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

作者： Liao, Haisu Wang, Yidi Shi, Qiuyu Huang, Ruisen Gao, Fei Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy System

ISBN: (纸本)9798350320831

The concept of extracting energy from the human body to recharge depleted energy sources has gained significant attention. Recently, scientists have focused on harnessing biomechanical energy from the human body while walking. The aim of this study is to optimize a piezoelectric bending beam-based human knee energy harvester to enhance performance. Specifically, the shape of the bending beam (the substrate: a carbon fiber plate) is optimized to modulate the deformation, such that the average strain of the piezoelectric macro fiber composites (MFC) attached to the bending beam is improved to generate more electricity. In addition, the effects of the substrate's thickness and the hinge base's height for the bending beam on the output power are also analyzed. Experimental testing on a subject is conducted to validate our design and test the performance. The harvester generates an average power output of 24.55 mW when walking at 4 km/h on a treadmill. The harvester's total weight is 278g. © 2023 IEEE.

关键词： Energy harvesting

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Proprioceptive Sensor-Based Simultaneous Multi-Contact Point Localization and Force Identification for robotic Arms

Proprioceptive Sensor-Based Simultaneous Multi-Contact Point...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Seo Wook Han Min Jun Kim Intelligent Robotic Systems Laboratory Korea Advanced Institute of Science and Technology Daejeon Republic of Korea

In this paper, we propose an algorithm that estimates contact point and force simultaneously. We consider a collaborative robot equipped with proprioceptive sensors, in particular, joint torque sensors (JTSs) and a base force/torque (F/T) sensor. The proposed method has the following advan-tages. First, fast computation is achieved by proper preprocessing of robot meshes. Second, multi-contact can be identified with the aid of the base F/T sensor, while this is challenging when the robot is equipped with only JTSs. The proposed method is a modification of the standard particle filter to cope with mesh preprocessing and with available sensor data. In simulation validation, for a 7 degree-of-freedom robot, the algorithm runs at 2200Hz with 99.96% success rate for the single-contact case. In terms of the run-time, the proposed method was ≥3.5X faster compared to the existing methods. Dual and triple contacts are also reported in the manuscript.

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A Learning Human-Based Method For Peg-In-Hole Assembly Using ELM

A Learning Human-Based Method For Peg-In-Hole Assembly Using...

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2023 IEEE International Conference on Real-Time Computing and robotics, RCAR 2023

作者： Sheng, Juyi Liu, Sheng Zhu, Bing Zhu, Chi Ou, Yongsheng Chinese Academy of Sciences Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Shenzhen518055 China University of Chinese Academy of Sciences Beijing101408 China Maebashi Institute of Technology Japan

ISBN: (纸本)9798350327182

This paper focuses on using sensor information to adjust the position for assembly in the presence of uncertainty error in vision. Firstly, a human demonstration of the peg-in-hole assembly is provided, and the data is collected for the next step of training. We start with a human demonstration and collect training data. A network is trained with 6D Force/Torque sensor (F/T sensor) as input and a strategy of which direction the robot end-effector needs to move as output. An algorithm using Extreme Learning Machines (ELM) search is proposed. This is a human-like method of searching for holes. We validated the effectiveness of our method on a KUKA iiwa 7 robot arm. © 2023 IEEE.

关键词： End effectors

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Motion Analysis of Magnetically Controlled Halbach Array

Motion Analysis of Magnetically Controlled Halbach Array

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2023 IEEE International Conference on Real-Time Computing and robotics, RCAR 2023

作者： Li, Yulu Shang, Wanfeng Huang, Wenqiang Liu, Xiaofei Wu, Xinyu South University of Science and Technology of China Shenzhen518055 China Chinese Academy of Sciences Shenzhen Institute of Advanced Technology Shenzhen518055 China Chinese Academy of Sciences Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Shenzhen518055 China

ISBN: (纸本)9798350327182

Magnetic control technology is increasingly used in various fields to achieve more accurate wireless control. Different magnetic field arrangement modes can be selected for control according to different scenes. To acquiring the high maneuver of magnetic actuator and good application adaptability, Permanent Magnet Halbach array (PMHA) is a good choice as a potential robotic actuator. This paper presents the PMHA has more maneuverability and magnetic intensity than single polar magnets. FEM simulations and experiments are made to analyze the static and dynamic performances. Under the control of an external permanent magnet (EPM), the PMHA can achieve two kinds of rotation around different axises except for linear motion along with six arises. The experiments validate PMHA has the multi-mode motion performances and higher magnetic intensity per volume. The result provides its potential application as robotic actuator. © 2023 IEEE.

