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Design and Experiment of Triangular Prism Mast with Tape-Spring Hyperelastic Hinges

Chinese Journal of Mechanical Engineering 2018年第2期31卷 35-44页

作者： Hui Yang Hong-Wei Guo Yan Wang Rong-Qiang Liu Meng Li College of Electrical Engineering and Automation Anhui University China State Key Laboratory of Robotics and System Harbin Institute of Technology China Electronics Technology Group Corporation No.38 Research Qian Xuesen Laboratory of Space Technology China Academy of Space Technology

Because of the limited space of the launch rockets, deployable mechanisms are always used to solve the phenomenon. One dimensional deployable mast can deploy and support antenna, solar sail and space optical camera. Tape-spring hyperelastic hinges can be folded and extended into a rod like configuration. It utilizes the strain energy to realize self-deploying and drive the other structures. One kind of triangular prism mast with tape-spring hyperelastic hinges is proposed and developed. Stretching and compression stiffness theoretical model are established with considering the tape-spring hyperelastic hinges based on static theory. The finite element model of ten-module triangular prism mast is set up by ABAQUS with the tape-spring hyperelastic hinge and parameter study is performed to investigate the influence of thickness, section angle and radius. Two-module TPM is processed and tested the compression stiffness by the laser displacement sensor, deploying repeat accuracy by the high speed camera, modal shape and fundamental frequency at cantilever position by LMS multi-channel vibration test and analysis system, which are used to verify precision of the theoretical and finite element models of ten-module triangular prism mast with the tape-spring hyperelastic hinges. This research proposes an innovative one dimensional triangular prism with tape-spring hyperelastic hinge which has great application value to the space deployable mechanisms.

关键词： Deployable mechanism Triangular prism mast Tape-spring hyper-elastic hinges Static analysis Modal experiment

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Design and Dynamic Model of a Frog-inspired Swimming Robot Powered by Pneumatic Muscles

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Chinese Journal of Mechanical Engineering 2017年第5期30卷 1123-1132页

作者： Ji-Zhuang Fan Wei Zhang Peng-Cheng Kong He-Gao Cai Gang-Feng Liu State Key Laboratory of Robotics and System Harbin Institute of Technology

Pneumatic muscles with similar characteristics to biological muscles have been widely used in robots, and thus are promising drivers for frog inspired robots. How- ever, the application and nonlinearity of the pneumatic system limit the advance. On the basis of the swimming mechanism of the frog, a frog-inspired robot based on pneumatic muscles is developed. To realize the indepen- dent tasks by the robot, a pneumatic system with internal chambers, micro air pump, and valves is implemented. The micro pump is used to maintain the pressure difference between the source and exhaust chambers. The pneumatic muscles are controlled by high-speed switch valves which can reduce the robot cost, volume, and mass. A dynamic model of the pneumatic system is established for the sim- ulation to estimate the system, including the chamber, muscle, and pneumatic circuit models. The robot design is verified by the robot swimming experiments and the dynamic model is verified through the experiments and simulations of the pneumatic system. The simulation results are compared to analyze the functions of the source pressure, internal volume of the muscle, and circuit flow rate which is proved the main factor that limits the response of muscle pressure. The proposed research provides the application of the pneumatic muscles in the frog inspired robot and the pneumatic model to study muscle controller.

关键词： Frog-inspired robot Pneumatic muscle High-speed switch valve Pneumatic model

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Towards a Realistic 5G Infrastructure Emulator for Experimental Service Deployment and Performance Evaluation 18

Towards a Realistic 5G Infrastructure Emulator for Experimen...

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22nd IEEE/ACM International Symposium on Distributed Simulation and Real Time Applications (DS-RT)

作者： Chirivella-Perez, Enrique Alcaraz Calero, Jose M. Wang, Qi Gutierrez-Aguado, Juan School of Mechanical Engineering and Automation Shenzhen China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781538650486

The emerging Fifth Generation (5G) mobile networks have been attracting enormous attention from various stakeholders around the world. In particular, in the research community, prototyping 5G infrastructures and deploying 5G services have gained gears recently towards realising market-oriented 5G trials. However, accessing to and programming on real-world 5G infrastructure is almost prohibitive for most 5G researchers especially in academia. Therefore, it is critical to build realistic yet cost-efficient 5G infrastructure emulators for 5G research labs to enable credible 5G research activities. This paper proposes such a 5G infrastructure emulator that is able to emulate a realistic 5G network in a lab setting based on a small number of commercial-off-the-shelf servers by leveraging virtualization and other technologies. Moreover, this emulator allows a service provider to automatically deploy 5G services from 'empty' machines through advanced automation. The emulation platform is described in details with the 5G infrastructure and service deployment procedure highlighted. Empirical results are presented to show the performance of the proposed emulator.

