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SSRN 2022年

作者： Liang, Guoyuan Su, Yahao Wu, Xinyu Ma, Jiajun Long, Huan Song, Zhe Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Province Shenzhen China Guangdong Provincial Key Laboratory of Computer Vision and Virtual Reality Technology Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Province Shenzhen China Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Province Shenzhen China School of Electrical Engineering Southeast University Jiang Su Province Nanjing China School of Business Nanjing University Jiang Su Province Nanjing China

Wind power curve describes the relationship between wind speed and output power of wind turbine, which may be contaminated due to various unexpected factors. Following the idea of image segmentation in our previous work, in this paper, we propose a novel image-based abnormal data cleaning algorithm aiming to provide high quality data for wind power curve modeling and relevant applications. For image binarization, a multiscale space is built to determine the optimal scale at which the most stable as well as informative shape representations are extracted. The Active Shape Model is utilized to model the power curve shape and generate a set of segmentation candidates for filtering abnormal data. To measure the cost of each candidate, the Class Uncertainty map based on dual feature images is built. And eventually the optimal segmentation boundary is determined by the optimization in the energy space. A series of comparative experiments conducted over the real-world datasets of 37 wind turbines have validated the superior performance of the proposed algorithm. © 2022, The Authors. All rights reserved.

关键词： Wind power

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Design and safety control of a high-payload nursing robotic arm with tactile skin

Design and safety control of a high-payload nursing robotic ...

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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Wu, Jiahao Song, Yanshu Huang, Hailin Liu, Fei Chen, Junan Li, Bing Harbin Institute of Technology School of Mechanical Engineering and Technology Shenzhen518055 China Harbin Institute of Technology School of Electronic and Information Engineering Shenzhen518055 China Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150001 China

ISBN: (纸本)9781728163215

Service robots are being increasingly used to replace human beings in carrying out various sophisticated, heavy and even dangerous tasks. In order to solve the problem of labor shortage in the medical and nursing industry, this paper proposes a novel high-payload robotic arm for nursing tasks, which can help caregivers to lift and transfer patients. Firstly, we simulate and analyze the specific nursing tasks and application scenarios, and determine its kinematics configuration and load capacity parameters of each joint. Then we design and fabricate the modular and low flexibility robotic joints for the prototype. To avoid the occurrence of safety accidents while lifting patients, we design a new kind of tactile skin based on the resistance characteristic of varistor materials, using which a safety control algorithm is proposed. Experiments show that it can meet the requirements of load capacity and position control accuracy, and the proposed safety control method can effectively avoid many dangerous situations. © 2019 IEEE.

关键词： Nursing

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Force-based Feedback for Haptic Device of Mobile Assembly Robot

Force-based Feedback for Haptic Device of Mobile Assembly Ro...

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International Workshop on Electric Drives: Optimization in Control of Electric Drives (IWED)

作者： Aleksandr Lukin Galina L. Demidova Anton Rassõlkin Toomas Vaimann Hamid Roozbahani Faculty of Control System and Robotics ITMO University Saint Petersburg Russia Department of Electrical Power Engineering and Mechatronics Tallinn University of Technology Tallin Estonia Laboratory of Intelligent Machines Lappeenranta University of Technology Lappeenranta Finland

ISBN: (数字)9781728141589

ISBN: (纸本)9781728141596

This paper describes the control system for twin serial robot manipulators, installed on TIERA mobile robot, focusing in Robot Operating system (ROS) based control network and haptic feedback. Forward and inverse kinematics were used to translate the angular positions of Geomagic touch into joint angles of both UR10 manipulators. Force feedback allows the operator to sense forces applied to both grippers of robotic arms simultaneously using two Geomagic touch. Field tests of TIERA have shown that haptic feedback was established accurately, directions of forces inside the haptic device correspond with directions of forces affecting the gripper, and the current scaling coefficient is enough to sense forces on the haptic device.