关键词： Permanent magnets

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Energy-Consumption Optimization Control for Lunar Rover's Travel with Torque-Distribution-strategy in Rear Wheels

Energy-Consumption Optimization Control for Lunar Rover's Tr...

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IEEE International Conference on Control Science and systems Engineering (CCSSE)

作者： Delun Li Jianfei Cao Yiliang Chen Zongwu Xie State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System Engineering Beijing China

ISBN: (数字)9798331517199

ISBN: (纸本)9798331517205

In anticipation of future extensive lunar surface operations, lunar rovers are required to advance towards higher speeds and improved energy conservation. When traveling at high speeds on the lunar surface, the vehicle's energy expenditure is greatly amplified by the influence of the terrain, particularly in conditions where driving and steering are coupled. This paper proposes an energy-saving control strategy for lunar rovers that employs dynamic rear-axle torque distribution, with the goal of optimizing transient energy consumption during travel. To tackle the challenge of non-differentiable functions within the optimization objectives, we suggest using a zeroth-order gradient optimization method for resolution, dynamically constraining the range of control parameters to fulfill the dynamic torque distribution objectives as needed for the task. The energy-saving control effectiveness of the algorithm has been confirmed through simulation, demonstrating a minimum energy-saving ratio of at least 4%, which increases to over 11% as the speed level rises, offering a valuable technical solution for the energy optimization of lunar rovers.

关键词： Space vehicles Energy consumption Torque Distribution strategy Moon Wheels Optimization methods systems engineering and theory Vehicle dynamics Transient analysis

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Walking Control for a Self-Balancing Exoskeleton on Flat Ground

Walking Control for a Self-Balancing Exoskeleton on Flat Gro...

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2023 IEEE International Conference on Real-Time Computing and robotics, RCAR 2023

作者： Li, Jinke Tian, Dingkui Li, Feng Sun, Jianquan Yin, Meng Wu, Xinyu University of Chinese Academy of Sciences Shenzhen College of Advanced Technology Shenzhen518055 China Siat Cuhk Joint Laboratory of Robotics and Intelligent Systems China Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Shenzhen518055 China

ISBN: (纸本)9798350327182

Designed to provide rehabilitation or the assistance of walking for individuals who are with lower limb muscle injuries or spinal during their activities, self-balancing lower limb exoskeletons have been developed. This paper introduces an innovative controller for a fully actuated exoskeleton that ensures stable walking for wearers without the need for external devices. The exoskeleton robot is represented as a center of mass model, and based on this representation, the trajectory generation and controller are discussed, aiming to improve locomotion stability. To assess the stability and dynamic performance, a stable walking experiment with the exoskeleton was conducted, involving a male subject. © 2023 IEEE.

关键词： Exoskeleton (robotics)

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Boosting external quantum efficiency of a WSe_(2) photodetector across visible and NIR spectra through harnessing plasmonic hot electrons

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Photonics Research 2024年第9期12卷 1846-1857页

作者： LINLIN SHI ZIYANG ZHAO JINYANG JIAO TING JI WENYAN WANG YANXIA CUI GUOHUI LI College of Electronic Information and Optical Engineering Key Laboratory of Interface Science and Engineering in Advanced Materials of Ministry of EducationKey Laboratory of Advanced Transducers and Intelligent Control System of Ministry of EducationTaiyuan University of TechnologyTaiyuan 030024China Shanxi-Zheda Institute of Advanced Materials and Chemical Engineering Taiyuan 030032China

The layered two-dimensional material tungsten diselenide(WSe_(2))has triggered tremendous interests in the field of optoelectronic devices due to its exceptional carrier transport ***,the limited absorption of WSe_(2) in the near infrared(NIR)band poses a challenge for the application of WSe_(2) photodetectors in night vision,telecommunication,***,the enhanced performance of the WSe_(2) photodetector is demonstrated through the incorporation of titanium nitride nanoparticles(TiN NPs),complemented by an atomically-thick Al_(2)O_(3) layer that aids in suppressing the dark *** is demonstrated that TiN NPs can dramatically enhance the absorption of light in the proposed WSe_(2) photodetector in the NIR *** enhancement boosts photocurrent responses through the generation of plasmonic hot electrons,leading to external quantum efficiency(EQE)enhancement factors of 379.66%at 850 nm and 178.47%at 1550 *** work presents,for the first time,to our knowledge,that the WSe_(2) photodetector is capable of detecting broadband light spanning from ultraviolet to the telecommunication range,all achieved without the reliance on additional semiconductor *** achievement opens avenues for the advancement of cost-effective NIR photodetectors.

