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第二届振动与能量收集应用国际学术会议

作者： Xiaobiao Shan Haigang Tian Han Cao Tao Xie State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

This paper presents a novel airfoil-based piezoelectric energy harvester for scavenging aeroelastic *** harvester mainly consists of an airfoil,two flexible spring vibrators,and a cantilever beam *** piezoelectric cantilever beam vibrator is attached to the trailing of the airfoil and undergo the aerodynamic *** exist the coupling effects between the airfoil and the cantilever beam in the aerodynamic response and the harvesting *** prototypes of the airfoil-based piezoelectric energy harvester are fabricated to investigate the coupling effects of these vibrators in an open wind *** experimental results show that the unstable vibration and the aperiodic output voltage of the harvester are generated as the increase of the airflow *** output voltage of the flexible spring vibrator without the cantilever beam is 7.4 V for the length of 76 mm and the thickness of 1 mm of the flexible spring at 24.7 m/*** flexible spring vibrator with or without the cantilever beam have a small influence on the output ***,the mobile airfoil possesses significantly excitation effect to enhance the output voltage of the cantilever beam vibrator compared to the fixed airfoil,and a maximum enhancing performance of 23.8%can be achieved at 24.7 m/*** present work provides a sound experimental basis for further studying energy harvesting and vibration control of airfoil aircrafts.

关键词： aeroelastic vibration piezoelectric energy harvester harvesting performance coupling effect enhancing performance

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Semantic Segmentation based Dense RGB-D SLAM in Dynamic Environments

Semantic Segmentation based Dense RGB-D SLAM in Dynamic Envi...

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2019 3rd International Conference on Artificial Intelligence, Automation and Control Technologies (AIACT 2019)

作者： Jianbo Zhang Yanjie Liu Junguo Chen Liulong Ma Dong Jin Jiao Chen State Key Laboratory of Robotics and System (HIT) China Petroleum Materials Company Limited

Visual Simultaneous Location and Mapping(SLAM) based on RGB-D has developed as a fundamental capability for intelligent mobile robot. However, most of existing SLAM algorithms assume that the environment is static and not suitable for dynamic environments. This is because moving objects in dynamic environments can interfere with camera pose tracking, cause undesired objects to be integrated into the map. In this paper, we modify the existing framework for RGB-D SLAM in dynamic environments, which reduces the influence of moving objects and reconstructs the background. The method starts by semantic segmentation and motion points detection, then removing feature points on moving objects. Meanwhile, a clean and accurate semantic map is produced, which contains semantic information maintenance part. Quantitative experiments using TUM RGB-D dataset are conducted. The results show that the absolute trajectory accuracy and real-time performance in dynamic scenes can be improved.

关键词： Semantic Segmentation based Dense RGB-D SLAM in Dynamic Environments

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An inertial navigation pre-integration algorithm based on multi-sensor fusion for indoor mobile robot positioning 2019

An inertial navigation pre-integration algorithm based on mu...

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2nd International Conference on Service robotics Technologies, ICSRT 2019

作者： Kong, Minxiu Niu, Caoyuan State Key Laboratory of Robotics and System No. 2 Xidazhi Street Nangang District Harbin Heilongjiang China Harbin Institute of Technology No. 2 Xidazhi Street Nangang District Harbin Heilongjiang China

ISBN: (纸本)9781450362467

Accurate position estimation is a key technology for mobile robots to reflect intelligence. It has very important research value and significance. In order to solve the problems of large error, low precision and error accumulation over time of the current algorithm, this paper proposes an inertial navigation pre-integration algorithm integrating multiple sensors, and estimates the initial visual scale s with the loose-coupling algorithm. Aiming at the low positioning accuracy of the loose-coupling algorithm, a tight coupling algorithm based on multi-sensor fusion is proposed, and the system model and observation model are delivered. Finally, the establishment of the Create2 experimental platform and the corresponding software design, and then the positioning and contrast experiments on different material surfaces, the comparison of positioning accuracy in indoor small scenes and large scenes, and the optimization of VISLAM system for tight coupling algorithms based on multi-sensor fusion The comparison experiment is carried out to verify the robustness and feasibility of the algorithm, and to test the positioning accuracy of the actual application scenario of the mobile robot. © 2019 Association for Computing Machinery.

