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RSC Applied Polymers 2024年第5期2卷 795-804页

作者： Tang, Gangqiang Zhao, Xin Mei, Dong Zhao, Chun Wang, Yanjie Jiangsu Provincial Key Laboratory of Special Robot Technology Hohai University Changzhou campus Changzhou 213022 China

Ionic polymer metal composites (IPMCs) are a versatile class of ionic polymer-based transducers with excellent electromechanical properties and wide application potential in the fields of bionic robots, medical devices and wearable devices as actuators and sensors. In this perspective, we discuss the development of polymer matrices and applications of IPMCs, from actuating to multifunctional sensing. The latest ionic polymer matrixes for IPMCs show the trend toward being printable, programmable and degradable, which will facilitate multi-scenario applications of IPMCs. Regarding the applications, IPMCs have been widely used in various fields as actuators and multi-parameter sensors, and related devices will be further developed in the direction of miniaturization, integration and intelligence. Furthermore, some suggestions are put forward to facilitate the further development and wide application of IPMCs. © 2024 RSC.

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Study on Design and Performance of a Bionic Fish Driven by Four IPMC Fins 1

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

作者： Ji, Yujun Tang, Gangqiang Zhao, Chun Pan, Yifan Zhu, Denglin Wang, Yanjie Jiangsu Provincial Key Laboratory of Special Robot Technology Hohai University Changzhou Campus Changzhou213022 China

ISBN: (数字)9789819964987

ISBN: (纸本)9789819964970

Bionic fish, as a combination of fish swimming mechanism and robot technology, provides a new idea for the development of underwater vehicles, and has important research value and application prospect. According to the structure and swimming mechanism of fish pectoral fin, a bionic pectoral fin which can flexibly bend and swing under low voltage is designed by using IPMC material, which has the advantages of simple structure, no noise and low power consumption. At the same time, the bionic fish adopts symmetrical structure design, and uses the mutual force compensation between four IPMC pectoral fins to swim along a fixed trajectory. Experiments show that the swimming speed of IPMC bionic fish can reach 1 mm/s, and keep uniform linear motion, which has the advantages of high flexibility and strong controllability. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Bionics

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Influence of Contact Characteristics on Pressure Sensing of IPMC Sensors 16th

Influence of Contact Characteristics on Pressure Sensing of ...

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

作者： Tang, Gangqiang Zhao, Xin Ji, Yujun Zhao, Chun Mei, Dong Wang, Yanjie Jiangsu Provincial Key Laboratory of Special Robot Technology Hohai University Changzhou Campus Changzhou213022 China

ISBN: (纸本)9789819964826

Ionic flexible sensors have shown broad application prospects in wearable devices, special environmental monitoring and intelligent human-computer interaction. As a typical kind of ionic flexible sensor, ionic polymer (IPMC) metal composite can response to stimuli like bending, pressure, humidity and so on. However, the current researches about pressure sensing of IPMC mainly considers that IPMC is in full contact with the object, but how the characteristics of the contact object affect the pressure sensing performance of IPMC have not been revealed. In this paper, we studied the influence of different contact characteristics on the pressure sensing signal of IPMC by designing a series of contact objects with cone, prism and planar structures through 3D printing. Then the pressure sensing process were simulated in multi-physical fields based on Zhu’s model to verify the experimental results. The conclusion may provide a potential for the identification of different contact characteristics using ionic flexible sensors. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Human computer interaction

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3D laser scanning strategy based on cascaded deep neural network

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Defence technology（防务技术） 2022年第9期18卷 1727-1739页

作者： Xiao-bin Xu Ming-hui Zhao Jian Yang Yi-yang Xiong Feng-lin Pang Zhi-ying Tan Min-zhou Luo College of Mechanical&Electrical Engineering Hohai UniversityChangzhou213022China Jiangsu Key Laboratory of Special Robot Technology Hohai UniversityChangzhou213022China College of Mechanical Engineering Yangzhou UniversityYangzhou225127China

A 3D laser scanning strategy based on cascaded deep neural network is proposed for the scanning system converted from 2D Lidar with a pitching motion device. The strategy is aimed at moving target detection and monitoring. Combining the device characteristics, the strategy first proposes a cascaded deep neural network, which inputs 2D point cloud, color image and pitching angle. The outputs are target distance and speed classification. And the cross-entropy loss function of network is modified by using focal loss and uniform distribution to improve the recognition accuracy. Then a pitching range and speed model are proposed to determine pitching motion parameters. Finally, the adaptive scanning is realized by integral separate speed PID. The experimental results show that the accuracies of the improved network target detection box, distance and speed classification are 90.17%, 96.87% and 96.97%, respectively. The average speed error of the improved PID is 0.4239°/s, and the average strategy execution time is 0.1521 *** range and speed model can effectively reduce the collection of useless information and the deformation of the target point cloud. Conclusively, the experimental of overall scanning strategy show that it can improve target point cloud integrity and density while ensuring the capture of target.

关键词： Scanning strategy Cascaded deep neural network Improved cross entropy loss function Pitching range and speed model Integral separate speed PID

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Recent Advances in Mobile robot Localization in Complex Scenarios

Recent Advances in Mobile Robot Localization in Complex Scen...

