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arXiv 2024年

作者： Liu, Chendong Yang, Dapeng Chen, Jiachen Dai, Yiming Jiang, Li Xie, Shengquan Liu, Hong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China School of Electronic and Electrical Engineering University of Leeds Leeds United Kingdom

Fabric-based pneumatic exosuits have a broad application prospect due to their good human-machine interaction performance, but their structural design paradigm has not yet been finalized and requires in-depth research. This paper proposes the concepts of zone inflation and volume transfer for the design of a fabric-based pneumatic exosuit with both efficiency and wearability. The meaning of zone inflation is to divide the inflation area of pneumatic exosuit into inflation-deflation zone and inflation-holding zone which can reduce the consumption of compressed air and improve efficiency. Volume transfer, a strategic distribution method of inflatable regions inside the garment, can effectively enhance the wearability of the exosuit. Using inexpensive thermoplastic polyurethane film and clothing fabric, the exosuit is made by heat pressing and sewing. The exosuit has a response time of 0.5s, a stress area of 1500mm2, and a profile of only 32mm, which can be hidden inside common clothing. A mathematical model is developed to predict the output torque of the exosuit with an error of 3.6%. Mechanical experiments show that the exosuit outputs a torque of 9.1Nm at a pressure of 100kPa. Surface electromyography experiments show that the exosuit can provide users with a boost from sitting to standing, with an average reduction in electromyography signals of 14.95%. The exosuit designed using these methods synthesizes efficiency and wearability and is expected to be an ideal paradigm for fabric-based pneumatic exosuits. Copyright © 2024, The Authors. All rights reserved.

关键词： Pneumatic actuators

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Design of a Novel Autonomous Docking system With a Supporting Robotic Fish

Design of a Novel Autonomous Docking System With a Supportin...

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2023 ieee International Conference on Real-Time Computing and robotics, RCAR 2023

作者： Dong, Huijie Zhao, Chunyang Qiao, Tiezhu Wang, Jian Chen, Di Meng, Yan Yu, Junzhi Taiyuan University of Technology Key Laboratory of Advanced Transducers and Intelligent Control System Ministry of Education Taiyuan030024 China Chinese Academy of Sciences Laboratory of Cognitive and Decision Intelligence for Complex System Institute of Automation Beijing100190 China Peking University State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and Robotics College of Engineering Beijing100871 China Guangdong Ocean University College of Electronics and Information Engineering Zhanjiang524088 China

ISBN: (纸本)9798350327182

Underwater supporting robots serving as a relay of energy supplements and communication for other underwater equipment are promising for ocean exploration, development, and protection. This paper proposes a novel autonomous docking system centered on a designed supporting robotic fish named 'CourierFish'. Specifically, CourierFish is capable of docking with a surface dock station for supplying itself and docking with a seafloor platform for supporting equipment in the platform. A visual navigation scheme integrating LED and ArUco markers is presented for accurate localization. The control approach for docking motion is also illustrated. Simulations and aquatic experiments are performed to verify the feasibility of the proposed docking system. The obtained results lay a solid foundation for the construction of various underwater equipment and robot networks. © 2023 ieee.

关键词： Fish

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17β-Trenbolone modulates anxiety-related synaptic plasticity by affecting the interaction between hippocampal TACR3 and systemic testosterone in male mice

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Environmental Research 2025年第Pt 1期279卷 121796页

作者： Zuo, Xiang Bai, Huijuan Qiu, Jinyu Li, Ruimin Kuang, Xiaochen Zhao, Yudi Tuo, Jingyi Zhao, Qili Zhao, Xin Feng, Xizeng College of Life Science State Key Laboratory of Medicinal Chemical Biology Key Laboratory of Bioactive Materials Ministry of Education Nankai University Tianjin300071 China Institute of Robotics & Automatic Information System College of Artificial Intelligence Nankai University Tianjin300071 China

