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China Instrument and Control Society (ACCIS), Academic Conference of

作者： Zhongyi Cheng Junning Cui Xinbin Zhang Yizhong Zhuang Bo Kang Yamin Zhao Center of Ultra-precision Optoelectronic Instrument Engineering Harbin Institute of Technology Harbin China Key Lab of Ultra-precision Intelligent Instrumentation Harbin Institute of Technology (Harbin Institute of Technology) Ministry of Industry and Information Technology Harbin China Laboratory for Space Environment and Physical Sciences Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (数字)9798350350326

ISBN: (纸本)9798350350333

Given the problem that the influences of different vibration isolation parameters on the dynamic characteristics of isolated equipment in the double-layer vibration isolation system of ship power equipment is still unclear, a double-layer vibration isolation model for ship power equipment is established to study the time-domain response characteristics of the isolated equipment under the action of a half-sine wave shock. The dimensionless differential equations of system motion are derived using dimensional analysis, and the numerical simulation based on the fourth-order Runge-Kutta method is used to analyze the influences of vibration isolation parameters on shock resistance performance of the system, which provides a theoretical basis for the shock resistance design of the double-layer vibration isolation system of ship power equipment and is of significant instruction to the practice.

关键词： Vibrations Resistance Damping Isolators Electric shock Numerical simulation Shock absorbers Numerical models Marine vehicles Time-domain analysis

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Design of in-pipe 3SPR/3RPS parallel manipulator and its kinestatics analysis

Design of in-pipe 3SPR/3RPS parallel manipulator and its kin...

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IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent systems

作者： Yi Lu Jingjing Yu Chunping Sui Jianda Han College of Mech Eng Yanshan University Qinhuangdao Parallel robot and mechatronic system laboratory of Hebei province Hebei P. R. China Department of Mechatronics Heibei Normal University of Science & Technology Qinhuangdao Hebei P. R. China State Key Laboratory of Robotics Shenyan Institute of Automation Liaoning PR China

An in-pipe robot must be able to adapt to the various geometric changes of pipes and have large enough load carrying capacity in order to move freely in industry pipe and drag heavy load. A novel in-pipe 3SPR/3RPS type parallel manipulator is proposed and its kinematics is analyzed in this paper. First, an in-pipe parallel manipulator with multi-foot is designed, and its principle and characteristics are explained. Second, the kinematics formulae are derived for solving the displacement, velocity and acceleration of foot mechanism and parallel manipulator. Third, the statics formulae are derived for solving the active force of the foot mechanism and the active/constrained forces of the parallel manipulator. Finally, an analytic example is given for solving kinematics and statics of the in-pipe parallel manipulator and analytic solutions are verified by simulation solution.

关键词： Foot Force Legged locomotion Kinematics Manipulators

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Cloud-aided state estimation of a full-car semi-active suspension system

arXiv

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arXiv 2017年

作者： Zhang, Lixian Yin, Xunyuan Shen, Junnan Yu, Haitao Research Institute of Intelligent Control and System Harbin Institute of Technology Harbin150080 China Department of Chemical and Materials Engineering University of Alberta EdmontonT6G 2V2 Canada State Key Laboratory of Robotics and Systems Harbin Institute of Technology 150001 China

In this work, we investigate a state estimation problem for a full-car semi-active suspension system. To account for the complex calculation and optimization problems, a vehicle-to-cloud-to-vehicle (V2C2V) scheme is utilized. Moving horizon estimation is introduced for the state estimation system design. All the optimization problems are solved in a remotely-embedded agent with high computational ability. Measurements and state estimates are transmitted between the vehicle and the remote agent via networked communication channels. The effectiveness of the proposed method is illustrated via a set of simulations. Copyright © 2017, The Authors. All rights reserved.

关键词： state estimation

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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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Corrigendum to “An alternate drive method for improving the carrying load capacity and displacement smoothness of a vertical piezoelectric platform” [Mechatronics, 2023, 92: 102983]

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Mechatronics 2024年 99卷

作者： Qingbing Chang Jie Deng Weishan Chen Yingxiang Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 Heilongjiang Province China

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Corrigendum: Biologically inspired swimming robotic frog based on pneumatic soft actuators (2020 Bioinspir. Biomim.15 046006)

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Bioinspiration & biomimetics 2022年第4期17卷 049501-049501页

作者： Jizhuang Fan Qilong Du Qingguo Yu Yi Wang Jiaming Qi Yanhe Zhu State Key Laboratory of Robotics and System Harbin Institute of Technology People's Republic of China.

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A fusion-based localization method of mobile robot with equality geometric constraint

A fusion-based localization method of mobile robot with equa...

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IEEE International Conference on Real-time Computing and robotics (RCAR)

作者： Zhongli Wang Xian Wu Baigen Cai Chuanqi Tao Zhiyi Zhang Yinling Wang State Key Laboratory of Robotics and System Harbin Institute of Technology China Beijing Engineering Research Center of EMC and GNSS Technology for Rail Transportation Beijing China School of Electronic Information and Engineering Beijing Jiao Tong University China CSR Qindao Sifang Co. Ltd. Qindao China

ISBN: (纸本)9781467389600

GPS/ODO fusion-based localization is always used for mobile robot in outdoor environment. This approach takes advantage of short-term accuracy of odometry measurement and the long-term correction by the GPS unit. Generally, to improve the localization accuracy, precise system model and sensor noise model are probed. In this paper, by taking the linear and nonlinear equality state constraints into the EKF-based fusion framework with the method of perfect measurement and estimate projection, the performance of fusion results can be greatly improved. The modeling process is introduced and two simulation cases have been conducted, which show the positioning accuracy of the mobile robot can be significantly improved after the introduction of the equivalent constraint. Theoretically, this implementation allows us to define additional adjustments to improve the overall behavior of the filter.

