检索结果-内蒙古大学图书馆

Pan Tao Ti Hsueh Pao/Chinese Journal of Semiconductors 2008年第8期29卷 1589-1594页

作者： Sun, Lining Wang, Jiachou Rong, Weibin Li, Xinxin State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China State Key Laboratory of Transducer Technology Shanghai Institute of Microsystem and Information Technology Chinese Academy of Sciences Shanghai 20050 China

For improving displacement sensor sensitivity to detect the motion in-plane and to improve the vertical sidewall surface, a new displacement sensor used for detecting motion in-plane is proposed. Piezoresistor technology is compatible with the other micromachining technology. This sensor can be integrated with other devices easily and fabricated with ion implantation technology combined with deep reactive ion etching technology. This design doubles the sensitivity compared with the conventional design because it puts the piezoresistor on the surface of the vertical sidewall of the detection beam. Besides using vertical sidewall piezoresistor technology, this displacement sensor has been applied to a micro xy-stage to detect the stage motion successfully. The experimental results verify that the sensitivity of the fabricated displacement sensors is better than 0.903 mV/μm, the linearity is better than 0.814%, and the displacement resolution is better than 12.3 nm.

关键词： Ion implantation

来源：评论

学校读者我要写书评

暂无评论

Mechanism design and simulation of a multi-joint foot restraint

引用

Hangkong Xuebao/Acta Aeronautica et Astronautica Sinica 2018年 39卷

作者： Zhang, Zhicheng Zhang, Peng Gao, Hui Dong, Wei China Academy of Space Technology Beijing100094 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

This paper develops a multi-joint foot restraint, which is connected with the space manipulator for astronauts to fix their body and adjust their posture when they are working in space with microgravity. The device can prevent astronauts from escaping by imposing restriction on the boot of the space suit, and can make possible multi-degree of freedom adjustment of posture in on-orbit servicing. This paper designs the mechanical structure of the restraint, conducts kinematic simulation of some key motion mechanisms, and makes experiments to verify the design. The motion range, kinematic accuracy, and locking ability of the restraint are analyzed. The torque slowly loaded and the torque instantaneously loaded are simulated to verify the motion situation of the load limiting unit using Adams. © 2018, Press of Chinese Journal of Aeronautics. All right reserved.

关键词： Degrees of freedom (mechanics)

来源：评论

学校读者我要写书评

暂无评论

Integration of Optimal Experimental Design and Process Optimisation to An Enzyme Reaction system

Integration of Optimal Experimental Design and Process Optim...

引用

Chinese Automation Congress (CAC)

作者： Hui Yu Jielong Guo Xian Wei Peidong Liang Lijun Zhao Fujian Institute of Research on the Structure of Matter Chinese Academy of Sciences Quanzhou China Fujian (Quanzhou) HIT Research Institute of Engineering and Technology Harbin Institute of Technology Quanzhou China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

A multi-objective experimental design strategy is proposed for a kinetically controlled synthesis process system by considering both the parameter estimation and the desired production yield. The input design is focused on maximising the desired production yield while the observation design is aimed at minimising the parameter estimation uncertainties. This multi-objective experimental design strategy is compared with the integrated experimental design method in which all design factors are optimised to improve parameter estimation quality. The optimal experimental design (OED) problem for observation design is relaxed to a semi-definite programming problem which is solved via interior-point method. Numerical studies demonstrate the efficiency of the proposed OED strategy as well as keeping high production yield. Parameter estimation uncertainties have been reduced significantly and they are near to those from integrated experimental design. The main point of this work is to introduce the idea of combining process optimisation with system identification so that the proposed model is closer to the real operation conditions in chemical processes.

关键词： Parameter estimation Optimization Biological system modeling Process control Production Biochemistry Data models

来源：评论

学校读者我要写书评

暂无评论

Force feedback time prediction based on neural network of MIS Robot with time delay

Force feedback time prediction based on neural network of MI...

