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IEEE International Conference on robotics and Biomimetics

作者： Jian Chen Xiaodong Wen Hao Wang Wei Gong Zongquan Deng Haitao Yu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Tianjin Key Laboratory of Aerospace Intelligent Equipment Technology Tianjin Institute of Aerospace Mechanical and Electrical Equipment Tianjin China

ISBN: (纸本)9781665481106

Modular robots are gaining increasing attention in space services. The docking mechanism plays a critical role in performing self-healing and self-reconfiguration of modular robots. It is beneficial for the docking mechanism to operate with high efficiency, homogeneity and high misalignment tolerances. To meet these requirements, this paper presents a novel genderless docking mechanism. The construction of the docking mechanism is designed with features of passive locking and single-sided electromagnetic unlocking. To demonstrate the advantages of passive locking, the working processes of the axial and circumferential locking mechanisms are described in detail. Based on theoretical calculations and simulations, it is shown that the docking mechanism can provide fast connections or disconnections with a degree of translational and angular misalignment tolerances. This docking mechanism is intended for future applications in modular space robots or unstructured environment exploration robots.

关键词： Energy consumption Biomimetics Biological system modeling Electromagnetics Robots Optimization

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A Novel Seesaw-Like Piezoelectric Energy Harvester for Low Frequency Vibration

SSRN

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SSRN 2022年

作者： Yu, Han Hou, Chengwei Shan, Xiaobiao Zhang, Xingxu Song, Henan Zhang, Xiaofan Xie, Tao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Ministry of Education Key Laboratory of Micro and Nano Systems for Aerospace Northwestern Polytechnical University Xi'An710072 China

This paper presents a novel seesaw-like piezoelectric energy harvester which has rotating motions to enhance the harvesting performance at low frequency vibrations. Firstly, the designing of the harvester with the specific structure was accomplished, and then the finite element analysis was conducted to simulate its dynamic characteristics. Finally, the prototype of the harvester was fabricated whose power generating behaviors were experimentally investigated. The influence of key structural parameters on the energy harvesting performance was evaluated by a combination of simulation and experiment. The results indicated that the energy harvester reached the second-order resonance at a low frequency due to the adoption of the rotating shaft. And the composite beam of the harvester was involved in a significant strain. The efficiency of the harvester is relevant to the system moment of inertia and the excitation acceleration. The second-order resonant frequency of the harvester is as low as 19.18 Hz. When the excitation acceleration is 2.94 m/s2, the maximum output voltage and power of the harvester are 49.15 V and 4.03 mW respectively, which demonstrate the superior harvesting performance of the structure. This work can provide a novel method for designing efficient ambient energy harvesters supplying for low-power electronic devices. © 2022, The Authors. All rights reserved.

关键词： Piezoelectricity

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Subsurface Damage Detection and Quantitative Prediction of Thin-Walled Complex Curved-Surface Component

SSRN

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SSRN 2024年

作者： Qin, Biao Liu, Henan Cheng, Jian Tian, Jinchuan Sun, Jiangang Zhou, Zihan Ma, Chuanzhen Chen, Mingjun State Key Laboratory of Robotics and System Harbin Institute of Technology P.O. Box 413 Heilongjiang Harbin150001 China Center for Precision Engineering Harbin Institute of Technology P.O. Box 413 Heilongjiang Harbin150001 China

The hemispherical resonant gyroscope (HRG), distinguished by its simple structure, high reliability, and remarkable precision, stands out as one of the most promising high-performance inertial navigation devices in advanced equipment. However, the core sensitive component of the HRG, known as hemispherical resonator (HSR), with a complex and small curvature structure made of fused silica, experiences subsurface damage (SSD) during the grinding process. This not only leads to brittle fracture, which affects the operational performance of the gyroscope, but also significantly hampers the polishing efficiency of the component. This study was initiated by quantitatively characterizing the SSD of various structural features of the HSR (center rod, lip edge of the spherical shell, and spherical shell). Especially, for the curved-surface of the HSR, the average deviation of SSD detection result is within 6%. Subsequently, based on the characterized SSD, the grinding damage mechanisms of the HSR was explored. The grinding surface integrity is then elucidated from the perspective of maximum undeformed chip thickness. Finally, a predictive model for the SSD depth of the HSR after ultra-precision grinding was established according to the nonlinear relationship between the surface roughness and SSD depth. The maximum deviation between the predictive and experimental values of SSD depth is 9.4%, indicating a high level of predictive accuracy. This work fills the blank in SSD detection of the HSR, laying a theoretical foundation for the high-performance manufacturing of the HSR. © 2024, The Authors. All rights reserved.

