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Optimal Design of Three-Dimensional Voxel Printed Multimaterial Lattice Metamaterials via Machine Learning and Evolutionary Algorithm

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Physical Review Applied 2022年第5期18卷 054050-054050页

作者： Le Dong Dong Wang Robotics Institute State Key Laboratory of Mechanical System and Vibration and Meta Robotics Institute Shanghai Jiao Tong University Shanghai 200240 China

Mechanical metamaterials could exhibit tremendous design potential through synergistic material distribution and structural design. However, the existing designs mainly focus on the structures and neglect the material distributions. We propose a digital design and optimization method for lattice metamaterials using machine learning and an evolutionary algorithm taking into account both material distributions and structural design. The machine learning model is developed to predict mechanical behaviors accurately, based on the database generated by python-assisted finite-element simulations with random material and structural parameters. The optimal design is realized by the evolutionary algorithm method, which can quickly find the target mechanical responses in a broad design space. A digital voxel model is established to three-dimensionally print the designed multimaterial lattice metamaterials. The developed framework can be used to match multiple targets, such as reproducing the stress-strain and Poisson's ratio curves of biological tissues simultaneously. Lattice metamaterials with customized lateral profiles are also demonstrated. This work expands the design space of lattice metamaterials and is of great interest in flexible electronics and soft robotics.

关键词： Mechanical metamaterials Functional materials Triangular lattice Additive manufacturing Finite-element method Genetic algorithm Machine learning Tension tests

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Distributed Event-Triggered Formation Control for a Multi-robotic Fish system

Distributed Event-Triggered Formation Control for a Multi-ro...

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International Conference on Guidance, Navigation and Control, ICGNC 2022

作者： Dai, Shijie Wu, Zhengxing Tan, Min Yu, Junzhi School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100049 China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China State Key Laboratory for Turbulence and Complex System Department of Advanced Manufacturing and Robotics BIC-ESAT College of Engineering Peking University Beijing100871 China

ISBN: (纸本)9789811966125

This paper investigates the formation control problem for a multi-robotic fish system and a distributed event-triggered-based formation control framework is proposed. The framework consists of a communication topology, a distributed formation control law, and a dynamic event-triggered communication mechanism. In particular, a position-based formation control law is presented to drive the multi-robotic fish system to an anticipated configuration based on local measurements while keeping pace with a moving target. Meanwhile, a dynamic event-triggered mechanism is utilized to measure importance of the interactive information and decide the communication timing. The proposed formation control method shows its merits to greatly reduce communication consumption with a limited loss of formation control performance. Finally, simulations with quantitative comparisons are presented to verify the effectiveness of the proposed framework. This formation control framework provides a solid foundation for future marine cooperative control of the multi-robotic fish system. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Multi agent systems

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Design of a Flexible Capture Mechanism Inspired by Sea Anemone for Non-cooperative Targets

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Chinese Journal of Mechanical Engineering 2021年第4期34卷 236-248页

作者： Jiankun Yang Chengwei Ren Chenghao Yang Youyu Wang Shumin Wan Rongjie Kang Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education Tianjin UniversityTianjin 300350China State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110169China Beijing Institute of Spacecraft System Engineering CAST Beijing 100094China

Robotic grippers have been used in industry as end-effectors but are usually limited to operations in pre-defined ***,few devices can capture irregularly shaped dynamic targets in space,underwater and other unstructured *** this paper,a novel continuum arm group mechanism inspired by the morphology and motions of sea anemones is *** is able to dissipate and absorb the kinetic energy of a fast moving target in omni-direction and utilize multiple arms to wrap and lock the target without accurate positioning ***-driven actuation systems are implemented in the individual continuum arms,achieving both bending motion and stiffness *** finite element method,the influence of different configurations of the continuum arm group on the capture performance is analyzed.A robotic prototype is constructed and tested,showing the presented arm group mechanism has high adaptability to capture targets with different sizes,shapes,and incident angles.

关键词： Non-cooperative targets Continuum arm group Wire-driven mechanism

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Effect of variable-angle trajectory structure on mechanical performance of CF/PEEK laminates made by robotic fiber placement

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Chinese Journal of Aeronautics 2022年第12期35卷 336-356页

作者： Shouzheng SUN Haiyang MEI Yang WANG Jiahai ZHANG Zhenyu HAN Jinglan GUO State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China Wuhu Robot Technology Research Institute Harbin Institute of TechnologyWuhu 241000China Shanghai Spaceflight Precision Machinery Institute Shanghai 201600China School of Mechanical and Power Engineering Harbin University of Science and TechnologyHarbin 150080China

In comparison to the traditional fixed-angle trajectory,the variable-angle trajectory has a greater design ***,it is a challenge to determine which common design curve structure is the most effective for improving mechanical *** work explores the effects of various design curves such as fixed-angle curve,linear curve,arc curve,sine curve,Bezier curve,and cubic polynomial curve trajectories on mechanical performance of laminates,including vibration modal performance and buckling *** algorithm and improved NSGA-II algorithm are then used to optimize various curve *** results are confirmed utilizing thermoplastic Carbon Fiber(CF)/Polyether-Ether-Ketone(PEEK)laminates made by robotic fiber placement *** relationship model between different mechanical performance and curve design variables is *** optimization of variable-angle structure with mechanical properties as input variables is ***,a full-process angle-variable laying software platform from trajectory planning(CAD),trajectory optimization to manufacturing(CAM)is developed for facilitating the fiber placement application.

