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14th IEEE Global Reliability and Prognostics and Health Management Conference, PHM-Hangzhou 2023

作者： Tao, Sen Wang, Kai Zeng, Peng Yu, Tianda Wu, Hao Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang110169 China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110169 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China University of Chinese Academy of Sciences Beijing100049 China Nuclear Power Institute of China Chengdu610213 China State Key Laboratory of Power Transmission Equipment & System Security and New Technology Chongqing University Chongqing400044 China

ISBN: (纸本)9798350301359

Industrial equipment reliability is a critical issue that smart manufacturing systems must address. Implementation of online fault diagnosis for industrial equipment is a promising technology that can improve equipment reliability. Vibration analysis is a popular technique for equipment condition monitoring. For the non-linear and non-stationary features of industrial vibration signals, a hybrid model based on wavelet transform (WT), support vector machine (SVM), and grey wolf optimization algorithm (GWO) is proposed. The time-frequency domain features of fault signals are extracted by wavelet transform to solve the non-linearity of signals, and the obtained feature vectors are input into SVM for classification. Aiming at the problem of setting penalty coefficient and kernel function parameters, GWO is introduced to seek hyperparameters by using the hunting principle of wolves. In the experimental part, firstly, the comparison of the GWO-WT-SVM, GWO-SVM and SVM models was carried out. Secondly, Comparison with classical classification algorithms is made. Apparently, the GWO-WT-SVM model achieves higher accuracy than other models in bearing fault diagnosis. © 2023 IEEE.

关键词： component Fault diagnosis GWO PHM SVM

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Effect of filament winding process parameters on interlaminar performance for CF/PP thermoplastic composite 4

Effect of filament winding process parameters on interlamina...

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4th International Conference on Graphene and Novel Nanomaterials, GNN 2022

作者： Chang, C. Geng, H.B. Feng, Y. Han, Z.Y. Sun, S.Z. State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Inner Mongolia Aerospace Honggang Machinery Corporation Limited Hohhot010020 China Wuhu Robot Technology Research Institute Harbin Institute of Technology Wuhu241000 China

This paper focuses on the in-situ consolidation process of thermoplastic composites by winding, aiming to explore the influence of key process parameters on samples' quality. During the consolidation of thermoplastic composites, they need to go through resin melting-bonding-consolidation process, in which each parameter affects the interlaminar bond strength. Through preliminary simulation and experiments, the process parameters were selected. In this paper, wound NOL ring samples made of carbon fiber reinforced polypropylene thermoplastic composite prepregs were obtained with a hot gas assisted filament winding equipment. The influence rule of winding temperature, winding tension and winding speed on the interlaminar shear strength were analyzed based on response surface methodology. Through the analysis, in the range of the experiments winding tension and temperature had more effect on the shear strength while speed's influence was small. With the increase of tension and temperature, the interlaminar shear strength increased, but after reaching a certain value, the laminar shear strength decreased instead. © Published under licence by IOP Publishing Ltd.

关键词： Filament winding

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WSC-Trans: A CNN-Transformer Structure-Based 3D Multi-Structural Automatic Segmentation Model for Temporal Bone CT

WSC-Trans: A CNN-Transformer Structure-Based 3D Multi-Struct...

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IEEE International Conference on Bioinformatics and Biomedicine (BIBM)

作者： Xin Hua Jixin Ma Hongjian Yu Zhijiang Du Fanjun Zheng Chen Zhang Qiaohui Lu Hui Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Senior Department of Otolaryngology Head and Neck Surgery The 6th Medical Center of Chinese PLA General Hospital Beijing China

ISBN: (数字)9798350386226

ISBN: (纸本)9798350386233

Cochlear implantation is the most effective treatment for severe deafness, which requires accurate localization of temporal bone anatomy. Preoperative CT image segmentation is an essential technique to determine the location of relevant tissues in the temporal bone. However, manual segmentation is usually time-consuming and suffers from low accuracy due to the complex and small structures of these tissues in temporal bone CT. To address this issue, we proposed a CNN-Transformer structure-based 3D multi-structured model for the automatic segmentation of fine and complex tissues such as the cochlea, facial nerve, ossicles, vestibule and semicircular canal in the temporal bone CT. Our model adopts a new Transformer deformation structure, which effectively utilizes the spatial attention mechanism to capture feature dependencies, and uses the channel attention mechanism to fuse different channel semantic representations to improve segmentation accuracy. Extensive experiments on a private temporal bone CT dataset show that our model achieves higher DSS and JSS scores, and lower HD95 and ASSD scores for all targets compared with other existing segmentation methods, demonstrating its superior performance.

