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Acoustic black hole effect enhanced micromanipulator

Microsystems & Nanoengineering 2024年第5期10卷 345-352页

作者： Qiu Yin Haoyong Song Zhaolong Wang Zhichao Ma Wenming Zhang State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong UniversityShanghaiChina institute of Medical Robotics School of Biomedical EngineeringShanghai Jiao Tong UniversityShanghaiChina College of Mechanical and Vehicle Engineering Hunan UniversityChangshaChina School of Energy Science and Engineering Harbin Institute of TechnologyHarbinP.R.China

Microparticle manipulation is a critical concern across various felds including microfabrication,flexible electronics and tissue ***-activated sharp structures have been designed as simple and flexible tools to manipulate microparticles with their good compatibility,fast response,and broad ***,there still lacks rational acoustic-structure design for effective energy concentration at the acoustic-activated sharp structures for microparticle ***,we present the acoustic black hole(ABH)effect as enhancement for the acoustic *** provides great reliability,simplicity and ease of use,supporting custom design of high-throughput patterning ***,compared to commonly used configurations,such as cylindrical or conical microneedles,those microneedles with ABH profle exhibit superior acoustic energy focusing at the tip and induce stronger acoustofluidic *** average acoustic flow velocity induced by the ABH microneedle is 154 times greater than that of the conical one and 45 times greater than that of the cylindrical ***,the average acoustic radiation force(ARF)produced by the ABH microneedle against acrylic microparticles is about 319 times greater than that of the cylindrical one and 16 times greater than that of the conical *** results indicate that ABH design significantly enhances microparticle *** demonstrate this concept with ABH effect enhanced microparticle manipulation and study the parameters influencing its performance including operating frequency,operating voltage and particle ***,considering the flexibility of this system,we employ it for various patterning and high-throughput microparticle *** work paves the way for controllable microparticle manipulation,holding great potential for applications in microfabrication and biomedicine.

关键词： cylindrical Acoustic simplicity

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Motion Planning for Steam Generator Tube Sheet Quadruped Maintenance Robot

Motion Planning for Steam Generator Tube Sheet Quadruped Mai...

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IEEE International Conference on Mechatronics and Automation

作者： Biying Xu Xuehe Zhang Xuan Yu Hegao Cai Kuan Zhang Jie Zhao Jizhuang Fan State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (数字)9798350388077

ISBN: (纸本)9798350388084

The steam generator tube sheet quadruped maintenance robot is a novel mobile robot designed for the inspection of steam generator heat transfer tubes. This paper presents a motion planning method for this type of robot. The trajectory of the robot's base is planned through kinematic solutions search. Additionally, a foothold motion evaluation system is established using the Technique for Order of Preference by Similarity to Ideal Solution algorithm to plan the movement of foothold points. For a given motion path, our proposed method divides the path into multiple straight-line segments, and then performs separate planning for turning foothold points and straight-line foothold points. The experiments demonstrate that the proposed algorithm is adaptable to steam generator tube sheets and performs well in environments with obstacles since the algorithm proposed has a planning success rate of 100% for the tube sheet robot. The experiments validate the effectiveness and feasibility of the proposed method.

关键词： Robot motion Turning Generators Electron tubes Planning Maintenance Trajectory

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Development of a Cable-Driven Upper Limb Exosuit for Both Pulling and Lifting

Development of a Cable-Driven Upper Limb Exosuit for Both Pu...

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Mechatronics and robotics Engineering (ICMRE), International Conference on

作者： Songhao Guo Tianjiao Zheng Haotian Ju Jie Zhao Yanhe Zhu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (数字)9798350394276

ISBN: (纸本)9798350394283

This paper presents an upper limb exosuit for human augmentation. The exosuit utilizes a low-cost air pressure sensing glove based on the principle of air pressure to detect hand grasping states. It achieves assistance in upper limb elbow flexion movements during activities such as pulling and lifting through a driving module and wire rope for power transmission. To verify the effectiveness of the upper limb exosuit, pull-ups and lifting experiments were performed on five healthy participants with and without the exosuit. The surface electromyographic (sEMG) signals were recorded from selected muscles (Brachioradialis (BR), biceps brachii (BB) and latissimus dorsi (LD)) to assess how well the exosuit is helping the body. The results indicate a significant decrease in both the mean and peak value of the average normalized sEMG signals of the selected muscles during the pullup and load-lifting experiments. The finding indicates that the designed upper limb exosuit system can reduce muscle activation during pulling up and lifting tasks, effectively providing assistance. Future research directions include further optimizing the exosuit’s mechanical structure, improving the air pressure sensing glove’s state recognition accuracy and validating the application effectiveness of the exoskeleton suit in specific scenarios such as rock climbing and rope climbing.

