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arXiv 2024年

作者： Liu, Chendong Yang, Dapeng Chen, Jiachen Dai, Yiming Jiang, Li Xie, Shengquan Liu, Hong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China School of Electronic and Electrical Engineering University of Leeds Leeds United Kingdom

Fabric-based pneumatic exosuits have a broad application prospect due to their good human-machine interaction performance, but their structural design paradigm has not yet been finalized and requires in-depth research. This paper proposes the concepts of zone inflation and volume transfer for the design of a fabric-based pneumatic exosuit with both efficiency and wearability. The meaning of zone inflation is to divide the inflation area of pneumatic exosuit into inflation-deflation zone and inflation-holding zone which can reduce the consumption of compressed air and improve efficiency. Volume transfer, a strategic distribution method of inflatable regions inside the garment, can effectively enhance the wearability of the exosuit. Using inexpensive thermoplastic polyurethane film and clothing fabric, the exosuit is made by heat pressing and sewing. The exosuit has a response time of 0.5s, a stress area of 1500mm2, and a profile of only 32mm, which can be hidden inside common clothing. A mathematical model is developed to predict the output torque of the exosuit with an error of 3.6%. Mechanical experiments show that the exosuit outputs a torque of 9.1Nm at a pressure of 100kPa. Surface electromyography experiments show that the exosuit can provide users with a boost from sitting to standing, with an average reduction in electromyography signals of 14.95%. The exosuit designed using these methods synthesizes efficiency and wearability and is expected to be an ideal paradigm for fabric-based pneumatic exosuits. Copyright © 2024, The Authors. All rights reserved.

关键词： Pneumatic actuators

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Research on Longitudinal Ultrasonic Vibration Assisted Flip Chip Bonding Process

Research on Longitudinal Ultrasonic Vibration Assisted Flip ...

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International Conference on (ICEPT) Electronic Packaging Technology

作者： Dapeng Liu Jianxin Qiao Longqiu Li Zhi Qiao Bin Zhou Yunkang Su State Key Laboratory of Robotics and System Key Laboratory for Microsystems and Microstructure Manufacturing Harbin Institute of Technology Harbin China School of Mechanical and Electrical Engineering Harbin Institute of Technology Harbin China

ISBN: (数字)9798350353808

ISBN: (纸本)9798350353815

The current flip-chip bonding technology still faces defects such as surface thermal burnout of chips due to excessively high process temperature and significant mechanical stress leading to solder joint fracture and chip damage. This paper proposes a longitudinal ultrasonic-assisted flip-chip bonding process. By introducing ultrasonic vibration of a certain frequency in the bonding direction, stress on the device during the bonding process is reduced, leading to lower bonding temperatures and improved bonding quality and reliability. However, unreasonable ultrasonic bonding parameters may result in the fracture at the bonding interface by hammering effect. Based on the longitudinal ultrasonic-assisted bonding experimental platform was constructed to conduct bonding experiments. Through orthogonal contrast experiments, it has been determined that longitudinal ultrasonic assisted technology could reduce the bonding temperature at most by 180°C and bonding duration by 3-5s with ultrasonic parameter of 26W/cm 2 sound intensity and 4~4.66MPa prebonding pressure. This study provides valuable insights for optimizing flip-chip bonding processes.

关键词： Vibrations Temperature distribution Ultrasonic imaging Acoustics Flip-chip devices Bonding Surface cracks

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Research and Introduction of the Process Flow of 3D-IC Thermo-Compression Intelligent Collective Bonding Equipment

Research and Introduction of the Process Flow of 3D-IC Therm...

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International Conference on (ICEPT) Electronic Packaging Technology

作者： Bin Zhou Jianxin Qiao Longqiu Li Yunkang Su Dapeng Liu Haichuan Shi Wentao Huang State Key Laboratory of Robotics and System Key Laboratory for Microsystems and Microstructure Manufacturing Harbin Institute of Technology Harbin China School of Mechanical and Electrical Engineering Harbin Institute of Technology Harbin China

ISBN: (数字)9798350353808

ISBN: (纸本)9798350353815

Three-dimensional integrated (3D IC) technologies have attracted substantial academic interest due to their enhanced performance and reduced interfacial dimensions. Conventional 3D packaging for chips of four layers must be stacked and bonded four and three times, respectively, bringing about the low reliability of bumps and productivity. Additionally, the decreasing size and spacing of solder bumps present challenges for defect detection. This paper proposes a collective intelligent bonding equipment for flip-chip 3D packaging. The equipment includes a bonding head system, downward vision, chip shift table, upward vision, bonding zone, in-situ monitoring system, and substrate movement platform. The bonding head system, downward vision, chip shift table, upward vision, and bonding zone complete the collective bonding. The defect detection is accomplished by the in-situ monitoring system. The chips need to be stacked four times, and the time of bonding is once. Meanwhile, during the bonding process, the defects can be monitored in real-time by the in situ monitoring system based on active infrared technology. Four layers in chips can be simultaneously bonded, and alignment accuracy is ±15μm@3sigma. The breakage, misalignment, and other defects can be monitored during the bonding progress. The introduction of this equipment will enhance productivity while ensuring bump reliability. Moreover, its successful development holds significant importance for the advancement and manufacturing of semiconductor packaging equipment domestically.

