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International Conference on Pattern Recognition

作者： Junzhe Xu Jianhua Zhang Shengyong Chen Honghai Liu College of Computer Science and Technology Zhejiang University of Technology Hangzhou China College of Computer Science and Technology Tianjin University of Technology Tianjin China State Key Laboratory of Robotics and System School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen China

Environment exploration by autonomous robots through deep reinforcement learning (DRL) based methods has attracted more and more attention. However, existing methods usually focus on robot navigation to single or multiple fixed goals, while ignoring the perception and construction of external environments. In this paper, we propose a novel environment exploration task based on DRL, which requires a robot fast and completely perceives all objects of interest, and reconstructs their poses in a global environment map, as much as the robot can do. To this end, we design an auxiliary task aided DRL model, which is integrated with the auxiliary object detection and 6-DoF pose estimation components. The outcome of auxiliary tasks can improve the learning speed and robustness of DRL, as well as the accuracy of object pose estimation. Comprehensive experimental results on the indoor simulation platform AI2-THOR have shown the effectiveness and robustness of our method.

关键词： Navigation Object oriented modeling Pose estimation Semantics Object detection Reinforcement learning Robustness

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Configuration synthesis of planar folded and common overconstrained spatial rectangular pyramid deployable truss units

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Chinese Journal of Aeronautics 2019年第7期32卷 1772-1787页

作者： Hui YANG Hongwei GUO Yan WANG Rongqiang LIU Zongquan DENG College of Electrical Engineering and Automation Anhui UniversityHefei230601China State Key Laboratory Robotics and System Harbin Institute of TechnologyHarbin150001China China Electronics Technology Group Corporation No.38Research Hefei230088China

Compared with non-overconstrained deployable units, overconstrained deployable units are widely used in space missions for their higher stiffness characteristics. Besides the performance of a three-step topological structural analysis and design of the rectangular pyramid deployable truss unit(PDTU), conducting a structural synthesis of an overconstrained deployable unit requires the determination of the relative position and direction of each kinematic axis. The structural synthesis of an overconstrained deployable unit is investigated based on screw theory and its topological structure. The possible overconstrained cases of the rectangular PDTUs are analyzed, and corresponding screw expressions are obtained. Thus, the rectangular PDTUs, which can be folded into a plane, are synthesized systemically, and a series of overconstrained rectangular PDTUs is obtained. Furthermore, the feasibility of the folded and deployed motions under one degree of freedom for those deployable units is verified in dynamical simulation by using ADAMS 2010.

关键词： Assembly SAR antenna Common overconstraint Deployable truss structure Screw theory Structural synthesis

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Time-Optimal Control of Underactuated Wheeled Inverted Pendulum Vehicles Along Specified Paths

Time-Optimal Control of Underactuated Wheeled Inverted Pendu...

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International Conference on Advanced robotics and Mechatronics (ICARM)

作者： Yigao Ning Ming Yue Zenan Lin School of Automotive Engineering Dalian University of Technology Dalian China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (数字)9781728164793

ISBN: (纸本)9781728164809

This study proposes a time-optimal control method for a wheeled inverted pendulum (WIP) vehicle under specified paths. Firstly, the given path is described with a parametric form, and the kinematic model, velocity constraint and acceleration constraint are all parameterized with a same parameter as the geometric path. Meanwhile, the stabilization constraint of vehicle body is also formulated through the kinematic coupling relationship to take the underactuated characteristic into full consideration. Next, the time-optimal trajectory is constructed by a sequence of minimum acceleration and maximum acceleration trajectories based on phase-plane analysis, and the optimality is illustrated through rigorous analysis. Finally, a time-optimal trajectory tracking controller is designed for the WIP vehicle to realize the minimum-time motion, and numerical simulation results validate the effectiveness of the proposed method.

关键词： Acceleration Trajectory Mechatronics Kinematics Mobile robots Trajectory tracking

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Review of surgical robotic systems for keyhole and endoscopic procedures:state of the art and perspectives

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Frontiers of Medicine 2020年第4期14卷 382-403页

作者： Yuyang Chen Shu’an Zhang Zhonghao Wu Bo Yang Qingquan Luo Kai Xu State Key Laboratory of Mechanical System and Vibration School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai 200240China RII Lab(Lab of Robotics Innovation and Intervention) UM-SJTU Joint InstituteShanghai Jiao Tong UniversityShanghai 200240China Department of Urology Shanghai Changhai Hospitalthe Second Military Medical UniversityShanghai 200433China Shanghai Lung Cancer Center Shanghai Chest HospitalShanghai Jiao Tong UniversityShanghai 200030China

Minimally invasive surgery,including laparoscopic and thoracoscopic procedures,benefits patients in terms of improved postoperative outcomes and short recovery *** challenges in hand–eye coordination and manipulation dexterity during the aforementioned procedures have inspired an enormous wave of developments on surgical robotic systems to assist keyhole and endoscopic procedures in the past *** paper presents a systematic review of the state-of-the-art systems,picturing a detailed landscape of the system configurations,actuation schemes,and control approaches of the existing surgical robotic systems for keyhole and endoscopic *** development challenges and future perspectives are discussed in depth to point out the need for new enabling technologies and inspire future researches.