关键词： Mobile robots

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Design and test of ceramic knife-edge seal for in-situ heating system of extracting volatile matter from lunar soil

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Advances in Space Research 2025年

作者： Yinchao Wang Yuanling Sun Jianbo Zhou Bowei Wang Junyue Tang Zixiao Lu Huazhi Chen Bo Wang Xiaobo Su Shengyuan Jiang School of Mechatronics and Engineering Shenyang Aerospace University Shenyang 110136 China Key Laboratory of Rapid Development & Manufacturing Technology for Aircraft (Shenyang Aerospace University) Ministry of Education Shenyang 110136 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China Nanometer Intelligent Sensor Lab National Center for Nanoscience and Technology Beijing 100190 China China Academy of Space Technology Beijing 100190 China Sichuan boffins robotic and robotizatian Co. LTD Chengdu 610052 China

In the pursuit of accurate lunar soil volatile exploration, in-situ deep space sampling analysis offers unparalleled preservation of sample integrity. A critical challenge lies in ensuring a secure sealing environment. This paper introduces an innovative sealing method utilising a ceramic blade to compress a non-metallic seal. Initially, following a comprehensive multidimensional evaluation of sealing configurations, the ceramic knife-edge compression non-metallic sealing ring solution was determined to be optimal. This approach involves positioning the sealing ring within a grooved cylindrical heating furnace body, where radial compression is achieved through an annular ceramic knife-edge interface, thereby ensuring hermetic integrity. Subsequently, a sealing leakage model grounded in Roth theory was developed to elucidate micro-leakage mechanisms. ANSYS simulation software was utilised to investigate the influence of blade tip radius and temperature, revealing correlations with average stress and contact width, as well as the impact of temperature extremes on sealing efficacy. These findings provided the theoretical underpinning for subsequent ground tests. A dedicated test platform was established, adhering to the industry standard QJ3089A-2018, to evaluate the sealing performance of various seal and blade tip radius combinations under diverse conditions. Results indicated that, under a force of 500N, PTFE seals compressed by an R0.5mm blade and PVMQ seals compressed by an R0.6mm blade achieved leakage rates on the order of 10 -8 Pa·m 3 ·s -1 , aligning with theoretical predictions and demonstrating repeatable sealing capability. This study presents a novel and reliable sealing solution for the precise exploration of lunar soil volatiles, offering a technical breakthrough and robust sealing strategy for future deep space missions.

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An Improved UAV Path Optimization Algorithm for Target Accurately and Quickly Localization

An Improved UAV Path Optimization Algorithm for Target Accur...

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International Conference on Informative and Cybernetics for Computational Social systems (ICCSS)

作者： Rui Liang Kai Wu Sheng Xu Tiantian Xu Xiaoyi Ma Lianyu Fu City West Power Supply Branch State Grid Tianjin Electric Power Company Tianjin China Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Shenzhen China Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institute of Advanced Technology Shenzhen China State Grid Tianjin Information & Telecommunication Company Tianjin China

ISBN: (纸本)9781665402460

Angle-of-arrival (AOA) target localization using the unmanned aerial vehicle (UAV) has been widely applied in many practical applications. To localize an invasive target quickly and accurately, both the estimation and UAV path optimization algorithms are required. This paper focuses on developing a path optimization method to improve the target estimation performance. Firstly, the problem formulation of AOA target localization is introduced. Secondly, the classical pseudolinear Kalman filter (PLKF) and the gradient-based path optimization are presented. Thirdly, we analyze the problems that existed in the previous methods and propose an improved gradient-descent path optimization algorithm combined with a simple grid search method. Finally, the simulation examples verify the effectiveness of the proposed methods.