关键词： Robot sensing systems Mobile robots Mathematical model Global Positioning system Jacobian matrices Kalman filters

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Simulation and experiment on automatic polarization alignment of fine polarization maintaining fibers

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Zhongguo Jiguang/Chinese Journal of Lasers 2013年第12期40卷

作者： Rong, Weibin Zhang, Wei Wang, Lefeng Cao, Yang Zhao, Lei Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 150080 China AVIC Xi'an Fight Automatic Control Research Institute Xi'an Shaanxi 710065 China

To improve the performance of fine polarization maintaining fiber (PMF) couplers, it is necessary to increase the detection accuracy of polarization axis. The mathematical model of panda PMF index is established, and then the side view method is simulated. From the simulation results, the light is transmitted in the optical fiber and is focused on the other side, and the maximum light intensity of the fiber image is related to the rotation angle and the observation distance. When the observation distance is constant, the maximum value of light intensity changes periodically with the PMF rotation angle. When the observation plane is near the focused one of the transmitted light, the highest light intensity of optical image reaches the maximum value, which is the polarization axis detection parameter of PMF. Based on this, detection method which takes the maximum intensity as the feature is proposed. Combining the micro-vision technology, the polarization axis detection system for fine PMF is designed. The image sharpness function which can confirm the position of the detection plane is proposed. The experimental data are processed using the Fourier filtering method. By fitting the experiment data with the cubic spline method, the panda PMF polarization axis is determined. According to the experimental results, the repetitive detection error is 0.61°, which meets the requirements of PMF coupler manufacturing.

关键词： Polarization-maintaining fiber

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Diffusive nonreciprocity and thermal diode

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Physical Review B 2021年第1期103卷 014307-014307页

作者： Ying Li Jiaxin Li Minghong Qi Cheng-Wei Qiu Hongsheng Chen Interdisciplinary Center for Quantum Information State Key Laboratory of Modern Optical Instrumentation College of Information Science and Electronic Engineering Zhejiang University Hangzhou 310027 China ZJU-Hangzhou Global Science and Technology Innovation Center Key Lab. of Advanced Micro/Nano Electronic Devices & Smart Systems of Zhejiang Zhejiang University Hangzhou 310027 China International Joint Innovation Center ZJU-UIUC Institute The Electromagnetics Academy at Zhejiang University Zhejiang University Haining 314400 China Department of Electrical and Computer Engineering National University of Singapore Singapore 117583 Singapore State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

Wave propagation and diffusion in linear materials preserve local reciprocity in terms of a symmetric Green's function. For wave propagations, the relation between the fields entering and leaving a system is more relevant than the detailed information about the fields inside it. In such cases, the global reciprocity of the scattering off a system through several ports is more important, which is defined as the symmetric transmission between the scattering channels. When a two-port system supports nonreciprocal (electromagnetic, acoustic) wave propagation, it is a (optical, phonon) diode directly following the definition. However, to date no concrete definition or discussion has been made on the global reciprocity of diffusive processes through a multiple-port system. It thus remains unclear what are the differences and relations between the three concepts, namely, local nonreciprocity, global nonreciprocity, and diode effect in diffusion. Here, we provide theoretical analysis on the frequency-domain Green's function and define the global reciprocity of heat diffusion through a two-port system, which has a different setup from that of a thermal diode. We further prove the equivalence between a heat transfer system with broken steady-state global reciprocity and a thermal diode, assuming no temperature-dependent heat generation. The validities of some typical mechanisms in breaking the diffusive reciprocity and making a thermal diode have been discussed. Our results set a general background for future studies on symmetric and asymmetric diffusive processes.

关键词： Diffusion Heat transfer Metamaterials Diodes Green's function methods

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Design Validation and Collision Studies of A Compliant Magnetorheological Fluid Actuator

Design Validation and Collision Studies of A Compliant Magne...

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IEEE International Conference on Human-Machine systems

作者： Guangzeng Chen Jie Pengyu Tongyi Shang Yunjiang Lou T.T. Wong Li Chen Jian Liu State Key Laboratory of Robotics and System School of Mechatronics Engineering and Automation Harbin Institute of Technology (Shenzhen) Shenzhen China. Shenzhen Institutes of Advanced Technology Shenzhen University Town Shenzhen China Emergency Department Chinese PLA General Hospital Department of Biomedical Engineering Shandong University Jinan China

ISBN: (数字)9781728158716

ISBN: (纸本)9781728158723

Robots are integrating into human society and become an important part. The robots and human must be considered as a whole system and the robots should be intelligent both in digital and physical like human to cooperate and interact with human non-physically or physically. For improving the physical intelligence of the robot, a magnetorheological fluid actuator (MRA) is proposed and studied in this paper. A collision model and a speed peak force planning method are proposed and some experiments are conducted. It shows that the collision peak force of the MRA with external objects can be easily controlled to different levels by controlling the compliance of the MRA for safe physical interaction with human or some striking works like hammering a nail.

关键词： Torque Robots Actuators Force Collision avoidance Rotors Couplings

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