关键词： surgical robots keyhole surgery endoscopic surgery

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Research on impedance control of flexible joint space manipulator on-orbit servicing

Research on impedance control of flexible joint space manipu...

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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Liu, Dongyu Liu, Hong Liu, Yechao Li, Zhiqi China Academy of Space Technology Institute of Manned Spacecraft System Engineering Beijing China Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin Heilongjiang Province China

ISBN: (纸本)9781728163215

In this paper, the positional accuracy and contact force index requirements of the manipulator are analyzed according to the tolerance index of the space manipulator screwing. An position-based in Cartesian space impedance control strategy based on friction identification and compensation is proposed. By using joint friction torque compensation to improve the system control precision and setting the desired Cartesian position of the manipulator end point to control the contact force, this strategy solves the contradiction between the positional accuracy index and the contact force index requirement of manipulator during contact operating. The control algorithm is designed based on the system dynamics model, and the stability analysis of the control algorithm is given. The correctness of the control strategy is verified by simulation and on-orbit implementation. China's space manipulator has successfully completed the actual on-orbit servicing mission based on impedance control for the first time. © 2019 IEEE.

关键词： Friction

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Anisotropic tensile properties and high-cycle fatigue behavior of Ti6Al4V fabricated by single and dual laser-powder bed fusion

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Materials Science and engineering: A 2025年 941卷

作者： Guotai Li Peichen Hu Yuzhan Fan Ming Wu Mingjun Chen Tianyu Yu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 150001 China Key Laboratory of Micro-systems and Micro-structures Manufacturing Ministry of Education Harbin Heilongjiang 150001 China Department of Computer Science KU Leuven 3001 Leuven Belgium Department of Mechanical Engineering KU Leuven 3001 Leuven Belgium

The development of multi laser-powder bed fusion (PBF) technology has significantly reduced the production time for large engine components. However, the impact of thermal effects and microstructural characteristics in the laser beam overlap region on the anisotropic mechanical behavior of metallic materials remains unclear. This study investigated the anisotropic tensile properties and high-cycle fatigue behavior of Ti6Al4V produced by both single laser-PBF (SL-PBF) and dual laser-PBF (DL-PBF). As-built DL-PBF samples exhibited high strength (1404 MPa) but low ductility (3.6 %). After heat treatment, the samples achieved a strength-ductility balance, with an ultimate tensile strength of 1089 MPa, and an elongation of 17.1 %. The mechanical properties of Ti6Al4V produced by DL-PBF were influenced by the α lath thickness, dislocation density and texture. The precipitation of small-angle grain boundaries during DL-PBF process was found to contribute to the strong anisotropy. Due to the influence of internal pore forming, the fatigue strength of the DL-PBF samples was lower than that of the SL-PBF samples. Pores in the dual-laser beam overlap region accelerated the fatigue crack propagation, resulting in a venation-like pattern. In contrast, cracks in the SL-PBF samples propagated in a circular pattern around internal pore. A high-speed camera was employed to capture the dual-laser beams dynamics during pore formation. This study provides a comprehensive analysis of the mechanical properties and pore formation mechanisms in the DL-PBF process.

关键词： Anisotropy Dual laser-powder bed fusion High-cycle fatigue Tensile properties Ti6Al4V

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Study on the equilibrium of the assembling two-unit tensegrity structure

Study on the equilibrium of the assembling two-unit tensegri...

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作者： Luo, Ani Ji, Wanwei Liu, Heping Guo, Hongwei Liu, Rongqiang College of Mechanical and Electrical Engineering Harbin Engineering University Harbin150001 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China

When the tensegrity units are assembled into the complex tensegrity structures, relations between structural and force parameters determine equilibrium of the tensegrity structures and contribute to more topological configurations, so the relations will be investigated here. Firstly, equilibrium equations of the tensegrity structure which two tensegrity units are assembled into are set up. Then analytical solutions of the equations are obtained by solving the equilibrium equations. Finally, with the analytical solutions, influences of the deflection angle inside the unit and number of the bars on other parameters are investigated. © 2019, Springer Nature Switzerland AG.

