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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Zhang, Hongan Tang, Junyue Wang, Yinchao Lu, Zixiao Wang, Bo Cao, Miaoyan Jiang, Shengyuan Yanshan University Mechanical Engineering Qinhuangdao China Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China Shenyang Aerospace University Mechatronics Institute Shenyang China Chinese Academy of Science National Center for Nanoscience and Technlogy Beijing China China Academy of Space Technology Beijing China

ISBN: (纸本)9798350325706

A lunar regolith in-situ analysis payload deploying a mass spectrometer is proposed to exactly detect the water ice of the South Pole of the moon for China future lunar exploration missions. In order to realize the goal, an airtight heating furnace for volatile extraction from lunar regolith is desired. In this paper, sealing methods for lunar regolith volatile in heating furnace to future proposed in-situ sampling and analysis of lunar samples were investigated based on power requirements, furnace closing accuracy requirements, dust tolerance and operation in the Lunar environment. Methods implemented include a balanced metal hollow ring seal, a double channel ferrule tab ring radial seal and a spring energized seal. Comparing the performance of sealing methods under the above conditions, a spring energized seal is selected as the heating furnace seal. The materials and structure of the seal are designed based on the rigidity requirements, leakage rate requirements and working environment requirements. In order to test the sealing performance of seals after repeated sealing in high and low temperature environments, a seal leak detection system was designed. The test results indicate that the seal can meet the sealing performance requirements after repeated sealing at various temperatures. © 2023 IEEE.

关键词： Dust tolerance Leakage rate Lunar environment Repeated sealing Spring energized seal

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Hybrid Adaptive Control of an Unbalanced Tilting-rotors Quadcopter Transporting a Payload via an Elastic Cable

Hybrid Adaptive Control of an Unbalanced Tilting-rotors Quad...

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IEEE International Conference on mechatronics System and Robots (ICMSR)

作者： Mohamed Tolba Bijan Shirinzadeh Mechanical and Aerospace Engineering Department Robotics and Mechatronics Research Laboratory (RMRL) Monash University Melbourne Australia

Aerial load transportation using quadcopters is a topic of great interest to the robotics community due to its many potential civilian and military applications. This paper presents a nonlinear nine-degree-of-freedom mathematical model for an unbalanced tilting-rotors quadcopter with a suspended load via an elastic cable, where the quadcopter’s center of gravity and sling-load suspension point are assumed arbitrarily shifted from the quadcopter’s geometric center. The transportation mission is decomposed into six discrete stages, namely Payload Setup, Carrier Alignment, Payload Pick-up, Payload Conveyance, Payload Delivery, and Carrier Landing. Subsequently, a hybrid control technique is proposed, and applied through nonlinear simulations to a case study. The simulation results showed the effectiveness of the proposed controller in achieving satisfactory performance, with acceptable control effort, for the carrier-payload system through a full transportation mission.

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Customizable and Flexible Pressure Sensor Matrix 5

Customizable and Flexible Pressure Sensor Matrix

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5th Scientific School on Dynamics of Complex Networks and their Applications, DCNA 2021

作者： Antipov, Vladimir Neuroscience and Cognitive Technology Laboratory Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia Lobachevsky University Nizhny Novgorod Russia

ISBN: (纸本)9781665442824

The paper presents a method of creating and manufacturing customizable, deformable pressure sensor matrix. The purpose of the development is creating and implementing a variety of matrix sensors with integrated electronics and software to determine the distributed pressure on different types of surfaces, as well as further use of this sensor in medical, robotics and sports. Experimental studies of the individual components and the overall sensor error were conducted. As a result of the work, the developed experimental sample was investigated, a flexible metallized base for the new sensor was developed, and also the board of onboard electronics for processing of the sensor matrix was designed and manufactured. © 2021 IEEE

关键词： Pressure sensors

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Electro-humidity responsive soft actuators based on cellulose nanofibers-nanocrystals for bioinspired applications

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Science China Technological Sciences 2025年第7期68卷 1-9页

作者： Wang, Fan Qi, Ruibin Wu, Yujiao Li, Qinchuan Zhang, Junhui Park, Sukho School of Mechanical Engineering Zhejiang Sci-Tech University Hangzhou China State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang University Hangzhou China Department of Robotics and Mechatronics Engineering Daegu Gyeongbuk Institute of Science and Technology (DGIST) Daegu Republic of Korea

Multifunctional responsive actuators have garnered considerable attention for their potential applications in soft robots, wearable devices, smart displays, environmental sensing, and biomimetic systems. Herein, we present a multifunctional color-changing ionic soft actuator that integrates electrical actuation and humidity-induced color-changing functionalities, fabricated using carboxylated cellulose nanofibers, ionic liquids, polyvinyl alcohol, cellulose nanocrystals, and poly(ethylene glycol) diacrylate. The electro-humidity responsive actuator exhibited remarkable actuation performance, including a maximum tip displacement (10.2 mm), low driving voltage (as low as 1.0 V), high operational stability (95.2% reliability after 2000 actuation cycles), broad working frequency range (0.2–3.0 Hz), and exceptional tolerance to humid environments (90% relative humidity). In addition, the actuator showcased reversible and integrated color-changing capabilities. These features enabled the design of innovative devices, such as biomimetic flowers and smart color-changing windows with tunable optical properties. Consequently, this multifunctional actuator provides a promising platform for applications in soft robots, optical anti-counterfeiting systems, information storage materials, and intelligent home technologies.

