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International Conference on mechatronics and Machine Vision in Practice (M2VIP)

作者： Ningbin Zhang Guoying Gu 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 China

ISBN: (纸本)9781665431545

Elastic inflatable actuators (EIAs) are widely used in the emerging field of soft robotics. Although integrating multiple EIAs in soft robots has been demonstrated successful, these EIAs typically require independent control inputs that results in a complex actuation process. This paper proposes a single-input pneumatic mechanisms (SIPM) to generate a wide range of output pressures via hardware programming, enabling multiple EIAs to achieve different motions. We first present a conceptual design of the SIPM and build its pneumatic model based on air compressibility, which relates the control inputs, the structural parameters of the SIPM, and the output pressures. Then, we perform a series of parametric analyses and numerical simulations to investigate the hardware programming of structural parameters for target output pressures. Finally, a SIPM prototype whose structural parameters are derived from simulation results is developed. The experimental results validate the effectiveness of the proposed mechanism.

关键词： Actuators Atmospheric modeling Simulation Prototypes Process control Programming Predictive models

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Nonequilibrium Effects on Rapid Directional Solidification Microstructures During Additive Manufacturing: A Quantitative Phase Field Study

SSRN

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SSRN 2024年

作者： Li, Leiji Xiao, Fei Li, Zhu He, Shiyu Liu, Yang Cai, Xiaorong Hou, Ruihang Zhou, Ying Zuo, Shungui Zhang, Chongfeng Gao, Jinzhong Shen, Xiaopeng Zhu, Tianchi Gu, Yijia Jin, Xuejun State Key Lab of Metal Matrix Composite School of Materials Science and Engineering Shanghai Jiao Tong University 800 Dong Chuan Road Shanghai200240 China Institute of Medical Robotics Shanghai Jiao Tong University Shanghai200240 China National Key Laboratory of Aerospace Mechanism Aerospace System Engineering Shanghai 3805 Jin Du Road Shanghai201108 China Department of Materials Science and Engineering Missouri University of Science and Technology RollaMO65409 United States National Engineering Research Center of Advanced Magnetic Resonance Technologies for Diagnosis and Therapy School of Materials Science and Engineering Shanghai Jiao Tong University 800 Dong Chuan Road Shanghai200240 China Department of Materials Science and Engineering Graduate School of Engineering Osaka University 2-1 Yamada-oka Osaka Suita565-0871 Japan Shanghai Key Laboratory of Materials Laser Processing and Modification China

Fusion-based metal additive manufacturing (AM) is a technology that builds objects layer by layer, with rapid solidification referring to the quick transition of material from liquid to solid. During this process, solute trapping, a nonequilibrium effect characterized by velocity-dependent partition coefficient, significantly influences microstructure kinetics, morphology, and phase formation. This study utilizes the latest quantitative phase field (PF) model to systematically investigate the solute trapping, solute drag, and their effects on pattern formation during rapid solidification at velocities relevant to AM, in both one and two dimensions. Under different temperature gradients and pulling velocities, we observed that the growth mode transits from planar to cellular to dendritic, then back to cellular, and finally to planar, which is consistent with classic solidification theory. A solidification microstructure selection map is constructed based on PF simulations. Furthermore, we compared primary dendritic/cell spacing calculated by the PF model with theoretical models. The simulated morphologies and arm spacing showed good agreement with experimental observations for Al-4Si and Ti-20Nb alloys during rapid solidification. These results demonstrate the potential of the PF model for predicting and controlling microstructure formation under rapid solidification conditions in the melt pool of AM processes. © 2024, The Authors. All rights reserved.

