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1st International Conference on Mechanical system Dynamics, ICMSD 2022

作者： Li, Bingyan Peng, Tao Lin, Qiuhong Wang, Xiaoyu Cong, Qiang Tian, Xinqi Liu, Rongqiang Beijing Institute of Spacecraft Engineering Beijing100094 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China College of Mechanical and Electrical Engineering Harbin Engineering University Harbin150001 China

ISBN: (数字)9781839537837

ISBN: (纸本)9781839537837

This paper presents the calculation of the stress distribution of corner tensioned rectangular thin membrane based on the stress superposition method (SSM). By comparing with the results of finite element simulation, the theoretical results of stress distribution of tensioned membrane structure are verified. Based on SSM and free vibration calculation theory, the effects of tension boundary parameters on membrane stress distribution and models are investigated. The influence of corner tension on the mechanical characteristics is analyzed for the corner tensioned rectangular membranes with different aspect ratios. The formula for each order's fundamental frequency ratio of atmospheric to spatial environment is proposed. Conducting the dynamics experiment of a rectangular tensioned membrane, the theoretical analysis is verified by the experimental modal results. © 2022 IET Conference Proceedings. All rights reserved.

关键词： Stress concentration

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UMIENet: Underwater image enhancement based on multi-degradation knowledge integration

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Optics and Lasers in Engineering 2025年 193卷

作者： Lv, Pin Zha, Fusheng Wang, Xiangji Li, Rongchao Li, Mantian Wang, Pengfei Guo, Wei Sun, Lining State key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Lanzhou University of Technology Lanzhou China Institute of Intelligent Manufacturing Technology Shenzhen Polytechnic University Shenzhen China

Due to the absorption and scattering effects of water on light, underwater images generally suffer from multiple degradations such as blur, color cast, and non-uniform illumination, which severely affect image quality and visual processing tasks. Therefore, underwater image enhancement (UIE) has gained widespread application in various marine exploration tasks. While supervised learning-based methods currently dominate this field, existing methods have two main problems. The limited availability of real paired images and the incompleteness of the degradation types of synthetic datasets restricts the model training performance, and most UIE models are designed for specific types of degradation, lacking systematic processing of multiple underwater degradations. These problems lead to poor model performance. In this work, we construct an Underwater Multi-Degradation Knowledge Integration dataset, called UMDKI, it models multiple degradation factors including blur, color cast, and non-uniform illumination by incorporating a revised image formation model and point light mathematical modeling. Besides, we propose an Underwater Multi-degradation Image Enhancement Network, called UMIENet, it integrates the advantages of various traditional methods and achieves collaborative enhancement of multiple degradations. Extensive experiments demonstrate that the proposed UMIENet achieves excellent performance on multiple benchmarks and shows good effectiveness in real underwater vision tasks. © 2025 Elsevier Ltd

关键词： Photointerpretation

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An Air Floating Suspension Microgravity Simulator for Multi Specification of Spaceborne SAR 2

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2nd China International SAR Symposium, CISS 2021

作者： Sun, Zhiyao Sun, Xiangyu Zhou, Qihua Zou, Bo Liu, Gangfeng Dong, Huijuan Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China The Tenth Research Laboratory Shanghai Radio Equipment Research Institute Shanghai China

ISBN: (纸本)9787000000001

Microgravity Simulators are significant equipment for spaceborne synthetic aperture radar (SAR) on-ground test. Considering the diversity of spaceborne SAR specification as well as SAR's high working accuracy, this paper provides a novel air floating suspension microgravity simulator equipped with both active and passive gravity compensation mechanism, which realize the high-precision microgravity simulation of spaceborne SAR with different structures and kinematic characteristics. The simulator also provides adjustable frames to guarantee the simulation stability of the SAR in different poses. In addition, the simulator's corresponding horizontal tracking control system and vertical constant tension control system are also provided in this paper, which realize the tracking of the SAR movement. Finally, the simulation and experiment are provided to verify the effectiveness of the microgravity simulator. © 2021 SISE.

关键词： Synthetic aperture radar

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S2H-GNN: Learning Soft to Hard Feature Matching with Sparsified Graph Neural Network

S2H-GNN: Learning Soft to Hard Feature Matching with Sparsif...

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

作者： Tao Xie Ruifeng Li Zhiqiang Jiang Kun Dai Ke Wang Lijun Zhao Shuozhan Li State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Fujian (Quanzhou)-HIT Research Institute of Engineering and Technology Quanzhou China

In this work, we introduce a soft-to-hard network (S2H-GNN) for precise local feature matching between image pairs. The core of S2H-GNN is a weighted context aggregation algorithm that enables nodes to receive information from their neighbors in order to form a more global understanding. S2HGNN leverages a sparsified graph neural network to enhance the features, consisting of the following modules alternately: (1) Inducing Point Initial Module that uses cosine correlation to identify highly scored keypoints as Inducing points. (2) Message Passing Module that integrates the features of original keypoints into those of Inducing points, which are further leveraged to exchange messages through self attention and cross attention. (3) Attention Upsample Module that propagates the feature of Inducing points to that of original keypoints, obtaining discriminative feature representation. Additionally, we propose an assignment layer to obtain a soft assignment matrix, which views feature matching as a graphy matching problem. Finally, we introduce a novel gap loss to guide S2H-GNN in learning a discriminative cognition of matching and non-matching keypoints, ultimately obtaining the hard assignment matrix. Experimental results demonstrate that S2H-GNN achieves comparable or higher performance in image matching and homography estimation tasks.

