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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Shi, Chunyuan Wang, Zixin Yang, Dapeng Zhao, Jingdong Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150081 China Harbin Institute of Technology Artificial Intelligence Laboratory Harbin150081 China

ISBN: (纸本)9781665481090

In this paper, an augmented reality-based perceptual feedback method of dexterous prosthesis has been proposed, which can establish an intuitive and convenient feedback pathway and reduce the use load of prosthetic hands. The proprioception and force feedback strategy was proposed and established based on augmented reality technology. Finally, the effectiveness and feasibility of the above strategies are verified by experiments. First, the feasibility of the proprioception feedback strategy is tested, and then the force feedback strategy is tested. The experimental results show that the proposed method establishes an effective perceptual feedback closed-loop control, improving patients' cognition of the prosthesis, including force, grasping gestures and other information, and improving users' perception ability. © 2022 IEEE.

关键词： Augmented reality

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Cable Length Estimation for a Hyper-Redundant Robot Based on Cable Hole Clearance Calculation 19

Cable Length Estimation for a Hyper-Redundant Robot Based on...

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19th IEEE International Conference on Automation Science and Engineering, CASE 2023

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

ISBN: (纸本)9798350320695

For the cable-driven hyper-redundant robot, most of the current drive cable length estimation methods consider that the cable always passes through the center of the hole, and do not consider the effect of cable-hole clearance, resulting in a large motion error. In this paper, we propose a cable length estimating method by considering cable-hole clearance. Based on the simplified space model of the cable hole, it uses the recursive algorithm to obtain the approximate solution of the actual drive cable length. The algorithm can meet the requirements of real-time control while ensuring calculation accuracy. The correctness of the approximate solution is verified by using the interior point penalty function method. Taking a 24DoF hyper-redundant manipulator with joint angle closed-loop control as an example, the effectiveness of the proposed method is proved by comparing the theoretical calculation results with the actual drive cable length. © 2023 IEEE.

关键词： Real time control

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An Aerial Non-contact Detection system For Quayside Crane Using A Hexacopter

An Aerial Non-contact Detection System For Quayside Crane Us...

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2023 IEEE International Conference on Real-Time Computing and robotics, RCAR 2023

作者： Zhang, Yehui Wang, Zhaoying Dong, Wei Shanghai Jiao Tong University State Key Laboratory of Mechanical System and Vibration Shanghai200240 China Shanghai Jiao Tong University Robotics Institute School of Mechanical Engineering Shanghai200240 China

ISBN: (纸本)9798350327182

In recent years, aerial robots have been widely used and developed in high-altitude defect detection in academia and business. To solve the detection problem of beams at quayside cranes, reduce the cost of staffing in the traditional manual detection process and improve detection safety, a non-contact detection system using a hexacopter is designed. This article analyzes the task requirements of flaw detection for quayside cranes and the workflow. The Unmanned Aerial Vehicle (UAV) system is equipped with a non-contact detective transmitter, a non-contact detective imaging plate and other task detection equipment to detect the crack of quayside crane beams. The system is based on multi-sensor modules. Besides, the system is designed as light as possible to increase the flight endurance of the UAV. On this basis, the system takes the UAV as the carrier and carries the detection equipment to the location which needs detection. At the same time, people on the ground can control the non-contact detective transmitter and imaging plate to move to the defect area through remote radio control, then can obtain the internal crack. The reliability and effectiveness of the whole system are verified by performing an actual detection experiment with a crane model. © 2023 IEEE.

关键词： Antennas

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AEROENGINE remaining life prediction based on grey similarity multiscale matching 20

AEROENGINE remaining life prediction based on grey similarit...

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20th International Conference on Condition Monitoring and Asset Management, CM 2024

作者： Sun, Shilong Huang, Haodong Ding, Jian Lu, Wenjie Wang, Dong School of Mechanical Engineering and Automation Harbin Institute of Technology Guangdong Shenzhen518055 China Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Shanghai Jiao Tong University Shanghai200240 China State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai200240 China

ISBN: (纸本)9780903132848

In this paper, we address the challenge of predicting the remaining useful life (RUL) of aero-engines, which are critical components of aircraft that operate under increasingly extreme conditions as engine performance enhances. Ensuring the safety and reliability of these engines is paramount. To this end, we introduce a novel RUL prediction methodology that leverages grey similarity multiscale matching. This approach employs the robust capabilities of Long Short-Term Memory (LSTM) networks for processing time-series data. Specifically, an LSTM Stacked AutoEncoder (L-SAE) is designed to extract pivotal operational features of the engine, thereby delineating its degradation trajectory. Furthermore, the grey correlation analysis is utilized to assess the similarity between these degradation trajectories, which is complemented by a multi-time scale sliding window technique for enhanced similarity matching. Subsequently, kernel density estimation is applied to gauge the uncertainty associated with the prediction outcomes. The efficacy and superiority of our proposed method are demonstrated through the validation of the experiment study. Comparative analysis reveals that our method outperforms existing techniques in key evaluation metrics, underscoring its potential applicability to large-scale datasets. This validation not only confirms the method’s effectiveness but also its advantage in predicting the RUL of aero-engines with greater accuracy and reliability. © 2024 20th International Conference on Condition Monitoring and Asset Management, CM 2024. All rights reserved.