关键词： Morphology

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Multi-UAV collaborative system with a feature fast matching algorithm

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Frontiers of Information Technology & Electronic engineering 2020年第12期21卷 1695-1712页

作者： Tian-miao WANG Yi-cheng ZHANG Jian-hong LIANG Yang CHEN Chao-lei WANG School of Mechanical Engineering&Automation Beihang UniversityBeijing 100191China School of Physics and Mechatronics Engineering Longyan UniversityLongyan 364000China State Key Laboratory of Intelligent Manufacturing System Technology Beijing Institute of Electronic System EngineeringBeijing 100040China

We present a real-time monocular simultaneous localization and mapping(SLAM)system with a new distributed structure for multi-UAV collaboration *** system is different from other general SLAM systems in two aspects:First,it does not aim to build a global map,but to estimate the latest relative position between nearby vehicles;Second,there is no centralized structure in the proposed system,and each vehicle owns an individual metric map and an ego-motion estimator to obtain the relative position between its own map and the neighboring vehicles'.To realize the above characteristics in real time,we demonstrate an innovative feature description and matching algorithm to avoid catastrophic expansion of feature point matching workload due to the increased number of *** on the hash and principal component analysis,the matching time complexity of this algorithm can be reduced from 0(logN)to 0(1).To evaluate the performance,the algorithm is verified on the acknowledged multi-view stereo benchmark dataset,and excellent results are ***,through the simulation and real flight experiments,this improved SLAM system with the proposed algorithm is validated.

关键词： Multiple UAVs Collaboration Simultaneous localization and mapping(SLAM) Feature description and matching

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Shape Optimization of Soft Pneumatic Bellows for High Energy Density

Shape Optimization of Soft Pneumatic Bellows for High Energy...

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International Conference on mechatronics and Machine Vision in Practice (M2VIP)

作者： Yunpeng Miao Feifei Chen 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: (纸本)9781665431545

Pneumatic bellows can perform extending or contracting and output certain forces at the same time. However, after many years of development, there are few detailed shape design of soft bellows, which leads to relatively low energy density and hinders miniaturization of soft robotic systems. In this paper, to explore the design space, linear bellows are parameterized by variables concerning the cross section and lateral profile with sinusoid functions. Then, a fast finite element analysis script is developed to evaluate the mechanical behavior of bellows under different parameter sets. With the maximal radius ballooning strain constrained below 0.1, the optimal design is obtained with the axial strain up to 0.74, blocking force up to 228.7 N, and volumetric energy density up to 6549.7 J/m 3 . Besides, we also adopt the idea of modular design which makes this soft bellow easy to be integrated. The developed soft pneumatic bellows are promising for use in scenarios where compact soft robots are expected.

关键词： Bellows mechatronics Shape Machine vision Soft robotics Space exploration Finite element analysis

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Modeling and Design of Periodic Polygonal Lattices Constructed from Microstructures with Varying Curvatures

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Physical Review Applied 2022年第4期17卷 044032-044032页

作者： Le Dong Dong Wang Jinqiang Wang Chengru Jiang Hui Wang Biao Zhang Mao See Wu Guoying Gu Robotics Institute and State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai 200240 China Frontiers Science Center for Flexible Electronics (FSCFE) Xi’an Institute of Flexible Electronics (IFE) and Xi’an Institute of Biomedical Materials & Engineering (IBME) Northwestern Polytechnical University 127 West Youyi Road Xi’an 710072 China School of Mechanical and Aerospace Engineering Nanyang Technological University 50 Nanyang Avenue 639798 Singapore