关键词： Productivity Three-dimensional displays Machine vision Packaging Reliability Bonding Soldering

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Distributed Event-Triggered Formation Control for a Multi-robotic Fish system

Distributed Event-Triggered Formation Control for a Multi-ro...

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International Conference on Guidance, Navigation and Control, ICGNC 2022

作者： Dai, Shijie Wu, Zhengxing Tan, Min Yu, Junzhi School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100049 China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China State Key Laboratory for Turbulence and Complex System Department of Advanced Manufacturing and Robotics BIC-ESAT College of Engineering Peking University Beijing100871 China

ISBN: (纸本)9789811966125

This paper investigates the formation control problem for a multi-robotic fish system and a distributed event-triggered-based formation control framework is proposed. The framework consists of a communication topology, a distributed formation control law, and a dynamic event-triggered communication mechanism. In particular, a position-based formation control law is presented to drive the multi-robotic fish system to an anticipated configuration based on local measurements while keeping pace with a moving target. Meanwhile, a dynamic event-triggered mechanism is utilized to measure importance of the interactive information and decide the communication timing. The proposed formation control method shows its merits to greatly reduce communication consumption with a limited loss of formation control performance. Finally, simulations with quantitative comparisons are presented to verify the effectiveness of the proposed framework. This formation control framework provides a solid foundation for future marine cooperative control of the multi-robotic fish system. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Multi agent systems

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A High-Speed Centerline Extraction Method for Multiple Laser Stripe based on Hessian Matrix

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Procedia Computer Science 2024年 250卷 235-243页

作者： Juntian Shi Weichao Guo Xinjun Sheng State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai 200240 China Meta Robotics Institute Shanghai Jiao Tong University Shanghai 200240 China

Laser centerline extraction is a critical step in the machine vision-aided measurement process, especially in the field of aerospace drilling and riveting. We propose a novel and efficient algorithm for the extraction of multiple laser centerlines, which consists of three major parts: laser linewidth estimation, ROI (Region of Interest) extraction, and precise positioning. In the linewidth estimation part, a method based on second-order moment is used to estimate the linewidth, and the scanning frame to linewidth ratio is adopted as the convergence condition to achieve a stable estimation result. In the ROI extraction part, we use a scanning frame to perform raster scanning on the entire image, and calculate the feature function threshold based on the sampling and grayscale volume method to complete ROI extraction. In the precise positioning part, we employ an improved method based on the Hessian matrix to reduce computation time, and use a λ filtering method to eliminate noise. Finally, the K-means method is used to classify the center points belonging to different laser centerlines, and RANSAC is utilized to perform line fitting. The final results demonstrate that the proposed algorithm has certain improvements in accuracy and also exhibits high computational efficiency.

关键词： Manufacturing Laser centerline extraction Hessian matrix

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Speed Fluctuation Suppression of Current Scaling Errors Based on Improved Iterative Learning Control Method

Speed Fluctuation Suppression of Current Scaling Errors Base...

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International Conference on Electrical Machines and systems (ICEMS)

作者： Haoyi Mu Guodong Yu Shaobin Li Pengcheng Zhu Yongxiang Xu School of Electrical Engineering and Automation Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and System Harbin China

In recent years, there has been a growing demand for high-precision speed control of permanent magnet synchronous motor (PMSM), drawing significant attention to the issue of inherent current measurement errors in drive control. This paper presents a novel approach to mitigate periodic speed fluctuations using an expert system-based iterative learning control (ILC) method. The proposed method employs an expert system to dynamically adjust the weight values of the memory factor during online updates. This ensures the calculated relaxation factor optimally suppresses speed fluctuations across all operating conditions. Furthermore, the stability and parameter tuning aspects are analyzed from the perspective of transfer functions, and the feasibility of the proposed method is demonstrated through simulation.

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Tactile-Based Object Pose Estimation Employing Extended Kalman Filter 8

Tactile-Based Object Pose Estimation Employing Extended Kalm...

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8th IEEE International Conference on Advanced robotics and mechatronics, ICARM 2023

作者： Lin, Qiguang Yan, Chaojie Li, Qiang Ling, Yonggen Zheng, Yu Lee, Wangwei Wan, Zhaoliang Huang, Bidan Liu, Xiaofeng College of IoT Engineering Hohai University Jiangsu Key Laboratory of Special Robotic Technology Jiangsu Changzhou213022 China Zhejiang University Institute of Cyber-System and Control State Key Laboratory of Industrial Control and Technology Hangzhou China Bielefeld33619 Germany Tencent Robotics X Shenzhen China School of Computer Science and Engineering Sun Yat-sen University Guangzhou China

ISBN: (纸本)9798350300178

In this paper, we present a new approach to estimate the pose of an object being manipulated by a multi-fingered robotic hand. The method utilizes advanced tactile sensors with high spatial resolution to optimize the estimation of the object's pose using an Extended Kalman Filter (EKF) based approach. We defined and derived the state and measurement equations, as well as evaluated the estimation accuracy in grasping tasks. The approach is able to effectively account for the pose transition caused by tactile pushing, and the mapping from the object's pose to the contact position and normal direction as measured by the tactile sensor. The method was evaluated in multiple grasping experiments in simulation scenarios. Results show that the estimation can converge towards the ground truth in a relatively short period of time, with displacement and rotation errors remaining within acceptable levels. This new method has the potential to improve the accuracy and reliability of robotic grasping and manipulation tasks. © 2023 IEEE.