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An Iterative Task-Driven Framework for Resilient LiDAR Place Recognition in Adverse Weather

arXiv

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arXiv 2025年

作者： Zhao, Xiongwei Wang, Yang Sun, Qihao Bai, Haojie Xie, Xingxiang Shenzhen518071 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150006 China School of Information Communication Technology Shenzhen Institute of Information Technology Shenzhen518071 China

LiDAR place recognition (LPR) plays a vital role in autonomous navigation. However, existing LPR methods struggle to maintain robustness under adverse weather conditions such as rain, snow, and fog, where weather-induced noise and point cloud degradation impair LiDAR reliability and perception accuracy. To tackle these challenges, we propose an Iterative Task-Driven Framework (ITDNet), which integrates a LiDAR Data Restoration (LDR) module and a LiDAR Place Recognition (LPR) module through an iterative learning strategy. These modules are jointly trained end-to-end, with alternating optimization to enhance performance. The core rationale of ITDNet is to leverage the LDR module to recover the corrupted point clouds while preserving structural consistency with clean data, thereby improving LPR accuracy in adverse weather. Simultaneously, the LPR task provides feature pseudo-labels to guide the LDR module’s training, aligning it more effectively with the LPR task. To achieve this, we first design a task-driven LPR loss and a reconstruction loss to jointly supervise the optimization of the LDR module. Furthermore, for the LDR module, we propose a Dual-Domain Mixer (DDM) block for frequency-spatial feature fusion and a Semantic-Aware Generator (SAG) block for semantic-guided restoration. In addition, for the LPR module, we introduce a Multi-Frequency Transformer (MFT) block and a Wavelet Pyramid NetVLAD (WPN) block to aggregate multi-scale, robust global descriptors. Finally, extensive experiments on the Weather-KITTI, Boreas, and our proposed Weather-Apollo datasets demonstrate that, demonstrate that ITDNet outperforms existing LPR methods, achieving state-of-the-art performance in adverse weather. The datasets and code will be made publicly available at https://***/Grandzxw/ITDNet. © 2025, CC BY.

关键词： Image coding

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Heating Patterns and Temperature Distribution of Projectile Surface in Lunar Soil Penetration

SSRN

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SSRN 2024年

作者： Chi, Cheng Jiang, Shengyuan Chi, Guanxin Tang, Junyue Xiao, Junxiao Zhu, Jiachen Chi, Runqiang Fan, Jinbiao Huang, Zexi Deng, Zongquan State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China College of Mechanical Engineering Yanshan University Qinhuangdao066004 China National Key Laboratory for Electronic Measurement Technology North University of China Taiyuan030051 China

A large quantity of friction-induced heat is generated during penetration, notably increasing the projectile's surface temperature. Considering that the temperature variation depends on the physical properties of the penetrating target, this factor can be helpful for extraterrestrial object detection. This study studied the heat generation patterns and temperature distribution on the projectile surface when penetrating the lunar soil. For discrete medium penetration, large deviations appear in temperature prediction due to particle extrusion flow. Thus, we established a heat flux density model on the projectile surface by introducing a relative velocity factor for correction. The particle flow characteristics simulation and fitting model of the introduced factor were also obtained. We constructed a theoretical relationship between the resistance and stress model parameters through dynamic modeling. Experimental projectiles recording penetration acceleration and temperature at the points of interest on the projectile surface were designed and tested to obtain recorded data. The temperature field in this process was simulated in COMSOL software to calculate the projectile surface's heat flux density and temperature distribution. The results indicate that the developed model is effective. This research infers the physical characteristics of the penetrating target under given penetration conditions and provides more dimensional information for lunar soil exploration. © 2024, The Authors. All rights reserved.

关键词： Temperature distribution

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Microanalysis of a ductile iron by microchip laser-induced breakdown spectroscopy

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Plasma Science and Technology 2021年第10期23卷 179-185页

作者： Wei Wang Lanxiang Sun Peng Zhang Liming Zheng Lifeng Qi Jinchi Wang State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016People’s Republic of China Key Laboratory of Networked Control System Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016People's Republic of China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169People’s Republic of China University of Chinese Academy of Sciences Beijing 100049People's Republic of China

Laser beams with ns pulse width are generally employed as an excitation source in the process of detecting inclusions and elemental segregation on a workpiece surface by microanalysis of the laser-induced breakdown *** addition,the ablation crater interval of laser sampling on the sample surface is generally 20μm or *** is difficult to detect the morphology of inclusions smaller than 50μm in diameter and the micro-segregation of ***,in this work,when the laser ablation crater is 10μm and the sampling resolution of the laser on the sample surface is 5μm,the morphology and distribution of spherical inclusions(20–60μm)in ductile iron can be detected according to the difference of the Fe spectrum on the Fe matrix and the spheroidal ***,the distribution of micro-segregation of Mg and Ti elements in ductile iron was also studied.

