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Chinese Automation Congress (CAC)

作者： Jingwen Sun Lijun Zhao Li Wang Ke Wang Yuting Ma State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China School of Astronautics Harbin Institute of Technology Harbin China

In the competition of RoboMaster, the robot needs to trigger the target, the “Energy Mechanism” which consists of nine different dynamic flame numbers, in a nine square area by shooting projectiles. Therefore, 3D target detection should be implemented including target recognition and 3D pose estimation in real-time. As the targets are dynamic flame numbers and quite small in the whole image, it increases the difficulty to detect. The robot should achieve to shoot the target in multi-angle and multi-scale to adjust the competition. To address these issues, we propose a fast and accurate method to detect all nine numbers and estimate each 3D pose based on prior knowledge and convolutional neural network only by a monocular camera. The geometric constraints around the target are employed as prior knowledge when estimating the target pose. Then, we utilize the relative position information to detect the region of each dynamic number in the image, which is recognized by a convolutional neural network trained by flame numbers. Experiments in the actual environment show that our method can achieve the detection of each dynamic number in real-time and high accuracy. The runtime is 29ms on average (about 11ms in detection and 18ms in recognition) and the recognition accuracy is about 94.69%. And our method wins the first place in the technical challenge of 2018 RoboMaster competition.

关键词： Fires Three-dimensional displays Bars Robots Pose estimation Cameras Feature extraction

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High Precision Data-driven Force Control of Compact Elastic Module for a Lower Extremity Augmentation Device

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Journal of Bionic Engineering 2018年第5期15卷 805-819页

作者： Likun Wang Chaofeng Chen Zhengyang Li Wei Dong Zhijiang Du Yi Shen Guangyu Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China School of Astronautics Harbin Institute of Technology Harbin 150001 China Weapon Equipment Research Institute China Ordnance Industries Group Beijing 102202 China

For human assistance device, the particular properties are usually focused on high precision, compliant interaction, large torque generation and compactness of the mechanical system. To realize the high performance of lower extremity augmentation device, in this paper, we introduce a novel control methodology for compact elastic module. Based on the previous work, the elastic module consists of two parts, i.e., the proximal interaction module and the distal control module. To improve the compactness of the exoskeleton, we only employ the distal control module to achieve both purposes of precision force control and human intention recognition with physical human-machine interaction. In addition, a novel control methodology, so-called high precision data-driven force control with disturbance observer is adopted in this paper. To assess our proposed control methodology, we compare our novel force control with several other control methodologies on the lower extremity augmentation single leg exoskeleton system. The experiment shows a satisfying result and promising application feasibility of the proposed control methodology.

关键词： series elastic actuator Human-Machine Interaction （HMI） force control model prediction control exoskeleton bioinspired

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Recent Advances in Triboelectric Nanogenerators: From Technological Progress to Commercial Applications

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ACS Nano 2023年第12期17卷 11087-11219页

