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The influence of drag parameter on submerged vegetation flow simulation using a porous approach

Journal of Hydrodynamics 2024年第4期36卷 796-801页

作者： Meng-yang Liu Yi-sen Wang Yi-qing Gong Shu-xia Wang College of Water Conservancy and Hydropower Engineering Hohai UniversityNanjing 210098China State Key Laboratory of Water Resources Engineering and Management Wuhan UniversityWuhan 430072China River Research Department Changjiang River Scientific Research InstituteWuhan 430010China Key Laboratory of Hydrologic-Cycle and Hydrodynamic-System of Ministry of Water Resources Hohai UniversityNanjing 210098China Institute of Water Science and Technology Hohai UniversityNanjing 210098China

In simulating vegetated flows using the porous approach,the reasonableness of the drag coefficient significantly impacts the calculation *** study employs large eddy simulation(LES)to quantitatively investigate the effect of drag parameters on key flow characteristics in submerged vegetated *** results indicate that changes in the drag coefficient significantly alter the velocity in the middle of the vegetation layer and near the water surface in the free-flow *** with longitudinal velocity,the drag coefficient has a more pronounced effect on the vertical distribution of Reynolds stress,especially its peak at the top of the vegetation *** porous approach can accurately reproduce the vertical distribution of longitudinal velocity and Reynolds stress,consistent with experimental measurements,only when shear-scale flow *** to the high-intensity secondary flow under moderate vegetation density,fluctuations in the drag coefficient have a more significant impact on the numerical results than in very dense ***,selecting the drag coefficient value should be done cautiously,especially in the absence of experimental measurements for validation.

关键词： Drag parameter large eddy simulation(LES) submerged vegetation secondary flow porous approach

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A Lightweight Jumping Robot with Untethered Actuation 16th

A Lightweight Jumping Robot with Untethered Actuation

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16th International Conference on Intelligent robotics and Applications, ICIRA 2023

作者： Wang, Jinqiang Wang, Dong State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai200240 China Meta Robotics Institute Shanghai Jiao Tong University Shanghai200240 China

ISBN: (纸本)9789819964918

Jumping motion is enlarging the robotic toolbox by providing agile and rapid locomotion functions that can overcome the limitations of environment and size. Although these jumping robots powered by novel mechanisms and functional materials have shown remarkable dexterity and adaptability, their intricate actuation mechanics make it challenging to realize the jumping robots lightweight and compact. To address this challenge and endow robots capable of untethered movements, we focused on ultralight magnetic carbon fiber beams that exhibit arch-like bending when triggered under magnetic field and induce a rapid release of stored strain energy after the magnetic field is removed. We evaluated their bending process under magnetic field and build untethered jumping robots with respect different geometries to help analyze their jumping performances. In our experiment, a single magnetic carbon fiber beam robot (0.8 g) with a height of 0.2 mm and a length of 80 mm is able to achieve a jumping height of 420 body heights and a jumping distance of 4.5 body length. By assembling two magnetic beams together, our robot can jump to more than 325 times of its body height carrying a payload of 3 times its body weight. These results demonstrate the developed jumping robot avails a new design strategy for lightweight and compact jumping robot to function in complicated conditions. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd 2023.

关键词： Carbon fibers

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Soft robotics:Morphology and Morphology-inspired Motion Strategy

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IEEE/CAA Journal of Automatica Sinica 2021年第9期8卷 1500-1522页

作者： Fan Xu Hesheng Wang Department of Automation Institute of Medical RoboticsKey Laboratory of System Control and Information Processing of Ministry of EducationShanghai Jiao Tong UniversityShanghai 200240China Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Jiao Tong UniversityShanghai 200240China

robotics has aroused huge attention since the *** of the uniqueness that industrial applications exhibit,conventional rigid robots have displayed noticeable limitations,particularly in safe cooperation as well as with environmental ***,scientists have shifted their focus on soft robotics to apply this type of robots more effectively in unstructured *** decades,they have been committed to exploring sub-fields of soft robotics(e.g.,cutting-edge techniques in design and fabrication,accurate modeling,as well as advanced control algorithms).Although scientists have made many different efforts,they share the common goal of enhancing *** presented paper aims to brief the progress of soft robotic research for readers interested in this field,and clarify how an appropriate control algorithm can be produced for soft robots with specific *** paper,instead of enumerating existing modeling or control methods of a certain soft robot prototype,interprets for the relationship between morphology and morphology-dependent motion strategy,attempts to delve into the common issues in a particular class of soft robots,and elucidates a generic solution to enhance their performance.