关键词： micro-laser-induced breakdown spectroscopy micro-LIBS mapping inclusion segregation ductile iron

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An Origami-Based Miniature Jumping Robot with Adjustable Jumping Trajectory and Enhanced Intermittent Jumps

An Origami-Based Miniature Jumping Robot with Adjustable Jum...

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IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Zhipeng Xiong Lingqi Tang Longlong Hu Songlin Yang Xiaojun Yang Yao Li Bing Li School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen China Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Harbin Institute of Technology Shenzhen China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

A small-scale jumping robot can reach obstacles much larger than its size. It is important for a jumping robot to perform intermittent jumps to cross through rough terrains. However, the limitations of conventional structures hinder the further integration of functions to a miniature (sub-50 g) jumping robot. No sub-50 g jumpers could perform intermittent jumps with adjustable jumping trajectories. In this work, we proposed an origami-based miniature jumper, which performed intermittent jumps with adjustable omni-directional trajectories. The intermittent jumps were achieved by the jumping and self-righting mechanisms, which were actuated by a single motor. The clockwise and counterclockwise rotation of the motor actuated the loading, self-righting and triggering process, respectively. The jumping height was adjustable by adjusting the rotation angle of the motor. Meanwhile, the take-off pitch & yaw angle adjustment methods were integrated into the robot. Therefore, we demonstrated a 9 cm, 13.5 g prototype with functions of re-loading, self-righting, jumping height adjustment and take-off pitch & yaw angle adjustment. The robot could adjust jumping height from 16 to 34 cm and self-right for the next jump. The results revealed that our robot could jump across different obstacles with different scales and directions. The mobility was greatly increased compared with other miniature jumping robots.

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Analysis of normal force of wheel-sand interaction for planetary rovers with active suspension*

Analysis of normal force of wheel-sand interaction for plane...

引用

IEEE International Conference on robotics and Biomimetics

作者： Zhengyin Wang Huaiguang Yang Liang Ding Qingning Lan Haibo Gao Zdravko Terze Zongquan Deng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Faculty of Mechanical Engineering and Naval Architecture University of Zagreb Zagreb Croatia

The planetary rover with active suspension can climb steeper slopes and cross bigger obstacles in a wheel-step motion mode, which enables the planetary rover to perform more complex exploration tasks. However, wheel-step motion requires coordinated movement of the suspension and the wheels: the suspension can determine the wheel's sinkage depth and translation speed. Matching up with the wheel rotation speed can actively construct the slip ratio. The forces exerted on the wheels by sand during this process are a key index for motion control. This poses new challenges to existing wheel-sand interaction models. In this paper, dynamic normal force tests are carried out. The dynamic variation of wheel normal force with slip ratio is investigated at different sinkage depths. It is found that the normal force exerted on the wheel increases firstly and then decreases with the slip ratio, and reaches the maximum value near s=0. The distributed stresses of the wheel were analysed by discrete element method (DEM) simulation, and the phenomenon of the distribution stress reconstruction of the wheel is found. Further, by analyzing the local particles in contact with the wheel, it is found that the particle movement direction and morphology vary with slip ratio. The analysis of the wheel’s normal force and the granular material variation with slip ratio provides the basis for establishing a physics-based wheel-sand interaction model.

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Decoding Discrete Gestures Across Different Arm Positions Based on Multimodal Fusion Strategy 16th

Decoding Discrete Gestures Across Different Arm Positions Ba...

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16th International Conference on Intelligent robotics and Applications, ICIRA 2023

作者： Li, Yunzhe Yin, Zongtian Zhang, Ting Meng, Jianjun School of Mechanical Engineering Shanghai Jiao Tong University 800 Dongchuan Road Shanghai China Robotics and Microsystems Center College of Mechanical and Electrical Engineering Soochow University Suzhou China State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University 800 Dongchuan Road Shanghai China

ISBN: (纸本)9789819964857

Decoding human motion intentions is critical for prosthetic control, where gesture recognition remains a research focus. However, the decoding accuracy of gestures is affected by multiple factors, resulting in poor robustness in practical applications. Variation in arm positions can significantly decrease the accuracy of gesture recognition, negatively impacting the performance of human-machine interfaces (HMIs). We developed a multimodal HMI system that has the potential to improve the robustness of gesture recognition significantly. This multimodal HMI system synchronously acquired surface electromyography (sEMG), A-mode ultrasound, and inertial measurement unit (IMU) signals and has a miniaturized signal processing module to be integrated into a prosthetic hand socket. We conducted an offline experiment on 11 subjects to investigate the discrete recognition of 10 hand gestures across three different arm positions. The results demonstrate that the multimodal fusion approach using the proposed cascaded classifiers has advantages in gesture recognition across different arm positions. The LDA classifier's best recognition accuracy was 97.08% ± 1.90%, outperforming the single modalities significantly. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Gesture recognition

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