作者： Choi, Dongwhi Lee, Younghoon Lin, Zong-Hong Cho, Sumin Kim, Miso Ao, Chi Kit Soh, Siowling Sohn, Changwan Jeong, Chang Kyu Lee, Jeongwan Lee, Minbaek Lee, Seungah Ryu, Jungho Parashar, Parag Cho, Yujang Ahn, Jaewan Kim, Il-Doo Jiang, Feng Lee, Pooi See Khandelwal, Gaurav Kim, Sang-Jae Kim, Hyun Soo Song, Hyun-Cheol Kim, Minje Nah, Junghyo Kim, Wook Menge, Habtamu Gebeyehu Park, Yong Tae Xu, Wei Hao, Jianhua Park, Hyosik Lee, Ju-Hyuck Lee, Dong-Min Kim, Sang-Woo Park, Ji Young Zhang, Haixia Zi, Yunlong Guo, Ru Cheng, Jia Yang, Ze Xie, Yannan Lee, Sangmin Chung, Jihoon Oh, Il-Kwon Kim, Ji-Seok Cheng, Tinghai Gao, Qi Cheng, Gang Gu, Guangqin Shim, Minseob Jung, Jeehoon Yun, Changwoo Zhang, Chi Liu, Guoxu Chen, Yufeng Kim, Suhan Chen, Xiangyu Hu, Jun Pu, Xiong Guo, Zi Hao Wang, Xudong Chen, Jun Xiao, Xiao Xie, Xing Jarin, Mourin Zhang, Hulin Lai, Ying-Chih He, Tianyiyi Kim, Hakjeong Park, Inkyu Ahn, Junseong Huynh, Nghia Dinh Yang, Ya Wang, Zhong Lin Baik, Jeong Min Choi, Dukhyun Kyung Hee University Gyeonggi Yongin17104 Korea Republic of Department of Electrical Engineering and Computer Science Massachusetts Institute of Technology 77 Massachusetts Avenue CambridgeMA02139 United States Department of Mechanical Engineering Soft Robotics Research Center Seoul National University Seoul08826 Korea Republic of Department of Mechanical Engineering Gachon University Seongnam13120 Korea Republic of Department of Biomedical Engineering National Taiwan University Taipei10617 Taiwan Frontier Research Center on Fundamental and Applied Sciences of Matters National Tsing Hua University Hsinchu30013 Taiwan School of Advanced Materials Science & Engineering Sungkyunkwan University Suwon16419 Korea Republic of Sungkyunkwan University 2066 Seobu-ro Gyeonggi Suwon16419 Korea Republic of Department of Chemical and Biomolecular Engineering National University of Singapore 4 Engineering Drive 4 117585 Singapore Division of Advanced Materials Engineering Jeonbuk National University 567 Baekje-daero Jeonbuk Jeonju54896 Korea Republic of Jeonbuk National University 567 Baekje-daero Jeonbuk Jeonju54896 Korea Republic of Department of Physics Inha University 100 Inha-ro Incheon22212 Korea Republic of School of Materials Science & Engineering Yeungnam University Gyeongbuk Gyeongsan38541 Korea Republic of 291 Daehak-ro Daejeon34141 Korea Republic of School of Materials Science and Engineering Nanyang Technological University 50 Nanyang Avenue 639798 Singapore Institute of Flexible Electronics Technology of Tsinghua Zhejiang Jiaxing314000 China Nanomaterials and System Lab Major of Mechatronics Engineering Faculty of Applied Energy System Jeju National University Jeju632-43 Korea Republic of School of Engineering University of Glasgow GlasgowG128QQ United Kingdom Seoul02792 Korea Republic of Department of Physics Inha University Incheon22212 Korea Republic of Suwon16419 Korea Republic of Department of

Serious climate changes and energy-related environmental problems are currently critical issues in the world. In order to reduce carbon emissions and save our environment, renewable energy harvesting technologies will serve as a key solution in the near future. Among them, triboelectric nanogenerators (TENGs), which is one of the most promising mechanical energy harvesters by means of contact electrification phenomenon, are explosively developing due to abundant wasting mechanical energy sources and a number of superior advantages in a wide availability and selection of materials, relatively simple device configurations, and low-cost processing. Significant experimental and theoretical efforts have been achieved toward understanding fundamental behaviors and a wide range of demonstrations since its report in 2012. As a result, considerable technological advancement has been exhibited and it advances the timeline of achievement in the proposed roadmap. Now, the technology has reached the stage of prototype development with verification of performance beyond the lab scale environment toward its commercialization. In this review, distinguished authors in the world worked together to summarize the state of the art in theory, materials, devices, systems, circuits, and applications in TENG fields. The great research achievements of researchers in this field around the world over the past decade are expected to play a major role in coming to fruition of unexpectedly accelerated technological advances over the next decade. © 2023 The Authors. Published by American Chemical Society

关键词： Nanogenerators

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Anti-jackknife reverse perpendicular parking control of tractor-trailer vehicle via MPC technique

Anti-jackknife reverse perpendicular parking control of trac...

