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ieee International Conference on robotics and Biomimetics

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

ISBN: (纸本)9781665481106

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.

关键词： Adaptive systems Target tracking Position control Switches Control systems Sensor systems Real-time systems

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A novel design of force-feedback master manipulator for remote ultrasound scanning

A novel design of force-feedback master manipulator for remo...

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ieee International Conference on robotics and Biomimetics

作者： ChangLe Li ChenTao Zhang Chuan You Yu LeiFeng Zhang GangFeng Liu Jie Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology HeiLongJiang China

ISBN: (纸本)9781665481106

This paper presents a novel six-degree-of-freedom force feedback master manipulator for remote ultrasound scanning. Firstly, a new configuration based on a planar five-link mechanism is proposed, taking into account the practical needs of medical ultrasound scanning. This configuration has two operating modes and can provide three degrees of force feedback. Secondly, a hybrid force/position master-slave control system based on the kinetic model force feedback method is built, which can realize incremental master-slave control, variable proportional control, force feedback, and other functions. Finally, the positional accuracy, gravity balance effect, and force feedback performance of this master manipulator are verified through experiments. Experiments show that the average position error of this novel force feedback master manipulator is 1.18 mm, the average attitude error expressed in terms of Euler angles is 0.83°, and the maximum feedback force that can be provided is 12.1 N, which satisfies the requirements of ultrasonic scanning.

关键词： Ultrasonic imaging Tracking Proportional control Machine vision Force feedback Manipulators Main-secondary

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A High-Speed Centerline Extraction Method for Multiple Laser Stripe based on Hessian Matrix

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Procedia Computer Science 2024年 250卷 235-243页

作者： Juntian Shi Weichao Guo Xinjun Sheng State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai 200240 China Meta Robotics Institute Shanghai Jiao Tong University Shanghai 200240 China

Laser centerline extraction is a critical step in the machine vision-aided measurement process, especially in the field of aerospace drilling and riveting. We propose a novel and efficient algorithm for the extraction of multiple laser centerlines, which consists of three major parts: laser linewidth estimation, ROI (Region of Interest) extraction, and precise positioning. In the linewidth estimation part, a method based on second-order moment is used to estimate the linewidth, and the scanning frame to linewidth ratio is adopted as the convergence condition to achieve a stable estimation result. In the ROI extraction part, we use a scanning frame to perform raster scanning on the entire image, and calculate the feature function threshold based on the sampling and grayscale volume method to complete ROI extraction. In the precise positioning part, we employ an improved method based on the Hessian matrix to reduce computation time, and use a λ filtering method to eliminate noise. Finally, the K-means method is used to classify the center points belonging to different laser centerlines, and RANSAC is utilized to perform line fitting. The final results demonstrate that the proposed algorithm has certain improvements in accuracy and also exhibits high computational efficiency.

关键词： Manufacturing Laser centerline extraction Hessian matrix

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Speed Fluctuation Suppression of Current Scaling Errors Based on Improved Iterative Learning Control Method

Speed Fluctuation Suppression of Current Scaling Errors Base...

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International Conference on Electrical Machines and systems (ICEMS)

作者： Haoyi Mu Guodong Yu Shaobin Li Pengcheng Zhu Yongxiang Xu School of Electrical Engineering and Automation Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and System Harbin China

In recent years, there has been a growing demand for high-precision speed control of permanent magnet synchronous motor (PMSM), drawing significant attention to the issue of inherent current measurement errors in drive control. This paper presents a novel approach to mitigate periodic speed fluctuations using an expert system-based iterative learning control (ILC) method. The proposed method employs an expert system to dynamically adjust the weight values of the memory factor during online updates. This ensures the calculated relaxation factor optimally suppresses speed fluctuations across all operating conditions. Furthermore, the stability and parameter tuning aspects are analyzed from the perspective of transfer functions, and the feasibility of the proposed method is demonstrated through simulation.

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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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ieee International Conference on robotics and Biomimetics

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

ISBN: (纸本)9781665481106

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).

关键词： Actuators Torque Shape Gears Biomimetics Loading Prototypes

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Research on a curling-like amphibious robot for ground and underwater torch relay of Beijing 2022 Winter Olympics

Research on a curling-like amphibious robot for ground and u...