关键词： Location awareness Adaptation models Three-dimensional displays Target tracking Search methods Estimation Optimization methods

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Bilateral Teleoperation of Wheeled Mobile Robots Subject to Lateral Sliding on Soft Terrains

Bilateral Teleoperation of Wheeled Mobile Robots Subject to ...

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Chinese Control Conference (CCC)

作者： Weihua Li Sanjun Liu Dianbo Ren Jianfeng Wang Haibo Gao School of Automotive Engineering Harbin Institute of Technology (Weihai) Weihai China Shanghai Aerospace Equipments Manufacturer Co Ltd Shanghai China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (数字)9789881563903

ISBN: (纸本)9781728165233

With the widespread applications of wheeled mobile robots (WMR) in various fields, new challenges have arisen in terms of designing its control system. A special challenge is the soft terrain which can induce both of the longitudinal slipping and the lateral sliding. This paper proposes a new method for haptic teleoperation control of a WMR with lateral sliding. In this teleoperation system, the linear velocity and the angular velocity of the WMR separately follow the master haptic interface's positions. Due to the functional benefits of displaying the lateral sliding information as haptic feedback to the operator, the lateral velocity is segregated and only perceived by the human operator. Then the teleoperator for the master robot and the slave WMR is designed based on the passivity theory. Experiments of the proposed controller demonstrate that this approach results in stable bilateral teleoperation with a satisfactory tracking performance.

关键词： Wheels Robot kinematics Haptic interfaces Mobile robots Force Kinematics

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A 350 C piezoresistive n-type 4H-SiC pressure sensor for hydraulic and pneumatic pressure tests

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Journal of Micromechanics and Microengineering 2020年第5期30卷

作者： Fang, Xudong Wu, Chen Zhao, Yulong Jiang, Zhuangde Rong, Weibing Feng, Zhihong Lv, Yuanjie State Key Laboratory for Manufacturing Systems Engineering International Joint Laboratory for Micro/Nano Manufacturing and Measurement Technologies Collaborative Innovation Center of Suzhou Nano Science and Technology Xi'an Jiaotong University Xi'an710049 China School of Mechanical Engineering Xi'an Jiaotong University Xi'an710049 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China National Key Laboratory of Application Specific Integrated Circuit Hebei Semiconductor Research Institute Shijiazhuang050051 China

It has been a challenge to develop pressure sensors that can work in harsh environments. In this work, a piezoresistive n-type 4H-SiC pressure sensor is demonstrated, capable of working at 350 C under hydraulic and pneumatic pressure. The pressure measuring range of this sensor is 7 MPa and the chip dimension is 2.5 mm 2.5 mm 0.23 mm. A reliable Ti/TaSi2/Pt metal ohmic contact is used in the sensor and experimental results show that the metal combination can withstand a wide temperature range of 30 C-350 C. In order to avoid thermal stress induced by the mismatch of thermal expansion coefficients of different packaging materials when increasing temperature, a double-layer bonding scheme of cement glue and epoxy is proposed. The inner layer of the chip and the kovar alloy base are directly bonded with the epoxy, while the outer layer is wrapped with the high-temperature cement glue. Experiments confirm that this method can achieve reliable packaging with temperatures up to 350 C for 5 h. Based on the above key technologies, the sensitivity of this sensor can reach 13.2 mV V-1 kPa-1 and the test data exhibit high linearity and repeatability. Static tests prove that the sensor has good media compatibility which can operate under a hydraulic pressure load at 220 C and a barometric pressure load under 350 C. The sensor in this work can provide a reference for pressure measurements at high temperature and in complex media environments. © 2020 IOP Publishing Ltd.

关键词： Pressure sensors

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Control of the Two-wheeled Inverted Pendulum (TWIP) Robot Moving on the Continuous Uneven Ground

Control of the Two-wheeled Inverted Pendulum (TWIP) Robot Mo...