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IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent systems

作者： Minglei Fan Ming Yue Hongzhi Zhang Zhiyuan Liu School of Automotive Engineering Dalian University of Technology Dalian China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (数字)9781728107707

ISBN: (纸本)9781728107714

In this paper, a jackknife avoidance trajectory tracking control strategy for tractor-trailer vehicle is proposed based on constrained Model Predictive Control (MPC) in the process of reversing perpendicular parking. Firstly, a critical hitch angle is provided for jackknife avoidance and collision-free constraint, through analyzing the influencing factors of the size and stability of the vehicle hitch angle. Next, the conundrums of preventing collision and avoiding jackknife are converted into constraint problem. Therefore, the jackknife and collision problem of tractor-trailer could be solved by using MPC algorithm with the advantage of being able to handle multiple constraints issues. Finally, the simulation results illustrate that the presented control strategy plays an expected role during reversing process of this kind of complicated vehicle system.

关键词： Agricultural machinery Vehicle dynamics Roads Trajectory Mathematical model Process control Axles

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Adaptive tracking control for WMRs with skidding and slipping: a double closed-loop strategy

Adaptive tracking control for WMRs with skidding and slippin...

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IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent systems

作者： Yuan Xu Ming Yue Zenan Lin Haoyu Tian School of Automotive Engineering Dalian University of Technology Dalian China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (数字)9781728107707

ISBN: (纸本)9781728107714

This paper develops a double closed-loop control strategy aiming at the trajectory tracking control of wheeled mobile robots (WMRs) under the skidding and slipping. Firstly, a skidding kinematic model and a slipping dynamic model are proposed to describe the WMR under the skidding and slipping, respectively. Then, an anti-skidding controller based on Lyapunov direct control and an anti-slipping controller based on terminal sliding mode control (TSMC) are separately devoted. All of them consist an double closed-loop control strategy to effectively solve the skidding and the slipping at the same time. In addition, the radial basis function neural network (RBFNN) is employed to estimate the disturbance force caused by slipping, thereby satisfactory adaptive and robust capabilities can be provided for the WMR. The simulation results in last demonstrate the effectiveness of the proposed control strategy.

关键词： Kinematics Robot kinematics Wheels Force Mobile robots Adaptive systems

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Mechanical Design of a 4-DOF Minimally Invasive Surgical Instrument

Mechanical Design of a 4-DOF Minimally Invasive Surgical Ins...

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IEEE International Conference on robotics and Biomimetics

作者： Kun Li Jihua Li Lei Li Shuai Ji Xianju Meng Yili Fu School of Mechanical and Electronic Engineering Shandong Jianzhu University Jinan China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

In order to meet design requirements in minimally invasive surgery (MIS), it is necessary to conduct basic operations in the narrow working space. Taking a grasper for example, a 4DOF MIS instrument driven by servo motors and transmitted by cables is designed. The design of the end of surgical instrument driven by cables is suitable for long-distance transmission, which improves dexterity of the surgical instrument working in narrow space. The mechanism principle including the wrist, graspers and shaft rolling are described. Kinematic coupling between the wrist and grasper are analyzed. Prototype of the surgical instrument is presented. This instrument prototype can be applied in most MIS operations.

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Design Validation and Collision Studies of A Compliant Magnetorheological Fluid Actuator

Design Validation and Collision Studies of A Compliant Magne...

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IEEE International Conference on Human-Machine systems

作者： Guangzeng Chen Jie Pengyu Tongyi Shang Yunjiang Lou T.T. Wong Li Chen Jian Liu State Key Laboratory of Robotics and System School of Mechatronics Engineering and Automation Harbin Institute of Technology (Shenzhen) Shenzhen China. Shenzhen Institutes of Advanced Technology Shenzhen University Town Shenzhen China Emergency Department Chinese PLA General Hospital Department of Biomedical Engineering Shandong University Jinan China

ISBN: (数字)9781728158716

ISBN: (纸本)9781728158723

Robots are integrating into human society and become an important part. The robots and human must be considered as a whole system and the robots should be intelligent both in digital and physical like human to cooperate and interact with human non-physically or physically. For improving the physical intelligence of the robot, a magnetorheological fluid actuator (MRA) is proposed and studied in this paper. A collision model and a speed peak force planning method are proposed and some experiments are conducted. It shows that the collision peak force of the MRA with external objects can be easily controlled to different levels by controlling the compliance of the MRA for safe physical interaction with human or some striking works like hammering a nail.

