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5th IEEE Information Technology, Networking, Electronic and Automation Control Conference, ITNEC 2021

作者： Kong, Minxiu Li, Ang Gao, Feng Harbin Institute of Technology School of Mechatronics Engineering Harbin China State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9781665415989

Trajectory planning of spray robot for workpieces with complex geometric features is always a challenging problem. Combined with the actual process requirements of surface spraying and edge spraying, a new spraying path design method based on 3D point cloud is proposed in this paper. During surface spraying, the automatic segmentation algorithm of spraying area based on the determination of hole ratio and Euclidean clustering is studied. For the area with dense features, the point cloud slicing algorithm is used to generate the spray path. For the narrow area, the flexible midline extraction algorithm is proposed. We also discussed the edge extraction algorithm to generate the edge spray path. According to the simulation results of coating thickness, this method can not only ensure the uniformity of coating thickness, but also ensure high spraying efficiency with low paint waste. © 2021 IEEE.

关键词： Clustering algorithms

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A reusable SMA actuated non-explosive lockrelease mechanism for space application

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International Journal of Smart and Nano Materials 2020年第1期11卷 65-77页

作者： Xueting Pan Yuliang Zhang Yifan Lu Fei Yang Honghao Yue State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbinChina Beijing Spacecraft BeijingChina

After the satellite is launched with the carrier rocket,it is necessary to separate the satellite from the rocket at an appropriate time to ensure that the satellite enters the intended *** this process,it is vital to ensure a reliable connection and accurate *** the increasing use of microsatellite in orbit,the contradiction between the shock of separation and the requirement of the platform’s dynamic environment is becoming increasingly ***,the traditional pyrotechnic separation device can no longer meet the *** paper presents a reusable non-explosive release actuator using shape memory alloy(SMA)wire for high load and low *** system is based on the Fast Acting Shock-less Separation Nut(FASSN)*** the shape memory effect of SMA,a biased SMA wire trigger has been developed,which is used as the driver source of the *** the moment of receiving the electrical signal,the SMA wire generates stress and *** trigger set free the constraints on the mechanical components,and the target is *** results indicate that the trigger device can unlock successfully and well meet the technical objectives.

关键词： SMA actuator non-explosive lock-release space application

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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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Aeroengine remaining useful life prediction via integrating enhanced inverted transformer and spatiotemporal graph learning

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ISA Transactions 2025年

作者： Sun, Shilong Ding, Hao Zhao, Zida Zhou, Yu Wang, Dong Xu, Wenfu School of Robotics and Advanced Manufacturing College of Artificial Intelligence Harbin Institute of Technology Shenzhen China Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Shenzhen China College of Computer Science and Software Engineering Shenzhen University Shenzhen518060 China State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai200240 China

Accurate prediction of aeroengine Remaining Useful Life (RUL) is critical for ensuring flight safety, minimizing maintenance costs, and improving operational efficiency. This study proposes a novel model, the Fourier-Enhanced Inverted Transformer with Graph-Augmented Spatiotemporal Modeling (FIT-GSTM), to enhance RUL prediction performance. FIT-GSTM combines an inverted Transformer with a Spatiotemporal Graph Convolutional Network (STGCN) to effectively capture global spatiotemporal dependencies across multi-sensor data. To further enrich feature representation, the model incorporates Fast Fourier Transform (FFT) to extract frequency-domain information and fuses it with time-domain features, enhancing robustness to noise. Additionally, the integration of Memory Tokens and Reversible Instance Normalization (RevIN) strengthens the model's ability to retain long-term dependencies and adapt to heterogeneous data distributions. Experimental evaluations on the C-MAPSS dataset demonstrate that FIT-GSTM achieves superior RUL prediction accuracy and generalization compared to existing methods, highlighting its potential for real-world deployment in aeroengine health management. © 2025 ISA

关键词： Fast Fourier transforms

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Tracking Motor Unit Discharges Across Days Based on the Pre-Trained Separation Vectors

Tracking Motor Unit Discharges Across Days Based on the Pre-...