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IEEE International Conference on robotics and Biomimetics

作者： Haitao Zhou Xu Li Haibo Feng Enbo Li Pengchao Ding Yanwu Zhai Songyuan Zhang Yili Fu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

Uneven terrain is common in natural environment. The TWIP robot has demonstrated its rapid movement ability in even ground in previous works. This paper explores control of the TWIP robot in the continuous uneven ground except the step case. The sinusoidal function and the piece-wise linear function type ground surface are taken as an example to explore motion characteristics of robots on complex terrain. As for the robotic system, continuous or step changes of slope are the main types of disturbance to it. To cope with these disturbance, a Sliding Mode Control (SMC) is used to design the nominal controller due to its insensitivity to uncertainty. Then, the Extended Kalman Filter (EKF) is adopted to estimate the slope of unknown terrain without any ground information from sensors but according to motion state of robot and the Equilibrium Point Estimation (EPE) is then achieved based on the obtained slope angle. In simulation, the TWIP robot moves on these two types of uneven ground surface to track the reference position or velocity trajectory. The comparative experimental results have demonstrated that SMC combined with the EPE method can enable TWIP robot to locomote on some limited uneven ground with higher stability and dynamic performance, compared to the single LQR and the single SMC method. Also, the proposed algorithm has been conduted successfully on the WIP-Bot robot to travel upward and downward slope.

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Model Decoupling and Control of the Wheeled Humanoid Robot Moving in Sagittal Plane

Model Decoupling and Control of the Wheeled Humanoid Robot M...

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IEEE-RAS International Conference on Humanoid Robots

作者： Haitao Zhou Xu Li Haibo Feng Jiachen Li Songyuan Zhang Yili Fu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (数字)9781538676301

ISBN: (纸本)9781538676318

The wheeled humanoid robot is such a new type of robot that combines both the humanoid structure and the Wheeled Inverted Pendulum (WIP) base. They are able to move rapidly on flat ground as well as stand still on the slope, which has been well demonstrated on the WLR-II robot in this paper. In order to achieve it, a novel but simplified control framework is designed, which comprises of two main modules, the wheel balance controller and the centroidal adjustment controller. The former controller helps to maintain balance of the robotic system by rotating the wheel to move forward or backward, while the latter controller works by moving the Center of Mass (CoM) of the robot at a distance from the equilibrium point, which will result in a specified acceleration used to drive the first wheel balance controller. In order to design such these two controllers, the dynamic model of the robot in sagittal plane is decoupled into two relatively simplified model. In particular, the coupled dynamics between each other is significantly considered and alleviated. Experiments conducted on the WLR-II robot show that the proposed control framework can make the robot both accurately track the velocity tajectory and steadily stand on the slope.

关键词： Wheels Mobile robots Humanoid robots Dynamics Force Acceleration

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Design and Analysis of a Variable-span and Cambered Span Morphing Wing for UAV

Design and Analysis of a Variable-span and Cambered Span Mor...

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IEEE International Conference on robotics and Biomimetics

作者： Guang Yang Hongwei Guo Rongqiang Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

The variable-span and cambered span morphing wing for unmanned aerial vehicle (UAV) can greatly improve its flight efficiency. In this work, a new extendable and bendable morphing wing with double driving is designed. The morphing skeleton of wing is composed of the basic unit module which is seven-bar mechanism in series. The rubber-filled corrugated sandwich corrugated skin is designed according to the requirement of morphing skeleton. The kinematics model of morphing skeleton that is composed of three modules in series is established, then the kinematics analysis of morphing skeleton is carried out, at last the expressions of the deformed position and driving angle are obtained. In the case of the same wing span, the influence of different rod length ratio on the maximum extension length of the morphing wing is analyzed, and the influence of different driving speed on the maximum bending angle under the same rod length ratio is compared and analyzed.

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