关键词： Extended Kalman filters

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Exploring Self- and Cross-Triplet Correlations for Human-Object Interaction Detection

arXiv

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arXiv 2024年

作者： Jiang, Weibo Ren, Weihong Tian, Jiandong Qu, Liangqiong Wang, Zhiyong Liu, Honghai State Key Laboratory of Robotics and System School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Science China Department of Statistics and Actuarial Science The University of Hong Kong Hong Kong

Human-Object Interaction (HOI) detection plays a vital role in scene understanding, which aims to predict the HOI triplet in the form of . Existing methods mainly extract multi-modal features (e.g., appearance, object semantics, human pose) and then fuse them together to directly predict HOI triplets. However, most of these methods focus on seeking for self-triplet aggregation, but ignore the potential cross-triplet dependencies, resulting in ambiguity of action prediction. In this work, we propose to explore Self- and Cross-Triplet Correlations (SCTC) for HOI detection. Specifically, we regard each triplet proposal as a graph where Human, Object represent nodes and Action indicates edge, to aggregate self-triplet correlation. Also, we try to explore cross-triplet dependencies by jointly considering instance-level, semantic-level, and layout-level relations. Besides, we leverage the CLIP model to assist our SCTC obtain interaction-aware feature by knowledge distillation, which provides useful action clues for HOI detection. Extensive experiments on HICO-DET and V-COCO datasets verify the effectiveness of our proposed SCTC. Copyright © 2024, The Authors. All rights reserved.

关键词： Distillation

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Decoding Discrete Gestures Across Different Arm Positions Based on Multimodal Fusion Strategy 16th

Decoding Discrete Gestures Across Different Arm Positions Ba...

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16th International Conference on Intelligent robotics and Applications, ICIRA 2023

作者： Li, Yunzhe Yin, Zongtian Zhang, Ting Meng, Jianjun School of Mechanical Engineering Shanghai Jiao Tong University 800 Dongchuan Road Shanghai China Robotics and Microsystems Center College of Mechanical and Electrical Engineering Soochow University Suzhou China State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University 800 Dongchuan Road Shanghai China

ISBN: (纸本)9789819964857

Decoding human motion intentions is critical for prosthetic control, where gesture recognition remains a research focus. However, the decoding accuracy of gestures is affected by multiple factors, resulting in poor robustness in practical applications. Variation in arm positions can significantly decrease the accuracy of gesture recognition, negatively impacting the performance of human-machine interfaces (HMIs). We developed a multimodal HMI system that has the potential to improve the robustness of gesture recognition significantly. This multimodal HMI system synchronously acquired surface electromyography (sEMG), A-mode ultrasound, and inertial measurement unit (IMU) signals and has a miniaturized signal processing module to be integrated into a prosthetic hand socket. We conducted an offline experiment on 11 subjects to investigate the discrete recognition of 10 hand gestures across three different arm positions. The results demonstrate that the multimodal fusion approach using the proposed cascaded classifiers has advantages in gesture recognition across different arm positions. The LDA classifier's best recognition accuracy was 97.08% ± 1.90%, outperforming the single modalities significantly. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Gesture recognition

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An RRT-Based Motion Planning Method for Hyper-Redundant Manipulators in Confined Spaces

An RRT-Based Motion Planning Method for Hyper-Redundant Mani...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Deng, Jiangqin Li, Ziqing Zheng, Yang Gu, Guoying School of Mechanical Engineering State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai200240 China Meta Robotics Institute Shanghai Jiao Tong University Shanghai200240 China

ISBN: (纸本)9781665481090

Hyper-redundant manipulators have redundant degrees of freedom, bringing additional difficulties to the motion planning. Generally, existing motion planning methods generate paths without considering joint angle limitation of hyper-redundant manipulators. And the generated paths are discretized, leading to discrete errors. In this paper, we present an autonomous motion planner to generate paths, which can be followed by hyper-redundant manipulators with analytical solutions. Starting from the ending pose in the workspace, the rapidly exploring random tree can expand to multiple entrances with limited curvature of arc segments, which ensures that the joint angle limitation is satisfied. Meanwhile, the generated path consists of arc segments, which makes the generated paths can be followed with analytical solutions. Several simulations are conducted to demonstrate the aforementioned advantages. For further validation of the planner's effectiveness, a hyper-redundant manipulator system is used to follow the generated path with follow-the-leader motion. © 2022 IEEE.

关键词： Motion planning

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