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

作者： Weihua Li Bowen Chen Pengpeng Li Xuewen Geng Jianfeng Wang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China School of Automotive Engineering Harbin Institute of Technology-Weihai Weihai China SGCC Smart Energy and Electric Transportation Technology Innovation Center (Suzhou) Co.Ltd. Suzhou China

ISBN: (纸本)9781665431545

The global path planning of a traditional A* algorithm is investigated to obtain the shortest path, which considers only the straight-line distance between grids without considering the effects of road slope and road resistance on the path distance and the energy consumption for ground vehicles. The heuristic function of shortest path based on road slope and the heuristic function of minimum energy consumption based on road resistance coefficient are respectively developed in this paper. Combining the two improvements, a novel comprehensive heuristic function is proposed in this paper. Through the distribution of weight coefficients between the shortest path and the minimum energy consumption, one more reasonable path can be obtained. In addition, a bidirectional A* search algorithm is also applied. The case studies validate that the improved A* search algorithm in this paper can generate a more reasonable path considering the distance and the energy consumption.

关键词： Resistance Energy consumption mechatronics Roads Heuristic algorithms Machine vision Focusing

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Delay estimation for cortical-muscular interaction via the rate of voxels change

Delay estimation for cortical-muscular interaction via the r...

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IEEE International Conference on systems, Man and Cybernetics

作者： Jinbiao Liu Gansheng Tan Yixuan Sheng Jiaole Wang Wenjie Lu Honghai Liu State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai China State Key Laboratory of Robotics and System School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen China School of Computing University of Portsmouth Portsmouth UK

ISBN: (数字)9781728185262

ISBN: (纸本)9781728185279

It is evident that corticomuscular coherence (CMC), representing the functional coupling between motor cortex and muscle tissues, plays a crucial role in neurophysiologic studies and applications. It is hypothesized that there is an unknown time delay comprising at least neural conduction time in the process of corticomuscular interaction. In this study, we developed a novel delay estimation method, defined as the rate of voxels change (RVC) for the estimation of time delay in two coupled physiological signals. The RVC is the dynamic variation of the local CMCs observed in different time offsets. Both simulation and physiological data confirm the capability of RVC in estimating cortical-muscular delay. The underlying mechanisms of individual discrepancy of the latency is also investigated via exploring the correlation between delays, brain activity and motor performance. Correlation analyses indicate an intrinsic link between the connectivity strength of the brain network and the length of time delay in cortical-muscular interactions.

关键词： Correlation Delay effects Delay estimation Muscles Brain modeling Physiology Data models

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Feature Fusion of sEMG and Ultrasound Signals in Hand Gesture Recognition

Feature Fusion of sEMG and Ultrasound Signals in Hand Gestur...

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IEEE International Conference on systems, Man and Cybernetics

作者： Jia Zeng Yu Zhou Yicheng Yang Jiaole Wang Honghai Liu State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai China State Key Laboratory of Robotics and System School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen China School of Computing University of Portsmouth Portsmouth UK

ISBN: (数字)9781728185262

ISBN: (纸本)9781728185279

Multi-modal sensory fusion is believed to obtain higher accuracy in gesture recognition. Its difficulty lies in mining discriminative features and fusing features from different modalities. Surface electromyography(sEMG) and ultrasound signals are typical signal modalities in gesture recognition. It is expected that the fusion of them can take advantage of the complementarity of electrophysiological information and muscle morphology information. This paper proposed two kinds of feature fusion method. The one is concatenating the manual designed sEMG and ultrasound features, and the other is a convolutional neural network (CNN) based feature exaction and fusion method for sEMG and ultrasound signals. Eight able-bodied subjects were involved to participate in the experiments. In the experiments, four channels of sEMG and A-mode ultrasound signals corresponding to 20 gestures were collected synchronously to evaluate the proposed method. The experimental results demonstrated that the fusion sEMG-ultrasound feature always outperformed the separate sEMG or ultrasound feature regardless of the feature extraction method, and as for fusion sEMG-ultrasound feature, the CNN based method achieve a high accuracy (97.38±1.49%) in 20 gestures, which surpassed the method of concatenating the manual designed features and applying machine learning algorithm (LDA, KNN, SVM).