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International Conference on Guidance, Navigation and Control, ICGNC 2022

作者： Zhang, Haojie Xu, Xiaobin Liu, Cong Wang, Wen Ran, Yingying Tan, Zhiying College of Mechanical and Electrical Engineering Hohai University Changzhou213022 China Jiangsu Key Laboratory of Special Robot Technology Hohai University Changzhou213022 China

ISBN: (纸本)9789811966125

Mobile robot localization refers to the process in which the robot body determines its localization in unknown environments. As a key part of automatic navigation technology, localization needs to be accurate and robust in the working environment of the robot. However, most mobile robots are required to operate in a complex environment due to the requirements of work. In this case, the traditional localization method is not easy to ensure the accuracy and robustness of localization. Therefore, it is necessary to research the localization of mobile robots in complex scenes. In this paper, the localization methods of mobile robots in complex scenes in recent years are reviewed, which are mainly divided into two categories: localization based on traditional fusion algorithm and localization based on deep learning algorithm. This paper summarizes the latest research progress of mobile robot localization in complex scenes in detail, and discusses its future development trend. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Mobile robots

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Circular Pose Detection under Monocular Vision based on Line Laser 5

Circular Pose Detection under Monocular Vision based on Line...

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5th International Symposium on robotics and intelligent Manufacturing technology, ISRIMT 2023

作者： Tao, Xu Tan, Zhiying School of Mechanical and Electrical Engineering Hohai University Changzhou213200 China Jiangsu Key Laboratory of Special Robot Technology Changzhou213200 China

ISBN: (纸本)9798350316087

Solving spatial circle poses in monocular field of view will have ambiguity, that is, two sets of poses containing ambiguous solutions. Aiming at the ambiguity of circle pose, this paper uses the property of the linear direction vector of the line laser stripe and the correct circle normal vector perpendicular to each other, first solves the two sets of poses of the space circle containing ambiguous solutions in the camera coordinate system, and then uses the Steger algorithm to extract the center line of the light stripe, combines the calibrated light plane equation to obtain the three-dimensional point cloud of the straight line under the camera coordinate system, and then uses the singular value decomposition to calculate the linear normal vector, and finally judges the disambiguation solution according to the angle between the linear direction vector and the two sets of normal vectors of the circle. Get the correct round position. © 2023 IEEE.

关键词： Cameras

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Integrated Assembly and Disassembly Sequence Planning for Multifunctional Complex Products

Integrated Assembly and Disassembly Sequence Planning for Mu...

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International Conference on Mechanical Design, ICMD 2023

作者： Zhang, Xuewei Wang, Yang Yi, Guodong Qiu, Lemiao Zhang, Shuyou Inner Mongolia Autonomous Region Special Service Intelligent Robot Key Laboratory Inner Mongolia University of Technology Hohhot China State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang University Hangzhou China

ISBN: (纸本)9789819709212

Typical assembly and disassembly sequence planning approaches are performed as independent tasks. However, in some special cases, disassembly and assembly have a close connection. A framework of integrated assembly and disassembly sequence planning for multifunctional products is presented. A case in multifunctional rescue equipment illustrated the method. The proposed method significantly reduces the time of operation compared to the serial disassembly and assembly method. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Assembly

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Measuring scalar illuminance: simulations, error analysis, and the way to improve its accuracy

Measuring scalar illuminance: simulations, error analysis, a...

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International Conference on Display technology, ICDT 2022

作者： Xia, Ling Zhang, Tingting Liu, Xiaofeng Jiangsu Key Laboratory of Special Robot Technology College of IoT Engineering Hohai University Changzhou China

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An illumination-robust edge detection method for nuclear fuel assembly deformation measurement 3

An illumination-robust edge detection method for nuclear fue...

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2023 3rd International Conference on Mechanical Automation and Electronic Information Engineering, MAEIE 2023

作者： Chen, Rui Cheng, Yuqi Yang, Wentao Yang, Bin Li, Wenlong State Key Laboratory of Intelligent Manufacturing Equipment and Technology Huazhong University of Science and Technology Wuhan430074 China China Nuclear Industry Special Robot Engineering Technology Research Center Wuhan430223 China

Fuel assemblies (FAs) are critical components of nuclear reactor cores. The excessive deformation of FAs can pose a serious risk of safety accidents in nuclear power plants. Hence, regular monitoring of the deformation of the FAs is necessary. To accomplish this task, the most critical challenge lies in accurately extracting the edges of FAs in the nuclear underwater environment with spatial variations in illumination. In this paper, a novel illumination-robust edge detection method is proposed. Firstly, tilt correction is applied to arrange the fuel rods vertically in the image. Then, the center of each fuel rod is located through grayscale projection and filtered by rod center spacing variance minimization. Subsequently, adaptive thresholding is employed to obtain a binary image. Finally, the edges are identified by searching in the vicinity of rod centers in the binary image. The effectiveness and robustness of the proposed method have been validated in experiments, and the approach has been successfully applied to the FA deformation measurement in nuclear power plants. © Published under licence by IOP Publishing Ltd.

关键词： Nuclear power plants

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A Method for Constructing Processes of Complex Parts with Multiple Features

A Method for Constructing Processes of Complex Parts with Mu...

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International Conference on Mechanical Design, ICMD 2023

作者： Zhang, Xuewei Wang, Yang Cui, Xudong Liu, Xiaojian State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang University Hangzhou China Ningbo Innovation Center Zhejiang University Ningbo China Inner Mongolia Autonomous Region Special Service Intelligent Robot Key Laboratory Inner Mongolia University of Technology Hohhot China

ISBN: (纸本)9789819709212

In order to represent the processing information of complex parts in multiple dimensions and improve the accuracy of process design. A multi-level partitioning model for complex machining features of parts is proposed. Based on the relationship between parts processing characteristics, a constraint relationship matrix was constructed. Using the DSM method, the process of the matrix is reconstructed and solved, processes of complex parts are formed. A case of complex parts is used to demonstrate the method. This study provides a basis for the detailed design and process planning. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： DSM Multi-level partitioning Process arrangement Processing information

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