关键词： Manipulators Robot sensing systems Robot kinematics Haptic interfaces Software

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Diffusive nonreciprocity and thermal diode

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Physical Review B 2021年第1期103卷 014307-014307页

作者： Ying Li Jiaxin Li Minghong Qi Cheng-Wei Qiu Hongsheng Chen Interdisciplinary Center for Quantum Information State Key Laboratory of Modern Optical Instrumentation College of Information Science and Electronic Engineering Zhejiang University Hangzhou 310027 China ZJU-Hangzhou Global Science and Technology Innovation Center Key Lab. of Advanced Micro/Nano Electronic Devices & Smart Systems of Zhejiang Zhejiang University Hangzhou 310027 China International Joint Innovation Center ZJU-UIUC Institute The Electromagnetics Academy at Zhejiang University Zhejiang University Haining 314400 China Department of Electrical and Computer Engineering National University of Singapore Singapore 117583 Singapore State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

Wave propagation and diffusion in linear materials preserve local reciprocity in terms of a symmetric Green's function. For wave propagations, the relation between the fields entering and leaving a system is more relevant than the detailed information about the fields inside it. In such cases, the global reciprocity of the scattering off a system through several ports is more important, which is defined as the symmetric transmission between the scattering channels. When a two-port system supports nonreciprocal (electromagnetic, acoustic) wave propagation, it is a (optical, phonon) diode directly following the definition. However, to date no concrete definition or discussion has been made on the global reciprocity of diffusive processes through a multiple-port system. It thus remains unclear what are the differences and relations between the three concepts, namely, local nonreciprocity, global nonreciprocity, and diode effect in diffusion. Here, we provide theoretical analysis on the frequency-domain Green's function and define the global reciprocity of heat diffusion through a two-port system, which has a different setup from that of a thermal diode. We further prove the equivalence between a heat transfer system with broken steady-state global reciprocity and a thermal diode, assuming no temperature-dependent heat generation. The validities of some typical mechanisms in breaking the diffusive reciprocity and making a thermal diode have been discussed. Our results set a general background for future studies on symmetric and asymmetric diffusive processes.

关键词： Diffusion Heat transfer Metamaterials Diodes Green's function methods

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Magnetic Continuum Robot for Intelligent Manipulation in Medical Applications

SmartBot

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SmartBot 2025年

作者： Yuanbiao Ma Xuanyu An Qijun Yang Mingxue Cai Zhiqiang Tang Jinke Chang Veronica Iacovacci Tiantian Xu Li Zhang Qianqian Wang Jiangsu Key Laboratory for Design and Manufacture of Micro-Nano Biomedical Instruments School of Mechanical Engineering Southeast University Nanjing China Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China Department of Mechanical Engineering National University of Singapore Queenstown Singapore Department of Engineering Science University of Oxford Oxford UK Department of Surgical Biotechnology Division of Surgery & Interventional Science Centre for Biomaterials in Surgical Reconstruction and Regeneration University College London London UK BioRobotics Institute Scuola Superiore Sant’Anna Pisa Italy Department of Excellence in Robotics & AI Scuola Superiore Sant’Anna Pisa Italy Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong China Chow Yuk Ho Technology Center for Innovative Medicine The Chinese University of Hong Kong Hong Kong China Multi-Scale Medical Robotics Center Hong Kong Science Park Hong Kong China

Magnetic continuum robots (MCRs) have garnered substantial attention as a new class of flexible robotic systems capable of navigating complex and confined spaces with remarkable dexterity. By combining continuous, deformable structures with remotely applied magnetic fields, MCRs achieve contactless, remote manipulation, making them well-suited for medical applications. This review introduces recent advances in MCR research, focusing on design principles, structural configurations, and control strategies. Various MCR designs and structures, including those integrated with permanent magnets, magnetic matter, ferromagnetic sphere, and micro coil, are discussed. Furthermore, different magnetic actuation platforms are introduced, and the level of MCR automation is classified based on control strategies. Key intelligent manipulation capabilities of MCRs, including navigation, delivery, printing, grasping, imaging, and sensing are explored. Finally, future development priorities and directions are identified to provide insights for advancing intelligent robotic systems.

关键词： intelligent manipulation magnetic actuation magnetic continuum robot medical application

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A Visual Calibration Method of Monocular Camera and Pan-Tilt for Mobile Robots

A Visual Calibration Method of Monocular Camera and Pan-Tilt...