关键词： Damage detection

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Particle-based Instance-aware Semantic Occupancy Mapping in Dynamic Environments

arXiv

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arXiv 2024年

作者： Chen, Gang Wang, Zhaoying Dong, Wei Alonso-Mora, Javier Autonomous Multi-Robots Lab Department of Cognitive Robotics School of Mechanical Engineering Delft University of Technology Delft2628 CD Netherlands State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiaotong University Shanghai200240 China

Representing the 3D environment with instance-aware semantic and geometric information is crucial for interaction-aware robots in dynamic environments. Nevertheless, creating such a representation poses challenges due to sensor noise, instance segmentation and tracking errors, and the objects’ dynamic motion. This paper introduces a novel particle-based instance-aware semantic occupancy map to tackle these challenges. Particles with an augmented instance state are used to estimate the Probability Hypothesis Density (PHD) of the objects and implicitly model the environment. Utilizing a state-augmented Sequential Monte Carlo PHD (S2MC-PHD) filter, these particles are updated to jointly estimate occupancy status, semantic, and instance IDs, mitigating noise. Additionally, a memory module is adopted to enhance the map’s responsiveness to previously observed objects. Experimental results on the Virtual KITTI 2 dataset demonstrate that the proposed approach surpasses state-of-the-art methods across multiple metrics under different noise conditions. Subsequent tests using real-world data further validate the effectiveness of the proposed approach. Copyright © 2024, The Authors. All rights reserved.

关键词： Mapping

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Joint Design of Radar Receive Filter and Unimodular ISAC Waveform with Sidelobe Level Control

arXiv

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arXiv 2025年

作者： Zhang, Kecheng Liu, Ya-Feng Wang, Zhongbin Yuan, Weijie Keskin, Musa Furkan Wymeersch, Henk Xia, Shuqiang School of System Design and Intelligent Manufacturing The Shenzhen Key Laboratory of Robotics and Computer Vision Southern University of Science and Technology Shenzhen518055 China State Key Laboratory of Scientific and Engineering Computing Institute of Computational Mathematics and Scientific/Engineering Computing Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing100190 China Department of Electrical Engineering Chalmers University of Technology Gothenburg41296 Sweden ZTE Corporation The State Key Laboratory of Mobile Network and Mobile Multimedia Technology Shenzhen518055 China

Integrated sensing and communication (ISAC) has been considered a key feature of next-generation wireless networks. This paper investigates the joint design of the radar receive filter and dual-functional transmit waveform for the multiple-input multiple-output (MIMO) ISAC system. While optimizing the mean square error (MSE) of the radar receive spatial response and maximizing the achievable rate at the communication receiver, besides the constraints of full-power radar receiving filter and unimodular transmit sequence, we control the maximum range sidelobe level, which is often overlooked in existing ISAC waveform design literature, for better radar imaging performance. To solve the formulated optimization problem with convex and nonconvex constraints, we propose an inexact augmented Lagrangian method (ALM) algorithm. For each subproblem in the proposed inexact ALM algorithm, we custom-design a block successive upper-bound minimization (BSUM) scheme with closed-form solutions for all blocks of variable to enhance the computational efficiency. Convergence analysis shows that the proposed algorithm is guaranteed to provide a stationary and feasible solution. Extensive simulations are performed to investigate the impact of different system parameters on communication and radar imaging performance. Comparison with the existing works shows the superiority of the proposed algorithm. © 2025, CC BY-NC-SA.

关键词： Mean square error

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Puncture Status Perception Method for a Venipuncture Robot Based on Force Prediction

引用

IEEE Transactions on Instrumentation and Measurement 2025年 74卷

作者： He, Tianbao Guo, Chuangqiang Jiang, Li Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150001 China

Research on venipuncture robots has excellent potential for reducing workload and addressing healthcare professional shortages while advancing medical automation and intelligent healthcare. This paper proposes a method for improving the perception ability of venipuncture robots by predicting the puncture force to efficiently determine whether the puncture needle has entered the vein, thus increasing the safety and success rate of the robot. Initially, the characteristics of the puncture force are analyzed, and a force‒time-series-prediction model is established via a BiLSTM network and Kalman filter error compensation. A time series dataset is constructed using puncture force data collected under different conditions. The experimental results indicate that the model’s prediction error is less than 0.01 N, and the calculation time is less than 0.02 s. Based on this prediction model, a puncture status perception method is proposed, which considers the trend and regularity of puncture force changes during venipuncture to determine whether the needle has entered the vein. Finally, experiments are conducted via this method in a venipuncture phantom and compared with those of other methods. The findings indicate a substantial improvement in puncture status perception efficacy of 82% and a corresponding 11% increase in the success rate of robot-assisted venipuncture. These results demonstrate the effectiveness of this method in enhancing the performance and safety of venipuncture robots and highlight its potential for practical application. © 1963-2012 IEEE.

关键词： Intelligent robots

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Analysis of Kinematic Relationship of Superposition Cooperative Dual-Industrial Robot 2020

Analysis of Kinematic Relationship of Superposition Cooperat...

引用

2020 International Conference on Computers, Information Processing and Advanced Education, CIPAE 2020

作者： Kong, Minxiu Wang, Rundong Cheng, Yanchun Yang, Jubo School of Mechatronics Engineering Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9781450372022

With the increasing complexity of manufacturing process, the ability of a single robot is not enough for the current diversified production environment and tasks, so the research on multi-robot technology is increasingly important. This article selects the most widely used superposition cooperative dual robot as the object, studies a base-based calibration algorithm based on the space common target coordinate system, and then establishes the trajectory constraint relationship of the dual robot on this basis, which provides theoretical basis for teaching work. Finally, the correctness of the algorithm is verified by simulation software. © 2020 ACM.

