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On Modeling Drilling Load in Lunar Regolith Simulant

Chinese Journal of Mechanical Engineering 2018年第1期31卷 41-52页

作者： Qi-Quan Quan Chong-Bin Chen Zong-Quan Deng Jun-Yue Tang De-Wei Tang State Key Laboratory of Robotics and System Harbin Institute of Technology

Drilling and coring, as effective ways to obtain lunar regolith along the longitudinal direction, are widely applied in the lunar sampling field. Conventionally, modeling of drill-soil interaction was divided into soil cutting and screw conveyance processes, ignoring the differences in soil mechanical properties between them. To improve the modeling accuracy, a hypothesis that divides the drill-soil interaction into four parts: cuttings screw conveyance, cuttings extruding, cuttings bulldozing, and in situ simulant cutting, is proposed to establish a novel model based on the passive earth pressure theory. An iterative numerical calculation method is developed to predict the drilling loads. A drilling and coring testbed is developed to conduct experimental tests. Drilling experiments indicate that the drilling loads calculated by the proposed model match well the experimental results. The proposed research provides the instructions to adopt a suitable drilling strategy to match the rotary and penetrating motions, to increase the safety and reliability of drilling control in lunar sampling missions.

关键词： Lunar regolith drilling Lunar regolith simulant Drill-simulant interaction Screw conveyance

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Brightness-Enhanced Electroluminescence Driven by Triboelectric Nanogenerators Through Permittivity Manipulation and Impedance Matching

SSRN

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SSRN 2022年

作者： Gu, Mingwei Chen, Yunfeng Gu, Shaoqiang Wang, Can Chen, Liguo Shen, Hao Chen, Guanyu Sun, Xuhui Huang, Haibo Zhou, Yunlei Wen, Zhen Institute of Mechanical and Electric Engineering Jiangsu Provincial Key Laboratory of Advanced Robotics Soochow University Suzhou215123 China Jiangsu Key Laboratory for Carbon-Based Functional Materials and Devices Soochow University Suzhou215123 China College of Chemical Engineering and Technology Hebei University of Technology Tianjin300130 China Key Laboratory of Advanced Technologies of Materials Ministry of Education School of Materials Science and Engineering Southwest Jiaotong University Chengdu610031 China State Key Laboratory of Digital Manufacturing Equipment and Technology Flexible Electronics Research Center Huazhong University of Science and Technology Wuhan430074 China Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China

Triboelectric nanogenerator-driven electroluminescence (TDEL) that can convert human kinetic energy into visible light has attracted extensive attention in wearable electronics. However, the brightness is usually low due to the low electric field strength on the phosphors caused by impedance mismatch. In this work, a TDEL system with optimal brightness has been proposed by adjusting the dielectric constant of nanocomposite and matching impedance with TENG. The circuit model of the TDEL system is established and the voltage at both ends of the EL layer is predicted through simulation, which error is within 4.7%. Finite element simulation is used to simulate the optimal field strength of phosphors under the dual effects of voltage drop and polarization enhancement of EL layer caused by the increase of dielectric constant of nanocomposites in TDEL system. When the volume ratio of ZnS:Cu is 40% and the dielectric constant of the composite increases from 12 to 22.8, the optimal brightness value increases by 172%. Finally, a patterned TDEL system driven by walking or running to realize the functions of night alarm and information exchange is demonstrated. This study opens the window to improve the brightness of TDEL system through permittivity manipulation and impedance matching, which is applicable to different types of TENG, luminescent particles and dielectric nanocomposites. © 2022, The Authors. All rights reserved.

