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Autonomous Formation Flight Control of Large-Sized Flapping-Wing Flying Robots Based on Leader–Follower Strategy

Journal of Bionic engineering 2023年第6期20卷 2542-2558页

作者： Hui Xu Yuanpeng Wang Erzhen Pan Wenfu Xu Dong Xue School of Mechanical Engineering and Automation Harbin Instwitute of TechnologyShenzhen518055China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150000China School of Aeronautics Northwestern Polytechnical UniversityXi’an710072China

Birds in nature exhibit excellent long-distance flight capabilities through formation flight,which could reduce energy consumption and improve flight *** by the biological habits of birds,this paper proposes an autonomous formation flight control method for Large-sized Flapping-Wing Flying Robots(LFWFRs),which can enhance their search range and flight ***,the kinematics model for LFWFRs is ***,an autonomous flight controller based on this model is designed,which has multiple flight control modes,including attitude stabilization,course keeping,hovering,and so ***,a formation flight control method is proposed based on the leader–follower strategy and periodic characteristics of flapping-wing *** up and down fluctuation of the fuselage of each LFWFR during wing flapping is considered in the control algorithm to keep the relative distance,which overcomes the trajectory divergence caused by sensor delay and fuselage ***,typical formation flight modes are realized,including straight formation,circular formation,and switching ***,the outdoor formation flight experiment is carried out,and the proposed autonomous formation flight control method is verified in real environment.

关键词： Bionic Large-sized flapping-wing flying robot HIT-Phoenix Periodic flight characteristics Formation flight Leader follower strategy

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Generalized Maximum Correntropy Kalman Filter for Target Tracking in TianGong-2 Space Laboratory

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Space(Science & Technology) 2022年第1期2022卷 151-165页

作者： Yang Mo Yaonan Wang Hong Yang Badong Chen Hui Li Zhihong Jiang College of Electrical and Information Engineering Hunan UniversityChangshaChina Institute of Manned Spacecraft System Engineering China Academy of Space Technology(CAST)BeijingChina Institute of Artificial Intelligence and Robotics Xi’an Jiaotong UniversityXi’anChina School of Mechatronical Engineering Beijing Institute of TechnologyBeijingChina

Target tracking plays an important role in the construction,operation,and maintenance of the space station by the robot,which puts forward high requirements on the accuracy of target ***,the special space environment may cause complex non-Gaussian noise in target tracking *** the performance of traditional Kalman Filter will deteriorate seriously when the error signals are non-Gaussian,which may lead to mission *** the paper,a novel Kalman Filter algorithm with Generalized Maximum Correntropy Criterion(GMCKF)is proposed to improve the tracking accuracy with non-Gaussian *** GMCKF algorithm,which replaces the default Gaussian kernel with the generalized Gaussian density function as kernel,can adapt to multi-type non-Gaussian noises and evaluate the noise accurately.A parameter automatic selection algorithm is proposed to determine the shape parameter of GMCKF algorithm,which helps the GMCKF algorithm achieve better performance for complex non-Gaussian *** performance of the proposed algorithm has been evaluated by simulations and the ground ***,the algorithm has been applied in the maintenance experiments in TianGong-2 space laboratory of *** results validated the feasibility of the proposed method with the target tracking precision improved significantly in complex non-Gaussian environment.

关键词： entropy kernel parameter

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Effect of variable-angle trajectory structure on mechanical performance of CF/PEEK laminates made by robotic fiber placement

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Chinese Journal of Aeronautics 2022年第12期35卷 336-356页

作者： Shouzheng SUN Haiyang MEI Yang WANG Jiahai ZHANG Zhenyu HAN Jinglan GUO State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China Wuhu Robot Technology Research Institute Harbin Institute of TechnologyWuhu 241000China Shanghai Spaceflight Precision Machinery Institute Shanghai 201600China School of Mechanical and Power Engineering Harbin University of Science and TechnologyHarbin 150080China

In comparison to the traditional fixed-angle trajectory,the variable-angle trajectory has a greater design ***,it is a challenge to determine which common design curve structure is the most effective for improving mechanical *** work explores the effects of various design curves such as fixed-angle curve,linear curve,arc curve,sine curve,Bezier curve,and cubic polynomial curve trajectories on mechanical performance of laminates,including vibration modal performance and buckling *** algorithm and improved NSGA-II algorithm are then used to optimize various curve *** results are confirmed utilizing thermoplastic Carbon Fiber(CF)/Polyether-Ether-Ketone(PEEK)laminates made by robotic fiber placement *** relationship model between different mechanical performance and curve design variables is *** optimization of variable-angle structure with mechanical properties as input variables is ***,a full-process angle-variable laying software platform from trajectory planning(CAD),trajectory optimization to manufacturing(CAM)is developed for facilitating the fiber placement application.