关键词： Support vector machines Ultrasonic imaging Surface morphology Gesture recognition Manuals Feature extraction Task analysis

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Robust Mechanically Interlocked Network Ionogels

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Angewandte Chemie 2025年

作者： Mengling Yang Jinhao Li Dr. Chunyu Wang Dr. Li Yang Dr. Zhiwei Fan Wenbin Wang Guoquan Liu Dr. Lin Cheng Shaolei Qu Prof. Zhaoming Zhang Prof. Jiang Zou Prof. Wei Yu Prof. Guoying Gu Prof. Xuzhou Yan School of Chemistry and Chemical Engineering Frontiers Science Center for Transformative Molecules Shanghai Key Laboratory of Electrical Insulation and Thermal Aging Shanghai Jiao Tong University Shanghai 200240 P. R. China Robotics Institute and State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai 200240 P. R. China Meta Robotics Institute Shanghai Jiao Tong University Shanghai 200240 P. R. China

Ionogels have attracted considerable attention as versatile materials due to their unique ionic conductivity and thermal stability. However, relatively weak mechanical performance of many existing ionogels has hindered their broader application. Herein, we develop robust, tough, and impact-resistant mechanically interlocked network ionogels ( IG MINs) by incorporating ion liquids with mechanical bonds that can dissipate energy while maintain structural stability. Profiting from the dynamic yet stable nature of the mechanically interlocked networks, IG MINs exhibit high tensile strength (9.6 MPa), fracture energy (39 kJ/m 2 ), and toughness (25.9 MJ/m 3 ), along with a high elongation rate (473 %) and excellent impact resistance and shape memory, resulting in overall performance that surpasses most reported ionogels. Furthermore, in the application of strain sensors for monitoring the gait of crawling robots, the toughness and robustness of IG MINs ensure their ability to consistently output stable electrical signals during the stretching and contraction processes, thereby highlighting their practical application potential. Our work provides a new research strategy for toughening ionogels and promotes the development of mechanically interlocked materials.

关键词： ionogels mechanical bonds toughening mechanism tear resistance shape-memory

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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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2019 IEEE International Conference on Real-Time Computing and robotics, RCAR 2019

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

ISBN: (纸本)9781728137261

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. © 2019 IEEE.

关键词： Calibration

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A review of ultrasonic infrared thermography in non-destructive testing and evaluation (NDT&E): Physical principles, theory, and data processing

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Infrared Physics & Technology 2025年 150卷

作者： Rongcheng Li Fei Wang Peng Yin Feng Yang Jianghao Zhao Zhuoyan Yue Lixia Liu Stefano Sfarra G.T. Vesala Honghao Yue Junyan Liu School of Mechatronics Engineering Harbin Institute of Technology Harbin 150001 PR China State Key Laboratory of Robotics and System (HIT) Harbin 150001 PR China Beijing Satellite Manufacturing Factory Co. LTD Beijing 100001 PR China Department of Industrial and Information Engineering and Economics University of L’Aquila 67100 Italy Infrared Imaging Center Department of Electronics and Communication Engineering Koneru Lakshmaiah Educational Foundation Vaddeswaram A.P India

Ultrasonic Infrared Thermography (UIT) represents a high-efficiency non-destructive testing method that combines ultrasonic excitation and infrared thermography. UIT produces thermoelastic effect or friction heat generation effect through ultrasonic excitation, and uses infrared camera to capture the changes of surface temperature field, achieving the visual detection of defects. The merits of UIT are manifold, including non-contact, high sensitivity, rapidity, and efficiency, as well as the capacity for multi-scale detection and quantitative evaluation. Consequently, it finds wide application in the detection of surface and near-surface defects in metals, composites, and other materials. This study firstly introduces the principles of ultrasonic infrared thermography non-destructive testing technology. Subsequently, the implementation process of UIT in ultrasound excitation source, excitation waveform, feature extraction algorithm, and image processing were described to facilitate understanding of the technology. The paper then goes on to highlight the development status and practical application examples of ultrasonic infrared thermography non-destructive testing technology, and analyses the problems faced by ultrasonic infrared thermography technology. Finally, the paper offers an outlook on future development trends in ultrasonic infrared thermography non-destructive testing technology.