关键词： Nanogenerators

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Ddos attack detection based on one-class svm in sdn 6th

Ddos attack detection based on one-class svm in sdn

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6th International Conference on Artificial Intelligence and Security,ICAIS 2020

作者： Zhao, Jianming Zeng, Peng Shang, Wenli Tong, Guoyu State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Key Laboratory of Networked Control System Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110016 China University of Chinese Academy of Sciences Beijing100049 China

ISBN: (纸本)9789811581007

Software Defined Networking (SDN) is a new type of network architecture, which provides an important way to implement automated network deployment and flexible management. However, security problems in SDN are also inevitable. DDoS attack belongs to one of the most serious attack types, which is fairly common for today’s Internet. In SDN security fields, DDoS attack detection research has been received more and more attention. In this paper, a DDoS attack detection method based on one-class SVM in SDN is proposed, which provides a better detection accuracy. Furthermore, two new feature vectors, including middle value of flow table item’s duration and protocol data traffic percentage, are extracted to integrate into the item of 11 feature vectors. Additionally, basing on selection and construction method of the 11 feature vectors, a DDoS attack behavior model is established by using one-class SVM algorithm, and the self-adaptation genetic algorithm is designed to optimize the corresponding parameters of the Gaussian kernel of one-class SVM. The experimental results in SDN show that, the proposed new feature vectors are shown to more better detection accuracy, and the proposed method is more feasible by comparing with the BP neural network and RBF neural network algorithms under the same 11 features vectors. © Springer Nature Singapore Pte Ltd 2020.

关键词： Genetic algorithms

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Wheel's Slip Ratio and Sinkage Estimation for Planetary Rovers Moving on Deformable Terrain

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Journal of Physics: Conference Series 2022年第1期2203卷

作者： Huaiguang Yang Liang Ding Haibo Gao Zongquan Deng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 Heilongjiang China

Planetary rover plays a significant role in the lunar and Mars exploration missions and wheel's move status such as sinkage and slip ratio are the critical Factor to estimate the moving ability of the Mars rover. A method is proposed to estimate wheel's sinkage and skid angle based on terramechanic model and estimate slip ratio based on rover's dynamic model using Extended Kalman Filter algorithm. The proposed method can avoid the errors caused by Visual Odometry and improves the estimation accuracy of rover state through the fusion with other sensors' data. The effectiveness of the estimation method for planetary rovers is verified by comparing with the results obtained from dynamic simulation of Mars rovers.

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Fast sheath-driven electrothermal artificial muscles with high power densities

Research Square

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Research Square 2021年

作者： Hu, Xinghao Jia, Jingjing Wang, Yingming Tang, Xintian Fang, Shaoli Wang, Yilun Wang, Jian Baughman, Ray Ding, Jian-Ning The University of Texas Dallas United States Institute of Intelligent Flexible Mechatronics Jiangsu University China State Key Laboratory of Robotics and System Harbin Institute of Technology China Jiangsu University China

Electrothermal carbon nanotube (CNT) yarn muscles can provide large strokes during heating-cooling cycles. However, the slow cooling rate of thermal muscles limit their applications, since large diameter prior-art thermal muscles cannot be rapidly cycled. We here report an ultrafast thermally powered sheath-driven yarn muscle that uses a hybrid CNT sheath and an inexpensive polymer core. Our coiled muscle contracts 14.3% at 1 Hz and 7.3% at 8 Hz in air when powered by a square-wave electrical voltage input. The 70-mm-diameter actuated muscle cools in air to 16℃ from 150℃ within 0.5 s, compared with 6 s for a 65-mm-diameter sheath-run muscle that uses an electrothermally heated CNT core and 9 s for a 78-mm-diameter muscle that uses the sheath material for the entire muscle. An average power density of 12 kW/kg was obtained for a sheath-driven muscle, which is 42 times that for human skeletal muscle. This high performance results since the heating that drives fast actuation cycles is largely restricted to the muscle sheath, and this sheath is in direct contact with ambient temperature air. © 2021, CC BY.

