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2018 IEEE International Conference on Information and Automation, ICIA 2018

作者： Yang, Haoyu Guo, Hongwei Li, Bingyan Li, Bing Liu, Rongqiang College of Mechanical and Electrical Engineering Harbin Engineering University 150001 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150000 China

ISBN: (纸本)9781538680698

Under the prospective aerospace applications of deployable tensegrity, this work aims to research on the ultralight annular deployable tensegrity antenna to satisfy the space requirements. To begin with, the deployment principle of this antenna is illuminated and the parametric modeling is carried out. After node matrix and connectivity matrix is established, the matrices of both bars and strings are obtained. Configuration parameters are planted into the computing system through node matrix. On this base, the configuration parameters is able to be calculated out through geometric analysis and interior force analysis for the antenna. Then, the algorithm of deploying process is established with MATLAB. With initial set of constant bar length and changing range of structure radius, design parameters are put into the spotlight in order to construct an efficient deployable antenna. The geometric trait of this annular tensegrity confines the solution domain of design parameters to a narrow area. Since then, in the solution domain, the optimization on the synthetical standard of various configuration parameters is performed and a combination of design parameters is selected eventually. With determined design parameters, configuration parameters can be calculated out in any state of the deploying process. Additionally, simulation for deploying process can be executed with concrete numerical values, and the results provide guides for the prototype hardware design. The prototype is manufactured and assembled, and it turns out to deploy effectively. Comparing the theoretical values and practical ones, the analysis and simulation matches the experiment to some degree. © 2018 IEEE.

关键词： Antennas

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Apple Vision Pro for Healthcare: "The Ultimate Display"? Entering the Wonderland of Precision Medicine

arXiv

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arXiv 2023年

作者： Egger, Jan Gsaxner, Christina Chen, Xiaojun Bian, Jiang Kleesiek, Jens Puladi, Behrus Girardetstraße 2 Essen45131 Germany Hufelandstraße 55 Essen45147 Germany Hufelandstraße 55 Essen45147 Germany Department of Oral and Maxillofacial Surgery University Hospital RWTH Aachen Pauwelsstraße 30 Aachen52074 Germany Institute of Computer Graphics and Vision Graz University of Technology Inffeldgasse 16/II Graz8010 Austria Institute of Biomedical Manufacturing and Life Quality Engineering State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Dongchuan Road 800 Minhang District Shanghai200240 China Institute of Medical Robotics Shanghai Jiao Tong University Dongchuan Road 800 Minhang District Shanghai200240 China Health Outcomes & Biomedical Informatics College of Medicine University of Florida GainesvilleFL32610 United States Partner Site Essen Hufelandstraße 55 Essen45147 Germany Department of Physics TU Dortmund University August-Schmidt-Str. 4 Dortmund44227 Germany Institute of Medical Informatics University Hospital RWTH Aachen Pauwelsstraße 30 Aachen52074 Germany

At the Worldwide Developers Conference (WWDC) in June 2023, Apple introduced the Vision Pro. The Vision Pro is a Mixed Reality (MR) headset, more specifically it is a Virtual Reality (VR) device with an additional Video See-Through (VST) capability. The VST capability turns the Vision Pro also into an Augmented Reality (AR) device. The AR feature is enabled by streaming the real world via cameras to the (VR) screens in front of the user’s eyes. This is of course not unique and similar to other devices, like the Varjo XR-3. Nevertheless, the Vision Pro has some interesting features, like an inside-out screen that can show the headset wearers’ eyes to "outsiders" or a button on the top, called "Digital Crown", that allows you to seamlessly blend digital content with your physical space by turning it. In addition, it is untethered, except for the cable to the battery, which makes the headset more agile, compared to the Varjo XR-3. This could actually come closer to the "Ultimate Display", which Ivan Sutherland had already sketched in 1965. Not available to the public yet, like the Ultimate Display, we want to take a look into the crystal ball in this perspective to see if it can overcome some clinical challenges that - especially - AR still faces in the medical domain, but also go beyond and discuss if the Vision Pro could support clinicians in essential tasks to spend more time with their patients. © 2023, CC BY.

关键词： Augmented reality

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Research on flexible joint friction identification of space lab manipulator 15

Research on flexible joint friction identification of space ...

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15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

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

ISBN: (纸本)9781538660720

In order to verify the flexible joint friction model with harmonic drive, the method of on orbit identification and the effect of joint friction on joint control, Chinese Space laboratory Tiangong - 2 equipped with a Space Manipulator and Dexterous Hand system (SMDHS). Manipulator joint friction identification experiment was carried out on orbit. In this paper, a flexible joint model of manipulator is established. By using the experimental data obtained on orbit, the friction model of viscous friction plus coulomb friction, the cubic polynomial friction model and the Stribeck friction model are compared and analyzed. At the same time, the effect of gravity difference on joint friction is also analyzed. The on orbit experiment prove that the quasi-linear model of viscous friction plus coulomb friction can be used to predict the friction of unrecognized velocity range, the accuracy of joint position control can also tolerate the error of this quasi-linear friction model in engineering applications. The flexible joint model and on orbit identification method established in this paper are helpful to develop the follow up large scale space manipulator and recognize the joint friction characteristics more clearly in the orbital application, so as to further improve the fine operating performance of the manipulator. © 2018 IEEE.

