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ieee International Conference on robotics and Biomimetics

作者： Daolong Yang Li Jiang Kun Xu Robotics Institute of School of Mechanical Engineering and Automation Beihang University (BUAA) Beijing China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Physiological tremors of surgeons’ hands bring vibration to the tip of surgical instruments, which may severely damage the accuracy of surgical procedures and even put patients’ lives at risk. Thus robot-assisted surgery using a teleoperation system was introduced to solve this problem. Many filter algorithms were implemented into the robot-assisted surgery system to suppress the inevitable tremors, but always overlooking the traits of hand motion. An innovation/residual-based floating forgetting-factor adaptive Kalman filter (IFFAKF) is proposed to address this problem. A floating forgetting-factor is brought into the innovation/residual-based adaptive estimation algorithm to adjust the process noise covariance (Q) and measurement noise covariance (R) of the system, thus generating estimation of voluntary hand movement and suppressing the vibration at the tip of the surgical instrument caused by the physiological tremor during surgeries. The proposed filter has been contrasted with various filters in simulations and experiments. The results confirm that the proposed filter has obvious advantages in terms of time delay, estimation error, and tremor suppression performance.

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Recent Advances in Space-Deployable Structures in China

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Engineering 2022年第10期17卷 207-219页

作者： Xiaofei Ma Tuanjie Li Jingya Ma Zhiyi Wang Chuang Shi Shikun Zheng Qifeng Cui Xiao Li Fan Liu Hongwei Guo Liwu Liu Zuowei Wang Yang Li Xi’an Institute of Space Radio Technology Xi’an 710100China School of Electromechanical Engineering Xidian UniversityXi’an 710071China Beijing Institute of Spacecraft System Engineering Beijing 100094China Aerospace System Engineering Shanghai Shanghai 201109China State Key Laboratory of Robotics Harbin Institute of TechnologyHarbin 150001China Department of Astronautical Science and Mechanics Harbin Institute of TechnologyHarbin 150001China

Deployable space structure technology is an approach used in building spacecraft,especially when realizing deployment and folding *** in orbit,the structures are released from the fairing,deployed,and *** the development of communication,remote-sensing,and navigation satellites,space-deployable structures have become cutting-edge research topics in space science and *** paper summarizes the current research status and development trend of spacedeployable structures in China,including large space mesh antennas,space solar arrays,and deployable structures and mechanisms for deep-space *** technologies of space-deployable structures are addressed from the perspectives of deployable mechanisms,cable-membrane form-finding,dynamic analysis,reliable environmental adaptability analysis,and ***,future technology developments and trends are elucidated in the fields of mesh antennas,solar arrays,deployable mechanisms,and on-orbit adjustment,assembly,and construction.

关键词： Deployable space structures Mesh antennas Solar arrays Deep-space exploration

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A Trajectory Planning Algorithm of Spray Robot for Workpieces with Complex Geometric Features based on 3D Point Cloud 5

A Trajectory Planning Algorithm of Spray Robot for Workpiece...

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5th ieee Information Technology, Networking, Electronic and Automation Control Conference, ITNEC 2021

作者： Kong, Minxiu Li, Ang Gao, Feng Harbin Institute of Technology School of Mechatronics Engineering Harbin China State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9781665415989

Trajectory planning of spray robot for workpieces with complex geometric features is always a challenging problem. Combined with the actual process requirements of surface spraying and edge spraying, a new spraying path design method based on 3D point cloud is proposed in this paper. During surface spraying, the automatic segmentation algorithm of spraying area based on the determination of hole ratio and Euclidean clustering is studied. For the area with dense features, the point cloud slicing algorithm is used to generate the spray path. For the narrow area, the flexible midline extraction algorithm is proposed. We also discussed the edge extraction algorithm to generate the edge spray path. According to the simulation results of coating thickness, this method can not only ensure the uniformity of coating thickness, but also ensure high spraying efficiency with low paint waste. © 2021 ieee.