Anxiety Disorder is a common neurological disorder for which ubiquitous environmental endocrine disruptors may be risk factors. 17β-trenbolone (17-TB) has been recognized as a potential environmental endocrine disruptor and its neurotoxic effects have attracted attention. Tachykinin receptor 3 (TACR3), a G protein-coupled receptor involved in pubertal anxiety, and its underlying neural mechanisms remain enigmatic. Therefore, this study investigated the possible relationship between 17-TB and TACR3, testosterone (T), and synaptic plasticity. Our results showed that adolescent male Balb/c mice developed significant anxiety-like behavior after four weeks of exposure to environmentally relevant concentrations of 17-TB (100 μg/kg/day). Transcriptomic RNA-Seq results showed that 17-TB affected abnormal synaptic transmission signals in the hippocampus. Electrophysiological results showed that 17-TB reduced the activity of hippocampal dentate gyrus (DG) neurons and led to the downregulation of hippocampal TACR3 and T levels. In addition, Western blot, immunohistochemistry, ELISA, and qRT-PCR showed that 17-TB exposure led to the downregulation of key hippocampal synaptic proteins PSD95, Gephyrin, and Syn, and induced a metabolic imbalance in glutamate (Glu)/GABA signaling, affecting dopamine signaling. Interestingly, testosterone supplementation (10 mg/kg/day) was effective in ameliorating the above phenomena and alleviating anxiety-like behaviors. These results suggest that 17-TB modulates anxiety-related synaptic plasticity by regulating hippocampal TACR3 and T interactions in vivo. In conclusion, our study contributes to understanding the neurobehavioral and potential mechanistic effects of environmental 17-TB exposure in mammals. It alerts the public to the health risks of chemicals to mammals and suggests new research directions and potential therapeutic targets. © 2025 Elsevier Inc.

关键词： Endocrinology

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Virtual chain: A storage model supporting cross-blockchain transaction

Virtual chain: A storage model supporting cross-blockchain t...

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作者： Wang, Yan Yang, Bingqing Liu, Jingxin Zeng, Hui Xia, Changqing College of Information Liaoning University Shenyang China State key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Key Laboratory of Networked Control System Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China

At present, blockchain is not only applied in the financial field, but also extended to the medical, insurance, internet of things, and many other fields. Its independence leads to more and more significant problems of network isolation. To address the problem of the cooperative operation between different blockchains, this article proposes virtual chain, a storage model supporting cross-blockchain transaction. It not only ensures that cross-chain transactions are tamper-proof and traceable but also realizes completely decentralized storage. First, to tackle the multidimensional heterogeneous problem existing in cross-chain trading, a data structure based on prefix tree is proposed to manage cross-chain trading data on top of source chain and target chain. Second, a signature verification mechanism based on elliptic curve is proposed to meet the operational atomicity requirements of both parties of cross-chain transaction. Third, the data fusion technology is used to expand the block capacity indirectly to achieve the high throughput of cross-chain transactions. Finally, by using the credibility-based access control and block chain technology to ensure the security of the data storage model, and conduct security analysis from three aspects of tamper-proof, data protection and anti-conspiracy node attack. The experiment shows that the proposed cross-chain transaction storage model can realize the efficient storage of the heterogeneous data, and satisfy the high requirement of the cross-chain transaction. Moreover, the virtual chain storage model establishes a safe and reliable working environment. © 2020 John Wiley & Sons Ltd.

关键词： Blockchain

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An Efficient and Robust Tightly Coupled Framework for Lidar-IMU Localization and Mapping

An Efficient and Robust Tightly Coupled Framework for Lidar-...

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ieee International Conference on robotics and Biomimetics

作者： Yanwu Zhai Yili Fu Xu Li Intelligent Robot Research Center Zhejiang Laboratory Hangzhou China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

In this article, we propose a framework for tightly-coupled lidar inertial odometry, which can achieve highly accuracy in real-time ego-motion estimation and map building of the robot. The estimated motion from inertial measurement unit (IMU) preintegration de-skews point clouds. Then, an initialization method based on MAP estimation is used to align the Lidar frame with the world frame and provide reliable initial values for the system. In order to make the scan matching more accurate, we track the state of each frame, and transform the feature points to the reference frame to build a local map for matching with key frames. To ensure high performance in real-time, an efficient sliding window was used to optimize the keyframes we chose. After obtaining the optimized pose of the keyframe, we further optimize the pose of the normal frame by pose constraints. In addition, loop detection is integrated into our algorithm framework to eliminate accumulated errors, making our algorithm to obtain a globally consistent estimate. The experiment results demonstrate that our method can achieve high accuracy in a variety of indoor and outdoor environments even under fast motion conditions or with insufficient features.

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6D Grasp Pose Detection in Cluttered Environment from a Single-view

6D Grasp Pose Detection in Cluttered Environment from a Sing...

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ieee International Conference on robotics and Biomimetics

作者： Enbo Li Yili Fu Haibo Feng Zhejiang Laboratory Intelligent Robot Research Center Hangzhou China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Robot grasping has always been a hot topic in the research field, but there are still a lot of problems to be solved. In this paper, we propose a general grasping method for the unknown objects in cluttered environment from a single-view. Our method is divided into three steps: sampling points selection, grasping pose sampling and grasping pose evaluation. Firstly, we generate a pixel-wise probability image based on the trained sampling affordance network from RGB images, and map the points with high probability to the 3D point cloud combined with the depth map. Then, we obtaine the candidate grasps by sampling on the proposal points, and finally we evaluate the candidate grasps through the trained grasp evaluation network. The network can capture the geometric structure represented by the point cloud information. The proposed method directly uses the original sensor data and can increases the sampling success rate.