关键词： Carbon nanotubes

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Fully integrated wearable control system for micro/nanorobot navigation

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International Journal of Extreme Manufacturing 2025年第03期 510-523页

作者： Zhanxiang Zhang Lin Wang Fengqi Jiang Shimin Yu Fengtong Ji Tianhao Sun He Zhang Yanhe Zhu Hao Chang Tianlong Li Jie Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Institute of Technology Suzhou Research Institute Department of General Surgery Heilongjiang Provincial Hospital College of Engineering Ocean University of China Gurdon Institute University of Cambridge Department of Physiology Development and NeuroscienceUniversity of Cambridge Department of Thoracic Surgery The First Affiliated Hospital of Harbin Medical University

Micro/nanorobots have exhibited excellent application potential in the biomedical field,such as drug delivery,minimally invasive surgery,and ***,in order to achieve practical application,it is essential for swimming micro/nanorobots to navigate towards specific targets or adjust their speed and morphology in complete *** navigation of swimming micro/nanorobots with temporal and spatial precision is critical for fulfilling the demand of ***,we introduced a fully integrated wearable control system for micro/nanorobots navigation and manipulation,which is composed of a multifunctional sensor array,an artificial intelligence (AI) planner,and a magnetic field *** sensor array could perceive real-time changes in gestures,wrist rotation,and acoustic *** planner based on machine learning offers adaptive path planning in response to dynamically changing signals to generate magnetic fields for the on-demand manipulation of micro/*** a novel,feasible control strategy was validated in the biological experiment in which cancer cells were targeted and killed by photothermal therapy using micro/nanorobots and integrated control *** wearable control system could play a crucial role in future intelligent medical applications and could be easily reconfigured toward other medical robots’control.

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Mechanics of soft-body rolling motion without external torque

arXiv

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arXiv 2024年

作者： Liang, Xudong Ding, Yimiao Yuan, Zihao Jiang, Junqi Xie, Zongling Fei, Peng Sun, Yixuan Gu, Guoying Zhong, Zheng Chen, Feifei Si, Guangwei Gong, Zhefeng School of Science Harbin Institute of Technology Shenzhen518055 China Department of Neurology The Fourth Hospital and School of Brain Science and Brain Medicine Zhejiang University School of Medicine Hangzhou310058 China Liangzhu Laboratory MOE Frontier Science Center for Brain Science and Brain-Machine Integration State Key Laboratory of Brain-Machine Intelligence Zhejiang University 1369 West Wenyi Road Hangzhou311121 China NHC and CAMS Key Laboratory of Medical Neurobiology Zhejiang University Hangzhou310058 China State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai200240 China Robotics Institute School of Mechanical Engineering Shanghai Jiao Tong University Shanghai200240 China State Key Laboratory of Brain and Cognitive Science Institute of Biophysics Chinese Academy of Sciences 15 Datun Road Beijing100101 China University of Chinese Academy of Sciences 19A Yuquan Road Beijing100049 China Huazhong University of Science and Technology Optical and Electronic Information Wuhan430074 China Zhejiang Lab. Hangzhou311121 China

The Drosophila larva, a soft-body animal, can bend its body and roll efficiently to escape danger. However, contrary to common belief, this rolling motion is not driven by the imbalance of gravity and ground reaction forces. Through functional imaging and ablation experiments, we demonstrate that the sequential actuation of axial muscles within an appropriate range of angles is critical for generating rolling. We model the interplay between muscle contraction, hydrostatic skeleton deformation, and body-environment interactions, and systematically explain how sequential muscle actuation generates the rolling motion. Additionally, we constructed a pneumatic soft robot to mimic the larval rolling strategy, successfully validating our model. This mechanics model of soft-body rolling motion not only advances the study of related neural circuits, but also holds potential for applications in soft robotics. © 2024, CC BY.