关键词： Clustering algorithms

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A reusable SMA actuated non-explosive lockrelease mechanism for space application

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International Journal of Smart and Nano Materials 2020年第1期11卷 65-77页

作者： Xueting Pan Yuliang Zhang Yifan Lu Fei Yang Honghao Yue State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbinChina Beijing Spacecraft BeijingChina

After the satellite is launched with the carrier rocket,it is necessary to separate the satellite from the rocket at an appropriate time to ensure that the satellite enters the intended *** this process,it is vital to ensure a reliable connection and accurate *** the increasing use of microsatellite in orbit,the contradiction between the shock of separation and the requirement of the platform’s dynamic environment is becoming increasingly ***,the traditional pyrotechnic separation device can no longer meet the *** paper presents a reusable non-explosive release actuator using shape memory alloy(SMA)wire for high load and low *** system is based on the Fast Acting Shock-less Separation Nut(FASSN)*** the shape memory effect of SMA,a biased SMA wire trigger has been developed,which is used as the driver source of the *** the moment of receiving the electrical signal,the SMA wire generates stress and *** trigger set free the constraints on the mechanical components,and the target is *** results indicate that the trigger device can unlock successfully and well meet the technical objectives.

关键词： SMA actuator non-explosive lock-release space application

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Design and Experiment of A Hybrid Wave Energy Harvester Based on Tapered Rollers

Design and Experiment of A Hybrid Wave Energy Harvester Base...

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Micro and Nanotechnology for Power Generation and Energy Conversion Applications (PowerMEMS)

作者： Yunfei Li Tianyi Tang Yan Fang Manjuan Huang Cheng Hou Huicong Liu Lining Sun State Key Laboratory of Robotics and System Harbin Institute of Technology (HIT) Harbin China School of Mechanical and Electric Engineering Jiangsu Provincial Key Laboratory of Advanced Robotics Soochow University CHINA State Key Laboratory of Robotics and System Harbin Institute of Technology (HIT) China

ISBN: (纸本)9781665493079

This paper presents a hybrid energy harvester based on tapered rollers with an electromagnetic generator (EMG) component and a triboelectric nanogenerator (TENG) component for ultra-low frequency wave energy harvesting. The chaotic pendulum is adjusted to adapt the wave excitation under different sea conditions, ensuring that the device achieves optimal output performance. At excitation frequency of 1Hz and the tilt angle of 60°, the open-circuit voltage peaks of 8.4 and 132 V can be achieved by the EMG and TENG, respectively, corresponding to the power outputs of 4.38 and 0.078 mW, respectively. It was demonstrated that the device can easily light up over 360 red light-emitting diodes.

关键词： Performance evaluation Oceans Voltage Energy conversion Light emitting diodes Electromyography Sensors

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Aeroengine remaining useful life prediction via integrating enhanced inverted transformer and spatiotemporal graph learning

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ISA Transactions 2025年

作者： Sun, Shilong Ding, Hao Zhao, Zida Zhou, Yu Wang, Dong Xu, Wenfu School of Robotics and Advanced Manufacturing College of Artificial Intelligence Harbin Institute of Technology Shenzhen China Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Shenzhen China College of Computer Science and Software Engineering Shenzhen University Shenzhen518060 China State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai200240 China

Accurate prediction of aeroengine Remaining Useful Life (RUL) is critical for ensuring flight safety, minimizing maintenance costs, and improving operational efficiency. This study proposes a novel model, the Fourier-Enhanced Inverted Transformer with Graph-Augmented Spatiotemporal Modeling (FIT-GSTM), to enhance RUL prediction performance. FIT-GSTM combines an inverted Transformer with a Spatiotemporal Graph Convolutional Network (STGCN) to effectively capture global spatiotemporal dependencies across multi-sensor data. To further enrich feature representation, the model incorporates Fast Fourier Transform (FFT) to extract frequency-domain information and fuses it with time-domain features, enhancing robustness to noise. Additionally, the integration of Memory Tokens and Reversible Instance Normalization (RevIN) strengthens the model's ability to retain long-term dependencies and adapt to heterogeneous data distributions. Experimental evaluations on the C-MAPSS dataset demonstrate that FIT-GSTM achieves superior RUL prediction accuracy and generalization compared to existing methods, highlighting its potential for real-world deployment in aeroengine health management. © 2025 ISA

关键词： Fast Fourier transforms

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Can Digital Intelligence and Cyber-Physical-Social systems Achieve Global Food Security and Sustainability?