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IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Chen Chen Xiangyang Zhu State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai China Meta Robotics Institute Shanghai Jiao Tong University Shanghai China

ISBN: (数字)9798350386523

ISBN: (纸本)9798350386530

Objective. Decoding motor unit activities from surface electromyography (sEMG) has been demonstrated as a promising technique for human-machine interfacing (HMI) in the past decade. However, the current decoding methods have difficulty tracking motor unit discharges across experiments, limiting the motor unit-based HMI within the intra-trial analysis. This study focused on motor unit decoding across multi-days and aimed to demonstrate the feasibility of pretrained separation vectors for motor unit tracking. Methods. One subject participated in the experiment that lasted five days and performed the isometric elbow flexion at four contraction levels daily. The high-density sEMG signals of 64 channels were recorded from the biceps brachii and decomposed into motor unit spike trains (MUSTs) based on the convolutional kernel compensation algorithm. The separation vectors were kept to decompose the sEMG signals in the subsequent days. The multichannel motor unit action potential (MUAP) waveforms were extracted and compared to validate the tracking performance across days. Main results. On average, 20±6 MUSTs were identified from each contraction intensity, among which 3±2 MUSTs were successfully tracked across five days. The MUSTs tracked across 2–4 days were l0±4, 6±4, and 4±3. Conclusion and Significance. These results indicate the feasibility of motor unit tracking across multiple days based on the pretrained separation vectors, extending the potential applications of neural decoding in HMI.

关键词： Source separation Limiting Surface discharges Human-machine systems Motors Vectors Discharges (electric) Decoding Kernel Robots

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DogGet: A Legged Manipulation system in Human Environments 12

DogGet: A Legged Manipulation System in Human Environments

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

作者： Linghan, Meng Cong, Wang Shengguo, Cui Qifeng, Zhang Baoqi, Zhai State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China Guangzhou511458 China Key Laboratory of Marine Robotics Liaoning Province Shenyang110169 China University of the Chinese Academy of Sciences Beijing100049 China Guangdong Institute of Intelligent Unmanned System Guangzhou511458 China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

The problem of population ageing in today's world is becoming increasingly serious, and the capacity gap in the service industry for elderly people is increasing. Especially in the current epidemic environment, the deartificialization of the service industry is imminent. For service tasks of seniors, there is no doubt that legged robots are the best choice for service tasks due to there flexibility and agility. However, complex service tasks require a mobile robotic system that integrates functions such as localization, navigation, recognition, and grasping. To this end, we propose a mobile robotic system to accomplish some daily service work such as finding and grasping some articles for daily use and then delivering them to a proposed place. We show that the system is universally applicable and highly efficient in daily environments. Videos of the experiments can be viewed at https://***/xPeBzDf6D_k or https://***/video/BV1QZ4yli7qx. © 2022 IEEE.

关键词： HTTP

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Simulation and Experimental Study of Piezoelectric Stack Energy Harvester with Arch Beam Applied to the Railway system

SSRN

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SSRN 2022年

作者： Min, Zhaowei Hou, Chengwei Sui, Guangdong Shan, Xiaobiao Xie, Tao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

As one of the most important modes of transportation, the safety of running vehicles and railway track is significant. It is essential to power sensors that detect and track health in remote areas. The vibration energy of the track structure is enormous and stable, which is not limited by weather factors such as solar and wind power. A new type of arch beam piezoelectric stack energy harvester for railway systems is studied in this paper. Through simulation analysis and experimental verification of the energy harvester, the influences of external resistance, load, pre-pressure, and load frequency on the energy harvesting performance of the piezoelectric energy harvester are discussed. When the frequency is less than 6Hz, the energy capture efficiency is greatly affected by the frequency. When the frequency exceeds 6Hz, the frequency has little effect, and the load dramatically affects the energy capture efficiency. The pre-pressure is not the more significant, the better, but there is an optimal value at 4.5kN. The energy capture circuit can be combined with the supercapacitor to power the sensor, forming a self-power device for real-time monitoring of track health and driving safety. © 2022, The Authors. All rights reserved.

