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Biomimetic Composite Tendon and Pneumatic Actuation for Soft Manipulator: Balancing High Load-Bearing Capacity, Repetitive Precision, and Active Softening Contact Safety

SSRN

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SSRN 2024年

作者： Li, Xianglong Zhang, Shouyi Xiong, Quan Sui, Dongbao Zheng, Tianjiao Zhang, Qinghua Wang, Ziqi Luan, Lingkai Zhao, Jie Zhu, Yanhe State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Department of Biomedical Engineering National University of Singapore Singapore117583 Singapore Ji Hua Laboratory Foshan528200 China Harbin University of Science and Technology Harbin150001 China

Soft manipulator is a prominent research area in the field of soft robotics, but designing a soft manipulator capable of serving human life remains challenging, facing issues such as low motion robustness and poor accuracy. The trunk of an elephant, a unique biological tissue in nature, is characterized by its flexibility, strong load-bearing capacity, and dexterous yet soft tip, distinct from skeletal-dependent movements. Inspired by the thrust-deformation mechanism of the elephant trunk under multi-muscle action, this paper reports a novel composite tendon and pneumatic hybrid-driven tapered soft manipulator that mimics the multi-muscle action of the elephant trunk. In the design, a common Bowden tube is introduced as an artificial tendon to simulate the thrust of elephant trunk muscles. This paper first establishes an equivalent finite element model for Bowden tube tendons, along with an exploration of the impact of constraint ring distribution intervals on tendon buckling during thrust generation. This paper also establishes a finite element model for the entire experimental prototype, validating the effectiveness of Bowden tendon tension and thrust and demonstrating the large deformation curvature and flexible motion space of the soft manipulator. Finally, the paper experimentally tests the stability of repetitive motion, load-bearing capacity, and safety of active softening contact with humans of the soft manipulator, demonstrating that this biomimetic design exhibits not only flexibility and agility but also robustness in motion and precision in accuracy, closely resembling the capabilities of an elephant trunk, and holds promise as flexible supernumerary robotic limbs for mobile or humanoid robots. © 2024, The Authors. All rights reserved.

关键词： Tendons

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An Aerial Non-contact Detection system For Quayside Crane Using A Hexacopter

An Aerial Non-contact Detection System For Quayside Crane Us...

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IEEE International Conference on Real-time Computing and robotics (RCAR)

作者： Yehui Zhang Zhaoying Wang Wei Dong State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai China Robotics Institute School of Mechanical Engineering Shanghai Jiao Tong University Shanghai China

In recent years, aerial robots have been widely used and developed in high-altitude defect detection in academia and business. To solve the detection problem of beams at quayside cranes, reduce the cost of staffing in the traditional manual detection process and improve detection safety, a non-contact detection system using a hexacopter is designed. This article analyzes the task requirements of flaw detection for quayside cranes and the workflow. The Unmanned Aerial Vehicle (UAV) system is equipped with a non-contact detective transmitter, a non-contact detective imaging plate and other task detection equipment to detect the crack of quayside crane beams. The system is based on multi-sensor modules. Besides, the system is designed as light as possible to increase the flight endurance of the UAV. On this basis, the system takes the UAV as the carrier and carries the detection equipment to the location which needs detection. At the same time, people on the ground can control the non-contact detective transmitter and imaging plate to move to the defect area through remote radio control, then can obtain the internal crack. The reliability and effectiveness of the whole system are verified by performing an actual detection experiment with a crane model.

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Incremental Joint Learning of Depth, Pose and Implicit Scene Representation on Monocular Camera in Large-scale Scenes

arXiv

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arXiv 2024年

作者： Deng, Tianchen Wang, Nailin Wang, Chongdi Yuan, Shenghai Wang, Jingchuan Wang, Danwei Chen, Weidong The Institute of Medical Robotics Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education Shanghai200240 China The School of Electrical and Electronic Engineering Nanyang Technological University Singapore

