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第43届中国控制会议

作者： Biting Ma Chaoyu Cui Ruimin Li Minghui Li Jinyu Qiu Ke Li Mingzhu Sun Xin Zhao Qili Zhao National Key Laboratory of Intelligent Tracking and Forecasting fo Infectious Diseases Engineering Research Center of Trusted BehaviorIntelligence Ministry of Education Tianjin Key Laboratory of intelligentRobotic (tikLIR) Institute of Robotics and Automatic Information System(IRAlS) Nankai University Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

The dual-arm patch clamp technique, using one micropipette electrode to patch the target cell to record its electric signals with the other micropipette mechanically stimulating the target cell, is a significant technique in neuroscience for studying neuron excitability under mechanical stimulation. A key step for dual-arm patch clamp operation is to coordinate two micropipettes to reach the target cells in the narrow brain tissue environment. The traditional manual operations face issues such as inaccurate workspace estimation, clumsy movements, and collision risks of the two micropipettes, resulting in low operational efficiency. Addressing the above issues, a robotic dual-arm patch clamp method was developed for neuron excitability research under mechanical stimulation in this paper. First, the reachable workspace of the dual-arm was calculated based on a kinematics model. Then, a robotic dual arm patch clamp operation procedure is proposed to approach, whole-cell patch, and mechanically stimulate the target cell. The experiment results on neurons in mouse brain slices show that the success rate of dual micropipette contacting cell surface reaches up to 90%(18/20) at an average speed of 6 mins/cell, which are both significantly improved in comparison to manual operation. An increase in neuron excitability in the primary visual cortex(V1) was found under the mechanical stimulation, proving the feasibility of the proposed system for studying the impact of mechanical stimulation on ion channel activities.

关键词： Robotic Patch Clamp Robotic Cell Measurement Workspace Calculation Whole-cell Recording Mechanical Stimulation

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Design and Experimental Evaluation of a Hexapod Mobile Robot with C-Shaped Legs 8

Design and Experimental Evaluation of a Hexapod Mobile Robot...

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8th IEEE International Conference on Advanced robotics and Mechatronics, ICARM 2023

作者： Wu, Yujie Li, Dangchao Dong, Xia Wang, Xin Zheng, Chunli Zhu, Aibin Zhang, Zheng Zhou, Xu Zhang, Yulin Institute of Robotics & Intelligent Systems Xi'An Jiaotong University Shaanxi Key Laboratory of Intelligent Robots Xi'an710049 China Key Laboratory of Education Ministry for Modern Design and Rotor-Bearing System Xi'an710049 China School of Construction Machinery Chang'An University Xi'an710064 China Xi'An Jiaotong University Xi'an710049 China School of Energy and Power Engineering xi'An Jiaotong University Xi'an710049 China School of Mechanical Engineering Northwestern Polytechnical University Xi'an710072 China Taiyuan Research Institute of China Coal Technology & Engineering Group Co. Ltd Taiyuan030006 China

ISBN: (纸本)9798350300178

Drawing on extant literature on hexapod robots, we present a novel obstacle-crossing hexapod robot that can adapt to multiple terrains. We designed the robot's entire mechanical structure, established a mathematical model for the robot leg, deduced the kinematic equation of the leg, and determined the relationship between the robot's motion speed and the motor angle. Through force analysis of the C-shaped leg, we obtained the function between motor output torque and motion phase. Subsequently, we constructed the physical hexapod robot and conducted performance testing. Our experimental results demonstrate that the hexapod robot can move at a speed of 0.5 m/s and successfully cross a 10 cm obstacle. The robot exhibits excellent movement performance and satisfies the functional requirements. Overall, our design offers a promising approach for developing hexapod robots that can navigate a variety of terrains. © 2023 IEEE.

关键词： Machine design

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A Simple Robotic Cell Transportation Method Based on Narrow-necked Micropipette

A Simple Robotic Cell Transportation Method Based on Narrow-...

