Zhu, Jiahua Liu, Bainan Fu, Yili School of Life Science and Technology Harbin Institute of Technology Harbin150080 China Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150080 China

ISBN: (纸本)9781665481090

Surgical smoke can obscure the surgeon's line of sight during the laparoscopic procedure, potentially posing risk to the patients. Robot assisted-minimally invasive surgery (MIS) also faces such a challenge, which also hinders its autonomous operation. This paper proposes a desmoking method for laparoscopic surgery smoke removal. As the surgical smoke is hetergeneous, a two-stage network is developed to estimate the smoke distribution and reconstruct the corresponding smoke-free scene with the hybrid embedding guidance, including the estimated smoke mask and the initial image. The network is designed following the concept of the atmospheric scattering model, which makes the network more explainable. To qualitatively and quantitatively evaluate the proposed method, a synthetic laparoscopic dataset is generated and a real laparoscopic dataset is obtained. Experimental results show that the Peak Signal to Noise Ratio (PSNR) of the proposed method is 1.9% higher than that of the DehazeFormer, while the run-time is shorter more than 40.9%. The proposed method is comparable to or even outperforms the state-of-the-arts in desmoking quality and computation cost. © 2024 IEEE.

关键词： Laparoscopy

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3D-DEM Simulation and Post-Process Method of Wheel-Terrain Interaction for Planetary Rovers 11

3D-DEM Simulation and Post-Process Method of Wheel-Terrain I...

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11th Asia-Pacific Regional Conference of the International Society for Terrain-Vehicle systems, ISTVS 2022

作者： Lan, Qingning Wang, Zhengyin Yang, Huaiguang Ding, Liang Gao, Haibo State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

ISBN: (纸本)9781942112532

Understanding the physical essence of wheel-terrain interaction is critical to establish the terramechanics model. The discrete element method (DEM) can be used to simulate a series of wheel-terrain interaction quickly and efficiently, which can be convenient to analyze the physical information of the interaction. This paper simulates the interaction of slipping wheel running on soil simulant using 3D-DEM. The information of particles and wheel is obtained from the wheel-terrain interaction. The consequent velocity and stress field of soil simulant is obtained by smoothening the velocity of discrete soil particles and contact interaction force between particles. A method to calculate the fraction field of soil simulant in the particle bed with boundary is proposed to obtain the consequent fraction field distribution. The simulation results are consistent with experimental results. This study can provide instructions for the establishment of physical terramechanics model. Copyright © 2022 by the International Society for Terrain-Vehicle systems. All rights reserved.

关键词： Landforms

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LQR-based Ground Resonance Suppression of Helicopter with Adaptive Landing Gear

LQR-based Ground Resonance Suppression of Helicopter with Ad...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Yan, Zhen Yu, Haitao Xia, Jifeng Tian, Baolin Gao, Haibo State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

ISBN: (纸本)9781665481090

Ground resonance (GR) is a potentially destructive mechanical instability involving the coupling of the regressive rotor mode to the fuselage motion. Vibration can be disastrous if measures are not taken in time to mitigate vibrations. This paper presents a study on the use of adaptive landing gear to eliminate GR in helicopters. A GR model considering adaptive landing gear is established, and the dynamic characteristics of the system are analyzed. In this paper, the Linear Quadratic Regulator (LQR) controller is applied to suppress the GR. The setting of the weighting matrix coefficients directly determines the effect of the control system. Therefore, a design method of LQR weighting matrix based on multi-objective genetic algorithm is proposed, which enables the control system to meet multiple performance indicators concurrently. Numerical simulations of GR suppression were performed for the rotor speed range where GR is most likely to occur. The results show that even if the rotor system is not equipped with any dampers, the suppression of helicopter GR can be achieved by using the control strategy proposed in this paper to control the adaptive landing gear. Therefore, the application of adaptive leg landing gear to helicopters can provide some ideas to eliminate GR. © 2022 IEEE.

关键词： Multiobjective optimization

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Prototype Design and Efficiency Analysis of a Novel Robot Drive Based on 3K-H-V Topology

Prototype Design and Efficiency Analysis of a Novel Robot Dr...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Qi, Le Yang, Dapeng Cao, Baoshi Li, Zhiqi Gu, Yikun Xie, Zongwu Liu, Hong Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150080 China

ISBN: (纸本)9781665481090

Robot actuators directly affect the performance of robots, and robot drives directly affect the performance of robot actuators. With the development of robotics, robots have put higher requirements on robot drives, such as high stiffness, high accuracy, high loading, high efficiency, low backlash, compact size, and hollow structure. In order to meet the demand development of robot actuators, this research base proposes a new robot drive based on 3K-H-V topology using involute and cycloidal gear shapes, planetary cycloidal drive, from the perspective of drive topology and through the design idea of decoupling. In this study, the reduction ratio and the efficiency model of the 3K-H-V topology were analyzed, and a prototype planetary cycloidal actuator was designed. The feasibility of the drive is initially verified by experimentally concluding that the PCA has a hollow structure, compact size, and high torque density (69 Nm/kg). © 2022 IEEE.