Dense scene reconstruction for photo-realistic view synthesis has various applications, such as VR/AR, autonomous vehicles. However, most existing methods have difficulties in large-scale scenes due to three core challenges: (a) inaccurate depth input. Accurate depth input is impossible to get in real-world large-scale scenes. (b) inaccurate pose estimation. Existing methods are not robust enough with the growth of cumulative errors in large scenes and long sequence. (c) insufficient scene representation capability. A single global radiance field lacks the capacity to effectively scale to large-scale scenes. To this end, we propose an incremental joint learning framework, which can achieve accurate depth, pose estimation, and large-scale scene reconstruction. A vision transformer-based network is adopted as the backbone to enhance performance in scale information estimation. For pose estimation, a feature-metric bundle adjustment (FBA) method is designed for accurate and robust camera tracking in large-scale scenes. In terms of implicit scene representation, we propose an incremental scene representation method to construct the entire large-scale scene as multiple local radiance fields to enhance the scalability of 3D scene representation. Extended experiments have been conducted to demonstrate the effectiveness and accuracy of our method in depth estimation, pose estimation, and large-scale scene reconstruction. The code will be open-sourced upon paper acceptance. © 2024, CC BY-NC-SA.

关键词： Depth perception

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Multi-Robot Collaborative Identification and Trajectory Optimization for Fine Operation of Uncertain Objects

SSRN

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SSRN 2024年

作者： Cheng, Tianhong Xu, Wenfu Yan, Lei The School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen518055 China Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robots Shenzhen518055 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

Multi-robot systems offer many advantages over single robots such as flexible operation, high efficiency, and large payload, making it highly promising for applications in large equipment assembly, complex part manufacturing, and maintenance. However, uncertainties in the shape, size, mass, and inertia of manipulated objects, coupled with spatial constraints in multi-robot collaborative operations, pose significant challenges. To address the above issues, this paper proposes a multi-robot collaborative identification and trajectory optimization framework for fine operation of uncertain object. First, the compound multi-robot and object system is modelled. Then a power identification method is presented by introducing the motor model. Regarding the uncertainties related to manipulated objects, a novel momentum observer is designed, which enables the identification of physical properties of the object manipulated by the multi-robot system such as its mass, inertia, and the position of center of mass. Subsequently, for multi-robot collaborative operations, the paper explores collaborative trajectory optimization methods across various levels, including initial scene design, path allocation, and energy-efficient trajectory optimization. Several typical simulations and collaborative polishing experiment validate the effectiveness of the proposed method. © 2024, The Authors. All rights reserved.

关键词： Multipurpose robots

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A Novel Dehazing Network Based on Point-by-Point Attention Enhancement

A Novel Dehazing Network Based on Point-by-Point Attention E...

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International Conference on Computers, Communications, and systems (ICCCS)

作者： Hongyuan Jing Hui Zhang Yang Yi Kaiyan Wang Chen Hong Aidong Chen Beijing Key Laboratory of Information Service Engineering Beijing Union University Beijing China College of Robotics Beijing Union University Beijing China Multi-Agent System Research Centre Beijing Union University Beijing China

ISBN: (数字)9798350350210

ISBN: (纸本)9798350350227

Under stormy weather conditions, the image quality captured by the imaging equipment is low, showing low image contrast and low scene brightness. The image processed by the non-local algorithm has phenomena such as edge blur in dense fog areas, object edge halo, and color distortion. In order to solve this problem, a new end-to-end defogging network based on attention feature fusion technology is proposed. The proposed network uses the RepVGG-SSE module in the encoding part to enhance features, and uses a point-wise pixel-level attention module to achieve high-dimensional feature enhancement. Extensive experimental results show that this method outperforms most existing defogging methods. This method has a remarkable image defogging effect, which improves image details while reducing the impact of image color distortion.

关键词： Image quality Image color analysis Communication systems Image edge detection Imaging Computer architecture Distortion

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A novel cross-scale nanopositioning stage based on dual piezoelectric stick-slip actuation with a shared flexible hinge

A novel cross-scale nanopositioning stage based on dual piez...