关键词： Image segmentation Solid modeling Irrigation Three-dimensional displays Accuracy Attention mechanisms Computed tomography Ear Bones Transformers

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MRI Super-Resolution via Hybrid Information Enhancement Network based on Multi-Attention and Adaptive Convolution

MRI Super-Resolution via Hybrid Information Enhancement Netw...

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IEEE International Conference on Bioinformatics and Biomedicine (BIBM)

作者： Jixin Ma Hongjian Yu Zhijiang Du Xin Hua Zibo Li Hui Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Senior Department of Otolaryngology Head and Neck Surgery The 6th Medical Center of Chinese PLA General Hospital Beijing China

ISBN: (数字)9798350386226

ISBN: (纸本)9798350386233

Deep learning-based super-resolution (SR) reconstruction is a critical approach which is used to generate high-resolution images from corresponding low-resolution images. However, the CNN-based methods are ineffective in capturing global information, whereas the Transformer-based methods have limited ability to model long-range dependencies caused by window self-attention. Besides, it is a challenging task to recover lost high-frequency information from downsampled images. In this paper, a Hybrid Information Enhanced Network (HIEN) is proposed for MRI super-resolution task. Specifically, we propose a Spatial-Channel Hybrid Attention (SCHA) to enhance specific semantics representation by combining spatial and channel self-attention together. To recover more high-frequency components, we propose a Dynamic High-Frequency Pass Filter (DHPF) to preserve high-frequency information adaptively in pixel-wise. The results of our extensive experiments indicate that HIEN outperforms other state-of-the-art methods.

关键词： Convolution Magnetic resonance imaging Magnetic separation Superresolution Semantics Magnetic resonance Transformers Information filters Image reconstruction Biomedical imaging

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Optical modulation of repaired damage site on fused silica produced by CO2 laser rapid ablation mitigation

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Chinese Physics B 2020年第5期29卷 288-296页

作者： Chao Tan Lin-Jie Zhao Ming-Jun Chen Jian Cheng Zhao-Yang Yin Qi Liu Hao Yang Wei Liao State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China Research Center of Laser Fusion China Academy of Engineering PhysicsMianyang 621900China

CO2 laser rapid ablation mitigation(RAM)of fused silica has been used in high-power laser systems owing to its advantages of high efficiency,and ease of implementing batch and automated *** order to study the effect of repaired morphology of RAM on laser modulation and to improve laser damage threshold of optics,an finite element method(FEM)mathematical model of 351 nm laser irradiating fused silica optics is developed based on Maxwell electromagnetic field equations,to explore the 3D near-field light intensity distribution inside optics with repaired site on its *** influences of the cone angle and the size of the repaired site on incident laser modulation are studied as *** results have shown that for the repaired site with a cone angle of 73.3°,the light intensity distribution has obvious three-dimensional *** relative light intensity on z-section has a circularly distribution,and the radius of the annular intensification zone increases with the decrease of *** the distribution of maximum relative light intensity on y-section is parabolical with the increase of *** the cone angle of the repaired site decreases,the effect of the repaired surface on light modulation becomes stronger,leading to a weak resistance to laser ***,the large size repaired site would also reduce the laser damage ***,a repaired site with a larger cone angle and smaller size is preferred in practical CO2 laser repairing of surface *** work will provide theoretical guidance for the design of repaired surface topography,as well as the improvement of RAM process.

关键词： fused silica laser repaired surface optical modulation finite element method(FEM)

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An Optimized-Punching Approach to Achieve Parabolic Shape by Simply Bending Flat Elastic Sheet—Fabricating Flexible and Precision Solar Parabolic Trough Concentrator

SSRN

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SSRN 2023年

作者： Li, Lifang Chen, He Zhang, Yanlong Li, Heng Wang, Juncai Guo, Pengzhen Liu, Rongqiang Laboratory for Space Environment and Physical Sciences Harbin Institute of Technology Harbin150001 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China National Key Laboratory of Science and Technology on Tunable Laser Harbin150001 China