关键词： Long short-term memory

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Cam-Driven Frequency Up-Conversion Mechanism For Kinetic Energy Harvesting

Cam-Driven Frequency Up-Conversion Mechanism For Kinetic Ene...

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Micro and Nanotechnology for Power Generation and Energy Conversion Applications (PowerMEMS)

作者： Heng Zhao Tianyi Tang Yunfei Li Mingqi Mei Huicong Liu School of Mechanical and Electrical Engineering Jiangsu Provincial Key Laboratory of Advanced Robotics Soochow University Suzhou CHINA State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin CHINA

ISBN: (数字)9798350380200

ISBN: (纸本)9798350380217

This paper proposes an ocean wave energy harvester (WEH) with a cam-driven frequency up-conversion mechanism. It utilizes a planar pendulum structure to achieve motion response to ultra-low-frequency wave excitation and then converts the mechanical energy of the pendulum into high-frequency and high-power electrical energy output through the cam-driven frequency upconversion mechanism. WEH’s superior design enables high-power output even under excitation below 1 Hz. At the excitation frequency of 0.75 Hz and resistance load of $20 \Omega$, the maximum power output can reach 461.4 mW. Due to its high output power, the WEH can be integrated into the ocean observation buoy to power the sensors, thereby enabling long-term, unattended operation of the buoy in remote offshore areas.

关键词： Temperature sensors Resistance Ocean waves Frequency conversion Sensor systems Sensors Power systems Wave energy conversion Power generation Ocean temperature

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A Survey of Underwater Multi-Robot systems

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IEEE/CAA Journal of Automatica Sinica 2022年第1期9卷 1-18页

作者： Ziye Zhou Jincun Liu Junzhi Yu State Key Laboratory for Turbulence and Complex System Department of Advanced Manufacturing and RoboticsBeijing Innovation Center for Engineering Science and Advanced TechnologyCollege of EngineeringPeking UniversityBeijing 100871China College of Information and Electrical Engineering China Agricultural UniversityBeijing 100083China

As a cross-cutting field between ocean development and multi-robot system(MRS),the underwater multi-robot system(UMRS)has gained increasing attention from researchers and engineers in recent *** this paper,we present a comprehensive survey of cooperation issues,one of the key components of UMRS,from the perspective of the emergence of new *** specifically,we categorize the cooperation in terms of task-space,motion-space,measurement-space,as well as their ***,we analyze the architecture of UMRS from three aspects,i.e.,the performance of the individual underwater robot,the new functions of underwater robots,and the technical approaches of *** conclude,we have discussed related promising directions for future *** survey provides valuable insight into the reasonable utilization of UMRS to attain diverse underwater tasks in complex ocean application scenarios.

关键词： Cooperation formation control multi-robot systems(MRS) taxonomy underwater robots underwater tasks

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Design and Experimental Evaluation of WLR-III

Design and Experimental Evaluation of WLR-III

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IEEE International Conference on robotics and Biomimetics

作者： Xu Li Yili Fu State Key Laboratory of Robotics and System Harbin Institute of Technology and State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang University Intelligent Robot Research Center Zhejiang Laboratory and State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

This paper introduces the design and experimental evaluation of WLR-III, which stands for the third-generation hydraulic wheel-legged robot. WLR-III is expected to be applied to disaster scenarios where the mobility, adaptability and manipulation capability are required. Based on the development of the previous two generations of wheel-legged robots, this work continuously optimizes the design to achieve higher mobility and stronger adaptability by reducing weight & inertia. The hydraulic power transmission system adopts a hose-less design method to ensure the robustness of the system. What's more prominent is that the successful development of hydraulic power unit (HPU) enables WLR-III to realize hydraulic power autonomy. In addition, to accomplish all kinds of operational tasks in the rescue scene, the electro-hydraulic hybrid drives anthropomorphic arms with heavy load grippers were developed. Finally, the effectiveness and reliability of design optimization have been evaluated through a series of experiments, including grassland movement, load bearing, obstacle-stepping and tool-operating. To the authors' best knowledge, this is the first time that a hydraulic powered autonomous wheel-legged humanoid robot with the ability to operate simple tools has been developed.

