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2011 International Conference on Mechanical engineering, Materials and Energy, ICMEME 2011

作者： Wang, Lefeng Rong, Weibin Guo, Bin Shao, Bing School of Materials Science and Engineering Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9783037853405

The dynamic separation of two parallel microplates with an intervening liquid meniscus is studied theoretically. The dynamic model considering the meniscus force and the viscous force between the plates in the separation process was developed. With typical simulation parameters, the magnitudes of various forces were compared before the separation of two parallel plates occurs. It was found that the meniscus force decreases gradually with the increase of separation distance. However there is a sudden jump of the viscous force before it gradually increases, then it decreases dramatically. The influences of various parameters on the separation time were investigated. It was found that the separation time increases with the mass of the upper plate, surface tension, viscosity and volume of the liquid. The separation time decreases with the initial distance and the contact angles of the liquid. © (2012) Trans Tech Publications, Switzerland.

关键词： Liquids

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Theoretical analysis of meniscus forces between two spherical nanoparticles at various humidities

Theoretical analysis of meniscus forces between two spherica...

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2011 International Conference on Mechanical engineering, Materials and Energy, ICMEME 2011

作者： Wang, Lefeng Guo, Bin Rong, Weibin Sun, Lining School of Materials Science and Engineering Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9783037853405

The meniscus force between nanoobjects with a mediated liquid bridge plays an important role in many applications due to scale effects. As an typical configuration, the meniscus force between two spherical nanoparticles at various humidities is studied theoretically. The numerical method and the usual approximation method of calculating the meniscus force at various humidities are compared firstly. It is found that the big error may occur at some conditions. The effects of relative humidity on the meniscus force between spherical nanoparticles are investigated. Besides, the influences of spherical radius, the distance between nanoparticles, contact angles of the liquid on the meniscus forces between spherical nanoparticles are studied. The simulation results are helpful to understand and control the adhesion force at nanoscales. © (2012) Trans Tech Publications, Switzerland.

关键词： Atmospheric humidity

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Squeezing More Past Knowledge for Online Class-Incremental Continual Learning

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IEEE/CAA Journal of Automatica Sinica 2023年第3期10卷 722-736页

作者： Da Yu Mingyi Zhang Mantian Li Fusheng Zha Junge Zhang Lining Sun Kaiqi Huang the State Key Laboratory of Robotics and System Harbin Institute of Technology(HIT)Harbin 150080China Center for Research on Intelligent System and Engineering Institute of AutomationChinese Academy of Sciences(CASIA)Beijing 100190 School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049China Center for Research on Intelligent System and Engineering Institute of AutomationChinese Academy of Sciences(CASIA)Beijing 100190the School of Artificial IntelligenceUniversity of Chinese Academy of SciencesBeijing 100049 the CAS Center for Excellence in Brain Science and Intelligence Technology Shanghai 200031China IEEE

Continual learning(CL)studies the problem of learning to accumulate knowledge over time from a stream of data.A crucial challenge is that neural networks suffer from performance degradation on previously seen data,known as catastrophic forgetting,due to allowing parameter *** this work,we consider a more practical online class-incremental CL setting,where the model learns new samples in an online manner and may continuously experience new ***,prior knowledge is unavailable during training and *** works usually explore sample usages from a single dimension,which ignores a lot of valuable supervisory *** better tackle the setting,we propose a novel replay-based CL method,which leverages multi-level representations produced by the intermediate process of training samples for replay and strengthens supervision to consolidate previous ***,besides the previous raw samples,we store the corresponding logits and features in the ***,to imitate the prediction of the past model,we construct extra constraints by leveraging multi-level information stored in the *** the same number of samples for replay,our method can use more past knowledge to prevent *** conduct extensive evaluations on several popular CL datasets,and experiments show that our method consistently outperforms state-of-the-art methods with various sizes of episodic *** further provide a detailed analysis of these results and demonstrate that our method is more viable in practical scenarios.

关键词： Catastrophic forgetting class-incremental learning continual learning(CL) experience replay

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Static Force-Based Modeling and Parameter Estimation for a Deformable Link Composed of Passive Spherical Joints With Preload Forces

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IEEE/CAA Journal of Automatica Sinica 2021年第11期8卷 1817-1826页

作者： Gaofeng Li Dezhen Song Lei Sun Shan Xu Hongpeng Wang Jingtai Liu Nankai University Tianjin 300350China Humanoids and Human Centered Mechatronics Research Line Italian Institute of Technology16163 GenovaItaly Department of Computer Science and Engineering Texas A&M UniversityCollege StationTexas 77843 USA Institute of Robotics and Automatic Information System Nankai UniversityTianjin 300350China Tianjin Key Laboratory of Intelligent Robotics Nankai UniversityTianjin 300350China

To balance the contradiction between higher flexibility and heavier load bearing capacity,we present a novel deformable manipulator which is composed of active rigid joints and deformable *** deformable link is composed of passive spherical joints with preload forces between socket-ball *** estimate the load bearing capacity of a deformable link,we present a static force-based model of spherical joint with preload force and analyze the static force propagation in the deformable *** yields an important result that the load bearing capacity of a spherical joint only depends on its radius,preload force,and static friction *** further develop a parameter estimation method to estimate the product of preload force and static friction *** experimental results validate our model.80.4%of percentage errors on the maximum payload mass prediction are below 15%.