Fabricating solar parabolic trough concentrators by bending flat elastic sheets into precise parabolic shapes is a simple and cost-effective approach. In this paper, we propose an optimized-punching approach that leverages elastic buckling to manufacture high-precision solar parabolic trough concentrators. Our approach involves punching optimized holes in the flat sheet to finely tailor its stiffness using an improved Particle Swarm Optimization-Genetic Algorithm. This allows us to produce a perfect parabolic shape by controlling the chord length with a position rod or cable. To validate our approach, we used interactive Finite Element Analysis and ray tracing software-LightTools, as well as sunlight concentrating experiments, and achieved a concentration ratio of up to 145.16. This concept enables easy fabrication and shipping of flat mirror elements to field sites, which can be assembled into parabolic trough concentrators, offering potentially attractive cost reductions and highly efficient solar energy solutions © 2023, The Authors. All rights reserved.

关键词： Cost reduction

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Practical Applicability of PLA for Industrial Wireless Networks: Gaps and Directions

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IEEE Network 2025年

作者： Liang, Wei Wei, Fuyou Wang, Qi Zhan, Ming Wang, Ke Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang Institute of Automation Shenyang110016 China Chinese Academy of Sciences Key Laboratory of Networked Control System Shenyang Institute of Automation Shenyang110016 China Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Shenyang110169 China University of Chinese Academy of Sciences Beijing100049 China Shandong Normal University Jinan250014 China Taizhou University School of Electronics and Information Engineering Zhejiang Taizhou China

The rapid transformation of Industrial Cyber-Physical system (ICPS) has introduced significant cyber security challenges, particularly in the context of ICPS. Wireless networks are a critical component of these systems, but their open nature makes them vulnerable to security threats. Physical Layer Authentication (PLA) algorithms based on Channel state Information (CSI) are essential complements to existing security technologies in wireless networks. However, their practical application faces challenges such as restricted sampling rates and uneven sampling interval, which result in low-precision CSI, significant random phase offsets, and signal distortion. This study aims to explore the feasibility of deploying and applying existing representative algorithms on industrial wireless commercial devices. According to characteristics of authentication algorithms and the adopted authentication features, we selected five of the latest physical layer authentication algorithms including supervised, semi-supervised, and unsupervised algorithms and deployed them on commercial devices that comply with the WIA-FA standard. We conducted systematic experiments focusing on the motion parameters of devices, the CSI data sampling frequency, the interference caused by worker movement, the surface materials of the devices, and the types of attacks. This study explores the ability of these algorithms to resist attacks and environmental interference in commercial devices and industrial scenarios. Extensive experimental data were collected, and the results indicate that existing authentication algorithms still need improvement to meet the requirements of industrial applications. The experiment findings and the summarized application challenges of these algorithms provide significant guidance for future research and practical industrial implementations. © 1986-2012 IEEE.

关键词： Authentication

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A novel cross-scale nanopositioning stage based on dual piezoelectric stick-slip actuation with a shared flexible hinge

A novel cross-scale nanopositioning stage based on dual piez...

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International Conference on Manipulation, Automation and robotics at Small Scales (MARSS)

作者： Siyuan Meng Junhui Zhu Yong Wang Luoning Shi Jia Yu Dongmei Wu Wei Dong Changhai Ru State Key Laboratory of Ro-botics and System Harbin Institute of Technology Harbin China School of Electronic and Infor-mation Engineering Suzhou University of Science and Technology Suzhou China Micro-Nano Automation Institute JITRI Suzhou China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China School of Electronic and Information Engineering Suzhou University of Science and Technology Suzhou China

ISBN: (数字)9798350376807

ISBN: (纸本)9798350376814

This paper presents a novel cross-scale nanopositioning stage that integrates the advantages of piezoelectric stick-slip positioners and piezoelectric scanners, utilizing the concept of macro-micro positioning. Initially, a unique structural design featuring a single flexible hinge shared by a small and a large PZT is proposed to reduce the stage's size effectively, enabling millimeter-scale strokes with nanometer-scale positioning accuracy. Subsequently, the cross-scale motion generation mechanism of the dual piezoelectric stick-slip drive is investigated, leading to the development of a system-level dynamics model for the proposed positioning stages. The mechanism design is further optimized to enhance performance. A prototype is manufactured, and a series of experiments are conducted to evaluate the stage's performance. Results indicate that the proposed positioning stage achieves a maximum motion range of 20 mm and a minimum step length of 70 nm in small piezoceramic macro-motion stepping mode, along with a maximum scanning range of 4.9 μm and a motion resolution of 16 nm in large pie-zoceramic micro-motion scanning mode. Moreover, the compact structure of the stage (30×17×8 mm 3 ) supports a maximum motion speed of 10 mm/s and a maximum load of 2 kg. Experi-mental validation confirms the feasibility of the proposed stage, demonstrating nanometer positioning resolution, high accuracy, high speed, and large travel range. These attributes highlight the significant potential of the proposed stage in various in-situ SEM nanorobotic instrument systems.