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

作者： Jingwen Sun Lijun Zhao Ke Wang Yujia Zhao Xiangbo Meng Chuwei Mao Jiancheng Wang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and System China School of Electrical Engineering & Automation Harbin Institute of Technology Harbin China

ISBN: (数字)9781728137261

ISBN: (纸本)9781728137278

In the competition of “RoboMaster”, the robot, a mobile platform with a two-axis pan-tilt and a barrel, needs to shoot the target by launching a projectile. In order to detect and shoot the target automatically, we develop a visual system with a monocular camera mounted on the chassis. Based on some target detection algorithms, the target's 3D pose in the camera coordinate system is obtained. As the launching mechanism of the robot is on the two-axis pan-tilt, it demands to further obtain target's pose in the pan-tilt coordinate system to achieve precise shooting. Therefore, how to obtain the relative position between the camera coordinate system and the pan-tilt coordinate system is the main problem in our research. We propose a fast and effective method for the relative position calibration between the camera and two-axis pan-tilt based on specular reflection. We utilize a plane mirror to reflect the laser pointer light path mounted on the barrel. Then, the camera calibration method is applied to obtain the rotation matrix between the camera coordinate system and the world coordinate system. We finally verify the effectiveness of our method through experiments and achieve the first place in the competition.

关键词： Cameras Calibration Robot kinematics Robot vision systems Lasers Mirrors

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A generalized model for predicting the optimal overlap rate and height of successive single-layer involved in laser metal deposition process based on the aspect ratio

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Optics & Laser Technology 2025年 191卷

作者： Enjie Dong Tingyu Chang Gan Li Ze Liu Liming Xia Linjie Zhao Junwen Lu Jiaxuan Chen Mingjun Chen Jian Cheng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 150001 China Department of Mechanical Engineering City University of Hong Kong Hong Kong China School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen Guangdong 518055 China State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang University Hangzhou 310027 China Aircraft Repair & Overhaul Plant/Sichuan Province Engineering Technology Research Center of General Aircraft Maintenance Civil Aviation Flight University of China Guanghan 618307 China Zhengzhou Research Institute Harbin Institute of Technology Zhengzhou 450000 China

The surface flatness of single-layer islands deposition is essential for high-quality multi-layer component deposition and the stability of the Laser metal deposition (LMD) manufacturing process. The aspect ratio of single-track deposition and the overlap rate are critical factors influencing the flatness of single-layer island deposition. Existing methods for determining the optimal overlap rate, whether through experimental approaches or simplified recursive overlap models, still suffer from long development cycles and limited accuracy. In this study, a generalized, efficient and reliable model for predicting the optimal overlap rate only using the aspect ratio of the single-track deposition as the input parameter was developed after fully understanding the influence of the aspect ratio and overlap rate on the morphology, stacking effect and flatness of single-layer islands. Besides, a prediction model for the height of the single-layer island, based on the input parameters of the aspect ratio and the overlap rate has also been developed. Further, verification datasets from different experimental batches and materials were used to validate the accuracy and generalizability of the island height prediction model. The validation results indicated that the relative error between the predicted and actual values was less than 10%. The single-track aspect ratio can be directly used to guide the LMD multi-layer component deposition, regardless of the combination of powder and substrate materials, using these reliable and generalized prediction models for the optimal overlap rate and the island height developed in current study. The single-layer island deposition stage was completely eliminated, thereby significantly shorten the development cycle and reduce the cost of LMD process parameter development.

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Design and Experimental Study of Bidirectional Deformable Hexapod Robot

Design and Experimental Study of Bidirectional Deformable He...

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IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent systems

作者： Pengcheng Zhu Aibin Zhu Muhammad Affan Arif Han Mao Zhifu Guo Institute of Robotics & Intelligent Systems Shaanxi Key Laboratory of Intelligent Robots Xi'an Jiaotong University Xi'an China Institute of Robotics & Intelligent Systems Key Laboratory of Education Ministry for Modern Design and Rotor-Bearing System Xi'an Jiaotong University Xi'an China Taiyuan Institute Co. Ltd. of China Coal Technology and Engineering Group Taiyuan Shanxi China

ISBN: (数字)9781728190105

ISBN: (纸本)9781728190112

The hexapod robot simulates the movement mode of many kinds of insects and mammals through bionics, it has a high performance in complex environment. In this paper, a bidirectional deformable foot for hexapod robot was designed, and the influence of deformable foot pitch on the maximum stress of a spring steel with deformable angle is analyzed by finite element simulation, and a prototype was designed. Finally, the motion performance of the hexapod robot was verified by using C-legged, and the synchronized gait on flat ground, triangle gait on flat ground, jumping experiment of the hexapod robot was designed, which proved that the hexapod robot could reach the expected design goal.

