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Towards understanding the surface rippling process by periodic reciprocal nanoscratching

Friction 2023年第10期11卷 1815-1828页

作者： Zihan LI Yongda YAN Jiqiang WANG Chen LI Yanquan GENG State Key Laboratory of Robotics and Systems Robotics InstituteHarbin Institute of TechnologyHarbin 150080China Center for Precision Engineering Harbin Institute of TechnologyHarbin 150001China

The bundle structure formed perpendicular to the scratching direction is a type of wear-induced structure for *** this study,the formation mechanism of bundle structures on polycarbonate(PC)surfaces is investigated by reciprocal scratching *** on the analysis of the morphologies,friction forces,and height signals,the formation of the bundle structure is *** influence of scratching parameters,including the feed value and scratching direction,on the formation of the bundle structure is also *** is found that the bundle structure is accumulated by the continuous stacking of the sample materials plowed by the tip in stick–slip motion,and that the stick–slip behavior is enhanced with increased scratching *** work reproduces the formation process of bundle structure in experiments for the first time and demonstrates that the stick–slip enhancement mechanism exists in the reciprocal scratching process,providing further insight into the friction behavior of polymers.

关键词： atomic force microscopy(AFM) bundle structures stick-slip friction force

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Watt Linkage–Based Legged Deployable Landing Mechanism for Reusable Launch Vehicle: Principle, Prototype Design, and Experimental Validation

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engineering 2023年第1期20卷 120-133页

作者： Haitao Yu Baolin Tian Zhen Yan Haibo Gao Hongjian Zhang Huiqiang Wu Yingchao Wang Yuhong Shi Zongquan Deng State Key Laboratory of Robotics and Systems Harbin Institute of TechnologyHarbin 150080China Beijing Institute of Aerospace Systems Engineering Beijing 100076China

The reusable launch vehicle (RLV) presents a new avenue for reducing cost of space transportation. The landing mechanism, which provides landing support and impact absorption, is a vital component of the RLV at final stage of recovery. This study proposes a novel legged deployable landing mechanism (LDLM) for RLV. The Watt-II six-bar mechanism is adopted to obtain the preferred configuration via the application of the linkage variation approach. To endow the proposed LDLM with advantages of large landing support region, lightweight, and reasonable linkage internal forces, a multi-objective optimization paradigm is developed. Furthermore, the optimal scale parameters for guiding the LDLM prototype design is obtained numerically using the non-dominated sorting genetic algorithm-II (NSGA-II) evolutionary algorithm. A fully-functional scaled RLV prototype is developed by integrating the gravity-governed deploying scheme to facilitate unfolding action to avoid full-range actuation, a dual-backup locking mechanism to enhance reliability of structure stiffening as fully deployed, and a shock absorber (SA) with multistage honeycomb to offer reliable shock absorbing performance. The experimental results demonstrate that the proposed LDLM is capable of providing rapid and smooth deployment (duration less than 1.5 s) with mild posture disturbance to the cabin (yaw and pitch fluctuations less than 6°). In addition, it provides satisfactory impact attenuation (acceleration peak less than 10g (g is the gravitational acceleration)) in the 0.2 m freefall test, which makes the proposed LDLM a potential alternative for developing future RLV archetype.

关键词： Reusable launch vehicle(RLV) Deployable mechanism Optimization desi gn

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Hybrid Robotic Arm for Autonomous Aerial Refueling

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Chinese Journal of Mechanical engineering 2024年第6期37卷 429-440页

作者： Kaixuan Li Gangfeng Liu Yongsheng Gao Jie Zhao State Key Laboratory of Robotics and Systems Harbin Institute of TechnologyHarbin 150080China School of Mechatronics Engineering Harbin 150080China