关键词： Friction

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Networked Dielectric Elastomer Balloon Actuators with Large Deformation

Networked Dielectric Elastomer Balloon Actuators with Large ...

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

作者： Feifei Chen Kun Liu State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Robotics Institute School of Mechanical Engineering Shanghai Jiao Tong University Shanghai China

ISBN: (数字)9781728107707

ISBN: (纸本)9781728107714

Soft robots have recently received much interest because of their advantages over traditional rigid robots in terms of withstanding large deformations and interacting well with environments. Soft actuators, as a critical part of a soft robot, provide actuation force to generate desired motion. Dielectric elastomers have shown great promise because of their considerable voltage-induced deformation. Particularly, air-filled dielectric elastomer actuators have been well investigated, where the air inside provides prestretches to improve the actuation capability. This paper proposes a networked design of inflated dielectric elastomer actuators, capable of spanning a large actuation space and a corresponding large control space. Through comparing the performance of modulated operation mode and that of independent operation mode, we theoretically demonstrate that the networked design is able to, to a large extent, postpone the occurrence of material failures of the actuators, resulting in a large and continuous actuation range for their control.

关键词： Aerospace electronics Strain Dielectric elastomers Soft robotics Voltage control

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Buckling-induced Shape Morphing using Dielectric Elastomer Actuators Patterned with Spatially-varying Electrodes

Buckling-induced Shape Morphing using Dielectric Elastomer A...

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2019 IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Feifei Chen Kun Liu Xiangyang Zhu State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University and Robotics Institute School of Mechanical Engineering Shanghai Jiao Tong University Shanghai China

Shape morphing is at the core of future research, which shows promise for wide applications ranging from reconfigurable electronics to soft material robots. In this paper, we present a novel buckling-induced mechanism for shape morphing using dielectric elastomer actuators (DEAs), by bonding the planar precursor structure's “feet” with the DEA. With spatially-varying electric fields applied, the inplane deformation of the DEA generates compressive loads to trigger buckling of planar precursors into desired three-dimensional configurations. To enlarge the achievable motion range at the “feet”, we develop a design optimization approach to the electrode arrangement which is concisely described by cosine functions. By numerically optimizing the cosine function coefficients, we obtain the optimal spatially-varying electrodes for various precursors with different patterns of bonding sites. The experimental results demonstrate the remarkable shape-morphing from two dimensions to three dimensional configurations. Our work paves the way to novel actuation mechanisms for shape-morphing structures, with advantages of rapid response and reversible controllability.

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Grip Force Perception Based on dAENN for Minimally Invasive Surgery Robot

Grip Force Perception Based on dAENN for Minimally Invasive ...

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IEEE International Conference on robotics and Biomimetics

作者： Yongchen Guo Bo Pan Yili Fu Max Q.-H. Meng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China Department of Electronic Engineering Chinese University of Hong Kong Hong Kong China

Although robot assisted minimally invasive surgery brings the gospel to patients, force perception is gone. Among all the contact forces during surgery, the instrument grip force plays the most important role. In this paper, a grip force perception method based on denoising AutoEncoder Neural Network (dAENN) is proposed. The method utilizes sensor data including encoder readings and motor current over a time window as the input of dAENN for sufficient information. An Artificial Neural Network (ANN) is then introduced as a machine learning tool to learn the nonlinear mapping between the compact features and grip force labels. Feature extraction is first introduced into grip force perception problem in this paper. Experiment results shows adequate expressive capability of the extracted coding as well as the superior grip force perception performance over several popular data-based methods under the same dataset.

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Author Correction: Super-resolution multicolor fluorescence microscopy enabled by an apochromatic super-oscillatory lens with extended depth-of-focus

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Nature communications 2024年第1期15卷 1510页