引用

IEEE International Conference on robotics and Biomimetics

作者： Y. Ning L. L. Han Z. R. Xiao B. G. Liu Department of Electrical Engineering State Key Laboratory of Robotics and System (HIT) Henan University of Technology Zhengzhou China Department of Mechanical & Electrical Engineering Henan University of Technology Zhengzhou China School of Cicil Engineering & Architecture Henan University of Technology Zhengzhou China

ISBN: (纸本)9781479973989

Robotic technology is enhancing surgery through improved precision, stability, and dexterity. In manual MIS, the surgeon is separated from the operation area, which is reached by long instruments. In image-guided procedures, image prediction technique based on visual reality technology has solved time-delay problem of image information between master and slave manipulator of teleoperation system effectively in many application fields. However, time-delay of force feedback information which is transmitted from communication link is also inconvenient to the operator's working and makes a bad influences on the system's stability and transparency. In this paper, the start and stop time of feedback force torque can be predicted by using RBF neural network technology when the slave manipulator is interacting with the environment, such that the force feedback information can synchronize with the predictive image. Simulation results show excellence of the proposed scheme.

关键词： Manipulators Force feedback Force Biological neural networks Delay effects

来源：评论

学校读者我要写书评

暂无评论

Subsurface Damage Detection and Quantitative Prediction of Thin-Walled Complex Curved-Surface Component

SSRN

引用

SSRN 2024年

作者： Qin, Biao Liu, Henan Cheng, Jian Tian, Jinchuan Sun, Jiangang Zhou, Zihan Ma, Chuanzhen Chen, Mingjun State Key Laboratory of Robotics and System Harbin Institute of Technology P.O. Box 413 Heilongjiang Harbin150001 China Center for Precision Engineering Harbin Institute of Technology P.O. Box 413 Heilongjiang Harbin150001 China

The hemispherical resonant gyroscope (HRG), distinguished by its simple structure, high reliability, and remarkable precision, stands out as one of the most promising high-performance inertial navigation devices in advanced equipment. However, the core sensitive component of the HRG, known as hemispherical resonator (HSR), with a complex and small curvature structure made of fused silica, experiences subsurface damage (SSD) during the grinding process. This not only leads to brittle fracture, which affects the operational performance of the gyroscope, but also significantly hampers the polishing efficiency of the component. This study was initiated by quantitatively characterizing the SSD of various structural features of the HSR (center rod, lip edge of the spherical shell, and spherical shell). Especially, for the curved-surface of the HSR, the average deviation of SSD detection result is within 6%. Subsequently, based on the characterized SSD, the grinding damage mechanisms of the HSR was explored. The grinding surface integrity is then elucidated from the perspective of maximum undeformed chip thickness. Finally, a predictive model for the SSD depth of the HSR after ultra-precision grinding was established according to the nonlinear relationship between the surface roughness and SSD depth. The maximum deviation between the predictive and experimental values of SSD depth is 9.4%, indicating a high level of predictive accuracy. This work fills the blank in SSD detection of the HSR, laying a theoretical foundation for the high-performance manufacturing of the HSR. © 2024, The Authors. All rights reserved.

关键词： Damage detection

来源：评论

学校读者我要写书评

暂无评论

Yowov2: A Real-Time Multi-Level Detection Framework for Spatio-Temporal Action Detection

SSRN

引用

SSRN 2023年

作者： Yang, Jianhua Wang, Ke Zhao, Lijun Dai, Kun Li, Ruifeng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Wuhu Robot Industry Technology Research Institute Harbin Institute of Technology Wuhu241000 China Zhengzhou Research Institute Harbin Institute of Technology Zhengzhou450000 China

Designing a real-time framework for the spatio-temporal action detection task is still a challenge. In this paper, we propose a novel real-time action detection framework, YOWOv2. In this new framework, YOWOv2 takes advantage of both the 3D backbone and 2D backbone for accurate action detection. A multi-level detection pipeline is designed to detect action instances of different scales. To achieve this goal, we carefully build a simple and efficient 2D backbone with a feature pyramid network to extract different levels of classification features and regression features. For the 3D backbone, we adopt the existing efficient 3D CNN to save development time. By combining 3D backbones and 2D backbones of different sizes, we design a YOWOv2 family including YOWOv2-Tiny, YOWOv2-Medium, and YOWOv2-Large. We also introduce the popular dynamic label assignment strategy and anchor-free mechanism to make the YOWOv2 consistent with the advanced model architecture design. With our improvement, YOWOv2 is significantly superior to YOWO, and can still keep real-time detection. Without any bells and whistles, YOWOv2 achieves 87.0% frame mAP and 52.8% video mAP with over 20 FPS on the UCF101-24. On the AVA, YOWOv2 achieves 21.7% frame mAP with over 20 FPS. Our code is available on https://***/yjh0410/YOWOv2. © 2023, The Authors. All rights reserved.