关键词： 5G Infrastructures 5G Emulation Service Deployment Infrastructure Orchestrator Monitoring Service Automated Deployment 5G Testbed Performance evaluation

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A review of ultrasonic infrared thermography in non-destructive testing and evaluation (NDT&E): Physical principles, theory, and data processing

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Infrared Physics & Technology 2025年 150卷

作者： Rongcheng Li Fei Wang Peng Yin Feng Yang Jianghao Zhao Zhuoyan Yue Lixia Liu Stefano Sfarra G.T. Vesala Honghao Yue Junyan Liu School of Mechatronics Engineering Harbin Institute of Technology Harbin 150001 PR China State Key Laboratory of Robotics and System (HIT) Harbin 150001 PR China Beijing Satellite Manufacturing Factory Co. LTD Beijing 100001 PR China Department of Industrial and Information Engineering and Economics University of L’Aquila 67100 Italy Infrared Imaging Center Department of Electronics and Communication Engineering Koneru Lakshmaiah Educational Foundation Vaddeswaram A.P India

Ultrasonic Infrared Thermography (UIT) represents a high-efficiency non-destructive testing method that combines ultrasonic excitation and infrared thermography. UIT produces thermoelastic effect or friction heat generation effect through ultrasonic excitation, and uses infrared camera to capture the changes of surface temperature field, achieving the visual detection of defects. The merits of UIT are manifold, including non-contact, high sensitivity, rapidity, and efficiency, as well as the capacity for multi-scale detection and quantitative evaluation. Consequently, it finds wide application in the detection of surface and near-surface defects in metals, composites, and other materials. This study firstly introduces the principles of ultrasonic infrared thermography non-destructive testing technology. Subsequently, the implementation process of UIT in ultrasound excitation source, excitation waveform, feature extraction algorithm, and image processing were described to facilitate understanding of the technology. The paper then goes on to highlight the development status and practical application examples of ultrasonic infrared thermography non-destructive testing technology, and analyses the problems faced by ultrasonic infrared thermography technology. Finally, the paper offers an outlook on future development trends in ultrasonic infrared thermography non-destructive testing technology.

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Real-world Robot Reaching Skill Learning Based on Deep Reinforcement Learning

Real-world Robot Reaching Skill Learning Based on Deep Reinf...

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第32届中国控制与决策会议

作者： Naijun Liu Tao Lu Yinghao Cai Rui Wang Shuo Wang State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences University of Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced TechnologyChinese Academy of Sciences Center for Excellence in Brain Science and Intelligence Technology of the Chinese Academy of Sciences

Traditional programming method can achieve certain manipulation tasks with the assumption that robot environment is known and ***,with robots gradually applied in more domains,robots often encounter working scenes which are complicated,unpredictable,and *** overcome the limitation of traditional programming method,in this paper,we apply deep reinforcement learning(DRL) method to train robot agent to obtain skill *** policy trained with DRL on real-world robot is time-consuming and costly,we propose a novel and simple learning paradigm with the aim of training physical robot ***,our method train a virtual agent in an simulated environment to reach random target position from random initial ***,virtual agent trajectory sequence obtained with the trained policy,is transformed to real-world robot command with coordinate transformation to control robot performing reaching *** show that the proposed method can obtain self-adaptive reaching policy with low training cost,which is of great benefits for developing intelligent and robust robot manipulation skill system.

关键词： Robot reaching skill learning deep reinforcement learning

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Drilling load modeling and validation based on the filling rate of auger flute in planetary sampling

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Chinese Journal of Aeronautics 2017年第1期30卷 434-446页

作者： Quan Qiquan Tang Junyue Yuan Fengpei Jiang Shengyuan Deng Zongquan State Key Laboratory of Robotics and System Harbin Institute of Technology

Some type of penetration into a subsurface is required in planetary sampling. Drilling and coring, due to its efficient penetrating and cuttings removal characteristics, has been widely applied in previous sampling missions. Given the complicated mechanical properties of a planetary regolith, suitable drilling parameters should be matched with different drilling formations ***, drilling faults caused by overloads could easily happen. Hence, it is necessary to establish a drilling load model, which is able to reveal the relationships among drilling loads, an auger＇s structural parameters, soil＇s mechanical properties, and relevant drilling parameters. A concept for the filling rate of auger flute（FRAF） is proposed to describe drilling conditions. If the FRAF index under one group of drilling parameters is less than 1, this means that the auger flute currently removes cuttings smoothly. Otherwise, the auger will be choked with compressed cuttings. In drilling operations, the drilling loads on the auger mainly come from the conveyance action, while the drilling loads on the drill bit primarily come from the cutting action. Experiments in one typical lunar regolith simulant indicate that the estimated drilling loads based on the FRAF coincide with the test results quite well. Based on this drilling load model, drilling parameters have been optimized.

关键词： Coring Drilling load Filling rate of auger fluteLunar regolith simulant Planetary drilling

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A Compact Control system and A Myoelectric Control Method for Multi-DOFs Prosthetic Hand

A Compact Control System and A Myoelectric Control Method fo...

