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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Wang, Jinrong Li, Ruixuan Xu, Yaoyuan Li, Shishi Meng, Xianghe Xie, Hui State key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin150080 China

ISBN: (纸本)9781665481090

This paper presents a novel magnetic-field-assisted LCD stereolithography technique for fabricating centipede-inspired magnetic soft robots. Unlike previous DLP-based methods, our approach leverages Liquid Crystal Display (LCD) technology, offering a simpler optical path, comparable resolution, and cost-effectiveness. The method integrates LCD photo-polymerization with a permanent magnet orienting system possessing 5-DOF in motion, enabling precise control over the direction of magnetization patterns during manufacturing. We demonstrate the technique by designing and fabricating a biomimetic centipede robot with programmable deformation capabilities. Finite element analysis was used to simulate the robot's deformation behavior, which was subsequently validated through experimental locomotion tests. The fabricated robot exhibited complex deformation and efficient locomotion in response to external magnetic fields. This approach advances the creation of intricate magnetic arrangements for planar soft robots, potentially expanding their application in fields such as biomedicine and microfluidics. The proposed method provides a new pathway for manufacturing biologically inspired magnetic soft robots with complex programmable behaviors. © 2024 IEEE.

关键词： Liquid crystal displays

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Fault Detection Based on Hierarchical Mode Analysis with ICA-KICA 41

Fault Detection Based on Hierarchical Mode Analysis with ICA...

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第41届中国控制会议

作者： Shuai Li Xiaofeng Zhou Haibo Shi Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences University of Chinese Academy of Sciences

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

For the problem of fault detection in non-Gaussian and nonlinear multimode processes,a fault detection method based on hierarchical mode analysis with independent component analysis(ICA)-kernel independent component analysis(KICA) is *** stable and transition modes coexist in multimode processes and the mode information has uncertainty,hierarchical mode analysis is used for obtaining the hierarchical mode ***,the ICA-KICA is presented for modeling the stable and transition modes obtained from the hierarchical mode ***,a mode identification method based on discriminant function is given for fault *** penicillin fermentation process is used for the experiments of fault detection and the analyses indicate the performance of the fault detection based on hierarchical mode analysis with ICA-KICA.

关键词： Fault detection multimode process hierarchical mode analysis ICA-KICA

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Design and Implementation of a control System for Wrist Offset Wheel Hub Polishing Robot 12

Design and Implementation of a Control System for Wrist Offs...

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12th International Conference on CYBER Technology in Automation, control, and Intelligent systems, CYBER 2022

作者： Zhu, Kui Zhao, Lijun Liu, Zhiheng Xia, Yi Harbin Institute of Technology Department of State Key Laboratory of Robotics and Systems Harbin China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

The application of the offset wrist robot meets the needs of wheel hub grinding and polishing, and there is no open motion control system for this solution. This paper proposes a cooperative design method of the software and hardware control system oriented to the grinding and polishing robot with offset wrist, which realizes the hardware bus integration, software modularization and standardized synchronous design, and effectively improves the stability and usability of the control system. Its electronic control system, motion control software system and human-computer interaction system are designed, and the problem of software and hardware co-design of offset grinding and polishing robot is solved. This paper realizes the connection of the non-real-time module of the upper machine through the ADS communication method, and designs the human-computer interaction software interface. At the same time, a grinding and polishing process software package is added to the upper machine to manage the hub and grinding and polishing process, and realize tasks such as motion simulation and trajectory planning, which improves the versatility and can also meet the special requirements for grinding and polishing. Based on the EtherCAT bus technology, this paper realizes the communication between the upper machine and the lower machine, and embeds real-time control modules such as kinematics calculation and joint interpolation calculation in the Beckhoff controller to achieve high speed and real-time control. Finally, the rationality and stability of the control system are verified through an example program. The grinding and polishing path of the wheel hub surface is created through the offline system, and the wheel hub grinding and polishing processing is realized through simulation and experiment, which verifies the software-hardware collaborative design and real-time grinding and polishing performance. © 2022 IEEE.

关键词： Grinding (machining)

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Assembly Trajectory Planning of Space Telescope Sub-mirror Module Based on Time Optimal control

Assembly Trajectory Planning of Space Telescope Sub-mirror M...