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2022 International Symposium on robotics, Artificial Intelligence, and Information Engineering, RAIIE 2022

作者： Lu, Yang Tang, Yuangui Liu, Xingyu Wang, Fuli State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institute of Robotics and Intelligent Manufacturing Innovation Chinese Academy of Sciences Shenyang110169 China Guangdong Institute of Intelligent Unmanned System Guangzhou511458 China

ISBN: (纸本)9781510660137

An innovative curling-like amphibious robot was developed for the 2022 Beijing Winter Olympics ground and underwater torch relay. The shape design of imitation curling was applied to the robot in response to the theme of Winter Olympics. The amphibious robot had ground mode and water mode. In ground mode omnidirectional wheels drove the robot to rotate and move forward. The method of constant angular velocity rotation superimposed forward motion overcame ground slip. The nonlinear control of the system was improved by applying this actuation method when the robot slipped. In water mode the X-layout horizontal thrusters and vertical thrusters were applied to sail and hover. The position, depth, attitude and heading of the robot were precisely controlled when the amphibious robot dived into water for torch docking, which was realized through DVL, heading and attitude reference system. The multiple PD controllers with large control damping and phase margin were employed for the robot's control algorithm, so the control system was not diverge when the torch was collided or squeezed. Ultimately, the first underwater torch relay between robots in Olympic history was completed at the Beijing 2022 Winter Olympics. © 2022 SPIE.

关键词： Robots

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A review of solar concentration technology applications in deep space exploration: Environmental adaptability and performance comparison

Space Solar Power and Wireless Transmission

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Space Solar Power and Wireless Transmission 2025年第1期2卷 43-53页

作者： Yanlong Zhang Pengzhen Guo Mengfan Tian Huazhi Chen Rongqiang Liu Zongquan Deng Lifang Li National Key Laboratory of Aerospace Mechanism Harbin Institute of Technology Harbin 150001 PR China National Key Laboratory of Laser Spatial Information Harbin Institute of Technology Harbin 150001 PR China National Key Laboratory of Space Environment and Matter Behaviors Harbin Institute of Technology Harbin 150001 PR China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 PR China

Deep space exploration missions and the construction of planetary research stations impose strict demands on energy self-sufficiency systems. Solar energy, due to its abundant availability and sustainability, has become the preferred solution. However, extreme environmental conditions in space – including drastic temperature fluctuations, vacuum environments, high-energy particles, and intense radiation – pose significant challenges to the performance and lifespan of solar energy systems. Concentration technology, which enhances photoelectric and photothermal conversion efficiency by focusing sunlight, is crucial for space missions. This review examines the primary environmental factors affecting the performance of solar concentrators, including solar irradiance, thermal cycling, vacuum-induced outgassing, radiation effects, and impacts from micrometeoroids and orbital debris. The analysis focuses on three types of high-temperature concentrators: Fresnel lenses, Scheffler concentrators, and parabolic dish concentrators. Fresnel lenses are characterized by low cost and simple structure but are susceptible to optical degradation at high temperatures. Scheffler concentrators utilize geometric optimization to improve uniformity of light distribution, while parabolic dish concentrators achieve high optical efficiency, making them suitable for high-energy applications though requiring precise solar tracking. Performance comparisons in the thermal power range of 0 to 25 kW reveal that parabolic dish concentrators excel in high-power scenarios with greater efficiency and smaller aperture sizes. Conversely, Fresnel lenses and Scheffler concentrators are more effective in medium to low-temperature applications. Based on these findings, this review emphasizes the need to select concentrators according to mission requirements and outlines future research directions. These include the development of advanced materials, optimized optical designs, and improvements in system integr

关键词： Deep space exploration Solar concentrators Extreme environmental conditions

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A novel piezoelectric actuated micro-tweezer with force sensing for optical fiber manipulation

A novel piezoelectric actuated micro-tweezer with force sens...