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An Autonomous Obstacle Avoidance Path Planning Method Involving PSO for Dual-Arm Surgical Robot

An Autonomous Obstacle Avoidance Path Planning Method Involv...

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ieee International Conference on Mechatronics, robotics and Automation (ICMRA)

作者： Qiao Chen Yiwei Liu Zhuo Chen Yangjunjian Zhou State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Currently, motion planning and reasonable obstacle avoidance of surgical robots are essential research directions. Most surgical robots adopt a simple master-slave control strategy and cannot avoid obstacles autonomously. To this end, we propose an autonomous obstacle avoidance method for the dual-arm surgical robot. Firstly, the obstacle avoidance path planning is based on the artificial potential field method. We propose the splicing algorithm to make the manipulator jump out of the local minimum and improve the planning efficiency. And using the adaptive step to stable motion. Secondly, for collision detection, we use the Gilbert-Johnson-Keerthi (GJK) algorithm to calculate the distance between the obstacle and the equivalent convex body of the manipulator. A warning appears when there is a collision. Because the artificial potential field method lacks time planning, we use the time-optimized 3-5-3 polynomial interpolation based on the Particle Swarm optimization (PSO) to the obtained path. And make manipulators perform the surgery without collision for a suitable period. Finally, we carry out the system simulation, physical experiments, and dual-arm obstacle avoidance experiments based on the above autonomous obstacle avoidance algorithm. Experiments show that this study can make the dual-arm surgical robot move quickly and smoothly on the premise of avoiding obstacles, which provides a reference for the automation of surgical robots.

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Effect of flapping mode on aerodynamic characteristics of bat-like flapping-wing aerial vehicle

Effect of flapping mode on aerodynamic characteristics of ba...

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ieee International Conference on robotics and Biomimetics

作者： Bosong Duan Tianyou Mao Kening Gong Chuangqiang Guo Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781665481106

In this paper, three reciprocating flapping modes of bats are analyzed and studied. According to the flapping structure of bat-like flapping-wing aerial vehicle(FAV), the structural modes corresponding to the three reciprocating flapping modes are established, that is, the symmetric flapping mode(S), the asymmetric flapping mode with the upward flapping angle greater than the downward flapping angle(UR) and the asymmetric flapping mode with the downward flapping angle greater than the upward flapping angle(U). The influence of the three flapping modes on the structural strength is verified by theoretical calculation. The fluid-structure interaction simulation(FSI) is used to verify the influence of three flapping modes on aerodynamic characteristics. Finally, the advantages and disadvantages of three patting methods are compared and analyzed, it is concluded that under the same motion and flow field conditions, the pitching moment and thrust of UR are the smallest, and the lift is the largest, which is suitable for slow and stable flight; U has the largest thrust and pitching moment, and the smallest lift, which is conducive to rapid flight; The pitching moment, thrust and lift of S are moderate, and the performance is balanced, which is suitable for conventional flight. This study is helpful for the structural design of bat-like FAV.

关键词： Biomimetics Aerodynamics Stability analysis Structural engineering Robots

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Semantic Assisted LiDAR Odometry with Loop Closure in Large Scale Urban Environment

Semantic Assisted LiDAR Odometry with Loop Closure in Large ...

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International Conference on systems and Informatics (ICSAI)

作者： Jiaye Lin Yanjie Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781665474498

Compared to the vision-based approach, LiDAR-based SLAM has shown a great advantage in depicting geometric characteristics but still suffers from accumulated localization errors during long-term operation in large-scale scenarios. Introducing semantic information to the current system helps to discover higher-level features and establish a stronger association of features in different frames. In this paper, we utilize semantic information to present an integral LiDAR odometry that combines adaptive downsampling feature with label-specified registration to boost the performance of odometry estimation, together with Scan Context as the loop closure module to constrain the amplification of cumulative errors. Experiments are conducted based on the well-known KITTI dataset, which reveals that the proposed framework achieves higher accuracy with an average RTE of 0.97% in real-time and shows great robustness toward various scenarios.

关键词： Location awareness Technological innovation Laser radar Simultaneous localization and mapping Motion estimation Semantics Urban areas

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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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ieee International Conference on robotics and Biomimetics

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

ISBN: (纸本)9781665481106

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.

关键词： Vibrations Legged locomotion Adaptive systems Gears Helicopters Rotors Vibration measurement

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