关键词： Arches

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Tactile-Based Object Pose Estimation Employing Extended Kalman Filter 8

Tactile-Based Object Pose Estimation Employing Extended Kalm...

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

作者： Lin, Qiguang Yan, Chaojie Li, Qiang Ling, Yonggen Zheng, Yu Lee, Wangwei Wan, Zhaoliang Huang, Bidan Liu, Xiaofeng College of IoT Engineering Hohai University Jiangsu Key Laboratory of Special Robotic Technology Jiangsu Changzhou213022 China Zhejiang University Institute of Cyber-System and Control State Key Laboratory of Industrial Control and Technology Hangzhou China Bielefeld33619 Germany Tencent Robotics X Shenzhen China School of Computer Science and Engineering Sun Yat-sen University Guangzhou China

ISBN: (纸本)9798350300178

In this paper, we present a new approach to estimate the pose of an object being manipulated by a multi-fingered robotic hand. The method utilizes advanced tactile sensors with high spatial resolution to optimize the estimation of the object's pose using an Extended Kalman Filter (EKF) based approach. We defined and derived the state and measurement equations, as well as evaluated the estimation accuracy in grasping tasks. The approach is able to effectively account for the pose transition caused by tactile pushing, and the mapping from the object's pose to the contact position and normal direction as measured by the tactile sensor. The method was evaluated in multiple grasping experiments in simulation scenarios. Results show that the estimation can converge towards the ground truth in a relatively short period of time, with displacement and rotation errors remaining within acceptable levels. This new method has the potential to improve the accuracy and reliability of robotic grasping and manipulation tasks. © 2023 IEEE.

关键词： Extended Kalman filters

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A Novel Thrust Allocation Method for Underwater Robots 12

A Novel Thrust Allocation Method for Underwater Robots

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

作者： Zheng, Xin-Hui Wang, Cong Yang, Xue-Jiao Tian, Qi-Yan Zhang, Qi-Feng Zhai, Bao-Qi State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China Guangzhou511458 China Key Laboratory of Marine Robotics Liaoning Province Shenyang110169 China University of Chinese Academy of Sciences Beijing100049 China Guangdong Institute of Intelligent Unmanned System Guangzhou511458 China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

Underwater vehicles with normal thruster configuration methods are unsatisfying in position-keeping tasks because of their limited manoeuvrability. To this end, this paper proposes an underwater ve-hicle with a novel thruster configuration method and solves the thrust allocation problem by the sequential quadratic programming(SQP) algorithm. Comparisons between the performance of the proposed thruster configuration method and the most widely used config-uration method are given based on the UUVSimulator and Gazebo. Numerical simulations show that vehicle with the proposed thrust configuration method has better performance in manoeuvrability and energy consumption. © 2022 IEEE.

关键词： Energy utilization

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An RRT-Based Motion Planning Method for Hyper-Redundant Manipulators in Confined Spaces

An RRT-Based Motion Planning Method for Hyper-Redundant Mani...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Deng, Jiangqin Li, Ziqing Zheng, Yang Gu, Guoying School of Mechanical Engineering State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai200240 China Meta Robotics Institute Shanghai Jiao Tong University Shanghai200240 China

ISBN: (纸本)9781665481090

Hyper-redundant manipulators have redundant degrees of freedom, bringing additional difficulties to the motion planning. Generally, existing motion planning methods generate paths without considering joint angle limitation of hyper-redundant manipulators. And the generated paths are discretized, leading to discrete errors. In this paper, we present an autonomous motion planner to generate paths, which can be followed by hyper-redundant manipulators with analytical solutions. Starting from the ending pose in the workspace, the rapidly exploring random tree can expand to multiple entrances with limited curvature of arc segments, which ensures that the joint angle limitation is satisfied. Meanwhile, the generated path consists of arc segments, which makes the generated paths can be followed with analytical solutions. Several simulations are conducted to demonstrate the aforementioned advantages. For further validation of the planner's effectiveness, a hyper-redundant manipulator system is used to follow the generated path with follow-the-leader motion. © 2022 IEEE.

关键词： Motion planning

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