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2nd Spring International Conference on Defence Technology, ICDT 2020

作者： Liu, Y.F. Su, B. Zhou, L. Gao, H.B. Ding, L. Jiang, L. Zou, F.Q. Ma, C.Y. China North Vehicle Research Institute Beijing100072 China Equipment Project Management Center Beijing100072 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China MEMS Center Harbin Institute of Technology Harbin150080 China College of Mechanical Engineering Jiamusi University Jiamusi154007 China

In order to improve the performance of the multi-legged robot, the impact of foot-terrain is an important target to measure the performance of the robot. In order to ensure the compliance contact of foot-terrain for the legged robot, it is essential to add passive spring between the calf and foot. The mechanical structure makes the leg of hexapod robot retractable passive elastic structure. For multi-legged robots with passive elastic legs, the foot-terrain impact model is presented to measure the dynamic performance and provide theoretical support for the low impact force motion planning. The traditional planning method will cause additional impact for the switching case between the swing and stance phase. This paper presents a motion planning method that considers the deformable leg structure and impact performance. The experiments have been carried out, and the results have demonstrated the effectiveness of the foot terrain impact model and motion planning method in comparison with a conventional method. © Published under licence by IOP Publishing Ltd.

关键词： Motion planning

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COMSOL-based simulations and experiments on the classifying trajectory of the mixed particles levitated in standing wave field

COMSOL-based simulations and experiments on the classifying ...

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2019 International Congress on Ultrasonics, ICU 2019

作者： Dong, Huijuan Meng, Fanbin Lan, Bin Mu, Guanyu Zhao, Jie School of Mechatronics Engineering Harbin Institute of Technology Hei Longjiang Harbin150001 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

ISBN: (纸本)9781665407090

In this work, a standing wave acoustic field formed by using two contraposition transducers is used to classify the mixed powder. COMSOL-based simulations reveal the influence of the factors on the drop trajectories of the particles within an acoustic field. Then the experiments are carried out to demonstrate those obtained using COMSOL-based simulations. Finally, the separation experiments of the mixed powder of iron and dioxide silica are achieved, including the mixed powder both in the same diameter and the different diameter respectively. © 2020 Acoustical Society of America.

关键词： Acoustic fields

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Application of light diffraction theory to qualify the downstream light field modulation property of mitigated KDP crystals

arXiv

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arXiv 2020年

作者： Yang, Hao Cheng, Jian Liu, Zhichao Liu, Qi Zhao, Linjie Tan, Chao Wang, Jian Chen, Mingjun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Research Center of Laser Fusion China Academy of Engineering Physics Mianyang621900 China

Micro-milling can effectively remove laser damage sites on a KDP (potassium dihydrogen phosphate) surface and then improve the laser damage resistance of the components. However, the repaired KDP surface could cause light propagating turbulence and downstream light intensification with the potential risk to damage downstream optics. In order to analyze the downstream light field modulation caused by Gaussian mitigation pits on KDP crystals, a computational model of the downstream light diffraction based on the angular spectrum theory and the Gaussian repair contour is established. The results show that the phase offset caused by the repaired surface produces a large light field modulation near the rear KDP surface. The modulation generated in the whole downstream light field is greater than that caused by the amplitude change. Therefore, the phase characteristics of the outgoing light could be suggested as a vital research topic for future research on the downstream light field modulation caused by mitigation contours. Significantly, the experimental results on the downstream light intensity distribution have good agreement with the simulation ones, which proves the validity of the established downstream light diffraction model. The phase characterization of the outgoing light is proposed as an evaluation tool in the repair of KDP crystals. The developed analytical method and numerical discrete algorithm could be also applicable in qualifying the repair quality of other optical components applied in high-power laser systems. Copyright © 2020, The Authors. All rights reserved.

关键词： Diffraction

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Robotic Electrospinning Actuated by Non-Circular Joint Continuum Manipulator for Endoluminal Therapy

Robotic Electrospinning Actuated by Non-Circular Joint Conti...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Zicong Wu Chuqian Lou Zhu Jin Shaoping Huang Ning Liu Yun Zou Mirko Kovac Anzhu Gao Guang-Zhong Yang Shanghai Jiao Tong University Shanghai P. R. China Imperial College London and Empa-Swiss Federal Laboratories for Materials Science and Technology Precision Robotics (Hong Kong) Limited Hong Kong China Aerial Robotics Laboratory Imperial College London London United Kingdom Shanghai Jiao Tong University and the Key Laboratory of System Control and Information Processing Ministry of Education Shanghai China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China Institute of Medical Robotics Shanghai Jiao Tong University Shanghai P. R. China