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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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Mechanical design of a 4-DOF minimally invasive surgical instrument

Mechanical design of a 4-DOF minimally invasive surgical ins...

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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Li, Kun Li, Jihua Li, Lei Ji, Shuai Meng, Xianju Fu, Yili Shandong Jianzhu University School of Mechanical and Electronic Engineering Jinan250101 China Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150080 China

ISBN: (纸本)9781728163215

In order to meet design requirements in minimally invasive surgery (MIS), it is necessary to conduct basic operations in the narrow working space. Taking a grasper for example, a 4DOF MIS instrument driven by servo motors and transmitted by cables is designed. The design of the end of surgical instrument driven by cables is suitable for long-distance transmission, which improves dexterity of the surgical instrument working in narrow space. The mechanism principle including the wrist, graspers and shaft rolling are described. Kinematic coupling between the wrist and grasper are analyzed. Prototype of the surgical instrument is presented. This instrument prototype can be applied in most MIS operations. © 2019 IEEE.

关键词： Cables

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Bilateral Teleoperation of Wheeled Mobile Robots Subject to Lateral Sliding on Soft Terrains

Bilateral Teleoperation of Wheeled Mobile Robots Subject to ...

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第三十九届中国控制会议

作者： Weihua Li Sanjun Liu Dianbo Ren Jianfeng Wang Haibo Gao School of Automotive Engineering Harbin Institute of Technology(Weihai) State Key Laboratory of Robotics and System Harbin Institute of Technology Shanghai Aerospace Equipments Manufacturer Co Ltd.

With the widespread applications of wheeled mobile robots（WMR） in various fields,new challenges have arisen in terms of designing its control system.A special challenge is the soft terrain which can induce both of the longitudinal slipping and the lateral *** paper proposes a new method for haptic teleoperation control of a WMR with lateral *** this teleoperation system,the linear velocity and the angular velocity of the WMR separately follow the master haptic interface’s *** to the functional benefits of displaying the lateral sliding information as haptic feedback to the operator,the lateral velocity is segregated and only perceived by the human *** the teleoperator for the master robot and the slave WMR is designed based on the passivity *** of the proposed controller demonstrate that this approach results in stable bilateral teleoperation with a satisfactory tracking performance.

关键词： Teleoperation Lateral Sliding Wheeled Mobile Robot

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Object-aware hybrid map for indoor robot visual semantic navigation

Object-aware hybrid map for indoor robot visual semantic nav...

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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Wang, Li Li, Ruifeng Sun, Jingwen Zhao, Lijun Shi, Hezi Seah, Hock Soon Tandianus, Budianto Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150001 China School of Computer Science and Engineering Nanyang Technological University Nanyang Avenue639798 Singapore

ISBN: (纸本)9781728163215

In order to achieve an intuitive interaction and visual semantic navigation for the indoor robot, we propose a novel object-aware hybrid map. The existing map is usually a metric map, lacking semantics for interaction. We combine objects in the indoor environment with the metric map to constitute a hybrid map. The map consists of a 3D object semantic map and a 2D occupancy grid map, which transfers human commands to the grid map through object semantics, thereby enabling autonomous navigation for the robot. We utilize ORB-SLAM2 for continuous pose estimation and 3D mapping. 2D object detection in key-frames is conducted based on YOLO v3. The object point clouds in multiple perspectives are merged and a 3D bounding box of the object is estimated. These objects construct a 3D semantic map. Furthermore, we project a 3D point cloud map into a 2D plane in order to get an occupancy grid map. Finally, these two maps are combined forming an object-aware hybrid map. We conduct experiments in real environments in order to verify the feasibility and robustness of the hybrid map for robot semantic navigation. © 2019 IEEE.

关键词： Object detection

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