Autonomous aerial refueling technology is gaining increasing attention to enhance aircraft combat *** research on autonomous refueling focuses mainly on flight control laws,with little attention to the automation of refueling *** leads to high demands on control law performance and navigation accuracy,making it difficult to ensure *** address this,we propose a robotic arm system capable of automatic docking during the flexible aerial refueling *** system uses a conical kinematic space configuration,offering enhanced stability and impact *** frame-type structure achieves a lightweight ***,we establish a single-objective optimization model for the connecting rod dimensions and apply a genetic algorithm(GA)for their *** also propose a trajectory-fitting calibration theory based on the robotic arm's special configuration and complete its movement accuracy calibration using a laser *** calibration method reduces the robotic arm's motion error by 71%,achieving an absolute positioning accuracy better than 3.5 mm,which meets the requirements for autonomous aerial *** summary,this research presents a hybrid robotic arm that meets automatic docking requirements,offering a new approach to autonomous aerial refueling.

关键词： Autonomous aerial refueling Conical kinematic space configuration Optimization of structural design Calibration method

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Understanding the Machining Process of Hierarchical Micro/Nanograting Structures Used for Optical Variable Device

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Chinese Journal of Mechanical engineering 2025年第1期38卷 161-185页

作者： Yanquan Geng Wenhan Zhu Xiaosong Zhang Aoxiang Zhang Yongda Yan Hailong Cui Bo Xue Jiqiang Wang TState Key Laboratory of Robotics and Systems Robotics InstituteHarbin Institute of TechnologyHarbin 150080China Sichuan Precision and Ultra-Precision Machining Engineering Technology Center Chengdu 610200China College of Mechanical and Electrical Engineering Northeast Forestry UniversityHarbin 150040China

Hierarchical micro/nanograting structures have attracted increasing attention owing to their significant applications in the fields of structural coloring,anti-counterfeiting,and ***,the fabrication of hierarchical micro/nanograting structures is important for these *** this study,a strategy for machining hierarchical micro/nanograting structures is developed by controlling the tool movement trajectory.A coupling Euler-Lagrange finite element model is established to simulate the machining *** effect of the machining methods on the nanograting formation is demonstrated,and a suitable machining method for reducing the cutting force is *** height of the nanograting decreases with an increase in the tool edge ***,optical variable devices(OVDs)are machined using an array overlap machining *** schemes for the parallel column unit crossover and column unit in the groove crossover are designed to achieve high-quality machining of *** coloring of the logo of the Harbin institute of Technology and the logo of the centennial anniversary of the Harbin institute of Technology on the surface of metal samples,such as aluminum alloys,is *** findings of this study provide a method for the fabrication of hierarchical micro/nanograting structures that can be used to prepare OVDs.

关键词： Hierarchical micro/nanograting structures Optical variable devices Finite element simulation Tool trajectory controlling

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JADFER: Exploring Spatial-Contextual Interaction with Joint Attention Dropping for Facial Expression Recognition

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IEEE Transactions on Affective Computing 2024年第02期16卷 655-668页

作者： Gao, Yu Ren, Weihong Jiang, Weibo Dong, Qian Nie, Wei Wu, Wenhao Liu, Honghai Harbin Institute of Technology State Key Lab of Robotics and Systems School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen518055 China

Facial Expression Recognition (FER) aims to categorize emotional expressions depicted on a human face, and is a challenging task under unconstrained conditions, such as face occlusions and pose variations. Recent methods usually adopt self attention or cross attention to explore global or local relationships among different level features. However, these methods are inclined to focus on the redundant facial regions, causing model overfitting. To address this problem, we propose a new FER model named JADFER, which drops the joint attention in the weight matrix to adaptively enhance facial expression representations. Specifically, our JADFER model consists of three components: Spatial Branch (SB), Contextual Branch (CB), and Spatial-Contextual Interaction (SCI). Firstly, SB runs N paths in parallel, where a Variety loss is designed to guide the paths of SB to focus on different discriminative regions. Meanwhile, CB abstracts the contextual facial representations using self attention with Joint Attention Dropping (JAD). Then, the SCI adopts the spatial features from SB to query the contextual representations from CB through cross attention with JAD, which regulates the attention weights by dropping the similar activations to further enhance the facial embeddings. Experimental results demonstrate that the proposed model outperforms the state-of-the-art methods on several FER benchmarks. © 2010-2012 IEEE.