Lattice structures can exhibit unusual mechanical properties by appropriate design and arrangement of the microstructures, and have already found applications in areas such as tissue engineering, stretchable electronics, and soft robotics. However, the designed microstructures generally follow simple geometric patterns with constant curvatures and theoretical models are developed for each geometry particularly. It lacks a universal method to model and design the periodic lattice constructed from microstructures with varying curvatures. In this paper, we develop a universal approach to design polygonal lattices with a wide range of microstructures with varying curvatures using instant curvature and parametric functions. A finite deformation model is proposed for the microstructures and the corresponding lattices, which considers the wavy or curled microstructure, hierarchical geometry, and large deformation. Experiments and finite-element simulations are conducted to validate the theoretical model. All of Young’s modulus, stretchability, and Poisson’s ratio can be inversely designed using the developed theoretical model. Results show that the stretchability of the highly stretchable lattice can be further increased by more than 4 times using densely curled microstructure. The signs of Poisson’s ratio can also change with the axial strain by rationally designing the microstructures. By combining curve fitting and curvature and parametric functions, the mechanical behaviors of lattices constructed by bioinspired microstructures can also be predicted. The lattice structures are then demonstrated to reinforce a hydrogel with modulus increased by around 2 orders and act as a biomimetic soft-strain sensor. This work could aid the design of a hierarchical lattice and have potential applications in tissue engineering, stretchable electronics, and soft robotics.

关键词： Biomimetic & bio-inspired materials Devices Elastic deformation Flexible electronics Mechanical metamaterials Origami & Kirigami Strain Smart materials

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Controllable Electrical Characteristic of Ti3c2t2/Mos2 (T=Oh, F, O) Interfaces for High Performance Electronics: Insights from First-Principles

SSRN

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SSRN 2023年

作者： Zhang, Qiang Liu, Yan Zhang, Riguang Lv, Bohan Hao, Runfang Sang, Shengbo Shanxi Key Laboratory of Micro Nano Sensors & Artificial Intelligence Perception College of Electronic Information and Optical Engineering Taiyuan University of Technology Shanxi Taiyuan030024 China Key Lab of Advanced Transducers and Intelligent Control System of The Ministry of Education Taiyuan University of Technology Shanxi Taiyuan030024 China School of Software Taiyuan University of Technology Shanxi Taiyuan030024 China State Key Laboratory of Clean and Efficient Coal Utilization China Laboratory of Aerospace Servo Actuation and Transmission Beijing Institute of Precision Mechatronics and Controls Beijing100000 China

Two-dimensional (2D) semiconductors have shown competitive potential for applications into beyond-silicon electronics. However, the controllable electrical characteristic of metal-semiconductor interfaces is still a challenge for high performance electronics due to Fermi level pinning. To explore Ti3C2T2/MoS2 (T= OH, F, O) for high performance electronics, the vertical electric field and interlayer distance are adopted here to regulate the electrical characteristic of interfaces based on the first-principles calculations. Though this, the electrical characteristic of Ti3C2O2/MoS2 and Ti3C2F2/MoS2 are more sensitive to electric field or interlayer distance than that of Ti3C2(OH)2/MoS2. Especially, the negative electric field with larger than -0.2 V/Å makes Ti3C2O2/MoS2 interface change from p-type Schottky to n-type Schottky contact. Furthermore, the Ti3C2O2/MoS2 interface can not only switch from p-type Schottky to n-type Schottky contact, but also from p-type Schottky to n-type Ohmic contact by varying interlayer distance. Moreover, the tunneling barriers of all interfaces are more sensitive to interlayer distance than to electric field. This work provides vital insights for high-performance electronics of Ti3C2T2/MoS2 (T=OH, F, O) in experiments. © 2023, The Authors. All rights reserved.

关键词： Electric fields

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Tactile-Based Object Pose Estimation Employing Extended Kalman Filter

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

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International Conference on Advanced robotics and mechatronics (ICARM)

作者： Qiguang Lin Chaojie Yan Qiang Li Yonggen Ling Yu Zheng Wangwei Lee Zhaoliang Wan Bidan Huang Xiaofeng Liu Jiangsu Key laboratory of Special Robotic Technology College of IoT Engineering Hohai University Changzhou Jiangsu P.R. China State Key Laboratory of Industrial Control and Technology Zhejiang University Institute of Cyber-System and Control Hangzhou P.R. China Neuroinformatics Group Center for Cognitive Interaction Technology (CITEC) Bielefeld University Bielefeld Germany Tencent Robotics X Shenzhen China School of Computer Science and Engineering Sun Yat-sen University Guangzhou P.R.China

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.