关键词： Fiber reinforced plastics Mechanical properties Robotic fiber placement Thermoplastics Trajectory design Variable-angle laminate

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Acoustic black hole effect enhanced micromanipulator

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Microsystems & Nanoengineering 2024年第5期10卷 345-352页

作者： Qiu Yin Haoyong Song Zhaolong Wang Zhichao Ma Wenming Zhang State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong UniversityShanghaiChina institute of Medical Robotics School of Biomedical EngineeringShanghai Jiao Tong UniversityShanghaiChina College of Mechanical and Vehicle Engineering Hunan UniversityChangshaChina School of Energy Science and Engineering Harbin Institute of TechnologyHarbinP.R.China

Microparticle manipulation is a critical concern across various felds including microfabrication,flexible electronics and tissue ***-activated sharp structures have been designed as simple and flexible tools to manipulate microparticles with their good compatibility,fast response,and broad ***,there still lacks rational acoustic-structure design for effective energy concentration at the acoustic-activated sharp structures for microparticle ***,we present the acoustic black hole(ABH)effect as enhancement for the acoustic *** provides great reliability,simplicity and ease of use,supporting custom design of high-throughput patterning ***,compared to commonly used configurations,such as cylindrical or conical microneedles,those microneedles with ABH profle exhibit superior acoustic energy focusing at the tip and induce stronger acoustofluidic *** average acoustic flow velocity induced by the ABH microneedle is 154 times greater than that of the conical one and 45 times greater than that of the cylindrical ***,the average acoustic radiation force(ARF)produced by the ABH microneedle against acrylic microparticles is about 319 times greater than that of the cylindrical one and 16 times greater than that of the conical *** results indicate that ABH design significantly enhances microparticle *** demonstrate this concept with ABH effect enhanced microparticle manipulation and study the parameters influencing its performance including operating frequency,operating voltage and particle ***,considering the flexibility of this system,we employ it for various patterning and high-throughput microparticle *** work paves the way for controllable microparticle manipulation,holding great potential for applications in microfabrication and biomedicine.

关键词： cylindrical Acoustic simplicity

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Modeling and simulating the nonlinear characters of robot joints

Modeling and simulating the nonlinear characters of robot jo...

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2010 IEEE International Conference on robotics and Biomimetics, ROBIO 2010

作者： Xiao, Yongqiang Du, Zhijiang You, Wei Li, Ruifeng School of Mechatronics Engineering State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 150080 China

ISBN: (纸本)9781424493173

This paper presents a new approach to establish a dynamic model of robot joints. The model is constructed by ideally dividing a robot joint into high-speed block and low-speed block and described with nonlinear characteristics such as friction, backlash and hysteresis. The friction behavior of two blocks is captured by the Generalized Maxwell-Slip model. The Preisach model is used to describe the hysteresis character of joints. Because the "congruency" assumption of hysteresis, which is needed in the Preisach model, is not strictly tenable in complex joints, so there construct the hysteresis model through Preisach model plus a nonlinear stiffness. A simple and effective method is developed to model the backlash behavior in joints. The integrated joint model of an industry robot built by our laboratory is established and simulation model is constructed in Simulink of Matlab. The validity of this model is demonstrated and a new avenue opened in this way. © 2010 IEEE.

关键词： Hysteresis

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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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Preoperative planning for the multi-arm surgical robot using PSO-GP-based performance optimization

Preoperative planning for the multi-arm surgical robot using...

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2017 IEEE International Conference on robotics and Automation, ICRA 2017

作者： Zhang, Fan Yan, Zhiyuan Du, Zhijiang Personal Robotics Lab Department of Electrical and Electronic Engineering Imperial College London United Kingdom State Key Laboratory of Robotics and System Harbin Institute of Technology China

ISBN: (纸本)9781509046331

For the robotically-assisted minimally invasive surgery, preoperative planning is essential towards assisting surgeons to prepare the intervention and to decide the best access to the surgical site. Many recent studies in preoperative planning have focused on the pose selection of the robot and the port placement. However, as such techniques cannot evaluate the performance of the multi-arm cooperation, their applications are constrained in real practise with multi-arm surgical robots. In this paper, the surgical workspace is divided and the subspaces are assigned with different weights to reflect the internal differences within the surgical workspace. We propose three metrics to evaluate the performance of the multi-arm surgical robot: Global Isotropy Index (GII) to measure the dexterity of one single robot arm;Cooperation Capability Index (CCI) to reflect the performance of the multi-arm cooperation;Minimum Distance Index (MDI) to describe the collision avoidance of the robotic arms. We also propose a combination of Particle Swarm Optimization (PSO) and Gaussian Process (GP) to locate the port placement and robot positioning. The proposed integrated PSO-GP-based optimization strategy is implemented on a three-arm surgical robot. Two sets of experiments are carried out to validate our method. The results demonstrate that the performance optimization strategy based on PSO-GP is capable of guiding surgeons to plan an intervention with the multi-arm surgical robot. © 2017 IEEE.