关键词：

来源：评论

学校读者我要写书评

暂无评论

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

引用

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

关键词：

来源：评论

学校读者我要写书评

暂无评论

Building multi-modal sensory feedback pathways for SRL with the aim of sensory enhancement via BCI

Building multi-modal sensory feedback pathways for SRL with ...

引用

IEEE International Conference on robotics and Biomimetics

作者： Wenjie Wang Yuan Liu Zhicai Li Zhuang Wang Feng He Dong Ming Dapeng Yang Academy of Medical Engineering and Translational Medicine Tianjin University China College of Precision Instruments and Optoelectronics Engineering Academy of Medical Engineering and Translational Medicine Tianjin University China State Key Laboratory of Robotics and system (HIT) Harbin Institute of Technology Harbin China

Recently, the Supernumerary Robotic Limbs (SRL) have emerged in the field of robotics for enhancing the user's ability without replacing natural limbs. Lots of researches have contributed to the mechanical design and control of SRL. However, building an artificial sensory nerve pathway of SRL has been largely ignored. In this paper, we built a multi-modal sensory feedback pathway for SRL. Three kinds of sensory pathway contained 1) fingertip pressure, 2) slippage and 3) proprioception information are built under the consideration of SRL platform through electrical stimulation. According to the experiment results of event-related potential (ERP) amplitude, establish the relationship between the physical parameters of the stimulus and the sensation. In addition, enhancement potentials of human sensation based on the brain-computer interface (BCI) is found in two aspects contained: 1) improvement of subjective perception resolution; 2) Shorten the time of sensory recognition. This paper can be used to objectively benchmark the human subjective and individualized sensation, and guide researchers to build the SRL sensory feedback pathways.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Particle-based Instance-aware Semantic Occupancy Mapping in Dynamic Environments

arXiv

引用

arXiv 2024年

作者： Chen, Gang Wang, Zhaoying Dong, Wei Alonso-Mora, Javier Autonomous Multi-Robots Lab Department of Cognitive Robotics School of Mechanical Engineering Delft University of Technology Delft2628 CD Netherlands State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiaotong University Shanghai200240 China

Representing the 3D environment with instance-aware semantic and geometric information is crucial for interaction-aware robots in dynamic environments. Nevertheless, creating such a representation poses challenges due to sensor noise, instance segmentation and tracking errors, and the objects’ dynamic motion. This paper introduces a novel particle-based instance-aware semantic occupancy map to tackle these challenges. Particles with an augmented instance state are used to estimate the Probability Hypothesis Density (PHD) of the objects and implicitly model the environment. Utilizing a state-augmented Sequential Monte Carlo PHD (S2MC-PHD) filter, these particles are updated to jointly estimate occupancy status, semantic, and instance IDs, mitigating noise. Additionally, a memory module is adopted to enhance the map’s responsiveness to previously observed objects. Experimental results on the Virtual KITTI 2 dataset demonstrate that the proposed approach surpasses state-of-the-art methods across multiple metrics under different noise conditions. Subsequent tests using real-world data further validate the effectiveness of the proposed approach. Copyright © 2024, The Authors. All rights reserved.

关键词： Mapping

来源：评论

学校读者我要写书评

暂无评论

Influence of Axial Length Ratio of Stator Segment on Performance of Tubular Transverse Flux Linear Machine

Influence of Axial Length Ratio of Stator Segment on Perform...

引用

Biennial Institute of Electrical and Electronics Engineers Conference on Electomagnetic Field Computation

作者： Zhao Mei Zou Ji-bin Jiang Xin-tong Fu Xing-he Chandur Sadarangani State Key Laboratory of Robotics and System Harbin Institute of Technology Dept. Electrical Machines and Power Electronics KTH

ISBN: (纸本)9781424470594

In this paper the influence of axial length ratio of stator segment on performance of tubular transverse flux linear machine (TTFLM) is investigated. The following issues have been emphasized: cogging force, winding flux, and back-EMF. The special topology of TTFLM requires 3-D finite element analysis to accurately predict the machine performance. However, equivalent 2-D finite element analysis is performed, which is more visual from physical view and faster from computing time than 3-D finite element analysis.

关键词： Tubular Finite element method linear machines Stators machine performance axial length Transverse LenRto

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：