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2018 International Conference on Advanced Electronic Materials, Computers and Materials Engineering, AEMCME 2018

作者： Ziran, Hao Zainan, Jiang Chongyang, Li Fan, Yang State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin150001 China

The space telescope stands for the highest level of a nation's aerospace industry, with its manufacturing and launch remaining a worldwide conundrum. The concept of modularized space telescope is proposed herein, the main structure of the sub-mirror module is designed briefly and the assembly scheme of the main telescope is also provided. Besides, the kinematic equation and working conditions of the space robotic arm used for assembly are given, with the cubic B-spline curves formulating the joint space trajectory. Then, with minimizing the moving time as the objective of optimization, displacement, speed and acceleration as the constraint conditions, a mathematical model for time-optimal trajectory planning is established and the genetic algorithm is used to work out solutions. The emulation result shows that the joint space trajectory of the robotic arm obtained on the premise that all the restraint conditions are met can minimize the robotic arm's moving time. © Published under licence by IOP Publishing Ltd.

关键词： Aerospace industry

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Usage of Colloidal AFM Probe for Research in Effects of Water Layer Evaporation on Interfacial Adhesion between Cellulose Surfaces 12

Usage of Colloidal AFM Probe for Research in Effects of Wate...

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12th International Conference on CYBER Technology in Automation, control, and Intelligent systems, CYBER 2022

作者： Geng, Junyuan Zhang, Hao Meng, Xianghe Gao, Haibo Rong, Weibin Xie, Hui Harbin Institute of Technology State Key Laboratory of Robotics and Systems Harbin150080 China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

Effects of the water layer evaporation on the interfacial adhesion between cellulose surfaces are researched via the atomic force microscopy (AFM) method in this article. A cellulose colloidal probe (CCP) is prepared through a dual-probe micromanipulation system, which is used to detect this time-varying adhesive interaction. The AFM system configuration, detailed fabrication of the CCP, principle of the adhesion measurement, and relevant calibration tasks are reported before the characterization. Several groups of adhesion mapping experiments have been executed at different divided periods after the water film forming on the sample surface of the cellulose membrane. The obtained results show that the interfacial adhesion has a significant downward trend when the water layer passing over time. In addition, the correlation of the surface topography and adhesion is displayed. The industrial applications of cellulose are inseparable from the participation of water solvent, meanwhile appropriate process adjustments according to the bonding strength between the cellulose surfaces during pulping and drying is necessary. This research can provide support in above occasions, which has its unique significance on the improving of processing technology. © 2022 IEEE.

关键词： Cellulose

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Light-Assisted MACE Method for the control of Silicon Nanowire Morphology 5

Light-Assisted MACE Method for the Control of Silicon Nanowi...

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2018 5th International Conference on Advanced Composite Materials and Manufacturing Engineering, ACMME 2018

作者： Dong, Zhaoqing Rong, Weibin Zhang, Ye Deng, Xijun State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin150001 China

As a kind of one-dimensional nanostructure, silicon nanowires have a very wide range of applications in photovoltaic devices, electrical devices, and biosensors. The morphology control of nanowire arrays greatly affects the performance of nanowire arrays. In this paper, we introduce the light-assisted MACE method to prepare nanowire arrays. Through a large number of experiments, the effects of different light intensities and light wavelengths on the morphology of the formed silicon nanowire arrays are analyzed. At the same time, the degree of aggregation of nanowires is taken as the characterization parameter of the morphological characteristics, the change rule of clustering density and the change rule of the etching rate under different illumination power and wavelength conditions are qualitatively analyzed. Finally, we make a preliminary exploration and analysis of the reasons for this appearance. © Published under licence by IOP Publishing Ltd.

关键词： Nanowires

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Improved Detection of Transmission Tower Equipment Using YOLOv7 with Saliency Data Augmentation 5

Improved Detection of Transmission Tower Equipment Using YOL...