关键词： Face recognition

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Light-driven high-precision cell adhesion kinetics

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Light(Science & Applications) 2022年第10期11卷 2256-2257页

作者： Zhiyuan Zhang Daniel Ahmed Acoustic Robotics Systems Laboratory Institute of Robotics and Intelligent SystemsDepartment of Mechanical and Process EngineeringETH ZurichS?umerstrasse 4CH-8803 ZurichSwitzerland

Existing single-cell adhesion kinetics methods are performed under conditions highly unlike the physiological cell adhesion ***,researchers have developed a new optical technique for high-precision measurement of cell... 详细信息

关键词： conditions. kinetics formed

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Quenched PVDF/PMMA Porous Matrix for Triboelectric Energy Harvesting and Sensing

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Energy & Environmental Materials 2025年第1期8卷 229-238页

作者： Assem Mubarak Bayandy Sarsembayev Yerzhigit Serik Abdirakhman Onabek Zhanat Kappassov Zhumabay Bakenov Kazuyoshi Tsuchiya Gulnur Kalimuldina Department of Mechanical and Aerospace Engineering School of Engineering and Digital Sciences Nazarbayev University Institute of Smart Systems and Artificial Intelligence Nazarbayev University Department of Robotics Engineering School of Engineering and Digital Sciences Nazarbayev University Department of Chemical and Materials Engineering School of Engineering and Digital Sciences Nazarbayev University Micro/Nano Technology Center Tokai University

The rapid development of nanotechnology has significantly revolutionized wearable electronics and expanded their *** introducing innovative solutions for energy harvesting and autonomous sensing,this research presents a cost-effective strategy to enhance the performance of triboelectric nanogenerators(TENGs).The TENG was fabricated from polyvinylidene fluoride(PVDF) and N,N'-poly(methyl methacrylate)(PMMA) blend with a porous structure via a novel optimized quenching method.

关键词： N,N′-poly(methyl methacrylate) (PMMA) robotic tactile sensors polyvinylidene fluoride (PVDF) quenching triboelectric nanogenerators (TENGs)

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Leader-follower:Human-centered intention-guided controller for novel SuperLimb with application to load-carrying scenarios

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Science China(Technological Sciences) 2025年第1期68卷 321-334页

作者： Qinghua ZHANG Xianglong LI Hongwei JING Kerui SUN Yuancheng LI Sikai ZHAO Lele LI Haotian JU Ziqi WANG Rui WU Tianjiao ZHENG Jie ZHAO Yanhe ZHU The State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China The Learning Algorithms and Systems Laboratory School of EngineeringÉcole Polytechnique Fédérale de LausanneLausanne CH 101510587Switzerland

Supernumerary robotic arms(SuperLimb)are a new type of wearable robot that works closely with humans as a third hand to augment human operation *** conveyance of wearers'intentions,allocation of roles,and humancentered interaction considerations are the key points in the process of human-SuperLimb *** paper proposes a human-centered intention-guided leader-follower controller that relies on the dynamic modeling of SuperLimb with application to load-carrying *** proposed leader-follower controller takes the human as the leader and the SuperLimb as the follower,achieving effective information communication,autonomous coordination,and good force compliance between SuperLimb,humans,and the environment under human safety ***,the human-SuperLimb dynamic system is modeled to achieve force interaction with the environment and ***,to achieve the precise intention extraction of humans,pose data from five visual odometry sensors are fused to capture the human state,the generalized position,the velocity of hands,and the surface electromyography signals from two myoelectric bracelets sensors are processed to recognize the natural hand gestures during load-carrying scenarios by a designed Swin transformer ***,based on the real-time distance detection between human and mechanical limbs,the security assurance and force-compliant interaction of the human-SuperLimb system are ***,the human hand muscle intention recognition,human-robot safety strategy verification,and comparative load-carrying experiments with and without the proposed method are conducted on the SuperLimb *** showed that the task parameters are well estimated to produce more reasonable planning trajectories,and SuperLimb could well understand the wearer's intentions to switch different SuperLimb *** proposed sensor-based human-robot communication framework motivates future studies of other collaboration scenes fo