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

作者： Bin Yang Li Jiang Jianhao Hu Chongyang Li Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilong Jiang China Harbin Institute of Technology Harbin China

ISBN: (数字)9781728137261

ISBN: (纸本)9781728137278

This paper introduces a compact control system for multi-DOFs prosthetic hand. Based on the optimization of sensors configuration and hardware structure of the control system, the power consumption and volume can meet the needs of the actual using. In addition, a myoelectric control method based on the principle of finite state machine (FSM) is integrated in the control system. The proposed method enables amputees to select one of the given gestures directly, and grasp objects. As the control method requires less electromyography electrodes comparing to the traditional myoelectric control method based on EMG pattern recognition, it's available for a wider range of amputees with less active muscles. To assess the performance of the proposed method, the experiments of grasping random objects by non-amputee subjects has been conducted with the 6-DOFs HIT-V prosthetic hand, and an amputee volunteer used this prosthetic hand for one day to demonstrate viability. The non-amputee experimental results indicate that subjects can select gesture correctly among seven gestures and accomplish the designed grasping tasks with a success rate up to 96.67% within a shorter time just using two electrodes, and amputee proved viability of proposed method in daily life.

关键词： Prosthetic hand Electromyography Control systems Sensors Training Muscles Grasping

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Research on Impedance Control of Flexible Joint Space Manipulator On-Orbit Servicing

Research on Impedance Control of Flexible Joint Space Manipu...

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IEEE International Conference on robotics and Biomimetics

作者： Dongyu Liu Hong Liu Yechao Liu Zhiqi Li Institute of Manned Spacecraft System Engineering China Academy of Space Technology Beijing China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

In this paper, the positional accuracy and contact force index requirements of the manipulator are analyzed according to the tolerance index of the space manipulator screwing. An position-based in Cartesian space impedance control strategy based on friction identification and compensation is proposed. By using joint friction torque compensation to improve the system control precision and setting the desired Cartesian position of the manipulator end point to control the contact force, this strategy solves the contradiction between the positional accuracy index and the contact force index requirement of manipulator during contact operating. The control algorithm is designed based on the system dynamics model, and the stability analysis of the control algorithm is given. The correctness of the control strategy is verified by simulation and on-orbit implementation. China's space manipulator has successfully completed the actual on-orbit servicing mission based on impedance control for the first time.

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A New Era of Servo system Structure: The SoC-Based Multi-Axis Control-Drive Integration Platform

A New Era of Servo System Structure: The SoC-Based Multi-Axi...

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International Conference on Electrical Machines and systems (ICEMS)

作者： Yangyang Chen Ming Yang Jiang Long Yongping Sun Dianguo Xu Frede Blaabjerg State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Department of Energy Technology Aalborg University Aalborg Denmark

ISBN: (纸本)9781728133997

Nowadays, the system on Chip (SoC) based multi-axis control drive integration platform has been a good alternative to the classic distributed servo system structure. Compared with the distributed structure, the integration structure can reduce the manufacturing cost, achieve a faster internal information sharing, and has richer resources of multi-class chips. Hence, SoC-based integration platforms have greater potential and better control performance. In this paper an easy-to-follow SoC-based multi-axis control-drive integration platform design method is presented at first. The hardware design and software structure are discussed in detail. Then, based on the SoC-based platform, several control performance improvement strategies are listed out to verify the advantages of the SoC-based integration platform. The results of the analyses and experiments show that SoC-based integration servo system structure can be a good technology carrier for the advanced servo system in future.

关键词： Servomotors Frequency modulation Software Field programmable gate arrays Power supplies Hardware

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A Novel Frequency Characteristic Model and Noise Shaping Method for Encoder-Based Speed Measurement in Motor Drive

A Novel Frequency Characteristic Model and Noise Shaping Met...

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International Conference on Power Electronics (ICPE)

作者： Yangyang Chen Ming Yang Dianguo Xu Frede Blaabjerg State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Department of Energy Technology Aalborg University Aalborg Denmark

ISBN: (纸本)9781728116129

The performance of the closed-loop control system is determined by the accuracy of the feedback signal to some extent. In most motor drive systems, the position and speed signals come from the optical encoder. Thus, to reduce the quantization error from encoder and achieve better speed measurement results are the focuses of scholars and engineers. Although many improved speed measurement methods have been proposed, there are still few literatures discussed about the frequency characteristic of the encoder quantization noise. Even in some algorithms like Kalman filter based speed measurement methods usually regard the quantization noise as white noise. In this paper, a noise frequency characteristic model of encoder-based speed measurement in motor drive is built up. According to this model, the variation rule of the noise frequency is found. Besides, a variable-period noise shaping method is proposed to reduce the impact of quantization noise. Both the notch filter and a finite impulse response (FIR) filter are used to cope with the quantization noise. The frequency model and noise shaping method are verified by experiment results.

关键词： Quantization (signal) Notch filters Velocity measurement Noise shaping Motor drives Optical filters Frequency modulation

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