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第43届中国控制会议

作者： Shaojie Fu Jinyu Qiu Ripeng Zhu Ruimin Li Detian Zhang Zijian Guo Mingzhu Sun Xin Zhao Qili Zhao National Key Laboratory of Intelligent Tracking and Forecasting folnfectious Diseases Engineering Research Center of Trusted Behavior IntelligenceMinistry of EducationTianjin Key Laboratory of Intelligent Robotic (tikLIR)Institute of Robotics and Automatic Information System(IRAIS)Nankai University Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

Cell transportation has a wide range of applications in biological and medical research.A key step in cell transportation is to aspirate a single cell into micropipette and hold it at a designated *** current manual operations highly rely on the experience of the experimenters,while automated operations rely on complex control algorithms,which limits the promotion and application of transportation *** paper proposes a simple robotic cell transportation method using narrow-necked micropipette to address this ***,this paper proposes a fabrication method of a narrow-necked micropipette,which is developed to aspirate in and accurately stop cell at the designated narrow-necked ***,whether the cell has been stuck at the designated narrow-neck position is detected based on the changes in image ***,the minimum aspiration force for the cell to be held at the designated narrow-necked position is determined to reduce mechanical damage to the *** to the experimental results of 12 porcine oocytes,this method can aspirate the cell in and hold the designated position in 1.803 seconds on average,which is about 2 times faster than the commonly used transportation methods,and the success rate of cell holding reaches up to 100%.

关键词： Narrow-necked micropipette cell transportation position detection minimal injury holding force

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Nash Pursuit Strategy for Nonzero-Sum MPC Game via Inverse Optimal Control 13

Nash Pursuit Strategy for Nonzero-Sum MPC Game via Inverse O...

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13th Asian Control Conference, ASCC 2022

作者： Qiu, Tianyu Zhang, Han Wang, Jingchuan Department of Automation School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University Shanghai China Institute of Medical Robotics Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China

ISBN: (纸本)9788993215236

In this paper, a traditional one v.s. one pursuit and evasion scenario is considered. The evader aims to reach her target and avoid being captured by the pursuer, while the pursuer, without the knowledge of the evader's cost function, intends to capture the evader before she successfully escapes. We formulate this problem as a Model Predictive Control Decoupled Pursuit and Evasion Game (MPC-DPEG) model with incomplete information. We apply Inverse Optimal Control (IOC) technique to estimate the evader's cost function and give a Nash pursuit strategy for MPC-DPEG as the optimal strategy for the pursuer. Numerical examples reveal the improvement of pursuit performance of the Nash pursuit strategy based on the estimated cost function over naive pursuit strategies. © 2022 ACA.

关键词： Simulation Optimal control Games Predictive models Cost function Numerical models Predictive control

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Material Removal Mechanism and Microstructure Fabrication in Micro-Milling of Glow Discharge Polymer (GDP)

SSRN

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SSRN 2022年

作者： Wang, Guangzhou Yu, Tianyu Zhou, Xingying Guo, Ruiyang Chen, Mingjun Sun, Yazhou School of Mechatronics Engineering Harbin Institute of Technology Heilongjiang Harbin150001 China State Key Laboratory of Robotics and System Harbin Institute of Technology Heilongjiang Harbin150001 China

Glow discharge polymer (GDP) is an essential material for target ball applied in inertial confinement fusion (ICF). The processing quality of GDP material directly affects its high energy performance. Machinability and material removal mechanism are critical to attain a high processing quality during micro cutting. In this work, a comprehensive study of the machinability and removal mechanism of GDP material is conducted. Mechanical properties of GDP, such as elastic modulus, hardness and elastic recovery rate, were investigated first using nanoindentation experiments. Micro milling experiments were performed using micro ball end milling. Chip modes, machined surface morphology and their formation mechanism are emphatically analyzed. An geometric model for calculating undeformed chip area removed by ball end mill was proposed for analyzing the specific cutting force. Additionally, the effects of minimum uncut chip thickness (MUCT) threshold and size effect on the machining quality of GDP material were also studied. By comprehensively analyzing chip morphology, cutting force, specific cutting force as well as surface integrity, the cutting mechanism of GDP material can be roughly divided into the ploughing dominated, the ploughing-shearing coexist and the shearing dominated Below normalized MUCT threshold of 0.339, the size effect is obvious. When the ratio of feed per tooth to cutting edge radius is up to 0.714, the size effect has little influence on the machining of GDP material. At the end, micro dimples were fabricated on the GDP surface by ball end milling. The surface quality of machined micro dimples indicates that the ploughing effect and size effect have significant impact on machining micro-dimpled structures in ploughing dominated mode. The parameters (e.g. step or pitch distance) of specific machining ways (e.g. layer milling or spiral milling) are the main factors affecting machining micro dimples in shearing dominated mode. © 2022, The Authors. All rig