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ieee International Conference on Real-time Computing and robotics (RCAR)

作者： Haoxiang Zhao Haoran Rong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Heilongjiang University of Science and Technology Harbin China

With the development of micro-electromechanical systems, micro-manipulation robots are extensively used in micro-nano manufacturing due to their high precision. As the core component of the MEMS, the micro-tweezers which are driven by PZT, ultrasonic motors to grasp millimeter and micron objects have developed rapidly. However, it is pretty tough for these tweezers to attain bendy gripping of objects due to the lack of sensors at the cease of the tweezer. Therefore, a force-sensing micro-tweezer with micro-operating device is designed in this paper, which is appropriate for the clamping of optical fibers of different diameters and controlled with the aid of a single-chip microcomputer. The working principle is that the certain opening at the end of the micro-tweezer is closed when the PZT outputs a tiny displacement which is amplified through the two-stage displacement amplifying mechanism, at some stage in which the PWM sign generated by using the controller and amplified by means of the signal amplifier is transmitted in this device and used to control the PZT. To enforce the function of the pressure feedback grasping of optical fibers of distinctive diameters, the sign generated by the pressure sensor at the end of the micro-tweezer is despatched to the controller after the fiber is being clamped. In this paper, the design, simulation and evaluation of the micro-tweezer, the setup and calibration of the system, and the experiments and performance assessments of the micro-tweezer are carried out. The results exhibit that the micro-tweezer can clamp the fiber with diameter of 100-300μm precisely with its output displacement at 360μm, force-sensing resolution accuracy at 9.8mN, and the clamping force at 0.392N. The force-sensing device now not only has a small volume, but also realizes the speedy replacement of a number of components, which advantage it to be widely-used in future micro-tweezers application scenario.

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ADMM-based Distributed Algorithm for Economic Dispatch in Power systems With Both Packet Drops and Communication Delays

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ieee/CAA Journal of Automatica Sinica 2020年第3期7卷 842-852页

作者： Qing Yang Gang Chen Ting Wang State Key Laboratory of Power Transmission Equipment and System Security and New Technology and the School of AutomationChongqing UniversityChongqing 400044China IEEE

By virtue of alternating direction method of multipliers(ADMM), Newton-Raphson method, ratio consensus approach and running sum method, two distributed iterative strategies are presented in this paper to address the economic dispatch problem(EDP) in power systems. Different from most of the existing distributed ED approaches which neglect the effects of packet drops or/and time delays, this paper takes into account both packet drops and time delays which frequently occur in communication networks. Moreover, directed and possibly unbalanced graphs are considered in our algorithms, over which many distributed approaches fail to converge. Furthermore, the proposed schemes can address the EDP with local constraints of generators and nonquadratic convex cost functions, not just quadratic ones required in some existing ED approaches. Both theoretical analyses and simulation studies are provided to demonstrate the effectiveness of the proposed schemes.

关键词： Alternating direction method of multipliers(ADMM) average consensus directed graph(digraph) distributed algorithm economic dispatch packet drops time delays

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A Survey of Output Feedback Robust MPC for Linear Parameter Varying systems

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ieee/CAA Journal of Automatica Sinica 2022年第10期9卷 1717-1751页

作者： Xubin Ping Jianchen Hu Tingyu Lin Baocang Ding Peng Wang Zhiwu Li the Department of Automation School of Electro-Mech-anical EngineeringXidian UniversityXi’an 710071China the Ministry of Education Key Laboratory for Intelligent Networks and Network Security School of Automation Science and EngineeringFaculty of Electronic and Information EngineeringXi’an Jiaotong UniversityXi’an 710049China the State Key Laboratory of Intelligent Manufacturing System Technology Beijing Institute of Electronic System EngineeringBeijing 100854China the College of Automation Chongqing University of Posts and TelecommunicationsChongqing 400065China the Information and Navigation College Air Force Engineering UniversityXi’an 710077China IEEE the School of Electro-Mechanical Engineering Xidian UniversityXi’an 710071 the Institute of System Engineering Macao University of Science and TechnologyMacao SARChina

For constrained linear parameter varying(LPV)systems,this survey comprehensively reviews the literatures on output feedback robust model predictive control(OFRMPC)over the past two decades from the aspects on motivations,main contributions,and the related *** to the types of state observer systems and scheduling parameters of LPV systems,different kinds of OFRMPC approaches are summarized and *** extensions of OFRMPC for LPV systems to other related uncertain systems are also *** methods of dealing with system uncertainties and constraints in different kinds of OFRMPC optimizations are *** issues on OFRMPC optimizations for LPV systems are ***,the future research directions on OFRMPC for LPV systems are suggested.

关键词： Linear parameter varying(LPV)systems model predictive control(MPC) output feedback robust control

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