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International Conference on Manipulation, Automation and robotics at Small Scales (MARSS)

作者： Siyuan Meng Junhui Zhu Yong Wang Luoning Shi Jia Yu Dongmei Wu Wei Dong Changhai Ru State Key Laboratory of Ro-botics and System Harbin Institute of Technology Harbin China School of Electronic and Infor-mation Engineering Suzhou University of Science and Technology Suzhou China Micro-Nano Automation Institute JITRI Suzhou China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China School of Electronic and Information Engineering Suzhou University of Science and Technology Suzhou China

ISBN: (数字)9798350376807

ISBN: (纸本)9798350376814

This paper presents a novel cross-scale nanopositioning stage that integrates the advantages of piezoelectric stick-slip positioners and piezoelectric scanners, utilizing the concept of macro-micro positioning. Initially, a unique structural design featuring a single flexible hinge shared by a small and a large PZT is proposed to reduce the stage's size effectively, enabling millimeter-scale strokes with nanometer-scale positioning accuracy. Subsequently, the cross-scale motion generation mechanism of the dual piezoelectric stick-slip drive is investigated, leading to the development of a system-level dynamics model for the proposed positioning stages. The mechanism design is further optimized to enhance performance. A prototype is manufactured, and a series of experiments are conducted to evaluate the stage's performance. Results indicate that the proposed positioning stage achieves a maximum motion range of 20 mm and a minimum step length of 70 nm in small piezoceramic macro-motion stepping mode, along with a maximum scanning range of 4.9 μm and a motion resolution of 16 nm in large pie-zoceramic micro-motion scanning mode. Moreover, the compact structure of the stage (30×17×8 mm 3 ) supports a maximum motion speed of 10 mm/s and a maximum load of 2 kg. Experi-mental validation confirms the feasibility of the proposed stage, demonstrating nanometer positioning resolution, high accuracy, high speed, and large travel range. These attributes highlight the significant potential of the proposed stage in various in-situ SEM nanorobotic instrument systems.

关键词： Accuracy Automation Nanopositioning Instruments Dynamics Prototypes Mechanism design

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Practical Applicability of PLA for Industrial Wireless Networks: Gaps and Directions

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IEEE Network 2025年

作者： Liang, Wei Wei, Fuyou Wang, Qi Zhan, Ming Wang, Ke Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang Institute of Automation Shenyang110016 China Chinese Academy of Sciences Key Laboratory of Networked Control System Shenyang Institute of Automation Shenyang110016 China Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Shenyang110169 China University of Chinese Academy of Sciences Beijing100049 China Shandong Normal University Jinan250014 China Taizhou University School of Electronics and Information Engineering Zhejiang Taizhou China

The rapid transformation of Industrial Cyber-Physical system (ICPS) has introduced significant cyber security challenges, particularly in the context of ICPS. Wireless networks are a critical component of these systems, but their open nature makes them vulnerable to security threats. Physical Layer Authentication (PLA) algorithms based on Channel State Information (CSI) are essential complements to existing security technologies in wireless networks. However, their practical application faces challenges such as restricted sampling rates and uneven sampling interval, which result in low-precision CSI, significant random phase offsets, and signal distortion. This study aims to explore the feasibility of deploying and applying existing representative algorithms on industrial wireless commercial devices. According to characteristics of authentication algorithms and the adopted authentication features, we selected five of the latest physical layer authentication algorithms including supervised, semi-supervised, and unsupervised algorithms and deployed them on commercial devices that comply with the WIA-FA standard. We conducted systematic experiments focusing on the motion parameters of devices, the CSI data sampling frequency, the interference caused by worker movement, the surface materials of the devices, and the types of attacks. This study explores the ability of these algorithms to resist attacks and environmental interference in commercial devices and industrial scenarios. Extensive experimental data were collected, and the results indicate that existing authentication algorithms still need improvement to meet the requirements of industrial applications. The experiment findings and the summarized application challenges of these algorithms provide significant guidance for future research and practical industrial implementations. © 1986-2012 IEEE.

关键词： Authentication

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Optimal Design of Robust Wireless Power Transfer Links for Human-machine Interface *

Optimal Design of Robust Wireless Power Transfer Links for H...