关键词： Topology

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Integration of bio-inspired limb-like structure damping into motor suspension of high-speed trains to enhance bogie hunting stability

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Railway Engineering Science 2024年第3期32卷 324-343页

作者： Heng Zhang Liang Ling Sebastian Stichel Wanming Zhai State Key Laboratory of Rail Transit Vehicle System Southwest Jiaotong UniversityChengdu 610031China Department of Engineering Mechanics KTH Royal Institute of TechnologyStockholmSweden

Hunting stability is an important performance criterion in railway *** study proposes an incorporation of a bio-inspired limb-like structure(LLS)-based nonlinear damping into the motor suspension system for traction units to improve the nonlinear critical speed and hunting stability of high-speed trains(HSTs).Initially,a vibration transmission analysis is conducted on a HST vehicle and a metro vehicle that suffered from hunting motion to explore the effect of different motor suspension systems from on-track ***,a simplified lateral dynamics model of an HST bogie is established to investigate the influence of the motor suspension on the bogie hunting *** bifurcation analysis is applied to optimize the motor suspension parameters for high critical ***,the nonlinear damping of the bio-inspired LLS,which has a positive correlation with the relative displacement,can further improve the modal damping of hunting motion and nonlinear critical speed compared with the linear motor suspension ***,a comprehensive numerical model of a high-speed train,considering all nonlinearities,is established to investigate the influence of different types of motor *** simulation results are well consistent with the theoretical *** benefits of employing nonlinear damping of the bio-inspired LLS into the motor suspension of HSTs to enhance bogie hunting stability are thoroughly validated.

关键词： High-speed train Hunting stability Bio-inspired limb-like structure Motor suspension Nonlinear damping

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An overview on mobile manipulator in nuclear applications∗

An overview on mobile manipulator in nuclear applications∗

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2022 IEEE International Conference on Real-Time Computing and robotics, RCAR 2022

作者： Ou, Yue Xu, Biying Cai, Hegao Zhao, Jie Fan, Jizhuang Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150001 China

ISBN: (数字)9781665469838

ISBN: (纸本)9781665469838

Nuclear power is worldwide popular and keeps rapidly growing, but manual operation in nuclear facilities is challenging by safety and workload issues. Mobile manipulators are ideal to replace human works in nuclear applications. This article reviews the development of mobile manipulators in nuclear applications over time. Then, we summarize three tasks for robots in nuclear applications and corresponding requirements, followed by an overview of the design of selected specific models. Based on the existing design, we propose the challenges for future mobile manipulators in nuclear applications. © 2022 IEEE.

关键词： Manipulators

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The controller architecture of dexterous hand with switchable coupling mechanism

The controller architecture of dexterous hand with switchabl...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Liu, Ziqi Jiang, Li Li, Wangyang Cheng, Ming Wu, Xiaoqiao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150008 China

ISBN: (纸本)9781665481090

This work investigates the design of the sensor system and control system for the coupled adaptive multi-fingered dexterous hand with actively switchable modalities. Considering the specific mechanical structure characteristics of the dexterous hand, a master-slave distributed control system design approach is adopted to integrate the sensor system and control system inside the finger, which completes the mechatronic integration of the whole hand. It can realize the modularity at the finger level and simplify the system complexity. This paper also introduces a fuzzy adaptive PID control method and develops the control strategy in active switchable mode. The experimental results show that the controller architecture can adapt to the changes in the institutional characteristics of the system when the finger switches between coupled and coupled adaptive states. It can complete the high-precision tracking of the target trajectory, achieve accurate position control, and have superior real-time performance. © 2022 IEEE.

关键词： Controllers

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A Microstructural Damage Model toward Simulating the Mullins Effect in Double-Network Hydrogels

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Acta Mechanica Solida Sinica 2022年第4期35卷 682-693页

作者： Lin Zhan Rui Xiao State Key Laboratory of Fluid Power and Mechatronic System Key Laboratory of Soft Machines and Smart Devices of Zhejiang ProvinceDepartment of Engineering MechanicsZhejiang UniversityHangzhou310027China

The damage models based on the eight-chain model and the affine full-chain network model are not adequate to describe the damage behaviors in double-network(DN)*** overcome this limitation,we propose a combined chain stretch model with new damage flow *** is demonstrated that the new proposed micro-chain stretch is a reduced form of the complete representation for the transversely isotropic tensor *** a result,the damage models based on the eight-chain model and the affine model are incorporated as special *** effects of chain affineness and network entangling are simultaneously involved in the new model,while only one of these two effects can be characterized in either the eight-chain model or the affine *** is further shown that the new model can effectively capture the Mullins features of the DN hydrogels and achieve better agreement with the experimental data than the affine model and the eight-chain model.

关键词： Mullins effect Double-network hydrogel Full-network model Microstructural model

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Terrain Classification Using Mars Raw Images Based on Deep Learning Algorithms with Application to Wheeled Planetary Rovers 11

Terrain Classification Using Mars Raw Images Based on Deep L...

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11th Asia-Pacific Regional Conference of the International Society for Terrain-Vehicle systems, ISTVS 2022

作者： Guo, Junlong Zhang, Xingyang Dong, Yunpeng Xue, Zhao Huang, Bo State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

ISBN: (纸本)9781942112532

Scene information plays a crucial role in motion control, attitude perception, and path planning for wheeled planetary rovers (WPRs). Terrain recognition is the fundamental component of scene recognition. Due to the rich information, visual sensors are usually used in terrain classification. However, teleoperation delay prevents WPRs from using visual information efficiently. End-to-end learning method of deep learning (DL) that does not need complex image preprocessing was proposed to deal with this issue. This paper first built a terrain dataset (consists of loose sand, bedrock, small rock, large rock, and outcrop) using real Mars images to directly support You Only Look Once (YOLOv5) to test its performance on terrain classification. Because the capability of end-to-end training scheme is positively correlated with dataset, the performance of YOLOv5 can be significantly improved by exploiting orders of magnitude more data. The best combination of hyperparameters and models was achieved by slightly tuning YOLOv5, and data augmentation was also applied to optimize its accuracy. Furthermore, its performance was compared with two other end-to-end network architectures. Deep learning algorithms can be used in the future planetary exploration missions, such as WPRs autonomy improvement, traversability analysis, and avoiding getting trapped. Copyright © 2022 by the International Society for Terrain-Vehicle systems. All rights reserved.

关键词： Convolutional neural networks

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