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Chinese Control and Decision Conference, CCDC

作者： Zhenlin Dong Shiqian Wu Institute of Robotics and Intelligent System School of Information Science and Engineering Wuhan University of Science and Technology Wuhan China

Aiming at the problem of how to determine the hidden layer structure of radial basis function (RBF) neural network, an RBF neural network algorithm based on entropy and sensitivity analysis is proposed to optimize the network structure. Firstly, an entropy-based initial clustering is proposed to get the number and position of the initial clustering centers which serve as the input to the K-means algorithm. Secondly, a hidden node deletion method based on sensitivity analysis is proposed to analyze the weight and standard deviation between the hidden layer with the output layer, and the hidden nodes which have low contributions to the network will be removed. Simulation experiments on the nonlinear function approximation and the nonlinear dynamic system identification are set to verify the proposed method. Experimental results show that the proposed method achieves stronger approximation ability and better identification effect than the state-of-the-art methods.

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Neural oscillator network-based controller for meandering locomotion of snake-like robots

Neural oscillator network-based controller for meandering lo...

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IEEE International Conference on robotics and Automation (ICRA)

作者： K. Inoue Shugen Ma Chenghua Jin Department of System Engineering Ibaraki University Hitachi Japan Robotics Laboratory Shenyang Institute of Automation Shenyang China

In this paper, we propose a control architecture for meandering locomotion of snake-like robots based on neural oscillator network (NON). The proposed architecture is composed of a network of central pattern generators (CPGs) to realize propagation of purposive oscillation with specific phase shift. By implementing this architecture to a simulator with consideration of mechanical dynamics of a real snake-like robot, we present realization of meandering motion and preliminary policies about parameter settings of the NON. Moreover, we present that real robot can successfully exhibit meandering movement by using controller output of the proposed architecture.

关键词： Oscillators Robot kinematics Mobile robots Legged locomotion robotics and automation Distributed control Automatic control Programmable control Adaptive control Animals

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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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Tunable Rectification of Diffusion-Wave Fields by Spatiotemporal Metamaterials

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Physical Review Letters 2022年第25期129卷 256601-256601页

作者： Jiaxin Li Zhanxiang Zhang Guoqiang Xu Haoran Sun Lizhou Dai Tianlong Li Cheng-Wei Qiu Department of Electrical and Computer Engineering National University of Singapore Singapore 117583 Singapore State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

The diffusion process is the basis of many branches of science and engineering, and generally obeys reciprocity between two ports of a linear time-invariant medium. Recent research on classical wave dynamics has explored the spatiotemporal modulation to exhibit preferred directions in photons and plasmons. Here we report a distinct rectification effect on diffusion-wave fields by modulating the conductivity and observe nonreciprocal transport of charges. We experimentally create a spatiotemporal diffusion metamaterial, in which a mode transition to zero frequency is realized. A direct current component thereby emerges, showcasing a biased effect on the charge diffusion when the incident fundamental frequency is a multiple of the system modulation frequency. These results may find applications spanning a plethora of diffusive fields in general.

关键词： Diffusion Metamaterials Bloch-Floquet theorem

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Mobility Performance Analysis of Lunar Rover Based on Terramechanics

Mobility Performance Analysis of Lunar Rover Based on Terram...

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2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Pages 1-476

作者： Peng Zhang Zongquan Deng Ming Hu Haibo Gao State Key Laboratory of Robotics and System School of Mechatronics Engineering Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)9781424424948

In order to analyze the performance of lunar rover, drawbar pull and motion resistance are analyzed in this paper based on terramechanics. The relationships between configuration parameters (like wheel width, wheel bases et al.) and mobility performance parameters are obtained from the analysis. Meanwhile, the sensitive factors of the motion resistance are found. Then main performance evaluation metrics and indexes of mobility performance are presented, based on which performance comparison of LER-1 and ALR (a new configuration lunar rover) locomotion systems is performed. The method of evaluating mobility performance of lunar rover by simulation is introduced. The analysis results indicate that the new locomotion system configuration ALR has good mobility performance. The study results can apply to the design of planetary exploration rovers for reference.

关键词： mobility performance performance evaluation locomotion system terramechanics lunar rover

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Calculation of the intracellular elastic modulus based on an atomic force microscope micro-cutting system

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Chinese Science Bulletin 2012年第36期57卷 1868-1872页

作者： YU Miao WANG JingHe WANG HongXiang LIU Li YAN YongDa ZHANG JunJie LIANG YingChun DONG Shen State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China Center for Precision Engineering Harbin Institute of TechnologyHarbin 150001China The Fourth Department of Neurosurgery the First Affiliated Hospital of Harbin Medical UniversityHarbin 150001China

Better understanding of variations in the mechanical properties of cancer cells could help to provide novel solutions for the diagnosis,prevention,and treatment of *** therefore developed a calculation model of the intracellular elastic modulus based on the contact pressure between the silicon tip of an atomic force microscope and the target cells,and cutting *** cells(UACC-1598) and colon cancer cells(NCI-H716) were cut into sequential layers using an atomic force microscope silicon *** cutting area on the cells was 8μm×8μm,and the loading force acting on the cells was increased from 17.523 to 32.126μ*** elastic modulus distribution was measured after each cutting *** were significant differences in contact pressure and cutting depth between different cells under the same loading force,which could be attributed to differences in their intrinsic structures and mechanical *** differences between the average elastic modulus and surface elastic modulus for UACC-1598 and NCI-H716 cells were 0.288±0.08 kPa and 0.376±0.16 kPa,*** results demonstrate that this micro-cutting method can be used to measure intracellular mechanical properties,which could in turn provide a more accurate experimental basis for the development of novel methods for the diagnosis and treatment of various diseases.

