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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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Improved Capon Estimator for High-Resolution DOA Estimation and Its Statistical Analysis

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IEEE/CAA Journal of Automatica Sinica 2023年第8期10卷 1716-1729页

作者： Weiliang Zuo Jingmin Xin Changnong Liu Nanning Zheng Akira Sano IEEE the National Key Laboratory of Human-Machine Hybrid Augmented Intelligence the National Engineering Research Center for Visual Information and Applicationsand the Institute of Artificial Intelligence and RoboticsXi’an Jiaotong UniversityXi’an 710049China the Data Center China Construction BankBeijing 100033China the Department of System Design Engineering Keio UniversityYokohama 223-8522Japan

Despite some efforts and attempts have been made to improve the direction-of-arrival(DOA)estimation performance of the standard Capon beamformer(SCB)in array processing,rigorous statistical performance analyses of these modified Capon estimators are still *** paper studies an improved Capon estimator(ICE)for estimating the DOAs of multiple uncorrelated narrowband signals,where the higherorder inverse(sample)array covariance matrix is used in the Capon-like cost *** establishing the relationship between this nonparametric estimator and the parametric and classic subspace-based MUSIC(multiple signal classification),it is clarified that as long as the power order of the inverse covariance matrix is increased to reduce the influence of signal subspace components in the ICE,the estimation performance of the ICE becomes equivalent to that of the MUSIC regardless of the signal-to-noise ratio(SNR).Furthermore the statistical performance of the ICE is analyzed,and the large-sample mean-squared-error(MSE)expression of the estimated DOA is *** the effectiveness and the theoretical analysis of the ICE are substantiated through numerical examples,where the Cramer-Rao lower bound(CRB)is used to evaluate the validity of the derived asymptotic MSE expression.

关键词： Capon beamformer direction-of-arrival(DOA)estimation large-sample mean-squared-error(MSE) subspace-based methods uniform linear array

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Cam-Driven Frequency Up-Conversion Mechanism For Kinetic Energy Harvesting

Cam-Driven Frequency Up-Conversion Mechanism For Kinetic Ene...

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Micro and Nanotechnology for Power Generation and Energy Conversion Applications (PowerMEMS)

作者： Heng Zhao Tianyi Tang Yunfei Li Mingqi Mei Huicong Liu School of Mechanical and Electrical Engineering Jiangsu Provincial Key Laboratory of Advanced Robotics Soochow University Suzhou CHINA State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin CHINA

ISBN: (数字)9798350380200

ISBN: (纸本)9798350380217

This paper proposes an ocean wave energy harvester (WEH) with a cam-driven frequency up-conversion mechanism. It utilizes a planar pendulum structure to achieve motion response to ultra-low-frequency wave excitation and then converts the mechanical energy of the pendulum into high-frequency and high-power electrical energy output through the cam-driven frequency upconversion mechanism. WEH’s superior design enables high-power output even under excitation below 1 Hz. At the excitation frequency of 0.75 Hz and resistance load of $20 \Omega$, the maximum power output can reach 461.4 mW. Due to its high output power, the WEH can be integrated into the ocean observation buoy to power the sensors, thereby enabling long-term, unattended operation of the buoy in remote offshore areas.

关键词： Temperature sensors Resistance Ocean waves Frequency conversion Sensor systems Sensors Power systems Wave energy conversion Power generation Ocean temperature

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Review:Wearable Sweat Sensors for Diseases Prevention and Monitoring

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Journal of Harbin Institute of Technology(New Series) 2023年第3期30卷 1-21页

作者： Yanan Ding Haiying Xiao Ping’an Hu School of Chemistry and Chemical Engineering Harbin Institute of TechnologyHarbin 150080China MOE Key Lab of Micro-System and Micro-Structures Manufacturing Harbin Institute of TechnologyHarbin 150080China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150080China School of Materials Science and Engineering Harbin Institute of TechnologyHarbin 150080China

Advanced in wireless technologies and flexible materials with great biocompatibility,wearable devices have been utilized in the field of healthcare,sports management,and diseases prevention,which have been widely applied in current electronic ***,as a common metabolite on the skin surface,contains a wealth of biomarkers for disease detection and ***,developing wearable sweat sensors can provide a non⁃invasive method for health data collecting,sports monitoring,and clinical diagnosis in a convenient *** research in sweat metabolomics has offered a lot of information for sweat analysis and the wearable sweat sensors with small size,various sensing,and transmission units,and good skin contact has exhibited dynamic multi⁃signal *** article introduces the biomarkers in sweat related to different diseases and the current development of sweat sensors for user􀆳s activation monitoring and diseases *** barriers and difficulties in the future are also discussed and perspectives in the next generation sweat sensors are proposed.