关键词： Torque Robots Actuators Force Collision avoidance Rotors Couplings

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Kinematic Influence Coefficient based Dynamic Modeling of a 6-DOF Parallel Manipulator system*

Kinematic Influence Coefficient based Dynamic Modeling of a ...

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WRC Symposium on Advanced robotics and Automation (WRC SARA)

作者： Xiaoguang Chen Chaofeng Li Jinpeng Yang Shenghai Jiao Wei Dong Beijing Institute of Space Long March Vehicle Beijing PRC State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang PRC

A six-degree-of-freedom parallel manipulator system based on 6-PURU structure is developed for vehicles' motion simulation. The main research in this paper is focused on dynamic modeling of the proposed parallel system. The kinematic model of the proposed system is established via kinematic influence coefficient method, in which the velocity and acceleration mappings between the passive components and actuated components are more accurate compared to the equivalent 6-PUS or 6-PSS systems. Based on the kinematics analysis, the dynamic model of the parallel kinematic machine is then formulated via the principle of virtual work. Finally a numerical calculation is performed based on the proposed dynamic model which matches the simulation results of commercial software. The approach outlined in this paper is generic and can be extended to a variety of applications.

关键词： Kinematics Manipulator dynamics Vehicle dynamics Silicon Dynamics Mathematical model

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Optimal Reaction Control for the Flexible Base Redundant Manipulator system*

Optimal Reaction Control for the Flexible Base Redundant Man...

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IEEE International Conference on robotics and Biomimetics

作者： Yaowen Zhang Yechao Liu Zongwu Xie Mehrdad Moallem State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China School of Mechatronic Systems Engineering Simon Fraser University Vancouver Canada

The null space of the Jacobian for the redundant manipulators can be utilized to reach dual control goals and optimal effects. For the flexible base redundant manipulator system, the reaction force from the motion of the manipulator should be carefully handled while the end effector is tracking a desired trajectory. Different optimal goals are discussed, including the minimization of base deflection force/torque and base energy dissipation path. Considering the base reaction dynamic, the reaction force/torque is treated as the input of the base and the deflection energy is treated as the output, an integrated optimal goal is built and solved based on the LQR control to get an optimal feedback for the closed-loop dynamics. We discuss the different optimal goals and implement trough the redefined acceleration. We test the different control laws on the three- link manipulators which mounted on a three-DoF flexible base. Simulation results demonstrate that optimal goal in LQR form can be advantageous in terms of flexible base manipulator.

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Design and Kinematics Analysis of Parallel Collision Detection Mechanisms for Rocket Tank Polishing Robot

Design and Kinematics Analysis of Parallel Collision Detecti...

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

作者： Li Wang Fengbo Dong Fei Ren Tian Xu Qianqian Fang Jizhuang Fan Shanghai aerospace equipments manufacturer Co. ltd Shanghai China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (数字)9781728137261

ISBN: (纸本)9781728137278

To ensure applications requirements of rocket storage tank precision polishing, a 6-dof parallel collision detection mechanisms mounted on the end of rocket tank polishing robot used for heavy load condition is designed in this paper. Its each branch chain consists of spherical joint, revolute joint and prismatic joint, in which the prismatic joint is driven by the cylinder. The collision detection principle is to judge whether an external collision occurs by real-time detecting the changes of cylinder pressure and cylinder displacement. Besides, the kinematics of parallel mechanisms is analyzed and a numerical iteration algorithm for forward kinematics based-on our previous work is proposed here. The proposed algorithm can be not only used for 6-dof parallel mechanism but also for more or less than 6-dof ones in which Jacobian matrix is not square. Moreover, it is not sensitive to the iteration initial value. Then, a linear trajectory is simulated to verify the effectiveness of the proposed algorithm. Finally, the simulation results prove the accuracy of the proposed algorithm.

关键词： Collision avoidance Kinematics Robot sensing systems Trajectory Tools

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