关键词： Surface morphology

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Moobot: a miniature origami omnidirectional jumping robot with high trajectory accuracy

TechRxiv

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TechRxiv 2022年

作者： Tang, Lingqi Li, Yao Li, Bing School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen Shenzhen518055 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

The jumping trajectory control is important for the jumping robots to overcome different obstacles. However, the trajectory control of a micro jumping robot is not easy. No insect-scale jumping robots have demonstrated the precise trajectory following yet. We proposed a miniature origami omnidirectional jumping robot (Moobot) that achieved the feedback control of jumping trajectory. The jumping of the robot is based on a four-bar origami structure and the SMA actuators. Unlike the tethered micro robots that powered externally, we integrated a miniature control board with LiPo battery on the robot for remote control. The overall system measured 6 g in mass, 5.5 cm in length and 2cm in height. Two strain gauges and an IMU sensor were used on the robot for the feedback control of the jumping force and take-off angle, respectively. Meanwhile, a reliable jumping mechanism and a novel supporting leg were designed to improve the jumping stability and trajectory accuracy. The standard deviation of the jumping distances was less than 1.4 cm, which is greatly improved from all previous micro jumping robots. Furthermore, we integrated the yaw control and conducted the omnidirectional jumping experiments. The results revealed that Moobot could climb different platforms from all directions precisely. © 2022, CC BY.

关键词： Feedback control

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Touch Sensor Based on Highly Compressive Magnetic Foam Composite

Touch Sensor Based on Highly Compressive Magnetic Foam Compo...

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2022 Smart systems Integration, SSI 2022

作者： Diguet, Gildas Froemel, Joerg Muroyama, Masanori Ohtaka, Koichi Division for the Establishment of Frontier Sciences Organization for Advanced Studies Tohoku University Sendai Japan Advanced Institute for Materials Research Tohoku University Sendai Japan Division for the Establishment of Frontier Sciences Organization for Advanced Studies Graduate School of Engineering Tohoku University Sendai Japan Department of Robotics Graduate School of Engineering Tohoku University Sendai Japan Faculty of Engineering Department of Electrical and Electronic Engineering Tohoku Institute of Technology Sendai Japan Micro System Integration Center Tohoku University Sendai Japan

ISBN: (数字)9781665488495

ISBN: (纸本)9781665488495

This article is presenting a soft magnetic layer as a deformation sensor. The capacity of detecting the point of application of the deformation is shown. The cycling effect is studied and signal amplitude during the compression remains almost constant over 10 cycles. As the compression was released, a relaxation of the signal was measured. © 2022 IEEE.

关键词： Tactile sensors

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Lateral Walking Gait Phase Detection with Data Optimization for a Hip Exoskeleton in Resistance Exercise

Lateral Walking Gait Phase Detection with Data Optimization ...