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ieee/CAA Journal of Automatica Sinica 2023年第11期10卷 2070-2080页

作者： Yanfen Wang Mengzhen Kang Yali Liu Juanjuan Li Kai Xue Xiujuan Wang Jianqing Du Yonglin Tian Qinghua Ni Fei-Yue Wang College of Resources and Environment University of Chinese Academy of SciencesBeijing 100049 Beijing Yanshan Earth Critical Zone National Research Station University of Chinese Academy of SciencesBeijing 101408 State Key Laboratory of Tibetan Plateau Earth System Environment and ResourcesInstitute of Tibetan Plateau ResearchChinese Academy of SciencesBeijing 100101China State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of AutomationChinese Academy of Sciences(CASIA)Beijing 100190 School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049China School of Grassland Science Beijing Forestry UniversityBeijing 100083China State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China State Key Laboratory of Plateau Ecology and Agriculture Qinghai UniversityXining 810016 Key Laboratory of Adaptation and Evolution of Plateau Biota Northwest Institute of Plateau BiologyChinese Academy of SciencesXining 810001 Binzhou Institute of Technology Weiqiao-UCAS Science and Technology ParkBinzhou 256606China Beijing Yanshan Earth Critical Zone National Research Station University of Chinese Academy of SciencesBeijing 101408China Department of Engineering Science Faculty of Innovation EngineeringMacao University of Science and TechnologyMacao 999078 State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of AutomationChinese Academy of Sciences(CASIA)Beijing 100190China Faculty of Innovation Engineering Macao University of Science and TechnologyMacao 999078 Beijing Engineering Research Center of Intelligent Systems and Technology Chinese Academy of SciencesBeijing 100098 State Key Laboratory for Management and Control of Complex Systems Chinese Academy of SciencesBeijing 100190China IEEE

Plants sequester carbon through photosynthesis and provide primary productivity for the ecosystem. However, they also simultaneously consume water through transpiration, leading to a carbon-water balance relationship. Agricultural production can be regarded as a form of carbon sequestration *** the perspective of the natural-social-economic complex ecosystem, excessive water usage in food production will aggravate regional water pressure for both domestic and industrial purposes. Hence, achieving a harmonious equilibrium between carbon and water resources during the food production process is a key scientific challenge for ensuring food security and sustainability. Digital intelligence(DI) and cyber-physical-social systems(CPSS) are emerging as the new research paradigms that are causing a substantial shift in the conventional thinking and methodologies across various scientific fields, including ecological science and sustainability studies. This paper outlines our recent efforts in using advanced technologies such as big data, artificial intelligence(AI), digital twins, metaverses, and parallel intelligence to model, analyze, and manage the intricate dynamics and equilibrium among plants, carbon, and water in arid and semiarid ecosystems. It introduces the concept of the carbon-water balance and explores its management at three levels: the individual plant level, the community level, and the natural-social-economic complex ecosystem level. Additionally, we elucidate the significance of agricultural foundation models as fundamental technologies within this context. A case analysis of water usage shows that, given the limited availability of water resources in the context of the carbon-water balance, regional collaboration and optimized allocation have the potential to enhance the utilization efficiency of water resources in the river basin. A suggested approach is to consider the river basin as a unified entity and coordinate the relationship between the

关键词： Carbon-water balance decision-support digital intelligence(DI) foundation models planning

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Tracking Motor Unit Discharges Across Days Based on the Pre-Trained Separation Vectors

Tracking Motor Unit Discharges Across Days Based on the Pre-...