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IEEE International Conference on robotics and Biomimetics

作者： Yujun Wu Yun Fang Weichao Guo Xinjun Sheng State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai China Meta Robotics Institute Shanghai Jiao Tong University Shanghai China

Human-machine interfaces (HMIs) require minimal size and less interference to the users. Wireless and battery-free design of HMI devices can be promoted by wireless power transfer (WPT) technology. However, researchers often ignore the curvature of WPT coils. In addition, power transfer efficiency (PTE) and robustness to coil shifts are not both considered when designing WPT links. In this paper, a coaxial cylindrical coils model was presented to simulate curved coils, and several design parameters affecting robustness were investigated through electromagnetic and circuit simulation. We also proposed a novel method for designing WPT links that ensures both sufficient robustness and optimal PTE. Three sets of coils designed with the proposed method achieved an efficiency over 85% in the simulation and fulfilled the given robustness requirements at the same time. The coaxial cylindrical coils model and the proposed method were validated by experiments. A demonstration of the wireless powering of an HMI device was performed as well. In conclusion, this paper provided a guideline to model and design efficient and robust WPT coils in HMI applicaitions.

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Permanent Magnet Shape Optimization Method for PMSM Air Gap Flux Density Harmonics Reduction

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CES Transactions on Electrical Machines and systems 2021年第4期5卷 284-290页

作者： Chengsi Liu Yongxiang Xu Jibin Zou Guodong Yu Liang Zhuo School of Electrical Engineering and Automation of HIT Department of Electrical Engineering Harbin Institute of Technology the State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Institute of Technology and National Engineering Research Center for Small and Special Precision Motors Guizhou Aerospace Linquan Motor Co.Ltd

This paper proposed a permanent magnet optimization method to suppress the air gap flux density harmonic of permanent magnet synchronous motor(PMSM).The method corrected the effective air gap length of the motor,calculated the magnetization length of the permanent in the case of parallel magnetization,and took the influence of the permanent magnet relative permeability into *** on these works,for a given sinusoidal air gap flux density waveform,the corresponding structural parameters can be calculated,so as to achieve the optimization of the permanent *** using this method to optimize the shape of the magnet,the fundamental wave of the air gap flux density can be retained to the greatest extent,so as to eliminate harmonics and maintain the output capacity at the same *** feasibility and accuracy of the method have been verified by finite element analysis(FEA)and prototype machine *** method is simple and time-saving,and has a satisfactory accuracy,which provides a reference method for permanent magnet optimization of PMSM.

关键词： Permanent magnet synchronous motor(PMSM) analytical method finite element analysis(FEA) magnet shape optimization.

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Novel Auto-Tuning PD-Fuzzy Control of Current Harmonics to Reduce Losses in Motor Drive systems Excited by SiC-MOSFET Inverter

Novel Auto-Tuning PD-Fuzzy Control of Current Harmonics to R...

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SICE International Symposium on Control systems (ISCS)

作者： Nguyen Gia Minh Thao Ton Duc Do Duc-Kien Ngo Keisuke Fujisaki Electromagnetic Energy System Laboratory Graduate School of Engineering Toyota Technological Institute Japan Department of Robotics School of Engineering and Digital Sciences Nazarbayev University Kazakhstan Faculty of Electrical-Electronic Engineering University of Danang–University of Technology and Education Vietnam

This paper presents a novel auto-tuning proportional derivative (PD) controller based on fuzzy logic for significant reduction of selective current harmonics in interior permanent magnet synchronous motor (IPMSM) drive systems under silicon carbide (SiC) inverter excitation, where the ultimate goal is to mitigate the IPMSM copper loss and SiC inverter loss in the motor drive systems for electric vehicles (EVs) and mobile robots. In the proposed control scheme, a fuzzy logic controller (FLC) is newly designed to automatically adjust the coefficients of the PD controller according to the operating conditions of the motor system. With the unique design of two inputs and related membership functions based on absolute values in the FLC, the number of its fuzzy association rules is remarkably decreased in order to achieve good control performance with a less computational burden in real-time implementation. The measured results obtained with an experimental SiC-based IPMSM drive system under a high carrier frequency of 200 kHz in load condition are shown and discussed to validate the feasibility and effectiveness of the introduced PD-fuzzy control. Furthermore, this model-free PD-fuzzy control scheme can be appropriately applied for other motor drives utilized in various fields.

关键词： Fuzzy logic Motor drives Silicon carbide Harmonic analysis Permanent magnet motors Inverters Real-time systems

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