关键词： Industrial robots

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Design and Analysis of a Drive and Perception Integration Manipulator for Spinal Surgery

Design and Analysis of a Drive and Perception Integration Ma...

引用

Mechatronics and robotics Engineering (ICMRE), International Conference on

作者： Lunan Wu Zhijiang Du Hongjian Yu Jiancheng Wang State Key Laboratory of Robotics and System Harbin Institute of Technology (HIT) Harbin China

ISBN: (数字)9781665414890

ISBN: (纸本)9781665430531

This paper presents the design of a hybrid manipulator for spinal surgery which has a feature of drive and perception integration. The parallel part of the robot which controls position and posture of the terminal is based on a two-level cross slide structure with an additional serial end effector for the axial feed. The series part which controls the feed of surgical tool is driven by a brushless motor through a leadscrew nut. The dexterity of robot is evaluated through calculating the position and posture condition number. The cross slide is driven by a synchronous belt and the corresponding driving force is measured by sensitive elements attached on the fixed structure of idler wheels. Meanwhile, driving force of the feeding structure is obtained with an improved micro force sensor. Finally, linearity of these sensors is measured to test the reliability of design.

关键词： Medical robotics Force Surgery Robot sensing systems Belts Sensors Robots

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Natural Gas Load Forecasting Based on Multi-Stage Model Identification

Natural Gas Load Forecasting Based on Multi-Stage Model Iden...

引用

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

作者： Pengbin Zhang Hongrui Wang Kunpeng Xing Mingzhe Yuan State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Key Laboratory of Networked Control System Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Beijing China GUANGZHOU INSTITUTE OF INDUSTRIAL INTELLIGENCE Guangzhou China China Nuclear Power Engineering Co. Ltd. Shenzhen China

ISBN: (数字)9798331506056

ISBN: (纸本)9798331506063

Natural gas load forecasting is crucial for the safe operation of urban natural gas. Based on the system identification method, the short-term natural gas load forecasting is studied in the paper. Employing a multi-stage identification framework, the initial values of the model parameters using the least squares and the instrumental variables method, while the model parameters are further optimized by the prediction error method to improve the accuracy of the model identification. The proposed method is validated by the simulation based on the public natural gas data in the U.S., demonstrating the algorithm's effectiveness in forecasting the daily natural gas load effectively.

关键词： Load forecasting Simulation Load shedding Predictive models Prediction algorithms system identification Reliability Forecasting Natural gas Load modeling

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Mechanics of Soft-Body Rolling Motion without External Torque

引用

Physical Review Letters 2025年第19期134卷 198401-198401页

作者： Xudong Liang Yimiao Ding Zihao Yuan Yuxuan Han Yutang Zhou Junqi Jiang Zongling Xie Peng Fei Yixuan Sun Pan Jia Guoying Gu Zheng Zhong Feifei Chen Guangwei Si Zhefeng Gong School of Science Harbin Institute of Technology Shenzhen 518055 China Department of Neurology of the Fourth Hospital and School of Brain Science and Brain Medicine Zhejiang University School of Medicine Hangzhou 310058 China Robotics Institute and State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai 200240 China State Key Laboratory of Cognitive Science and Mental Health Institute of Biophysics Chinese Academy of Sciences 15 Datun Road Beijing 100101 China University of Chinese Academy of Sciences 19A Yuquan Road Beijing 100049 China Huazhong University of Science and Technology Optical and Electronic Information Wuhan 430074 China Zhejiang Lab Hangzhou 311121 China Shanghai Key Laboratory of Intelligent Robotics Meta Robotics Institute Shanghai Jiao Tong University Shanghai 200240 China Liangzhu Laboratory MOE Frontier Science Center for Brain Science and Brain-machine Integration State Key Laboratory of Brain-machine Intelligence Zhejiang University 1369 West Wenyi Road Hangzhou 311121 China NHC and CAMS Key Laboratory of Medical Neurobiology Zhejiang University Hangzhou 310058 China

The Drosophila larva, a soft-body animal, can bend its body and roll efficiently to escape danger. However, contrary to common belief, this rolling motion is not driven by the imbalance of gravity and ground reaction forces. Through functional imaging and ablation experiments, we demonstrate that the sequential actuation of axial muscles within an appropriate range of angles is critical for generating rolling. We model the interplay between muscle contraction, hydrostatic skeleton deformation, and body-environment interactions, and systematically explain how sequential muscle actuation generates the rolling motion. Additionally, we construct a pneumatic soft robot to mimic the larval rolling strategy, successfully validating our model. This mechanics model of soft-body rolling motion not only advances the study of related neural circuits, but also holds potential for applications in soft robotics.

关键词： Creatinine

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