关键词： electro-humidity responsive actuator color-changing film actuation layer bioinspired applications

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Lower Limb Joint Torque Estimation via Bayesian Regularized Backpropagation Neural Networks

Lower Limb Joint Torque Estimation via Bayesian Regularized ...

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Interdisciplinary Approaches in Technology and Management for Social Innovation (IATMSI), IEEE Conference on

作者： Jyotindra Narayan Hassène Gritli Santosha K Dwivedy Department of Mechanical Engineering Mechatronics and Robotics Laboratory Indian Institute of Technology Guwahati Guwahati Assam India Laboratory of Robotics Informatics and Complex Systems (RISC Lab - LR16ES07) National Engineering School of Tunis University of Tunis El Manar Le Belvédère Tunis Tunisia

Prior gait analysis has played a crucial role in assessing overall health and well-being, particularly in individuals of different age groups. Nevertheless, acquiring gait data has necessitated the in-person presence of participants, incurring potential expenses. We introduce a deep learning technique called Bayesian regularized backpropagation neural network (BR-BPNN) to estimate joint torques in lower-limb motion based on anthropometric data and joint movements. The study collects joint movement data from 40 healthy participants (25 males and 15 females) spanning ages 7 to 65, utilizing an established motion-capture system. The input data encompassed various parameters such as age, gender, total body mass, height, thigh length, calf length, ankle-foot length, thigh mass, calf mass, ankle mass, and joint angles for the hip, knee, and ankle. The output data included joint torques calculated for a simplified leg model using the inverse dynamics method derived from the Euler-Lagrangian principle. We presented the conceptual details of the proposed BR-BPNN model and contrast model named Levenberg-Marquardt-based BPNN (LM-BPNN). Performing a comparative analysis, the results revealed that the BR-BPNN model (R train = 0.985, R test = 0.955) excelled in accurately estimating joint torques compared to the LM-BPNN model (R train = 0.973, R test = 0.924). Furthermore, the BR-BPNN model is found to be effective by 87.19%, 77.87%, and 72.73% in estimating hip, knee, and ankle joint torques for a 51-year-old male subject from the testing dataset.

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Representing Objects in Map Building Using A Semantic SLAM Scheme

Representing Objects in Map Building Using A Semantic SLAM S...

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Chinese Automation Congress (CAC)

作者： Yu Yang Di Wang Weiqi Zheng School of Mechatronics Engineering and Automation Shanghai University Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai

In order to make the robot understand the scene better and the human-robot interaction more friendly, a lightweight semantic SLAM system is proposed in this paper. Our system uses a LIDAR combined with a camera to obtain object location in SLAM and determines object information such as category with a CNN-based object detector. The object identities are represented in the form of joint probability distributions that are updated by Bayes’ theorem. The FPA algorithm is used to obtain parameter valuation with maximum posterior probability so as to determine the modeling feature parameters of objects on the map. The similarity between objects is measured with the Bhattacharyya coefficient to avoid duplicate modeling of identified objects in map updating. The proposed system is simulated in Gazebo and an effective scheme balancing accuracy and computation cost is obtained. Finally, experiments on a small indoor robot demonstrate the effectiveness of our method.

关键词： Simultaneous localization and mapping Navigation Computational modeling Semantics Robot vision systems Human-robot interaction Probability distribution

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Study on wear mechanism of small ball-end grinding wheel and surface integrity of complex component under high-speed machining condition

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Wear 2025年 570卷

作者： Qin, Biao Liu, Henan Cheng, Jian Tian, Jinchuan Sun, Jiangang Chen, Mingjun School of Mechatronics Engineering Harbin Institute of Technology Heilongjiang Harbin150001 China State Key Laboratory of Robotics and System Harbin Institute of Technology Heilongjiang Harbin150001 China Zhengzhou Research Institute Harbin Institute of Technology Zhengzhou450000 China