关键词： Deformable link parameters identification spherical joint with preload force static force-based model

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A visual calibration method of monocular camera and pan-tilt for mobile robots

A visual calibration method of monocular camera and pan-tilt...

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2019 IEEE International Conference on Real-Time Computing and robotics, RCAR 2019

作者： Sun, Jingwen Zhao, Lijun Wang, Ke Zhao, Yujia Meng, Xiangbo Mao, Chuwei Wang, Jiancheng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China School of Electrical Engineering Automation Harbin Institute of Technology Harbin China

ISBN: (纸本)9781728137261

In the competition of 'RoboMaster', the robot, a mobile platform with a two-axis pan-tilt and a barrel, needs to shoot the target by launching a projectile. In order to detect and shoot the target automatically, we develop a visual system with a monocular camera mounted on the chassis. Based on some target detection algorithms, the target's 3D pose in the camera coordinate system is obtained. As the launching mechanism of the robot is on the two-axis pan-tilt, it demands to further obtain target's pose in the pan-tilt coordinate system to achieve precise shooting. Therefore, how to obtain the relative position between the camera coordinate system and the pan-tilt coordinate system is the main problem in our research. We propose a fast and effective method for the relative position calibration between the camera and two-axis pan-tilt based on specular reflection. We utilize a plane mirror to reflect the laser pointer light path mounted on the barrel. Then, the camera calibration method is applied to obtain the rotation matrix between the camera coordinate system and the world coordinate system. We finally verify the effectiveness of our method through experiments and achieve the first place in the competition. © 2019 IEEE.

关键词： Calibration

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Full Resolution Repetition Counting 16th

Full Resolution Repetition Counting

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

作者： Li, Jianing Chen, Bowen Wang, Zhiyong Liu, Honghai School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9789819964826

Given an untrimmed video, repetitive actions counting aims to estimate the number of repetitions of class-agnostic actions. To handle the various length of videos and repetitive actions, also optimization challenges in end-to-end video model training, down-sampling is commonly utilized in recent state-of-the-art methods, leading to ignorance of several repetitive samples. In this paper, we attempt to understand repetitive actions from a full temporal resolution view, by combining offline feature extraction and temporal convolution networks. The former step enables us to train repetition counting network without down-sampling while preserving all repetitions regardless of the video length and action frequency, and the later network models all frames in a flexible and dynamically expanding temporal receptive field to retrieve all repetitions with a global aspect. Besides, temporal self-similarity matrix is used in our model to represent the correlation of action, which contains much cycle information in time series. We experimentally demonstrate that our method achieves better or comparable performance in three public datasets, i.e., TransRAC, UCFRep and QUVA. We expect this work will encourage our community to think about the importance of full temporal resolution. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Convolution

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Follow Everything: A Leader-Following and Obstacle Avoidance Framework with Goal-Aware Adaptation

arXiv

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arXiv 2025年

作者： Zhang, Qianyi Ma, Shijian Liu, Boyi Liu, Jingtai Jiao, Jianhao Kanoulas, Dimitrios Institute of Robotics and Automatic Information System Nankai University Tianjin300350 China Electrical and Computer Engineering Department Hong Kong University of Science and Technology China Centre for Data Science University of Macau China Department of Computer Science University College London United Kingdom

Robust and flexible leader-following is a critical capability for robots to integrate into human society. While existing methods struggle to generalize to leaders of arbitrary form and often fail when the leader temporarily leaves the robot’s field of view, this work introduces a unified framework addressing both challenges. First, traditional detection models are replaced with a segmentation model, allowing the leader to be anything. To enhance recognition robustness, a distance frame buffer is implemented that stores leader embeddings at multiple distances, accounting for the unique characteristics of leader-following tasks. Second, a goal-aware adaptation mechanism is designed to govern robot planning states based on the leader’s visibility and motion, complemented by a graph-based planner that generates candidate trajectories for each state, ensuring efficient following with obstacle avoidance. Simulations and real-world experiments with a legged robot follower and various leaders (human, ground robot, UAV, legged robot, stop sign) in both indoor and outdoor environments show competitive improvements in follow success rate, reduced visual loss duration, lower collision rate, and decreased leader-follower distance. Visit the website for the video and code. © 2025, CC BY.

关键词： Motion planning

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A legged device based on active buffering for probe landing on micro-gravitational asteroid

A legged device based on active buffering for probe landing ...