关键词： sweat sensor sweat metabolites disease monitoring wearable device

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A Wave Energy Harvester With Vertical Pendulum And Mag-Boost Mechanism

A Wave Energy Harvester With Vertical Pendulum And Mag-Boost...

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Micro and Nanotechnology for Power Generation and Energy Conversion Applications (PowerMEMS)

作者： Tianyi Tang Yunfei Li Heng Zhao Lining Sun Huicong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin CHINA School of Mechanical and Electrical Engineering Jiangsu Provincial Key Laboratory of Advanced Robotics Soochow University Suzhou CHINA

ISBN: (数字)9798350380200

ISBN: (纸本)9798350380217

This paper presents an ultra-low-frequency and high-power wave energy harvester (WEH). It utilizes a vertical pendulum structure to achieve motion response to ultra-low-frequency wave excitation and then converts the mechanical energy of the pendulum into high-frequency and high-power electrical energy output through the MagBoost Mechanism. The design of WEH ensures stable output even under excitation conditions below 1 Hz. At the excitation frequency of 1.4 Hz and resistance load of $20 \Omega$, the maximum power output can reach 1.16 W with a power density of $0.54 \mathrm{~mW} / \mathrm{cm}^{3}$. The high energy density allows stable power supplementation for ocean observation buoy within a limited volume, thereby enabling long-term, unattended operation of the buoy in remote offshore areas.

关键词： Resistance Power system measurements Density measurement Oceans Frequency conversion Sensor systems Sensors Mechanical energy Wave energy conversion Power generation

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Dynamic Object Removal of Static 3D Point-Cloud Map Building in Casualty Collection Point

Dynamic Object Removal of Static 3D Point-Cloud Map Building...

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International Conference on Control, Automation, robotics and Vision (ICARCV)

作者： Haidong Wang Wanlei Li Yijie Dai Xiaogang Xiong Yunjiang Lou State Key Laboratory of Robotics and System School of Mechanical Engineering and Automation Harbin Institute of Technology ShenZhen Shenzhen China

ISBN: (数字)9798331518493

ISBN: (纸本)9798331518509

Understanding the environment is crucial for the autonomous navigation of vehicles. Accurately identifying and removing dynamic objects that cause occlusions and noisy pose issues is crucial to the task. The casualty collection point (CCP) is a designated location for treating casualties during disasters. These sites are commonly located in open fields to ensure that the injured receive timely and appropriate care. Therefore, the construction of a 3D map in CCP may encounter additional challenges. In this paper, we introduces a novel algorithm that integrates a learning-based multi-object detection network with a Kalman Filter tracking framework to remove dynamic object traces from the 3D map building, particularly in CCP scenarios, and it redirects attention on the velocity attribute of dynamic objects at the object-level scale. Additionally, we contribute a new dataset specifically designed for the CCP scenario. Comparative experiments conducted on the SemanticKITTI dataset and CCP dataset show that our proposed method achieves the state-of-the-art performance in removing traces of dynamic objects on 3D Map. Dataset is available at https://***/haidongwang96/ccp_dataset.

关键词： Point cloud compression Three-dimensional displays Simultaneous localization and mapping Heuristic algorithms Buildings Object detection Kalman filters Object recognition Noise measurement Vehicle dynamics

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Bio-robotics research for non-invasive myoelectric neural interfaces for upper-limb prosthetic control:a 10-year perspective review

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国家科学评论（英文版） 2023年第5期10卷 32-52页

作者： Ning Jiang Chen Chen Jiayuan He Jianjun Meng Lizhi Pan Shiyong Su Xiangyang Zhu National Clinical Research Center for Geriatrics West China Hospitaland Med-X Center for ManufacturingSichuan UniversityChengdu 610041China State Key Laboratory of Mechanical System and Vibration and Institute of RoboticsShanghai Jiao Tong UniversityShanghai 200240China Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education School of Mechanical EngineeringTianjin UniversityTianjin 300350China Institute of Neuroscience Université Catholique LouvainBrussel B-1348Belgium

A decade ago,a group of researchers from academia and industry identified a dichotomy between the industrial and academic state-of-the-art in upper-limb prosthesis control,a widely used bio-robotics *** proposed that four key technical challenges,if addressed,could bridge this gap and translate academic research into clinically and commercially viable *** challenges are unintuitive control schemes,lack of sensory feedback,poor robustness and single sensor ***,we provide a perspective review on the research effort that occurred in the last decade,aiming at addressing these *** addition,we discuss three research areas essential to the recent development in upper-limb prosthetic control research but were not envisioned in the review 10 years ago:deep learning methods,surface electromyogram decomposition and open-source *** conclude the review,we provide an outlook into the near future of the research and development in upper-limb prosthetic control and beyond.