The small ball-end fine diamond grinding wheel is well-suited for machining complex components with small curved surface structures, demonstrating high-precision and high-quality machining capabilities. By increasing the speed of the workpiece, the issue of poor grinding performance caused by the small diameter of the ball-end grinding wheel can be effectively overcome. However, this strategy inevitably increases wheel wear and affects surface integrity. To address these challenges, this paper systematically investigates the grinding characteristics of the small ball-end grinding wheel. First, grinding experiments were performed to investigate the influence of workpiece speed, feed rate, and grinding depth on the material removal rate, wheel wear, and surface integrity. Then, the wear mechanism of the grinding wheel was analyzed. The wear modes of the grinding wheel at high workpiece speeds include metal adhesive wear and abrasive grain fracture, which enhance the self-sharpening of the grinding wheel while accelerating its wear. Furthermore, the surface morphology creation mechanism of fused silica under different material removal modes was revealed. Moreover, the correlation between material removal rate and surface roughness caused by wheel wear was revealed. A high-speed grinding strategy was subsequently proposed based on the relationship between the grinding characteristics and grinding parameters of the small ball-end grinding wheel under various grinding conditions. Finally, the feasibility of this grinding strategy was validated through its application to the machining of the complex curved fused silica hemispherical resonator (HSR). Experimental results indicate that under the high workpiece speed condition, the best surface roughness of HSR decreases from 90.5 nm to 62.2 nm, while the maximum grinding wheel wear increases from 9.7 μm to 11.5 μm, with minimal impact on surface integrity. Therefore, the high-speed grinding strategy proposed in this study ho

关键词： Fused silica

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Dynamics Analysis of a Symmetric 3-R(SRS)RP Multi-loop Mechanism 1

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23rd IFToMM China International Conference on Mechanism and Machine Science and Engineering, IFToMM CCMMS 2022

作者： Li, Chuanyang Qin, Zhongbao Hu, Changhua Liu, Rongqiang Liu, Ruiwei Song, Xiaoke PLA Rocket Force University of Engineering Xi’an710025 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China College of Naval Architecture and Ocean Engineering Guangzhou Maritime University GuangZhou510725 China School of Mechatronics and Vehicle Engineering East China Jiaotong University Nanchang330013 China

ISBN: (数字)9789811993985

ISBN: (纸本)9789811993978

The 3-R(SRS)RP multi-loop Mechanism is regarded as one module of a multi-stage manipulator for space manipulation operations, such as capturing free-flying objects. The mechanism has two rotational and one translational degrees of freedom, as well as includes coupled kinematic chains, which can be constructed to the modular system for space operation. The dynamics analysis of the mechanism is the basis of its structural design and actuation control. In this paper, the twist shaping matrix between the twists of links and the input rate array is derived by decoupling the mechanism and motion analysis. Based on the Newton–Euler equation, the dynamics model of the mechanism is established. the theoretical values of actuation power consumption on the certain motion modes is calculated via programming, then being compared with the simulation values obtained through ADAMS model. The results are basically consistent, which verifies the correctness of the dynamics analysis of the mechanical system. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Dynamics

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Synchronous Control Method and Simulation Research of Multi-degree of Freedom Humanoid Space Manipulator

Synchronous Control Method and Simulation Research of Multi-...

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Service robotics (ICoSR), International Conference on

作者： Tao Yang Fang Xu Baosen Du Yongjian Ni Chao Yu Yan Shi State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences University of Chinese Academy of Sciences Beijing China Laboratory of Aerospace Servo Actuation and Transmission Beijing Institute of Precision Mechatronics and Controls State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China

The high-precision multi-joint synchronous control problem of the 7 DOF humanoid manipulator is studied. The control system uses a distributed control architecture based on EtherCAT. synchronization error causes tracking error between the end trajectory of the manipulator with theoretical trajectory. In order to achieve the purpose of high-precision synchronous control of manipulators, the kinematics model of manipulators is analyzed, and the method of network distributed clock control mode based on EtherCAT is proposed. Firstly, according to the source of synchronous error of the manipulator, the distributed network clock is used to calibrate the controller master station and the servo slave station to reduce the sampling and control synchronization error of each joint, and then improve the real-time performance of the main station Linux operating system. The station position command synchronization error is calibrated. Finally, the semi-physical simulation system of the joint and manipulator controller in the ring is designed. The simulation experiment analysis of the humanoid manipulator in the joint space and Cartesian space is carried out. The results show that the clock is distributed based on the EtherCAT network. The multi-joint synchronization control method can realize high-precision position control of the humanoid manipulator.

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Wireless personal training tracker for sports shooting 5

Wireless personal training tracker for sports shooting

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5th Scientific School on Dynamics of Complex Networks and their Applications, DCNA 2021

作者： Antipov, Vladimir Badarin, Artem Neuroscience and Cognitive Technology Laboratory Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia Lobachevsky University Nizhny Novgorod Russia Neuroscience and Cognitive Technology Laboratory Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia Center for Neurotechnology and Machine Learning Immanuel Kant Baltic Federal University Kaliningrad Russia

ISBN: (纸本)9781665442824

The article describes the process of developing a wireless software arrapat complex for measuring and logging various aspects of sports shooting training. The purpose of the development is to optimize and personalize the training process. This paper proposes an approach that allows synchronization up to 1 ms over a wireless network. As well as a method of writing a large amount of this on a microSD flash drive with minimal latency. © 2021 IEEE

关键词： Sports

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