关键词： Pneumatics

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A New Method to Reduce Energy in Trajectory Planning

A New Method to Reduce Energy in Trajectory Planning

引用

International Conference on Control, Automation and robotics (ICCAR)

作者： Jiajing Wei Minghe Jin Yechao Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (数字)9781728161396

ISBN: (纸本)9781728161402

A new method to reduce energy in trajectory planning will be proposed in this paper, and it is found that it can significantly reduce the energy. The method is to smooth the planned trajectory with a well-designed low-pass filter. The low-pass filter has the ability to block high frequencies and pass the low frequencies, so it can smooth waveforms and form a chamfer-like effect at the mutation. Besides this advantages, it is found that after using a low-pass filter to handle the Cartesian trajectory, the sampling points will be denser at the beginning and end of the Cartesian space trajectory than the original trace. This change can ensure the joint angle velocity smoothly change from zero to zero, which means the trajectory will be run in a smooth state without step or shake. Using the dynamics can calculate the joint torque, then multiply the joint torque with the joint angle velocity to get the joint power. And at last, the energy consumption of every joint can be gotten by integrating the joint power. As it is concluded from the simulation result, smooth the trajectory with a well-designed low-pass filter can protect the motor and reducer and extend the life of the manipulators, and every joint energy consumption can be greatly reduced. And the reduction of energy consumption is related to the shape of the original trajectory and the cut-off frequency of the low-pass filter.

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An investigation on laser-induced damage resistance of KDP optics repaired by different micro-milling strategies 20

An investigation on laser-induced damage resistance of KDP o...

引用

20th International Conference of the European Society for Precision Engineering and Nanotechnology, EUSPEN 2020

作者： Liu, Qi Cheng, Jian Yang, Hao Zhao, Linjie Tan, Chao Chen, Mingjun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Machining and Condition Monitoring Group Faculty of Engineering University of Nottingham NG7 2RD United Kingdom

ISBN: (纸本)9780995775176

Although micro-milling has been regarded as the most promising method to repair the micro-defects on KH2PO4 (KDP) optics surfaces, residual tool marks are inevitably generated on the repaired surfaces and would pose a direct impact on the laser-induced damage (LID) threshold of repaired KDP optics. In this work, a residual tool marks model was developed to characterize the repaired surface morphologies processed by different milling strategies (e.g. layer-milling and spiral-milling strategies). Then the predicted tool marks were utilized to built a light-filed intensity modulation model to reveal the relationship between the residual tool marks and its related optical performance. The practical of LID tests well verified the simulation results. It was revealed that the milling strategies indeed have a significant influence on the ultimate LID resistance of KDP optics after repair through impacting the generation of residual tool marks. The spiral-milling method with a smaller path interval can produce a laser-friendly repaired surfaces, which have a equivalent laser-induced resistance with the original fly cutitng surface, while the layer-milling method has a higher machining efficiency. Therefore, an optimized repair procedure, adopting layer-milling path as rough milling and spiral-milling as fine milling, was proposed for pratical engineering application in ICF facilities in the future. Copyright © Proceedings of the 20th International Conference of the European Society for Precision Engineering and Nanotechnology, EUSPEN 2020. All rights reserved.

关键词： Milling (machining)

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Simulation platform for autonomous aerial manipulation in dynamic environments

arXiv

引用

arXiv 2021年

作者： Quan, Fengyu Huang, Huisheng Zeng, Hongjie Chen, Haoyao Liu, Yunhui Department of Mechanical Engineering and Automation in Harbin Institute of Technology Shenzhen State Key Laboratory of Robotics and System China Department of Mechanical and Automation Engineering Chinese University of Hong Kong Hong Kong

The aerial manipulator (AM) is a systematic operational robotic platform in high standard on algorithm robustness. Directly deploying the algorithms to the practical system will take numerous trial and error costs and even cause destructive results. In this paper, a new modular simulation platform is designed to evaluate aerial manipulation related algorithms before deploying. In addition, to realize a fully autonomous aerial grasping, a series of algorithm modules consisting a complete workflow are designed and integrated in the simulation platform, including perception, planning and control modules. This framework empowers the AM to autonomously grasp remote targets without colliding with surrounding obstacles relying only on on-board sensors. Benefiting from its modular design, this software architecture can be easily extended with additional algorithms. Finally, several simulations are performed to verify the effectiveness of the proposed system. Copyright © 2021, The Authors. All rights reserved.

关键词： Antennas

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