关键词： Accuracy Automation Nanopositioning Instruments Dynamics Prototypes Mechanism design

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PCF-Grasp: Converting Point Completion to Geometry Feature to Enhance 6-DoF Grasp

arXiv

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arXiv 2025年

作者： Cheng, Yaofeng Zha, Fusheng Guo, Wei Wang, Pengfei Zeng, Chao Sun, Lining Yang, Chenguang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Lanzhou University of Technology China Department of Computer Science University of Liverpool LiverpoolL69 3BX United Kingdom

The 6-Degree of Freedom (DoF) grasp method based on point clouds has shown significant potential in enabling robots to grasp target objects. However, most existing methods are based on the point clouds (2.5D points) generated from single-view depth images. These point clouds only have one surface side of the object providing incomplete geometry information, which mislead the grasping algorithm to judge the shape of the target object, resulting in low grasping accuracy. Humans can accurately grasp objects from a single view by leveraging their geometry experience to estimate object shapes. Inspired by humans, we propose a novel 6-DoF grasping framework that converts the point completion results as object shape features to train the 6-DoF grasp network. Here, point completion can generate approximate complete points from the 2.5D points similar to the human geometry experience, and converting it as shape features is the way to utilize it to improve grasp efficiency. Furthermore, due to the gap between the network generation and actual execution, we integrate a score filter into our framework to select more executable grasp proposals for the real robot. This enables our method to maintain a high grasp quality in any camera viewpoint. Extensive experiments demonstrate that utilizing complete point features enables the generation of significantly more accurate grasp proposals and the inclusion of a score filter greatly enhances the credibility of real-world robot grasping. Our method achieves a 17.8% success rate higher than the state-of-the-art method in real-world experiments. Code and videos are available at https://***/ChengYaofeng/PCF-Grasp. Copyright © 2025, The Authors. All rights reserved.

关键词： Geometry

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Modelling and experimental investigation of micro-dimpled structures milling with spiral trajectory tool reciprocating motion

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Chinese Journal of Aeronautics 2025年第2期 581-600页

作者： Guangzhou WANG Linjie ZHAO Qi LIU Xiguang LI Yazhou SUN Mingjun CHEN School of Mechatronics Engineering Harbin Institute of Technology Centre for Precision Manufacturing DMEMUniversity of Strathclyde State Key Laboratory of Robotics and System Harbin Institute of Technology

To mill fine and well-defined micro-dimpled structures, a machining manner of spiral trajectory tool reciprocating motion, where the tool repeats the process of ‘feed milling±retract±cutting feed±feed milling again' along the spiral trajectory, was proposed. From the kinematics analysis, it is found that the machining quality of micro-dimpled structures is highly dependent on the machining trajectory using spiral trajectory tool reciprocating motion. To reveal this causation, simulation modelling and experimental studies were carried out. A simulation model was developed to quantitatively and qualitatively investigate the influence of the trajectory discretization strategies(constant-angle and constant-arc length) and parameters(discrete angle, discrete arc length, and pitch) on surface texture and residual height of micro-dimpled structures. Subsequently, microdimpled structures were milled under different trajectory discretization strategies and parameters with spiral trajectory tool reciprocating motion. A comprehensive comparison between the milled results and simulation analysis was made based on geometry accuracy, surface morphology and surface roughness of milled dimples. Meanwhile, the errors and factors affecting the above three aspects were analyzed. The results demonstrate both the feasibility of the established simulation model and the machining capability of this machining way in milling high-quality micro-dimpled structures. Spiral trajectory tool reciprocating motion provides a new machining way for milling micro-dimpled structures and micro-dimpled functional surfaces. And an appropriate machining trajectory can be generated based on the optimized trajectory parameters, thus contributing to the improvement of machining quality and efficiency.

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