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IEEE Workshop on Advanced robotics and its Social Impacts, ARSO

作者： Wujing Cao Xinbo Zhu Rui Xu Changyu Li Hongliu Yu Mingming Zhang Haoyong Yu Worawarit Kobsiriphat Xinyu Wu Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China SIAT Branch Shenzhen Institute of Artificial Intelligence and Robotics for Society and SIAT-CUHK Joint Laboratory of Robotics and Intelligent Systems. College of Automation Engineering Nanjing University of Aeronautics and Astronautics Jining Zhongke Intelligent Technology Co. Ltd. University of Shanghai for Science and Technology Southern University of Science and Technology Department of Biomedical Engineering National University of Singapore. National Metal and Materials Technology Center Thailand

ISBN: (数字)9798350344639

ISBN: (纸本)9798350344646

The accurate detection of lateral walking gait phases is essential for the effective implementation of hip exoskeleton systems in lateral resistance walking exercises. However, limitations in hardware, such as memory and computing power, in the microcontrollers of wearable devices, significantly impact the size and training speed of the lateral walking gait phase detection model, thus affecting the exoskeleton system. This study proposes a data optimization algorithm that utilizes K-means clustering combined with commonly used machine learning algorithms, including Random Forests (RF), Support Vector Machines (SVM), and k-Nearest Neighbors (KNN), to reduce both the training time and size of the model. With the implementation of this algorithm, the training time and model size of RF, SVM, and KNN-based models are reduced by 89.6%, 99.8%, and 97.9%, and 89.6%, 92.7%, and 95.2% respectively. The corresponding gait phase prediction accuracy experiences only a slight decrease of 1.6%, 1.7%, and 2.8% respectively. This method ensures a sufficiently high accuracy in detecting lateral walking gait phases while simultaneously achieving higher efficiency and a smaller model size.

关键词： Legged locomotion Training Support vector machines Solid modeling Machine learning algorithms Accuracy Exoskeletons

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Reviewing Fault Diagnosis Methods in Electric Drives: Power Subsystem and Electrical Machine

Reviewing Fault Diagnosis Methods in Electric Drives: Power ...

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Annual Siberian Russian Workshop on Electron Devices and Materials (EDM)

作者： Galina Demidova Hao Chen Yibin Li Dmitry Lukichev Alecksey Anuchin Faculty of Control System and Robotics ITMO University Saint-Petersburg Russia School of Electrical and Power Engineering China University of Mining and Technology Xuzhou China Institute of Marine Science and Technology Shandong University Shandong China Department of Electric Drives Moscow Power Engineering Institute Moscow Russia

This paper provides a review of popular fault diagnosis methods in the power subsystem and electrical machine of electric drives. The review aims to explore the different approaches used to detect faults in these components and the most common types of faults encountered in electric drives. The paper first provides an overview of the power subsystem and electrical machine and their respective functions within the electric drive system. It then proceeds to discuss the different types of faults that can occur in these components, including overvoltage, undervoltage, overcurrent, and short circuits. The review evaluates the various fault diagnosis methods available for these components, including model-based, signal-based, and artificial intelligence-based approaches. Model-based approaches use mathematical models of the system to detect and diagnose faults. Signal-based approaches rely on the analysis of measured signals to detect changes in system behavior that indicate a fault. Artificial intelligence-based approaches use machine learning algorithms to identify patterns in data and detect faults. Model-based approaches are highly accurate but can be computationally intensive. Signal-based approaches are less computationally intensive but may be less accurate in certain situations. Artificial intelligence-based approaches are versatile but require significant amounts of data for training. This review provides a comprehensive overview of the current state-of-the-art in fault diagnosis methods for the power subsystem and electrical machine of electric drives. The review concludes by suggesting potential areas for future research to further improve the accuracy and efficiency of fault diagnosis methods for electric drives.

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Analysis of Kinematic Relationship of Superposition Cooperative Dual-Industrial Robot 2020

Analysis of Kinematic Relationship of Superposition Cooperat...

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2020 International Conference on Computers, Information Processing and Advanced Education, CIPAE 2020

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

ISBN: (纸本)9781450372022

With the increasing complexity of manufacturing process, the ability of a single robot is not enough for the current diversified production environment and tasks, so the research on multi-robot technology is increasingly important. This article selects the most widely used superposition cooperative dual robot as the object, studies a base-based calibration algorithm based on the space common target coordinate system, and then establishes the trajectory constraint relationship of the dual robot on this basis, which provides theoretical basis for teaching work. Finally, the correctness of the algorithm is verified by simulation software. © 2020 ACM.

关键词： Industrial robots

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