作者： Wenli Li Pei He Dangyuan Lei Yulong Fan Yangtao Du Bo Gao Zhiqin Chu Longqiu Li Kaipeng Liu Chengxu An Weizheng Yuan Yiting Yu Ningbo Institute of Northwestern Polytechnical University College of Mechanical Engineering Northwestern Polytechnical University Xi'an 710072 China. Key Laboratory of Micro/Nano Systems for Aerospace (Ministry of Education) Northwestern Polytechnical University Xi'an 710072 China. Shaanxi Province Key Laboratory of Micro and Nano Electro-Mechanical Systems Northwestern Polytechnical University Xi'an 710072 China. Department of Materials Science and Engineering City University of Hong Kong Hong Kong 999077 China. dangylei@cityu.edu.hk. Department of Materials Science and Engineering City University of Hong Kong Hong Kong 999077 China. The Institute of AI and Robotics Fudan University Shanghai 200433 China. Key Laboratory of Spectral Imaging Technology of Chinese Academy of Sciences Xi'an Institute of Optics and Precision Mechanics Chinese Academy of Sciences Xi'an 710119 China. Department of Electrical and Electronic Engineering Joint Appointment with School of Biomedical Sciences The University of Hong Kong Hong Kong 999077 China. State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 150001 China. Ningbo Institute of Northwestern Polytechnical University College of Mechanical Engineering Northwestern Polytechnical University Xi'an 710072 China. yyt@***. Key Laboratory of Micro/Nano Systems for Aerospace (Ministry of Education) Northwestern Polytechnical University Xi'an 710072 China. yyt@***. Shaanxi Province Key Laboratory of Micro and Nano Electro-Mechanical Systems Northwestern Polytechnical University Xi'an 710072 China. yyt@***.

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A Unified Active Assistance Control Framework of Hip Exoskeleton for Walking and Balance Assistance*

A Unified Active Assistance Control Framework of Hip Exoskel...

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2019 IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Shiyin Qiu Wei Guo Pengfei Wang Fei Chen Fusheng Zha Xin Wang Jing Deng State Key Laboratory of Robotics and System School of Mechatronics Engineering Harbin Institute of Technology Harbin China Department of Advanced Robotics Istituto Italiano di Tecnologia 30 Genova Italy Shenzhen Academy of Aerospace Technology Shenzhen China

To actively assist human walking and balance recovery, a unified active assistance control framework of the hip exoskeleton is proposed in this paper. At the beginning of this paper, the condition of active assistance is analyzed. And then, a novel virtual stiffness model is proposed based on the analysis of human hip joint torque during walking and balance recovery. The virtual stiffness model is utilized to generate the desired active assistance torque profile for active walking and balance assistance. Next, the unified active assistance control framework is established based on the virtual stiffness model. Finally, the effectiveness of the proposed control framework is demonstrated by walking experiments. The results of the forward walking experiment show that the muscle effort of iliopsoas is reduced and the amplitude of hip joint motion is enlarged with the assistance of hip exoskeleton. The walking forward pull experiments and the walking backward pull experiments show that when the human suffers from a forward or backward disturbance force during forward walking, exoskeleton can help human regain balance faster and can enlarge the margin of stability (MoS) of the human.

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A Framework for the Integration of Coarse Sensing Information and Environmental Constraints*

A Framework for the Integration of Coarse Sensing Informatio...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Rui Li Yingbai Hu Yanjun Cao Mengyao Li School of Automation Chongqing University Chongqing China Informatics 6 Technical University of Munich Munich Germany Department of Computer and Software Engineering École Polytechnique de Montréal Boul Édouard-Montpetit Québec Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen China

ISBN: (数字)9781728160757

ISBN: (纸本)9781728160764

A series of previous work has found that the environmental constraint (EC), which is the natural result of the contact of the robot and the interacting objects, is immensely helpful for the realization of high-precision robotic tasks. However, due to the existence of multifarious errors, such as mechanical error, modeling error and sensing error, there would be discrepancy between the actual constraints and the ideal models. In such case, it is hard to realize manipulation with EC-based strategies. Inspired by human, a preliminary framework which aims at the integration of the coarse sensing information and the environmental constraints is proposed for robotic manipulation. By mapping the sensing information into the new space, where the environmental constraint can be formally described, the region that integrates the sensing information and the environmental constraint is constructed and the conditions to achieve high-precision manipulation are derived. Based on the conditions, a motion planning strategy is proposed to achieve the required task. The effectiveness of this strategy is verified by case studies.

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On diffusive non-reciprocity and thermal diode

arXiv

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arXiv 2019年

作者： Li, Ying Li, Jiaxin Qiu, Cheng-Wei Department of Electrical and Computer Engineering National University of Singapore Kent Ridge17583 Singapore State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

Wave propagation and diffusion in linear materials preserve local reciprocity in terms of a symmetric Green's function. For wave propagations, people usually focus on the signals entering and leaving a system, and do not need 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 non-reciprocal (electromagnetic, acoustic) wave propagation, it is a (optical, phonon) diode directly following the definition. However, to date no clear definition or discussion has been made on the global reciprocity of diffusive processes through a system. It thus remains a question whether diffusive non-reciprocity is related with diode for diffusive fields, say, a thermal diode. Here, we provide theoretical analysis based on local reciprocity and define the global reciprocity of diffusion through a two-port system. We further prove the equivalence between a non-reciprocal heat transfer system and a thermal diode, and discuss some methods to realize it. Our results set a general background for future studies on symmetric and asymmetric diffusive processes. Copyright © 2019, The Authors. All rights reserved.

关键词： Acoustic wave propagation

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