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ieee/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Chen Chen Xiangyang Zhu State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai China Meta Robotics Institute Shanghai Jiao Tong University Shanghai China

ISBN: (数字)9798350386523

ISBN: (纸本)9798350386530

Objective. Decoding motor unit activities from surface electromyography (sEMG) has been demonstrated as a promising technique for human-machine interfacing (HMI) in the past decade. However, the current decoding methods have difficulty tracking motor unit discharges across experiments, limiting the motor unit-based HMI within the intra-trial analysis. This study focused on motor unit decoding across multi-days and aimed to demonstrate the feasibility of pretrained separation vectors for motor unit tracking. Methods. One subject participated in the experiment that lasted five days and performed the isometric elbow flexion at four contraction levels daily. The high-density sEMG signals of 64 channels were recorded from the biceps brachii and decomposed into motor unit spike trains (MUSTs) based on the convolutional kernel compensation algorithm. The separation vectors were kept to decompose the sEMG signals in the subsequent days. The multichannel motor unit action potential (MUAP) waveforms were extracted and compared to validate the tracking performance across days. Main results. On average, 20±6 MUSTs were identified from each contraction intensity, among which 3±2 MUSTs were successfully tracked across five days. The MUSTs tracked across 2–4 days were l0±4, 6±4, and 4±3. Conclusion and Significance. These results indicate the feasibility of motor unit tracking across multiple days based on the pretrained separation vectors, extending the potential applications of neural decoding in HMI.

关键词： Source separation Limiting Surface discharges Human-machine systems Motors Vectors Discharges (electric) Decoding Kernel Robots

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DogGet: A Legged Manipulation system in Human Environments 12

DogGet: A Legged Manipulation System in Human Environments

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12th International Conference on CYBER Technology in Automation, Control, and Intelligent systems, CYBER 2022

作者： Linghan, Meng Cong, Wang Shengguo, Cui Qifeng, Zhang Baoqi, Zhai State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China Guangzhou511458 China Key Laboratory of Marine Robotics Liaoning Province Shenyang110169 China University of the Chinese Academy of Sciences Beijing100049 China Guangdong Institute of Intelligent Unmanned System Guangzhou511458 China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

The problem of population ageing in today's world is becoming increasingly serious, and the capacity gap in the service industry for elderly people is increasing. Especially in the current epidemic environment, the deartificialization of the service industry is imminent. For service tasks of seniors, there is no doubt that legged robots are the best choice for service tasks due to there flexibility and agility. However, complex service tasks require a mobile robotic system that integrates functions such as localization, navigation, recognition, and grasping. To this end, we propose a mobile robotic system to accomplish some daily service work such as finding and grasping some articles for daily use and then delivering them to a proposed place. We show that the system is universally applicable and highly efficient in daily environments. Videos of the experiments can be viewed at https://***/xPeBzDf6D_k or https://***/video/BV1QZ4yli7qx. © 2022 ieee.

关键词： HTTP

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Simulation and Experimental Study of Piezoelectric Stack Energy Harvester with Arch Beam Applied to the Railway system

SSRN

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SSRN 2022年

作者： Min, Zhaowei Hou, Chengwei Sui, Guangdong Shan, Xiaobiao Xie, Tao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

As one of the most important modes of transportation, the safety of running vehicles and railway track is significant. It is essential to power sensors that detect and track health in remote areas. The vibration energy of the track structure is enormous and stable, which is not limited by weather factors such as solar and wind power. A new type of arch beam piezoelectric stack energy harvester for railway systems is studied in this paper. Through simulation analysis and experimental verification of the energy harvester, the influences of external resistance, load, pre-pressure, and load frequency on the energy harvesting performance of the piezoelectric energy harvester are discussed. When the frequency is less than 6Hz, the energy capture efficiency is greatly affected by the frequency. When the frequency exceeds 6Hz, the frequency has little effect, and the load dramatically affects the energy capture efficiency. The pre-pressure is not the more significant, the better, but there is an optimal value at 4.5kN. The energy capture circuit can be combined with the supercapacitor to power the sensor, forming a self-power device for real-time monitoring of track health and driving safety. © 2022, The Authors. All rights reserved.

关键词： Arches

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