关键词： Soft continuum manipulator soft gripper soft mobile robot soft robot control method soft robot modeling method soft robotics

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Three-line structured light vision system for non-cooperative satellites in proximity operations

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Chinese Journal of Aeronautics 2020年第5期33卷 1494-1504页

作者： Yang LIU Zongwu XIE Hong LIU State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150000China

Adapter ring is a commonly used component in non-cooperative satellites,which has high strength and is suitable to be recognized and grasped by the space *** proximity operations,this circle feature may be occluded by the robot arm or limited field of ***,the captured images may be underexposed when there is not enough *** address these problems,this paper presents a structured light vision system with three line lasers and a monocular *** lasers project lines onto the surface of the satellite,and six break points are formed along both sides of the adapter ring.A closed-form solution for real-time pose estimation is given using these break ***,a virtual structured light platform is constructed to simulate synthetic images of the target *** with the predefined camera parameters and relative positions,the proposed method is demonstrated to be more effective,especially at a close ***,a physical space verification system is set up to prove the effectiveness and robustness of our method under different light *** results indicate that it is a practical and effective method for the pose measurement of on-orbit tasks.

关键词： Adapter ring Line detection Non-cooperative target Pose measurement Space robot Structured light

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A Comprehensive Vulnerable Line Identification Method for Distribution Network Consider-ing Cyber-physical Coupling 8

A Comprehensive Vulnerable Line Identification Method for Di...

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8th International Conference on Electrical, Mechanical and Computer Engineering, ICEMCE 2024

作者： Huang, Fei Mo, Fan Ouyang, Jinxin Dai, Jian Liu, Hongzhi Zhao, Junguang State Grid Chongqing Power Company Power Science Research Institute Power System Technology Department Chongqing400044 China Chongqing University State Key Laboratory of Power Transmission Equipment Technology Chongqing China State Grid Chongqing Electric Power Company Power System Technology Department Chongqing China

ISBN: (纸本)9798331506230

By identifying the key lines of the network and assessing the vulnerability of the distribution network, so as to effectively allocate security resources, the power supply reliability of the distribution network can be effectively improved. However, the definition of vulnerability assessment of the existing distribution network is relatively simple, and the high degree of interconnection between the information network and the physical network is not considered, and there is a lack of reliable indicators and methods for the identification of vulnerable lines in the cyber-physical system of the distribution network. Therefore, considering the energy supply characteristics of physical nodes to in-formation nodes, a cyber-physical system model of distribution network with distributed generators is established. In this paper, three kinds of vulnerable line identification indexes of the cyber-physical system of distribution network, namely line comprehensive degree, line comprehensive load impact vulnerability and line comprehensive fault vulnerability, are proposed. The example shows that the proposed method can consider the coupling characteristics of the cyber-physical system and the influence of distributed power generation, and can more comprehensively identify the vulnerable lines of the distribution network. © 2024 IEEE.

关键词： Power distribution networks

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Torque Ripple Suppression Under Open-Circuit Fault for DTPPMSM Considering Back EMF Harmonics

Torque Ripple Suppression Under Open-Circuit Fault for DTPPM...

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International Conference on Applied Superconductivity and Electromagnetic Devices, ASEMD

作者： Chengsi Liu Jibin Zou State Key Laboratory of Robotics and System Harbin Institute of Technology HIT Harbin China

This paper analyzed the impact of phase back electromotive force (back EMF) harmonics on torque of dual three phase permanent magnet synchronous motor (DTPPMSM) from the view of electromagnetic power, and proposed a torque ripple suppression fault-tolerant method for open-circuit fault of DTPPMSM. The proposed method can consider the phase back EMF harmonics, thus achieveing both minimum torque ripple and maximum average torque. The proposed method is verified by both finite element analysis (FEA) and prototype experiment.