关键词： Analytical solutions Equilibrium equations Tensegrity structures Tensegrity unit

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A Novel Path Planning Approach with Bidirectional A* Algorithm Based on Road Characteristics

A Novel Path Planning Approach with Bidirectional A* Algorit...

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International Conference on Mechatronics and Machine Vision in Practice (M2VIP)

作者： Weihua Li Bowen Chen Pengpeng Li Xuewen Geng Jianfeng Wang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China School of Automotive Engineering Harbin Institute of Technology-Weihai Weihai China SGCC Smart Energy and Electric Transportation Technology Innovation Center (Suzhou) Co.Ltd. Suzhou China

ISBN: (纸本)9781665431545

The global path planning of a traditional A* algorithm is investigated to obtain the shortest path, which considers only the straight-line distance between grids without considering the effects of road slope and road resistance on the path distance and the energy consumption for ground vehicles. The heuristic function of shortest path based on road slope and the heuristic function of minimum energy consumption based on road resistance coefficient are respectively developed in this paper. Combining the two improvements, a novel comprehensive heuristic function is proposed in this paper. Through the distribution of weight coefficients between the shortest path and the minimum energy consumption, one more reasonable path can be obtained. In addition, a bidirectional A* search algorithm is also applied. The case studies validate that the improved A* search algorithm in this paper can generate a more reasonable path considering the distance and the energy consumption.

关键词： Resistance Energy consumption Mechatronics Roads Heuristic algorithms Machine vision Focusing

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Conditions for active assistance control of exoskeleton robot

Conditions for active assistance control of exoskeleton robo...

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International Conference on Advanced robotics and Mechatronics (ICARM)

作者： Shiyin Qiu Wei Guo Fusheng Zha Xin Wang Wentao Sheng Fei Chen Darwin Caldwell State Key Laboratory of Robotics and System School of Mechatronics Engineering Harbin Institute of Technology Harbin China Shenzhen Academy of Aerospace Technology Robotics Institute of Shenzhen Academy of Aerospace Technology Shenzhen China

ISBN: (数字)9781728164793

ISBN: (纸本)9781728164809

The condition of active assistance is the basic design criteria of target assistance torque profile. Based on the human-exoskeleton interaction model, the condition of active assistance was derived first. And then, some biomechanical simulation experiments based on OpenSim were carried out to demonstrate the the condition of active assistance. The condition of active assistance for exoskeleton robot is that the target assistance torque and the human joint muscle torque should be in a same direction and the assistance ratio should be greater than 0 and less than 1.

关键词： Exoskeletons Torque Muscles Robots Trajectory Force Dynamics

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Robust Mechanically Interlocked Network Ionogels

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Angewandte Chemie 2025年

作者： Mengling Yang Jinhao Li Dr. Chunyu Wang Dr. Li Yang Dr. Zhiwei Fan Wenbin Wang Guoquan Liu Dr. Lin Cheng Shaolei Qu Prof. Zhaoming Zhang Prof. Jiang Zou Prof. Wei Yu Prof. Guoying Gu Prof. Xuzhou Yan School of Chemistry and Chemical Engineering Frontiers Science Center for Transformative Molecules Shanghai Key Laboratory of Electrical Insulation and Thermal Aging Shanghai Jiao Tong University Shanghai 200240 P. R. China Robotics Institute and State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai 200240 P. R. China Meta Robotics Institute Shanghai Jiao Tong University Shanghai 200240 P. R. China

Ionogels have attracted considerable attention as versatile materials due to their unique ionic conductivity and thermal stability. However, relatively weak mechanical performance of many existing ionogels has hindered their broader application. Herein, we develop robust, tough, and impact-resistant mechanically interlocked network ionogels ( IG MINs) by incorporating ion liquids with mechanical bonds that can dissipate energy while maintain structural stability. Profiting from the dynamic yet stable nature of the mechanically interlocked networks, IG MINs exhibit high tensile strength (9.6 MPa), fracture energy (39 kJ/m 2 ), and toughness (25.9 MJ/m 3 ), along with a high elongation rate (473 %) and excellent impact resistance and shape memory, resulting in overall performance that surpasses most reported ionogels. Furthermore, in the application of strain sensors for monitoring the gait of crawling robots, the toughness and robustness of IG MINs ensure their ability to consistently output stable electrical signals during the stretching and contraction processes, thereby highlighting their practical application potential. Our work provides a new research strategy for toughening ionogels and promotes the development of mechanically interlocked materials.

关键词： ionogels mechanical bonds toughening mechanism tear resistance shape-memory

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