关键词： Fiber reinforced plastics Mechanical properties Robotic fiber placement Thermoplastics Trajectory design Variable-angle laminate

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Autonomous inverse encoding guides 4D nanoprinting for highly programmable shape morphing

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International Journal of Extreme Manufacturing 2025年第3期7卷 467-482页

作者： Shuaiqi Ren Zhiang Zhang Ruokun He Jiahao Fan Guangming Wang Hesheng Wang Bing Han Yong-Lai Zhang Zhuo-Chen Ma Department of Automation Shanghai Jiao Tong UniversityShanghai 200240People’s Republic of China Institute of Medical Robotics School of Biomedical EngineeringShanghai Jiao Tong UniversityShanghai 200240People’s Republic of China State Key Laboratory of Integrated Optoelectronics College of Electronic Science and EngineeringJilin UniversityChangchun 130012People’s Republic of China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240People’s Republic of China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai 200240People’s Republic of China Department of Engineering University of CambridgeCambridge CB21PZUnited Kingdom

Highly programmable shape morphing of 4D-printed micro/nanostructures is urgently desired for applications in robotics and intelligent ***,due to the lack of autonomous holistic strategies throughout the target shape input,optimal material distribution generation,and fabrication program output,4D nanoprinting that permits arbitrary shape morphing remains a challenging task for manual *** this study,we report an autonomous inverse encoding strategy to decipher the genetic code for material property distributions that can guide the encoded modeling toward arbitrarily pre-programmed 4D shape *** tuning the laser power of each voxel at the nanoscale,the genetic code can be spatially programmed and controllable shape morphing can be realized through the inverse encoding *** this strategy,the 4D-printed structures can be designed and accurately shift to the target morphing of arbitrarily hand-drawn lines under ***,as a proof-of-concept,a flexible fiber micromanipulator that can approach the target region through pre-programmed shape morphing is autonomously inversely encoded according to the localized spatial *** strategy may contribute to the modeling and arbitrary shape morphing of micro/nanostructures fabricated via 4D nanoprinting,leading to cutting-edge applications in microfluidics,micro-robotics,minimally invasive robotic surgery,and tissue engineering.

关键词： femtosecond laser fabrication 4D printing two-photon polymerization autonomous inverse encoding stimuli-responsive materials

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COMPENSATION OF THE COUPLED VIBRATION AND VISCOELASTIC NONLINEARITY OF DIELECTRIC ELASTOMER ACTUATORS THROUGH CLOSED-LOOP INPUT SHAPER AND DIRECT INVERSE HYSTERESIS CONTROL 1

COMPENSATION OF THE COUPLED VIBRATION AND VISCOELASTIC NONLI...

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1st International Conference on Mechanical system Dynamics, ICMSD 2022

作者： Zou, Jiang Gu, Guoying Zhu, Xiangyang State Key Laboratory of Mechanical System and Vibration The Robotics Institute School of Mechanical Engineering Shanghai Jiao Tong University 800 Dongchuan Road Minhan Distinct Shanghai China

ISBN: (数字)9781839537837

ISBN: (纸本)9781839537837

In this work, we present a control approach to remove the coupled vibration and viscoelastic nonlinearity of DEAs. To this end, we firstly characterize the dynamical responses of DEAs, demonstrating complex nonlinearities, including vibration, viscoelastic creep and hysteresis nonlinearities. Then, a closed-loop input shaper is designed to remove the vibration phenomenon and viscoelastic creep nonlinearity. Finally, based on a phenomenological hysteresis model, a direct inverse hysteresis controller is further developed to eliminate the viscoelastic hysteresis nonlinearity of the compensated system. To verify the effectiveness of the proposed control approach, several static and periodical trajectories tracking experiments are conducted. The experimental results demonstrate that: with our control approach, DEA can precisely track sinusoidal trajectories with different frequencies, and the maximum tracking error and the root mean square error decrease from 63.56% to 19.81% and 29.02% to 9.58%, respectively. This work is the early attempt to remove the coupled vibration and viscoelastic nonlinearity, which capable of improving the working bandwidth of DEAs and may pave the way for practical applications. © 2022 IET Conference Proceedings. All rights reserved.