关键词：原子力显微镜弹性模量计算模型实验基础细胞内切削系统力学性能变化接触压力

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Motion control of an underactuated spherical robot: A hierarchical sliding-mode approach with disturbance estimation

Motion control of an underactuated spherical robot: A hierar...

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2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Liu, Baoyin Yue, Ming Liu, Rong School of Automotive Engineering Dalian University of Technology Dalian Liaoning Province 116024 China School of Electronic and Information Engineering Dalian University of Technology Dalian Liaoning Province 116024 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province 150001 China

ISBN: (纸本)9781467312776

The inner suspension of a spherical robot undergoes an underactuated state which will be difficult for the underactuated system control, when the robot is rolling ahead. To resolve this underactuated control problem, an adaptive hierarchical sliding mode control scheme is proposed. The spherical robot system is separated as shell subsystem and inner suspension subsystem according to the movement. Then a pair of first layer sliding surfaces is defined for each subsystem, by which the equivalent control law is derived to ensure states of each subsystem approaching to their own sliding mode surface. Based on the first layer sliding surface, a second layer surface is defined correspondingly, through which a total control law is given to make sure that all states can converge to their desired value via Lyapunov stability theorem. Meanwhile, considering the unavoidable and uncertain disturbance in the unstructured exploration environment, an adaptive hierarchical sliding mode control scheme is adopted to estimate the uncertain disturbances in real-time. Finally, the simulation results demonstrate the controller's adaptability and validity. © 2012 IEEE.

关键词： Spheres

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Automatic bone drilling in orthopedic surgery. overcoming of the drill bit bending at the second cortex 4

Automatic bone drilling in orthopedic surgery. overcoming of...

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4th International Workshop on Computer Science and engineering - Summer, WCSE 2014

作者： Boiadjiev, George Delchev, Kamen Boiadjiev, Tony Zagurski, Kazimir Kastelov, Rumen Analytical Mechanics Department Faculty of Mathematics and Informatics Sofia University Sofia Bulgaria Institute of Mechanics - BAS Sofia Bulgaria Institute of Information and Communication Technologies - BAS Sofia Bulgaria Institute of System Engineering and Robotics - BAS Sofia Bulgaria Orthopaedic Trauma Clinic University Hospital for Emergency Medicine PIROGOV Sofia Bulgaria

This paper discusses a problem appeared by drill bit bending during bone drilling in the orthopedic surgery, where precision is needed for screws to be implanted. The bone surface has a specific shape and the drill bit may slip a little along the bone before the process start, when a large thrust force is applied by hand-drilling. That could be seen and correct by the surgeon. But he can't see inside - where the second cortex drilling starts. The drill bit bending leads to the worse screw fixation and even to the bone damage - if the drill bit stays off broken inside. To solve this problem an active force control is made by robot application. Experiments and results are presented.

关键词： Screws

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Dynamical Modeling and Numerical Simulation of Water Discharge Process of Spherical Objects 20

Dynamical Modeling and Numerical Simulation of Water Dischar...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Zhong, Lin Dong, Jiawei Liu, Jiabin Wang, Wei Wu, Riyue Wang, Shuqi Zhang, Tao Guangdong University of Technology State Key Laboratory of Precision Electronic Manufacturing Technology and Equipment Guangzhou China Guangdong University of Technology School of Electromechanical Engineering Guangzhou China Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9798350320831

The process of an object leaping out of the water is very similar to the jumping process of an aquatic animal during prey or avoid predators. The study of the process of an object leaping out of the water is beneficial to the design of robots jumping out of water. In this work, the free jump of a sphere out of the water is successfully simulated based on the Computational Fluid Dynamics (CFD) software Fluent, with User-Defined Functions to control the motion of the sphere, the volume of Fluid model, dynamic meshing, and Detached Eddy Simulation. The velocity of the sphere at the water-air interface and the height of the sphere leaping out from the water surface obtained from the numerical simulation are compared with experimental results. The maximum error between the experimental and the simulated results is 2.28% in the water-discharge velocity and 2.65% in the leaping height from the water surface. In addition, this paper model the dynamics of the sphere during the water discharge process. The paper also analyses the free deformation of water surface, the water film rupture process on the surface of the sphere, the variation of fluid drag on the sphere, and the variation of the fluid velocity field during the free ascent of the sphere after acquiring an initial velocity of 2.81 m/s. © 2023 IEEE.

关键词： Computer software

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Deploying dynamics experiment of tape-spring hinges for deployable mechanism 32

Deploying dynamics experiment of tape-spring hinges for depl...

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32nd Youth Academic Annual Conference of Chinese Association of Automation, YAC 2017

作者： Hui, Yang Ruipeng, Zhang Zhanwen, Fan Yan, Wang Rongqiang, Liu College of Electrical Engineering and Automation Anhui University Hefei230601 China China Electronics Technology Group Corporation No.38 Research Hefei230088 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

ISBN: (纸本)9781538629017

Flexible tape-spring hinges can be folded elastically and are able to self-deploy by releasing stored strain energy with fewer component parts and slight weights. Deploying dynamic experimental setup is designed and constructed to analyze the dynamic behaviors. A Phantom V12.1 high-speed camera was applied to record the deployment of the tape-spring hinge. Deployment dynamics behaviors of opposite-sense and equal-sense bending for single tape-spring (STS) hinge, single-layer tape-spring (SLTS) hinge, equal and non-equal thickness double-layer tape-spring (DLTS) hinge were investigated by experiments. © 2017 IEEE.

关键词： Strain energy

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