关键词： Robotic surgery

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A Novel Non-cooperative Target Capture Tool for Defunct Satellite 17

A Novel Non-cooperative Target Capture Tool for Defunct Sate...

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17th IEEE International Conference on Mechatronics and Automation, ICMA 2020

作者： Sun, Yongjun Liu, Yiwei Jin, Minghe Liu, Rongqiang Liu, Hong Harbin Institute of Technology School of Mechatronics Engineering State Key Laboratory of Robotics and System Harbin Heilongjiang Province China

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164151

With the increase of defunct satellites, the orbit resource of the Earth is becoming more and more shortage. As one of the key technologies, the capture of non-cooperative targets has become a research hotspot. Due to its obvious characteristics, easy identification, high strength and high stiffness, the Launch Adapter Ring (LAR) has become a capture object on the defective and tumbling satellite. In this paper, a novel LAR capture tool is developed, and the LAR capture tool is designed, manufactured and tested. In order to improve the probability of grasp, the direct drive was adopted. The main research contents are as follows: overall design of the capture tool, design of electromagnetic brake, analysis of kinematics, and test the prototype. © 2020 IEEE.

关键词： Orbits

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Mechanics of Soft-Body Rolling Motion without External Torque

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Physical Review Letters 2025年第19期134卷 198401-198401页

作者： Xudong Liang Yimiao Ding Zihao Yuan Yuxuan Han Yutang Zhou Junqi Jiang Zongling Xie Peng Fei Yixuan Sun Pan Jia Guoying Gu Zheng Zhong Feifei Chen Guangwei Si Zhefeng Gong School of Science Harbin Institute of Technology Shenzhen 518055 China Department of Neurology of the Fourth Hospital and School of Brain Science and Brain Medicine Zhejiang University School of Medicine Hangzhou 310058 China Robotics Institute and State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai 200240 China State Key Laboratory of Cognitive Science and Mental Health Institute of Biophysics Chinese Academy of Sciences 15 Datun Road Beijing 100101 China University of Chinese Academy of Sciences 19A Yuquan Road Beijing 100049 China Huazhong University of Science and Technology Optical and Electronic Information Wuhan 430074 China Zhejiang Lab Hangzhou 311121 China Shanghai Key Laboratory of Intelligent Robotics Meta Robotics Institute Shanghai Jiao Tong University Shanghai 200240 China Liangzhu Laboratory MOE Frontier Science Center for Brain Science and Brain-machine Integration State Key Laboratory of Brain-machine Intelligence Zhejiang University 1369 West Wenyi Road Hangzhou 311121 China NHC and CAMS Key Laboratory of Medical Neurobiology Zhejiang University Hangzhou 310058 China

The Drosophila larva, a soft-body animal, can bend its body and roll efficiently to escape danger. However, contrary to common belief, this rolling motion is not driven by the imbalance of gravity and ground reaction forces. Through functional imaging and ablation experiments, we demonstrate that the sequential actuation of axial muscles within an appropriate range of angles is critical for generating rolling. We model the interplay between muscle contraction, hydrostatic skeleton deformation, and body-environment interactions, and systematically explain how sequential muscle actuation generates the rolling motion. Additionally, we construct a pneumatic soft robot to mimic the larval rolling strategy, successfully validating our model. This mechanics model of soft-body rolling motion not only advances the study of related neural circuits, but also holds potential for applications in soft robotics.

关键词： Creatinine

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A Path Planning Algorithm of Spray Robot based on 3D Point Cloud

A Path Planning Algorithm of Spray Robot based on 3D Point C...

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2020 International Conference on Communications, Information system and Computer engineering, CISCE 2020

作者： Yang, Jubo Kong, Minxiu Wang, Rundong School of Mechatronics Engineering Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9781728197616

The automatic path planning method of spray robot has always been a challenging problem, especially for the mixed-line production of various workpieces. This paper discusses the self-acquisition technology of spray path based on the point cloud model of furniture. The coordinate relationship between the coordinate system of the spraying system and the adaptive adjustment of the pose are discussed for the point cloud pose of the furniture. The furniture surface path planning based on point cloud slices and edge spraying based on edge extraction technology were studied to obtain the ordered path point sequence and posture of the spray gun. Through the robot spraying experiment on flat furniture and complex curved furniture, the reliability of the algorithm is verified from the aspects of algorithm efficiency and spraying effect. © 2020 IEEE.

关键词： Motion planning

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