关键词： SuperLimb leader-follower human intention estimation human-robot safety human-robot communication

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引用

43rd Chinese Control Conference, CCC 2024

作者： Chen, Zhen-Peng Li, Hong-Yue Song, Tian-Shu Hou, Hui-Rang Meng, Qing-Hao Institute of Robotics and Autonomous Systems School of Electrical and Information Engineering Tianjin University Tianjin300072 China

ISBN: (纸本)9789887581581

Detecting ignitable liquids (ILs) at the fire scene is essential for fire investigation. Electronic nose (e-nose) plays a crucial role in the detection of ILs due to its low cost and rapid response. However, when we used different e-noses with the same sensor array (i.e., identical model and number of gas sensors) and running the same algorithm to identify the same ILs, we found that the identification results were different because of the poor consistency of the gas sensors used in the e-noses. To address the issue of ILs identification across e-noses, we built a platform for sensor similarity detection, which is used to reject sensors with large differences. Based on this platform, we constructed a similarity dataset using eight types of gas sensors (each containing eight sensors) to collect samples of four ILs (ethanol, gasoline, diesel and thinner). Moreover, a multi-branch residual convolutional neural network for evaluating sensor similarity was proposed. Comparative experiments on the dataset show that compared with the two-dimensional convolutional neural network (2D-CNN) and multilayer perceptron (MLP), the average accuracy of similarity evaluation of our method is improved by 13.1 % and 3.23 %, respectively. © 2024 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Convolutional neural networks

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Recent Developments in Metallic Degradable Micromotors for Biomedical and Environmental Remediation Applications

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Nano-Micro Letters 2024年第3期16卷 1-35页

作者： Sourav Dutta Seungmin Noh Roger Sanchis Gual Xiangzhong Chen Salvador Pané Bradley J.Nelson Hongsoo Choi Department of Robotics and Mechatronics Engineering Daegu Gyeongbuk Institute of Science and Technology(DGIST)Daegu 42988Republic of Korea DGIST‑ETH Microrobotics Research Center DGISTDaegu 42988Republic of Korea Multi‑Scale Robotics Lab Institute of Robotics and Intelligent SystemsETH Zurich8092 ZurichSwitzerland Institute of Optoelectronics State Key Laboratory of Photovoltaic Science and TechnologyShanghai Frontiers Science Research Base of Intelligent Optoelectronics and PerceptionFudan UniversityShanghai 200433People’s Republic of China

Synthetic micromotor has gained substantial attention in biomedicine and environmental ***-based degradable micromotor composed of magnesium(Mg),zinc(Zn),and iron(Fe)have promise due to their nontoxic fuel-free propulsion,favorable biocompatibility,and safe excretion of degradation products Recent advances in degradable metallic micromotor have shown their fast movement in complex biological media,efficient cargo delivery and favorable biocompatibility.A noteworthy number of degradable metal-based micromotors employ bubble propulsion,utilizing water as fuel to generate hydrogen *** novel feature has projected degradable metallic micromotors for active in vivo drug delivery *** addition,understanding the degradation mechanism of these micromotors is also a key parameter for their design and *** propulsion efficiency and life span govern the overall performance of a degradable metallic *** we review the design and recent advancements of metallic degradable ***,we describe the controlled degradation,efficient in vivo drug delivery,and built-in acid neutralization capabilities of degradable micromotors with versatile biomedical ***,we discuss micromotors’efficacy in detecting and destroying environmental ***,we address the limitations and future research directions of degradable metallic micromotors.

关键词： Magnesium Zinc Iron Biodegradable microrobot Biomedical Environmental

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