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Design of grayscale digital light processing 3D printing block by machine learning and evolutionary algorithm

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Composites Communications 2022年 36卷

作者： Zhao, Baowen Zhang, Mengjie Dong, Le Wang, Dong Robotics Institute School of Mechanical Engineering Shanghai Jiao Tong University Shanghai 200240 China State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai 200240 China Meta Robotics Institute Shanghai Jiao Tong University Shanghai 200240 China

Grayscale digital light processing (DLP) 3D printing method, using grayscale light patterns to adjust the microscale material properties, is a revolutionary technology for future advanced manufacturing. However, the design and optimization method of the grayscale distribution remains elusive. In this paper, we propose an optimization method for grayscale DLP printed rectangular blocks based on a machine learning and evolutionary algorithm. We use an automated finite element model-based evaluation to predict the deformation shapes with arbitrary grayscale distribution, considering the nonlinear mechanical performances. A machine learning model based on recurrent neural networks is trained using the database formed by the finite element method model to enable fast and precise prediction of the deformed shapes. Optimal designs of the deformed shapes are efficiently realized via integrating the machine learning model and evolution algorithm method. Grayscale distributions are optimized to form desired deformations and validated by experiments. This work paves the way for designing and optimizing grayscale digital light processing 3D printed structures. © 2022 Elsevier Ltd

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Optimal Energy Shaping Control for a Backdrivable Hip Exoskeleton

arXiv

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arXiv 2022年

作者： Zhang, Jiefu Lin, Jianping Peddinti, Vamsi Gregg, Robert D. Electrical Engineering and Computer Science University of Michigan Ann ArborMI48109 United States State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai200240 China Robotics University of Michigan Ann ArborMI48109 United States

Task-dependent controllers widely used in exoskeletons track predefined trajectories, which overly constrain the volitional motion of individuals with remnant voluntary mobility. Energy shaping, on the other hand, provides task-invariant assistance by altering the human body's dynamic characteristics in the closed loop. While human-exoskeleton systems are often modeled using Euler-Lagrange equations, in our previous work we modeled the system as a port-controlled-Hamiltonian system, and a task-invariant controller was designed for a knee-ankle exoskeleton using interconnection-damping assignment passivity-based control. In this paper, we extend this framework to design a controller for a backdrivable hip exoskeleton to assist multiple tasks. A set of basis functions that contains information of kinematics is selected and corresponding coefficients are optimized, which allows the controller to provide torque that fits normative human torque for different activities of daily life. Human-subject experiments with two able-bodied subjects demonstrated the controller's capability to reduce muscle effort across different tasks. Copyright © 2022, The Authors. All rights reserved.

关键词： Controllers

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Redistributing Controller Orders to Increase Positioning Bandwidth in Nanopositioners

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IFAC-PapersOnLine 2021年第21期54卷 97-102页

作者： Adedayo K. Babarinde Linlin Li Jakub Kuncak LiMin Zhu Sumeet S. Aphale Artificial Intelligence Robotics and Mechatronic Systems Group School of Engineering University of Aberdeen Aberdeen AB24 3UE UK State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai 200240 China

Integer-order damping and tracking controllers are typically used in tandem to overcome resonance and hysteresis induced positioning errors in piezo-actuated nanopositioners. This paper takes a novel approach of strategically redistributing the controller orders to achieve significant positioning bandwidth improvement, without any significant increase in the design complexity. The Positive Position Feedback (PPF) controller combined with a suitably gained Integral tracking controller is used as a candidate to demonstrate the efficacy of the proposed technique. The resulting fractional-order PPF damping and Integral tracking controllers result in increasing the overall positioning bandwidth of the closed-loop system by 37%; and subsequent improvement in positioning accuracy while tracking high-frequency triangular trajectories.

关键词： Nanopositioners piezoelectric actuator positive position feedback tracking control fractional-order control

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