Electrospinning has exhibited excellent benefits to treat the trauma for tissue engineering due to its produced micro/nano fibrous structure. It can effectively adhere to the tissue surface for long-term continuous therapy. This paper develops a robotic electrospinning platform for endoluminal therapy. The platform consists of a continuum manipulator, the electrospinning device, and the actuation unit. The continuum manipulator has two bending sections to facilitate the steering of the tip needle for a controllable spinning direction. Non-circular joint profile is carefully designed to enable a constant length of the centreline of a continuum manipulator for stable fluid transmission inside it. Experiments are performed on a bronchus phantom, and the steering ability and bending limitation in each direction are also investigated. The endoluminal electrospinning is also fulfilled by a trajectory following and points targeting experiments. The effective adhesive area of the produced fibre is also illustrated. The proposed robotic electrospinning shows its feasibility to precisely spread more therapeutic drug to construct fibrous structure for potential endoluminal treatments.

关键词： Drugs Electric potential Fluids Tissue engineering Medical treatment Bending Manipulators

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Object-aware hybrid map for indoor robot visual semantic navigation

Object-aware hybrid map for indoor robot visual semantic nav...

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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Wang, Li Li, Ruifeng Sun, Jingwen Zhao, Lijun Shi, Hezi Seah, Hock Soon Tandianus, Budianto Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150001 China School of Computer Science and Engineering Nanyang Technological University Nanyang Avenue639798 Singapore

ISBN: (纸本)9781728163215

In order to achieve an intuitive interaction and visual semantic navigation for the indoor robot, we propose a novel object-aware hybrid map. The existing map is usually a metric map, lacking semantics for interaction. We combine objects in the indoor environment with the metric map to constitute a hybrid map. The map consists of a 3D object semantic map and a 2D occupancy grid map, which transfers human commands to the grid map through object semantics, thereby enabling autonomous navigation for the robot. We utilize ORB-SLAM2 for continuous pose estimation and 3D mapping. 2D object detection in key-frames is conducted based on YOLO v3. The object point clouds in multiple perspectives are merged and a 3D bounding box of the object is estimated. These objects construct a 3D semantic map. Furthermore, we project a 3D point cloud map into a 2D plane in order to get an occupancy grid map. Finally, these two maps are combined forming an object-aware hybrid map. We conduct experiments in real environments in order to verify the feasibility and robustness of the hybrid map for robot semantic navigation. © 2019 IEEE.

关键词： Object detection

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Bilateral Teleoperation of Wheeled Mobile Robots Subject to Lateral Sliding on Soft Terrains

Bilateral Teleoperation of Wheeled Mobile Robots Subject to ...

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第三十九届中国控制会议

作者： Weihua Li Sanjun Liu Dianbo Ren Jianfeng Wang Haibo Gao School of Automotive Engineering Harbin Institute of Technology(Weihai) State Key Laboratory of Robotics and System Harbin Institute of Technology Shanghai Aerospace Equipments Manufacturer Co Ltd.

With the widespread applications of wheeled mobile robots（WMR） in various fields,new challenges have arisen in terms of designing its control system.A special challenge is the soft terrain which can induce both of the longitudinal slipping and the lateral *** paper proposes a new method for haptic teleoperation control of a WMR with lateral *** this teleoperation system,the linear velocity and the angular velocity of the WMR separately follow the master haptic interface’s *** to the functional benefits of displaying the lateral sliding information as haptic feedback to the operator,the lateral velocity is segregated and only perceived by the human *** the teleoperator for the master robot and the slave WMR is designed based on the passivity *** of the proposed controller demonstrate that this approach results in stable bilateral teleoperation with a satisfactory tracking performance.

关键词： Teleoperation Lateral Sliding Wheeled Mobile Robot

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Design and analysis of a flying-crawling spherical robot for multi-mode movement

Design and analysis of a flying-crawling spherical robot for...

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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Lu, Pengfei Xu, Kun Ding, Xilun Jiang, Shuiqing Tang, Zixin Wang, Yaobing Beihang University Robotics Institute of School of Mechanical Engineering and Automation Beijing China Beijing Institute of Spacecraft System Engineering Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing China

ISBN: (纸本)9781728163215

A novel spherical robot named flying-crawling spherical robot is designed in this paper. It can fly or roll on ground with its single rotor and eight tail fins. When its limbs stretch out it can crawl on the supporting surface. Besides, with its limbs the robot can realize carrying objects, landing on uneven ground and walking on the supporting surface. Dynamic model of the robot in flight mode is established and the motion characteristics are analyzed. A PID control system is designed to enable the robot to achieve stable flight. Trot gait planning of the robot is given and a PID controller is designed for tail fins assistant in crawling mode. Corresponding simulations are carried out and the simulation results verify the proposed methods. © 2019 IEEE.