关键词： Mechatronics Wires Power transmission Grasping Muscles Robot sensing systems Rocks

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Design and Analysis of Cellular Multidimensional Morphing Linkage of Aircraft Fuselage

Design and Analysis of Cellular Multidimensional Morphing Li...

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Mechatronics and robotics Engineering (ICMRE), International Conference on

作者： Hualiang Liu Hong Xiao Guang Yang Hongwei Guo Rongqiang Liu Zongquan Deng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (数字)9798350394276

ISBN: (纸本)9798350394283

Firstly, this paper proposes two types of variable cross-section morphing for the aircraft fuselage: upper convex and below convex morphing. Secondly, an innovative design of a cellular multidimensional morphing linkage combining planar six-bar linkages and a 6-UPS parallel linkage is proposed. The DOF of the linkage is analyzed, and kinematic simulation analysis of the morphing linkage is carried out. Finally, a prototype of the morphing fuselage is developed, and through morphing capacity test, it is verified that the morphing fuselage can achieve reversible upper convex and below convex morphing, with maximum radial morphing rates of 11.9% and 11.4%, verifying the feasibility of the linkage design.

关键词： Couplings Mechatronics Simulation Prototypes Kinematics Aircraft Robots

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Helium Loss for Robust keypoints Detection with Convolutional Neural Networks

Helium Loss for Robust Keypoints Detection with Convolutiona...

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

作者： Haode Huo Tianran Wang Linjie Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (数字)9798350350302

ISBN: (纸本)9798350350319

In this paper, a novel loss function for key point detection, named Helium Loss is proposed. All our experiments are based on Ultralytics' YOLOv8n-pose architecture. Initially, this paper analyze various existing loss functions, including L1 loss, L2 loss, and smooth L1 loss. There is a problem that current loss functions do not account for issues related to the quality of dataset annotations and unclear boundaries of targets. To address this challenge, this paper introduce a loss function that incorporates partial trust in annotated key points and utilizes Gaussian distribution to mitigate the impact of manual annotations.

关键词： Training Computer vision Annotations Computational modeling Pose estimation Computer architecture Gaussian distribution

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A Robotic system for Brachytherapy: Validation in Animal Experiments

A Robotic System for Brachytherapy: Validation in Animal Exp...

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IEEE International Conference on Control and robotics Engineering (ICCRE)

作者： Changle Li Leifeng Zhang Xuehe Zhang Gangfeng Liu Chong Yao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (数字)9798350372694

ISBN: (纸本)9798350372700

In this paper we proposed a brachytherapy robotic system. The system uses a 7-Dof robotic arm and a set of tools to complete puncture and seeds implantation. We designed end tools for puncture and seed implantation separately. A workflow based on this system has also been proposed. Finally, we used this system to conduct six animal experiments. The experimental results showed that the average error of seed implantation was 2.48mm, the minimum error is only 0.5mm, the maximum error reached 5.2mm.

关键词： Animals Manipulators Brachytherapy

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Query Attack by Multi-Identity Surrogates

IEEE Transactions on Artificial Intelligence

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IEEE Transactions on Artificial Intelligence 2024年第2期5卷 684-697页

作者： Chen, Sizhe Huang, Zhehao Tao, Qinghua Huang, Xiaolin Department of Automation and Institute of Medical Robotics Shanghai Jiao Tong University Shanghai200240 China MOE Key Laboratory of System Control and Information Processing Shanghai Jiao Tong University Shanghai200240 China ESAT-STADIUS Katholieke Universiteit Leuven Leuven3000 Belgium

Deep neural networks (DNNs) are acknowledged as vulnerable to adversarial attacks while the existing black-box attacks require extensive queries on the victim DNN to achieve high success rates. For query-efficiency, surrogate models of the victim are used to generate transferable adversarial examples (AEs) because of their gradient similarity (GS), i.e., surrogates' attack gradients are similar to the victim's ones. However, it is generally neglected to exploit their similarity on outputs, namely the prediction similarity (PS), to filter out inefficient queries by surrogates without querying the victim. To jointly utilize and also optimize surrogates' GS and PS, we develop QueryNet, a unified attack framework that can significantly reduce queries. QueryNet creatively attacks by multi-identity surrogates, i.e., crafts several AEs for one sample by different surrogates and also uses surrogates to decide on the most promising AE for the query. After that, the victim's query feedback is accumulated to optimize not only surrogates' parameters but also their architectures, enhancing both the GS and the PS. Although QueryNet has no access to pretrained surrogates' prior, it reduces queries by averagely about an order of magnitude compared to alternatives within an acceptable time, according to our comprehensive experiments: 11 victims (including two commercial models) on MNIST/CIFAR10/ImageNet, allowing only 8-b image queries, and no access to the victim's training data. The code is available at https://***/Sizhe-Chen/QueryNet. © 2023 IEEE.