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5th International Conference on Clean Energy and Electric Power Engineering, ICCEPE 2024

作者： Xu, Yingying Song, Chunhe Sun, Yong Yu, Shimao State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Beijing100049 China

ISBN: (纸本)9798350390315

Transmission towers are critical infrastructure for power transmission, and the reliable operation of their equipment is essential to ensure electricity supply. However, the detection of transmission tower equipment faces challenges such as target overlap, large variations in size, small targets, and class imbalance due to the characteristics of the equipment. To tackle the identified issues, this study introduces a method based on YOLOv7 for the detection of transmission tower components, utilizing saliency-based data augmentation. Initially, an approach focusing on importance is employed to augment the sample size in categories with limited numbers, thereby enhancing the effectiveness of detection. Secondly, an adaptive adjustment module is introduced into the multi-head self-attention mechanism to dynamically adjust attention allocation based on the actual size of the targets and integrate contextual information, thus better handling targets with large size variations and overlaps. Finally, incorporating dynamic convolution within the backbone network significantly improves the ability to extract features from small objects. The outcomes of the experiments confirm the efficiency of the suggested approach in the smart surveillance of devices within intricate transmission settings, offering a reliable solution for maintaining power supply dependability. © 2024 IEEE.

关键词： Critical infrastructures

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Reconfigurable control Design Based on Complete Parametric Approach for Spacecraft Rendezvous 36

Reconfigurable Control Design Based on Complete Parametric A...

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第36届中国控制会议

作者： Guangren Duan Qin Zhao State Key Laboratory of Robotics and System(HIT) Center for Control Theory and Guidance Technology Harbin Institute of Technology

ISBN: (纸本)9781538629185

This paper studies the problem of reconflgurable fault tolerant controller design for linear time-invariant systems with measurement unavailability based on a complete parametric *** attention is focused on completely recovering eigenvalues of the pre-fault system by resynthesizing an output feedback controller while the restrictions on assignable eigenvalues of existing results are ***,the complete parametric method is introduced to give the parametric expressions for all output feedback matrices with the advantage of guaranteeing the stability of the reconfigured ***'s more,reconflgurable controllers for the spacecraft rendezvous system are studied as the example in cases of different measurement failure ***,numerical calculations are given and results show the effectiveness of the proposed method.

关键词： Reconfigurable control Spacecraft Rendezvous Measurement Unavailability Complete Parametric Approach Output Feedback

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Design, modeling, and evaluation of parallel continuum robots: A survey

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Science China(Technological Sciences) 2024年第3期67卷 673-695页

作者： CHEN GenLiang TANG ShuJie DUAN XuYang WANG Hao Meta Robotics Institute Shanghai Jiao Tong UniversityShanghai 200240China State Key Laboratory of Mechanical Systems and Vibration Shanghai Jiao Tong UniversityShanghai 200240China Shanghai Key Laboratory of Digital Manufacturing for Thin-Walled Structures Shanghai Jiao Tong UniversityShanghai 200240China

Parallel continuum robots(PCRs) have attracted increasing attention in the robotics community due to their simplicity in structure,inherence with compliance, and easiness of realization. Over the past decade, a variety of novel designs have been reported to enrich their diversity. However, there is a lack of systematic review of these emerging robots. To this end, this paper conducts a comprehensive survey on the mechanism design, kinetostatic modeling and analysis, and performance evaluation. For these robots, kinetostatic modeling plays a fundamental role throughout the design, analysis, and control stages. A systematic review of the existing approaches for kinetostatic modeling and analysis is provided, and a comparison is made to distinguish their differences. As well, a classification is made according to the characteristics of structure and actuation. In addition, performance evaluation on the workspace, stability, and singularity is also overviewed. Finally, the scenarios of potential applications are elaborated, and future research prospects are discussed. We believe that the information provided in this paper will be particularly useful for those who are interested in PCRs.

关键词： parallel continuum robots classification kinetostatic modeling performance evaluation

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Research on point stabilization of a wheeled mobile robot using fuzzy control optimized by GA

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The Journal of China Universities of Posts and Telecommunications 2011年第5期18卷 108-113页

作者： CAO Zheng-cai ZHAO Ying-tao FU Yi-li College of Infornaation Science and Technology Beijing University of Chemical Technology Beijing 100029 China The State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin 150001 China

A point stabilization scheme of a wheeled mobile robot （WMR） which moves on uneven surface is presented by using tuzzy control. Taking the kinematics and dynamics of the vehicle into account, the fuzzy controller is employed to regulate the robot based on a kinematic nonlinear state feedback control law. Herein, the fuzzy strategy is composed of two velocity control laws which are used to adjust the speed and angular velocity, respectively. Subsequently, genetic algorithm （GA） is applied to optimize the controller parameters. Through the self-optimization, a group of optimum parameters is gotten. Simulation results are presented to show the effectiveness of the control strategy.

关键词： wheeled mobile robot point stabilization fuzzy control genetic algorithm

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