关键词： quantum titanium exceptional

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Effect of Powder Production Methods on Microstructure and Mechanical Properties of Hot Isostatically Pressed TA15 Alloy

Effect of Powder Production Methods on Microstructure and Me...

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Chinese Materials Conference 2024, CMC 2024

作者： Ni, Ruifeng Zhang, Pengjie Che, Lida Lv, Zhoujin Chen, Shuo Zhang, Lin Li, Xiangyang Beijing Advanced Innovation Center for Materials Genome Engineering Institute for Advanced Materials and Technology University of Science and Technology Beijing Beijing100083 China CISRI HIPEX Technology Co. Ltd. Beijing China National Key Laboratory of Metallurgical Intelligent Manufacturing System China Iron & Steel Research Institute Group Co. Ltd. Beijing100081 China

TA15 alloy billets were prepared by powder metallurgy-hot isostatic pressing, using 920°C, 120MPa, and a 3h holding time. Pre-alloyed powders were prepared using a plasma rotating electrode process, gas atomization, and hydrogen dehydrogenation. The particle morphology, chemical composition, particle size distribution, and microstructure of the different powders were first characterized. Then, the differences in microstructure and mechanical properties of the three alloy billets were analyzed. The results show HIP-P (tensile strength 956 MPa, elongation 16.5%) and HIP-G (tensile strength 912 MPa, elongation 16.83%) have an excellent strength-toughness combination. Although HIP-H has the highest tensile strength of 1066MPa, the elongation is only 1.3%, presenting the characteristics of high strength and low toughness. Its fracture morphology is a river pattern, a typical brittle fracture along the crystal. The 'elemental segregation' within the HDH powder causes the brittle fracture. This segregation leads to stress concentration during deformation, facilitating the initial propagation of cracks from the segregated regions. The high oxygen content (2200 ppm) in the HDH powder also contributes to the embrittlement observed in HIP-H. This study provides crucial insights for selecting raw powder materials and optimizing process parameters in producing HIP TA15 titanium alloy. © 2025 institute of Physics Publishing. All rights reserved.

关键词： Tensile strength

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Magnetic Microrobots Fabricated by Photopolymerization and Assembly

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Cyborg and Bionic systems 2023年第1期4卷 41-46页

作者： Xiyue Liang Yue Zhao Dan Liu Yan Deng Tatsuo Arai Masaru Kojima Xiaoming Liu Key Laboratory of Biomimetic Robots and Systems Ministry of EducationState Key Laboratory of Intelligent Control and Decision of Complex SystemBeijing Advanced Innovation Center for Intelligent Robots and Systemsand School of Mechatronical EngineeringBeijing Institute of TechnologyBeijing 100081China Center for Neuroscience and Biomedical Engineering The University of Electro-CommunicationsTokyo 182-8585Japan Department of Materials Engineering Science Osaka UniversityOsaka 560-8531Japan

Magnetic soft microrobots have great potential to access narrow spaces and conduct multiple tasks in the biomedical *** now,drug delivery,microsurgery,disease diagnosis,and dredging the blocked blood vessel have been realized by magnetic soft microrobots in vivo or in ***,as the tasks become more and more complex,more functional units have been embedded in the body of the developed magnetic *** magnetic soft microrobots with complex designed geometries,mechanisms,and magnetic orientation are now greatly challenging the fabrication of the magnetic *** this paper,we propose a new method combining photopolymerization and assembly for the fabrication of magnetic soft *** the micro-hand assembly system,magnetic modules with different shapes and materials are firstly arrayed with precise position and orientation ***,the developed photopolymerization system is employed to fix and link these modules with soft *** on the proposed fabrication method,3 kinds of soft magnetic microrobots were fabricated,and the fundamental locomotion was *** believe that the presented fabrication strategy could help accelerate the clinical application of magnetic microrobots.

关键词： Magnetic system precise

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Research on a Visual Servo Method of a Manipulator Based on Velocity Feedforward

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Space(Science & technology) 2021年第1期2021卷 119-126页

作者： Rui Wang Changchun Liang Dong Pan Xiaodong Zhang Pengfei Xin Xiaodong Du Beijing Institute of Spacecraft System Engineering Beijing 100094China Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing 100094China

In this paper,a method of predicting the motion state of a moving target in the base coordinate system by hand-eye vision and the position and attitude of the end is *** predicted value is used as the velocity feedforward,and the position-based visual servo method is used to plan the velocity of the end of the *** overcomes the influence of end coordinate system motion on target prediction in a discrete system and introduces an integral control method to compensate for the prediction velocity,eliminating the end tracking error caused by target velocity prediction *** effectiveness of this method is verified by simulation and experiment.

关键词： Visual Velocity prediction

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