关键词： Robots Stress Strain Legged locomotion Steel Springs Foot

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A Spherical Mobile Robot Driven by Eccentric Pendulum and Self-stabilizing by Flywheel*

A Spherical Mobile Robot Driven by Eccentric Pendulum and Se...

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International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Han Mao Aibin Zhu Yao Tu Zheng Zhang Dangchao Li Yulin Zhang Zhifu Guo Institute of Robotics & Intelligent Systems Shaanxi Key Laboratory of Intelligent Robots Xi'an Jiaotong University Xi'an China Institute of Robotics & Intelligent Systems Key Laboratory of Education Ministry for Modern Design and Rotor-Bearing System Xi'an Jiaotong University Xi'an China Taiyuan Institute Co. Ltd. of China Coal Technology and Engineering Group Taiyuan Shanxi China

ISBN: (数字)9781728157153

ISBN: (纸本)9781728157160

Aiming at the problem of insufficient stability of the existing spherical robot, a spherical robot driven by eccentric pendulums and self-stabilizing by flywheel is proposed in this paper. The robot is driven by the gravity shift of the pendulum and its stability is improved by flywheels rotating at high speed. This paper designed the structure of the robot and established a three-dimensional model in SolidWorks. After finishing the spherical robot prototype, its motion performance is verified by experiment. According to the experimental results, the maximum climbing angle of the spherical robot driven only by the eccentricity of the gravity pendulum is 7°, and the stability can be significantly improved when the flywheel is enabled. With fast braking of the flywheel, the robot can climb over the obstacles to the instantaneous climbing angle of 28° and move steadily in rugged terrain.

关键词： Flywheels Robot kinematics Mobile robots Acceleration Gears Gravity

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Design and test of ceramic knife-edge seal for in-situ heating system of extracting volatile matter from lunar soil

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Advances in Space Research 2025年

作者： Yinchao Wang Yuanling Sun Jianbo Zhou Bowei Wang Junyue Tang Zixiao Lu Huazhi Chen Bo Wang Xiaobo Su Shengyuan Jiang School of Mechatronics and Engineering Shenyang Aerospace University Shenyang 110136 China Key Laboratory of Rapid Development & Manufacturing Technology for Aircraft (Shenyang Aerospace University) Ministry of Education Shenyang 110136 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China Nanometer Intelligent Sensor Lab National Center for Nanoscience and Technology Beijing 100190 China China Academy of Space Technology Beijing 100190 China Sichuan boffins robotic and robotizatian Co. LTD Chengdu 610052 China

In the pursuit of accurate lunar soil volatile exploration, in-situ deep space sampling analysis offers unparalleled preservation of sample integrity. A critical challenge lies in ensuring a secure sealing environment. This paper introduces an innovative sealing method utilising a ceramic blade to compress a non-metallic seal. Initially, following a comprehensive multidimensional evaluation of sealing configurations, the ceramic knife-edge compression non-metallic sealing ring solution was determined to be optimal. This approach involves positioning the sealing ring within a grooved cylindrical heating furnace body, where radial compression is achieved through an annular ceramic knife-edge interface, thereby ensuring hermetic integrity. Subsequently, a sealing leakage model grounded in Roth theory was developed to elucidate micro-leakage mechanisms. ANSYS simulation software was utilised to investigate the influence of blade tip radius and temperature, revealing correlations with average stress and contact width, as well as the impact of temperature extremes on sealing efficacy. These findings provided the theoretical underpinning for subsequent ground tests. A dedicated test platform was established, adhering to the industry standard QJ3089A-2018, to evaluate the sealing performance of various seal and blade tip radius combinations under diverse conditions. Results indicated that, under a force of 500N, PTFE seals compressed by an R0.5mm blade and PVMQ seals compressed by an R0.6mm blade achieved leakage rates on the order of 10 -8 Pa·m 3 ·s -1 , aligning with theoretical predictions and demonstrating repeatable sealing capability. This study presents a novel and reliable sealing solution for the precise exploration of lunar soil volatiles, offering a technical breakthrough and robust sealing strategy for future deep space missions.

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