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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Yin, Canhui Shen, Yilin Zhang, Xiaolin Guo, Fan Quan, Qiquan Tang, Dewei Deng, Zongquan Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin Heilongjiang Province China Beijing Institute of Spacecraft System Engineering Beijing China China Academy of Space Technology Beijing China

ISBN: (纸本)9781728163215

The landing of the probe on the asteroid surface provides the technical basis for in-situ exploration and sampling return and promotes to maximize the value of the probe. The micro-gravitation and the uncertainty in topography and geology on the asteroid surface pose challenges to the landing of the probe. To develop the asteroid landing technology, the legged landing device of asteroid probe based on active buffering mode is studied in this paper. The landing device adopts a three-legged structure to possess higher adaptability to the surface topography of asteroids and get the light and simple configuration. Besides, a buffering unit is designed based on the active mode of the damping motor which has obvious advantages in self-adaptability and autonomy. Through the comparison of various schemes, the slider-legged landing device is determined and designed in detail. On this basis, the co-simulation of the probe landing on the asteroid surface is completed, which shows the satisfaction of this device to reliability and efficiency. Finally, a prototype of the landing device is constructed and the micro-gravitational simulated test platform is developed to implement the landing buffering test of asteroid probe. The test results validate the performance of the landing device. © 2019 IEEE.

关键词： Damping

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Robust Mechanically Interlocked Network Ionogels

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Angewandte Chemie 2025年

作者： Mengling Yang Jinhao Li Dr. Chunyu Wang Dr. Li Yang Dr. Zhiwei Fan Wenbin Wang Guoquan Liu Dr. Lin Cheng Shaolei Qu Prof. Zhaoming Zhang Prof. Jiang Zou Prof. Wei Yu Prof. Guoying Gu Prof. Xuzhou Yan School of Chemistry and Chemical Engineering Frontiers Science Center for Transformative Molecules Shanghai Key Laboratory of Electrical Insulation and Thermal Aging Shanghai Jiao Tong University Shanghai 200240 P. R. China Robotics Institute and State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai 200240 P. R. China Meta Robotics Institute Shanghai Jiao Tong University Shanghai 200240 P. R. China

Ionogels have attracted considerable attention as versatile materials due to their unique ionic conductivity and thermal stability. However, relatively weak mechanical performance of many existing ionogels has hindered their broader application. Herein, we develop robust, tough, and impact-resistant mechanically interlocked network ionogels ( IG MINs) by incorporating ion liquids with mechanical bonds that can dissipate energy while maintain structural stability. Profiting from the dynamic yet stable nature of the mechanically interlocked networks, IG MINs exhibit high tensile strength (9.6 MPa), fracture energy (39 kJ/m 2 ), and toughness (25.9 MJ/m 3 ), along with a high elongation rate (473 %) and excellent impact resistance and shape memory, resulting in overall performance that surpasses most reported ionogels. Furthermore, in the application of strain sensors for monitoring the gait of crawling robots, the toughness and robustness of IG MINs ensure their ability to consistently output stable electrical signals during the stretching and contraction processes, thereby highlighting their practical application potential. Our work provides a new research strategy for toughening ionogels and promotes the development of mechanically interlocked materials.

关键词： ionogels mechanical bonds toughening mechanism tear resistance shape-memory

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Optimal biaxial prestretch ratios of soft dielectric elastomer actuators for maximal voltage-induced displacement

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Science China(Technological Sciences) 2023年第10期66卷 2871-2881页

作者： LUO Kai WU JiaNing CHEN FeiFei School of Mechanical Engineering Shanghai Jiao Tong UniversityShanghai 200240China State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong UniversityShanghai 200240China Meta Robotics Institute Shanghai Jiao Tong UniversityShanghai 200240China

Prestretch plays an indispensable role in programming the voltage-induced deformation of dielectric elastomer actuators(DEAs).However,lacking rational design methods,the level of prestretch is usually determined through time-consuming experiments and trial-and-error *** this paper,we aim to quantitatively determine the optimal biaxial prestretch ratios for maximizing the voltage-induced displacement of *** on the Lagrange method and adjoint sensitivity analysis,we obtain the derivative of the displacement field with respect to the principal prestretch ratios,in which the nonlinearities and complex electromechanical coupling of DEAs are rigorously taken into *** derivative information allows for performing gradient-based optimization at a high convergence *** propose a comprehensive optimization framework connecting the nonlinear finite element analysis and sensitivity analysis to iteratively identify the optimal prestretch *** validate our method on two classical types of DEAs,i.e.,planar DEAs with fixed boundaries and free-standing three-dimensional dielectric elastomer minimum energy structures(DEMES).The simulation and experiment results both show that remarkable improvements in concerned displacements are obtained compared with the non-optimized designs.

关键词： dielectric elastomer prestretch ratios design optimization

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