关键词： Deep neural networks

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Augmented Reality Based Navigation system for Endoscopic Transnasal Optic Canal Decompression

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Journal of Shanghai Jiaotong university(Science) 2025年第1期30卷 34-42页

作者： FU Hang XU Jiangchang LI Yinwei ZHOU Huifang CHEN Xiaojun Institute of Biomedical Manufacturing and Life Quality Engineering State Key Laboratory System and VibrationSchool of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai 200240China Department of Ophthalmology Shanghai Ninth People's HospitalShanghai Jiao Tong University School of MedicineShanghai 200011China Institute of Medical Robotics Shanghai Jiao Tong UniversityShanghai 200240China Shanghai Key Laboratory of Orbital Diseases and Ocular Oncology Shanghai 200011China

Endoscopic transnasal optic nerve decompression surgery plays a crucial role in minimal invasive treatment of complex traumatic optic ***,a major challenge faced during the procedure is the inability to visualize the optic nerve *** address this issue,an endoscopic image-based augmented reality surgical navigation system is developed in this *** system aims to virtually fuse the optic nerve onto the endoscopic images,assisting surgeons in determining the optic nerve’s position and reducing surgical ***,a calibration algorithm based on a checkerboard grid of immobile points is proposed,building upon existing calibration ***,to tackle accuracy issues associated with augmented reality technology,an optical navigation and visual fusion compensation algorithm is proposed to improve the intraoperative tracking *** evaluate the system’s performance,model experiments were meticulously designed and *** results confirm the accuracy and stability of the proposed system,with an average tracking error of(0.99±0.46)*** outcome demonstrates the effectiveness of the proposed algorithm in improving the augmented reality surgical navigation system’s ***,the system successfully displays hidden optic nerves and other deep tissues,thus showcasing the promising potential for future applications in orbital and maxillofacial surgery.

关键词： optic nerve decompression endoscopy augmented reality surgical navigation

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Large Fixture Calibration Method Based on Point Cloud Scanning for Robotic Drilling

Large Fixture Calibration Method Based on Point Cloud Scanni...

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

作者： Yongzhuo Gao Haibo Gao Dexin Cheng Wei Dong the State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (数字)9798350350302

ISBN: (纸本)9798350350319

The rocket fuel tank requires the splicing of multiple sub-parts, which is difficult to be processed in an integrated manner. Among them, the short shell parts of the storage tank play a linking role and need to be drilled on the surface. Due to the large size of the tooling of the parts, there are problems such as large installation and positioning errors and low precision of robot automatic drilling. Therefore, a robot automatic hole making calibration method is proposed to solve the current problems. In order to achieve automated control, a large-scale robot automatic drilling system must have large-scale flexible tooling, control algorithms, human-computer interaction interfaces, execution units, and integrated tool rooms. It is essential to build effective calibration procedures as a foundation for this automation. The calibration plane is fitted, positioned, and calibrated using the point cloud scanning method. Subsequently, the hand-eye calibration method is employed to establish the relationship between the coordinate systems. Using this approach, the calibration process is ultimately finished, resulting in the successful implementation of automated drilling. The experimental findings demonstrate that, in the designated quadrant, the drilling rate of the robot can achieve 5 holes per minute. Furthermore, the average variance of the hole position is below 0.2mm, and the highest error is 0.5mm. These results align with the requirements of practical production.

关键词： Drilling Point cloud compression Rockets Automation Service robots Robot kinematics Splicing

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Design and Testing of Bio-inspired Flexible Skin Variable Sweep and Flip Wing

Design and Testing of Bio-inspired Flexible Skin Variable Sw...

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Mechatronics and robotics Engineering (ICMRE), International Conference on

作者： Yue Bai Guang Yang Hong Xiao Hongwei Guo Rongqiang Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (数字)9798350394276

ISBN: (纸本)9798350394283

Fixed-wing aircraft cannot accommodate different flight conditions. Numerous studies have demonstrated the potential of Bio-inspired morphing wings as a viable solution to tackle this issue. In this paper, a Bio-inspired Flexible Skin Variable Sweep and Flip wing is proposed through the analysis of the deformation and structural forms of seagulls and albatrosses. The bio-inspired morphing wing consists of mechanisms, composite skins, and actuators, which can achieve a sweep angle of 20-70 degrees, a wingtip flip of ± 20 degrees, and a wing area change of $31.4 \%$. The aerodynamic performance and deformation capability of the wing at multiple sweep angles were analyzed. Finally, a prototype was developed, and effectiveness of the design were verified through deformation capability test.

关键词： Actuators Mechatronics Deformation Biomimetics Prototypes Aerodynamics Skin

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