关键词： Three term control systems

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Experiments on the relationship between the structural parameters of contraposition transducers and the acoustic levitation transportation trajectory

Experiments on the relationship between the structural param...

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2019 International Congress on Ultrasonics, ICU 2019

作者： Dong, Huijuan Sui, Mingyang Mao, Chuncheng Mu, Guanyu Zhao, Jie School of Mechatronics Engineering Harbin Institute of Technology Hei Longjiang Harbin150001 China State Key Laboratory of Robotics and System Harbin Institute of Technology Heilongjiang Harbin150001 China

ISBN: (纸本)9781665407090

Standing wave acoustic levitation transportation technique has been widely used in many research areas. In this work, two Langevin-type piezoelectric transducers' central lines are mounted at a certain angle which is named a contraposition transducer array. The levitator developed in this work is constructed using the array and a reflector. Accordingly, a standing wave acoustic field is formed to levitate and transport particles by optimizing the angle between central lines of the two transducers, the distance between the two transducers' output and their reflectors, the exciting phase differential on the two transducers. In this standing wave acoustic field, the trapped objects can be levitated and transported by modulating the exciting phase difference of the two transducers. In this work, the locations of the levitated particles are acquired by a high speed video camera and are clarified using the Hough Circle algorithm. The experiments carried out by the authors have demonstrated the effects of the levitator's structure parameters (including the angle between central lines of the two transducers, the distance between the two transducers' output and the reflector) on the transportation trajectory. © 2020 Acoustical Society of America.

关键词： Video cameras

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Dual-durometer combination of vacuum cup for aerial grasping

Dual-durometer combination of vacuum cup for aerial grasping

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

作者： Sensen Liu Wei Dong Zhao Ma Dongxiao Sun Xinjun Sheng State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University and Robotics Institute Shanghai China School of Mechanical Engineering Shanghai Jiao Tong University Shanghai China

ISBN: (数字)9781728172934

ISBN: (纸本)9781728172941

In the application of a conventional vacuum cup, a large compression force is required to eliminate the gap between the end of the cup and the object surface. However, the large interaction force will be a challenge for micro flying robots to grasp the object in the air using the suction cup as a gripper. To address the problem, a dual-durometer combined vacuum cup for aerial grasping is proposed. The combined cup is composed of one outer hard cup and one inner soft cup. The soft cup is longer than the hard one so the initial contact phase is implemented by the soft cup. The required compression force to engage the soft cup is dramatically decreased. The hard cup will be guided and pressed by the adhesion force induced by the soft one. Therefore, a larger adhesion force can be provided by the outer hard cup. The comparative experiments of static error-tolerance and aerial grasping have been conducted. The results demonstrate that the required contact pressure is significantly reduced and the object can be grasped robustly.

关键词： Force Grasping Adhesives Payloads Lips Bellows Adsorption

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Design of dielectric-elastomer actuated XY stages with millimeter range and submicrometer resolution

Design of dielectric-elastomer actuated XY stages with milli...

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

作者： Ningyuan Ding Jiang Zou Guoying Gu Robotics Institute School of Mechanical Engineering Shanghai Jiao Tong University Shanghai China State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai China

ISBN: (数字)9781728193496

ISBN: (纸本)9781728193502

In this paper, we present the development and performance evaluation of dielectric-elastomer actuated XY (DEA-XY) stages with a millimeter range and submicrometer resolution. The design of the DEA-XY stage is based on a circular dielectric-elastomer actuator with two vertically distributed electrodes that can generate a two degree-of-freedom motion. To optimize their performances, various DEAXY stages with different dimensions and pre-stretches are firstly fabricated. Then, both static and dynamic performances of the DEA-XY stages are investigated by experiments, which demonstrate that: i) the workspace of the DEA-XY stage can reach 2.5 mm × 2.5 mm; ii) the cross-coupling effect is less than 6.5%; iii) the dynamic responses of the DEA-XY stage show both viscoelastic creep and hysteresis nonlinearities. To demonstrate the resolution of the DEA-XY stage, we implement a feedback controller to remove the creep effect. By tracking step trajectories, the results show that the DEA-XY stage can achieve the positioning resolution of 100 nm. This work demonstrates the potential application of the DEA-XY stage in the field of microscale manipulators.

关键词： Electrodes Creep Actuators Micromanipulators High-voltage techniques Hysteresis Fabrication

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