关键词： Hysteresis

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Exploring Self- and Cross-Triplet Correlations for Human-Object Interaction Detection

arXiv

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arXiv 2024年

作者： Jiang, Weibo Ren, Weihong Tian, Jiandong Qu, Liangqiong Wang, Zhiyong Liu, Honghai State Key Laboratory of Robotics and System School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Science China Department of Statistics and Actuarial Science The University of Hong Kong Hong Kong

Human-Object Interaction (HOI) detection plays a vital role in scene understanding, which aims to predict the HOI triplet in the form of . Existing methods mainly extract multi-modal features (e.g., appearance, object semantics, human pose) and then fuse them together to directly predict HOI triplets. However, most of these methods focus on seeking for self-triplet aggregation, but ignore the potential cross-triplet dependencies, resulting in ambiguity of action prediction. In this work, we propose to explore Self- and Cross-Triplet Correlations (SCTC) for HOI detection. Specifically, we regard each triplet proposal as a graph where Human, Object represent nodes and Action indicates edge, to aggregate self-triplet correlation. Also, we try to explore cross-triplet dependencies by jointly considering instance-level, semantic-level, and layout-level relations. Besides, we leverage the CLIP model to assist our SCTC obtain interaction-aware feature by knowledge distillation, which provides useful action clues for HOI detection. Extensive experiments on HICO-DET and V-COCO datasets verify the effectiveness of our proposed SCTC. Copyright © 2024, The Authors. All rights reserved.

关键词： Distillation

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Force Distribution-Based Control Strategy of Landing Gear for the Unmanned Helicopter Landing on the Inclined Surface

Force Distribution-Based Control Strategy of Landing Gear fo...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Tian, Baolin Yu, Haitao Mao, Shihao Cui, Yuxin Yan, Zhen Gao, Haibo Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China College of Electronic Information Engineering Beihang University and the Shanghai Academy of Spaceflight Technology Shanghai China

ISBN: (纸本)9781665481090

The unmanned helicopter plays an important role in the fields of cargo transportation and rescue missions. Due to the limitation of the traditional landing gear structure, the unmanned helicopter has more stringent requirements on the landing terrain. In order to improve the ability to land on the inclined surface for the unmanned helicopter, a novel control strategy of the landing gear based on contact force distribution algorithm is proposed. The overall of landing process includes the desired position tracking stage, the following stage and the attitude adjusting stage. By obtaining the desired acceleration according to the landing and attitude correcting curve of the fuselage, and calculating the desired force based on contact force distribution algorithm, the adaptive motion and trajectory tracking of the landing gear during the landing process has been realized. The simulation results have demonstrated the effectiveness of the strategy when the unmanned helicopter with the initial roll angle of -3 degrees and pitch angle of 3 degrees lands on the inclined surface of 7.07 degrees. In the future, the control strategy can provide a reference for the dynamic landing of the unmanned helicopter while at sea. © 2022 IEEE.

关键词： Acceleration

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A Light Space Manipulator with High Load-to-Weight Ratio: system Development and Compliance Control

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Space(Science & Technology) 2021年第1期2021卷 107-118页

作者： Zhiwei Wu Yongting Chen Wenfu Xu The School of Mechanical Engineering and Automation Harbin Institute of TechnologyShenzhen 518055China The State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

In order to meet the requirements of the space environment for the lightweight and load capacity of the manipulator,this paper designs a lightweight space manipulator with a weight of 9.23 kg and a load of 2 *** adopts the EtherCAT communication protocol and has the characteristics of high load-to-weight *** order to achieve constant force tracking under the condition of unknown environmental parameters,an integral adaptive admittance control method is *** control law is expressed as a third-order linear system equation,the operating environment is equivalent to a spring model,and the control error transfer function is *** control performance under the step response is further *** simulation results show that the proposed integral adaptive admittance control method has better performance than the traditional *** has no steady-state error,overcomes the problems caused by nonlinear discrete compensation,and can facilitate analysis in the frequency domain,realize parameter optimization,and improve calculation accuracy.

关键词： overcome load EtherCAT

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Research on Longitudinal Ultrasonic Vibration Assisted Flip Chip Bonding Process

Research on Longitudinal Ultrasonic Vibration Assisted Flip ...

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International Conference on (ICEPT) Electronic Packaging Technology

作者： Dapeng Liu Jianxin Qiao Longqiu Li Zhi Qiao Bin Zhou Yunkang Su State Key Laboratory of Robotics and System Key Laboratory for Microsystems and Microstructure Manufacturing Harbin Institute of Technology Harbin China School of Mechanical and Electrical Engineering Harbin Institute of Technology Harbin China

ISBN: (数字)9798350353808

ISBN: (纸本)9798350353815

The current flip-chip bonding technology still faces defects such as surface thermal burnout of chips due to excessively high process temperature and significant mechanical stress leading to solder joint fracture and chip damage. This paper proposes a longitudinal ultrasonic-assisted flip-chip bonding process. By introducing ultrasonic vibration of a certain frequency in the bonding direction, stress on the device during the bonding process is reduced, leading to lower bonding temperatures and improved bonding quality and reliability. However, unreasonable ultrasonic bonding parameters may result in the fracture at the bonding interface by hammering effect. Based on the longitudinal ultrasonic-assisted bonding experimental platform was constructed to conduct bonding experiments. Through orthogonal contrast experiments, it has been determined that longitudinal ultrasonic assisted technology could reduce the bonding temperature at most by 180°C and bonding duration by 3-5s with ultrasonic parameter of 26W/cm 2 sound intensity and 4~4.66MPa prebonding pressure. This study provides valuable insights for optimizing flip-chip bonding processes.

关键词： Vibrations Temperature distribution Ultrasonic imaging Acoustics Flip-chip devices Bonding Surface cracks

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