关键词： electromyography prosthetic control sensory feedback EMG decomposition robustness deep learning

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TRUSTS: A novel treadmill-based multifunctional testing system for performance evaluation of wheeled planetary exploration rover

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robotics and Autonomous systems 2023年 164卷

作者： Yu, Haitao Chen, Jian Pan, Dong Gao, Haibo State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Beijing Institute of Spacecraft System Engineering Beijing100094 China

This paper presents a novel treadmill-based multifunctional testing system (TRUSTS) to execute ground testing for wheeled planetary exploration rover (WPER) in both regular and extreme physical conditions before launching. The TRUSTS with specially-made components featuring compact structure and multifunctional testing items comprises a traction loading subsystem (TLS) and a treadmill-based resistance torque loading subsystem (TRTLS). The former offers the working modes including traction loading, position holding, and range limiting. The latter offers working modes including resistance torque loading and leader–follower tracking. By appropriately allocating the working modes of two subsystems, the TRUSTS is capable of conducting diverse testing items. The customized controllers for the TLS and the TRTLS are proposed to guarantee the operation performance of the TRUSTS in all testing items. Extensive experimental results on a Mars rover prototype in both regular and extreme physical conditions demonstrate that the devised TRUSTS could effectively executing trafficability and maneuverability as well as adaptability tests with reliable scenarios and satisfactory precisions of motion tracking and traction/torque loading, which makes the TRUSTS a favorable choice for comprehensive performance assessment of rover in simulant extraterrestrial environment. © 2023 Elsevier B.V.

关键词： Sporting goods

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A ResNet-based approach for accurate radiographic diagnosis of knee osteoarthritis

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CAAI Transactions on Intelligence Technology 2022年第3期7卷 512-521页

作者： Yu Wang Shibo Li Baoliang Zhao Jianwei Zhang Yuanyuan Yang Bing Li School of Mechanical Engineering and Automation Harbin Institute of TechnologyShenzhenChina Shenzhen Key Laboratory of Minimally Invasive Surgical Robotics and System Shenzhen Institute of Advanced TechnologyChinese Academy of SciencesShenzhenChina TAMS Department of InformaticsUniversity of HamburgHamburgGermany

Currently X-ray images are clinically graded by experienced clinicians using the Kellgren and Lawrence(KL)scoring ***,individual scoring is subjective and error *** study proposes an approach for automated knee osteoarthritis classification based on deep neural *** knee X-ray images are first preprocessed with frequency-domain filtering and histogram normalisation,making the trabecular bone texture more obvious and benefiting the subsequent classification ***,a two-step classification strategy is proposed by extracting the joint centre based on the VGG network and classifying osteoarthritis grades based on the ResNet-50 *** addition,a rebalance operation is proposed to deal with the dataset unbalance problem,and a quick search technique is proposed to improve the iterative search efficiency for the joint *** all of these techniques,a classification accuracy of 81.41%is obtained,which is higher compared to the state-of-the-art approaches.

关键词： AMSGrad knee osteoarthritis recognition ResNet VGG

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A review of structures,verification,and calibration technologies of space robotic systems for on-orbit servicing

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Science China(Technological Sciences) 2021年第3期64卷 462-480页

作者： DING XiLun WANG YeCong WANG YaoBing XU Kun Robotics Institute Beihang UniversityBeijing 100191China Beijing Institute of Spacecraft System Engineering Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and ApplicationsBeijing 100094China

Recently,with the rapid development of aerospace technology,an increasing number of spacecraft is being launched into ***,the demands for on-orbit servicing(OOS)missions are rapidly *** robotics is one of the most promising approaches for various OOS missions;thus,research on space robotics technologies for OOS has attracted increased attention from space agencies and universities *** this paper,we review the structures,ground verification,and onorbit kinematics calibration technologies of space robotic systems for ***,we systematically summarize the development of space robotic systems and OOS programs based on space ***,according to the structures and applications,these systems are divided into three categories:large space manipulators,humanoid space robots,and small space *** to the capture mechanisms adopted,the end-effectors are systematically ***,the ground verification facilities used to simulate a microgravity environment are summarized and ***,the on-orbit kinematics calibration technologies are discussed and analyzed compared with the kinematics calibration technologies of industrial manipulators with regard to four ***,the development trends of the structures,verification,and calibration technologies are discussed to extend this review work.

关键词： space robotic system on-orbit servicing large space manipulator humanoid space robot verification kinematics calibration

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