关键词：

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A Wave Energy Harvester With Vertical Pendulum And Mag-Boost Mechanism

A Wave Energy Harvester With Vertical Pendulum And Mag-Boost...

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Micro and Nanotechnology for Power Generation and Energy Conversion Applications (PowerMEMS)

作者： Tianyi Tang Yunfei Li Heng Zhao Lining Sun Huicong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin CHINA School of Mechanical and Electrical Engineering Jiangsu Provincial Key Laboratory of Advanced Robotics Soochow University Suzhou CHINA

ISBN: (数字)9798350380200

ISBN: (纸本)9798350380217

This paper presents an ultra-low-frequency and high-power wave energy harvester (WEH). It utilizes a vertical pendulum structure to achieve motion response to ultra-low-frequency wave excitation and then converts the mechanical energy of the pendulum into high-frequency and high-power electrical energy output through the MagBoost Mechanism. The design of WEH ensures stable output even under excitation conditions below 1 Hz. At the excitation frequency of 1.4 Hz and resistance load of $20 \Omega$, the maximum power output can reach 1.16 W with a power density of $0.54 \mathrm{~mW} / \mathrm{cm}^{3}$. The high energy density allows stable power supplementation for ocean observation buoy within a limited volume, thereby enabling long-term, unattended operation of the buoy in remote offshore areas.

关键词： Resistance Power system measurements Density measurement Oceans Frequency conversion Sensor systems Sensors Mechanical energy Wave energy conversion Power generation

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HabitAction: A Video Dataset for Human Habitual Behavior Recognition

arXiv

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arXiv 2024年

作者： Li, Hongwu Zhang, Zhenliang Wang, Wei The State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China Beijing100080 China

Human Action Recognition (HAR) is a very crucial task in computer vision. It helps to carry out a series of downstream tasks, like understanding human behaviors. Due to the complexity of human behaviors, many highly valuable behaviors are not yet encompassed within the available datasets for HAR, e.g., human habitual behaviors (HHBs). HHBs hold significant importance for analyzing a person’s personality, habits, and psychological changes. To solve these problems, in this work, we build a novel video dataset to demonstrate various HHBs. These behaviors in the proposed dataset are able to reflect internal mental states and specific emotions of the characters, e.g., crossing arms suggests to shield oneself from perceived threats. The dataset contains 30 categories of habitual behaviors including more than 300,000 frames and 6,899 action instances. Since these behaviors usually appear at small local parts of human action videos, it is difficult for existing action recognition methods to handle these local features. Therefore, we also propose a two-stream model using both human skeletons and RGB appearances. Experimental results demonstrate that our proposed method has much better performance in action recognition than the existing methods on the proposed dataset. All the dataset and codes are available at ***/view/hhb30. Copyright © 2024, The Authors. All rights reserved.

关键词： Video analysis

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Design, Analysis, and Experiment of a Novel Ultrasonic Printing system

Design, Analysis, and Experiment of a Novel Ultrasonic Print...

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2022 IEEE International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale, 3M-NANO 2022

作者： Pei, Zhichao Zhao, Haoxiang Li, Dongjie Wang, Lefeng Rong, Weibin Sun, Lining Harbin Institute of Technology State Key Laboratory of Robotics and Systems Harbin China Harbin University of Science and Technology Heilongjiang Provincial Key Laboratory of Complex Intelligent System and Integration Harbin China

ISBN: (数字)9781665475433

ISBN: (纸本)9781665475433

Ultrasonic-driven printing technology is widely used in bioprinting because of its high precision, good biocompatibility, and low cost. However, the conventional ultrasonic printing technology still has problems such as cross-contamination of bio-ink during storage, transportation, and processing, and cumbersome ink replacement process. Therefore, a new ultrasonic printing device is developed in this paper, which uses PZT plates as the driving element. And a fluid sub-system has been fabricated based on the self-made glass micro-nozzle, which is connected to the drive element using ultrasonic couplant gel. The separation of the fluid system and the drive system has been realized through the modular design, thereby realizing the rapid replacement of different inks and this relatively independent fluid system is of great benefit to better sealing and aseptic operation. In addition, a digital model is built to analyze its working mechanism. And an experimental system is established to characterize the performance of the device. The results show that the system can generate droplets stably and accurately, and the droplet volume can be controlled by the excitation voltage amplitude and pulse width. © 2022 IEEE.

关键词： Biocompatibility

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