关键词：

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Experimental Study on Frog-inspired Swimming Robot Based on Articulated Pneumatic Soft Actuator

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Journal of Bionic Engineering 2020年第2期17卷 270-280页

作者： Jizhuang Fan Shuqi Wang Qingguo Yu Yanhe Zhu State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

This paper presents a frog-inspired swimming robot based on articulated pneumatic soft *** realize the miniaturization of the robot and enhance its environmental adaptability,combined with the advantages and characteristics of soft materials,an articulated pneumatic soft actuator is designed based on analysis of a frog's propulsion characteristics.A structural model is established to analyse the mechanical properties of the soft *** the goal of making full use of the driving torque of the actuator and enhancing the propulsion efficiency of the robot,the motion trajectories of each joint of the robot are *** on the trajectory planning,the control strategy of the soft actuator is determined to realize the frog-like swimming of the *** torso size after assembly is 0.175 m×0.100 m×0.060 m,which realizes the miniaturization of the frog-inspired *** the movement of the robot,the torso moves stably and flexibly,and can realize continuous linear and turning *** rationality of the structure and trajectory planning are verified by prototype experiments.

关键词： bionic robotic frog articulated pneumatic soft actuator trajectory planning prototype experiment

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The Application of Acceleration-Level Quaternion Interpolation in the Visual-Servoing Process 13

The Application of Acceleration-Level Quaternion Interpolati...

引用

13th International Conference on Computer and Automation Engineering, ICCAE 2021

作者： Zhao, Xiaoyu Liu, Yang Xie, Zongwu Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9780738132204

Visual servoing process is widely applied in robot control. In the visual servoing process, an interpolation of the robot end pose is necessary. In the interpolation, quaternion suffers a lot for the discontinuity in trajectory velocity and acceleration. In this paper, we propose an acceleration-level continuous interpolation method and apply it to visual servoing process. In the method, we make up use of the conversion between different rotation descriptors and achieve a smooth enough trajectory. Simulations and experiments are carried out to validate the method and the results show considerable performance. © 2021 IEEE.

关键词： Visual servoing

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Assistive robots for Beijing Winter Paralympic torch relay: Accessible technologies to restore human functionality

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The Innovation 2024年第1期5卷 19-20页

作者： Bi Zhang Mei Shuai Bicheng Han Shuo Li Lianqing Liu Xingang Zhao State Key Laboratory of Robotics Shenyang Institute of AutomationCASShenyang 110016China Institutes for Robotics and Intelligent Manufacturing CASShenyang 110169China Department of Biomedical Engineering Beihang UniversityBeijing 100191China Beijing AI-Robotics Technology Co. Ltd.Beijing 100176China Zhejiang BrainCo Technology Co. Ltd.Hangzhou 311121China

The success of the Beijing Winter Olympics and Paralympics epitomized the vision of a community with a shared future for *** robots and artificial intelligence technologies were used in various games and events,such as assisting in parades,logistics,and security *** integration of unmanned robotic systems into torch relays was one of the highlights of the Winter Olympics.

关键词： Winter Access artificial

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Decoding Wrist and Hand Movement Using a Synergy-Driven, Variable Stiffness Musculoskeletal Model Under Different Loads

Decoding Wrist and Hand Movement Using a Synergy-Driven, Var...

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IEEE International Conference on robotics and Biomimetics

作者： Jiamin Zhao Yang Yu Xinjun Sheng Xiangyang Zhu State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai China State Key Laboratory of Mechanical System and Vibration and the Meta Robotics Institute Shanghai Jiao Tong University Shanghai China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

Myoelectric interfaces, which translate electromyography (EMG) signals into motor intentions, are extensively utilized in prosthetic control due to their intuitive nature. However, current methodologies extremely suffer from performance degradation under non-stationary EMG signals. Varying loads significantly alter muscle activation patterns, with variations in loading weights being a significant factor affecting performance. Conventional EMG-driven musculoskeletal models (MMs) demonstrate robustness across different loads but often neglect the influence of changes in muscle co-contraction levels induced by increased loads. To address this issue, we proposed an improved MM that integrated variable muscle and joint stiffnesses with synergy-based muscle activations into the muscle contraction dynamics. This model adapted to alterations in muscle co-contraction levels under diverse loads, allowing for robust estimation of hand and wrist movements without requiring additional training for different loads. Both offline and online experiments were conducted. The outcomes demonstrated that the proposed model significantly improved robustness and estimation accuracy compared to traditional envelopedriven and constant stiffness MMs. It maintained stable performance across different loads with training conducted solely under zero-load conditions, thereby reducing the training burden. This study presents a novel approach to enhance the reliability of EMG-based human-machine interfaces.

关键词： Training Wrist Adaptation models Accuracy Loading Estimation Muscles Robustness Electromyography Load modeling

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