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arXiv 2022年

作者： Liu, Sensen Wang, Zhaoying Sheng, Xinjun Dong, Wei The State Key Laboratory of Mechanical System and Vibration Robotics Institute School of Mechanical and Engineering Shanghai Jiao Tong University 800 Dongchuan Road Shanghai China

Perching on the surface of moving objects, like vehicles, could extend the flight time and range of quadrotors. Suction cups are usually adopted for surface attachment due to their durability and large adhesive force. To seal on a surfaces, suction cups must be aligned with the surface and possess proper relative tangential velocity. However, quadrotors' attitude and relative velocity errors would become significant when the object surface is moving and inclined. To address this problem, we proposed a real-time trajectory planning algorithm. The time-optimal aggressive trajectory is efficiently generated through multimodal search in a dynamic time-domain. The velocity errors relative to the moving surface are alleviated. To further adapt to the residual errors, we design a compliant gripper using self-sealing cups. Multiple cups in different directions are integrated into a wheel-like mechanism to increase the tolerance to attitude errors. The wheel mechanism also eliminates the requirement of matching the attitude and tangential velocity. Extensive tests are conducted to perch on static and moving surfaces at various inclinations. Results demonstrate that our proposed system enables a quadrotor to reliably perch on moving inclined surfaces (up to 1.07m/s and 90◦) with a success rate of 70% or higher. The efficacy of the trajectory planner is also validated. Our gripper has larger adaptability to attitude errors and tangential velocities than conventional suction cup grippers. The success rate increases by 45% in dynamic perches. Copyright © 2022, The Authors. All rights reserved.

关键词： Grippers

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Analysis of Bifurcation and Chaotic Behavior of the Micro Piezoelectric Pipe-Line Robot Drive system with Stick - Slip Mechanism

SSRN

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SSRN 2023年

作者： Xing, Jichun Ning, Chao Zhi, Yuan Howard, Ian School of Mechanical Engineering Yanshan University Qinhuangdao066004 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China School of Civil and Mechanical Engineering Curtin University Perth6001 Australia

Pipeline robots using the conventional driving mode have encountered a bottleneck in miniaturization. To address this problem, a micro piezoelectric pipeline robot based on the inertia stick-slip driving principle is proposed in this paper. The robot is well suited to the inspection needs of micro pipes. However, undesirable design parameters found during the structural optimization phase can lead to unstable operation and reduced load capacity of the robot, and can even cause the drive system to stop with chaotic behavior. Therefore, the nonlinear dynamics model of the four degree of freedom discrete system of the pipeline robot is established. The Runge-Kutta method is used to solve the dynamic response of each nonlinear subsystem. The nonlinear dynamical behavior of the system is analyzed through the bifurcation diagram, time domain diagram, phase diagram, Poincaré map and power spectrum diagram of each subsystem response. The stable operation intervals of the machine and electrical parameters in the drive system are given, and the conditions for the occurrence of chaotic behavior are determined. This research can help to determine and optimize the structural parameters of the piezoelectric stick-slip pipeline robot, thus avoiding chaotic behavior and ensuring that the robot maintains good operational performance. © 2023, The Authors. All rights reserved.

关键词： Stick-slip

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A Method for Measurement of Workpiece Form Deviations Based on Machine Vision

SSRN

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SSRN 2022年

作者： Zhang, Wei Han, Zongwang Li, Yang Rong, Weibin Zheng, Hongyu Cheng, Xiang School of Mechanical Engineering Shandong University of Technology Zibo255000 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China

Machine vision has been studied for measurements of workpiece form deviations due to its ease for automation. However, the measurement accuracy limits its wide implementation in industrial applications. In this study, a method based on machine vision for measurement of straightness, roundness, and cylindricity of a workpiece is presented. A subsumed line search algorithm and an improved particle swarm optimization algorithm are proposed to evaluate the straightness and roundness deviations of the workpiece. Moreover, an image evaluation method of cylindricity deviation by the least square fitting of circle’s center coordinates is investigated. An image acquisition system incorporating image correction and sub-pixel edge positioning technology is developed. Performance of the developed system is evaluated against the measurement results of the standard cylindricity measuring instrument. The differences in measurement of straightness, roundness, and cylindricity are -4.69μm, 3.98μm, and 5.33μm, respectively. The proposed method would provide a viable industrial solution for measurement of workpiece form deviations. © 2022, The Authors. All rights reserved.

关键词： Computer vision

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Perching on Moving Inclined Surfaces using Uncertainty Tolerant Planner and Thrust Regulation

arXiv

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arXiv 2022年

作者： Liu, Sensen Hu, Wenkang Wang, Zhaoying Dong, Wei Sheng, Xinjun The State Key Laboratory of Mechanical System and Vibration Robotics Institute School of Mechanical and Engineering Shanghai Jiao Tong University 800 Dongchuan Road Shanghai China

Quadrotors with the ability to perch on moving inclined surfaces can save energy and extend their travel distance by leveraging ground vehicles. Achieving dynamic perching places high demands on the performance of trajectory planning and terminal state accuracy in SE(3). However, in the perching process, uncertainties in target surface prediction, tracking control and external disturbances may cause trajectory planning failure or lead to unacceptable terminal errors. To address these challenges, we first propose a trajectory planner that considers adaptation to uncertainties in target prediction and tracking control. To facilitate this work, the reachable set of quadrotors’ states is first analyzed. The states whose reachable sets possess the largest coverage probability for uncertainty targets, are defined as optimal waypoints. Subsequently, an approach to seek local optimal waypoints for static and moving uncertainty targets is proposed. A real-time trajectory planner based on optimized waypoints is developed accordingly. Secondly, thrust regulation is also implemented in the terminal attitude tracking stage to handle external disturbances. When a quadrotor’s attitude is commanded to align with target surfaces, the thrust is optimized to minimize terminal errors. This makes the terminal position and velocity be controlled in closed-loop manner. Therefore, the resistance to disturbances and terminal accuracy is improved. Extensive simulation experiments demonstrate that our methods can improve the accuracy of terminal states under uncertainties. The success rate is approximately increased by 50% compared to the two-end planner without thrust regulation. Perching on the rear window of a car is also achieved using our proposed heterogeneous cooperation system outdoors. This validates the feasibility and practicality of our methods. Copyright © 2022, The Authors. All rights reserved.

关键词： Trajectories

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Lower Limb Rehabilitation Motion Angle Measurement Based On Deep Learning YOLOv3 Model 2

Lower Limb Rehabilitation Motion Angle Measurement Based On ...

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2021 2nd International Conference on Machine Learning and Computer Application, ICMLCA 2021

作者： Yang, Yunlong Wang, Liancheng Yao, Yufeng He, Chenxi Yin, Hesheng Weihai Furui Robotics Co. Ltd Weihai China Tianzhi Institute of Innovation and Technology Weihai Economic and Technological Development Zone Weihai China Weihai China State Key Laboratory of Robotics Harbin Institute of Technology System Department of Mechanical Engineering Harbin China

ISBN: (纸本)9783800757398

The aging of the population and the high incidence of hemiplegia have led to an increasing demand for easy-to-use rehabilitation training. The feedback sensing system which can measure and analyze the lower limb rehabilitation motions is highly significant for improving the rehabilitation outcome. Computer vision-based human motion angle measurement has attracted significant interest. This study aims to measure and analyze the lower limb motion angle in the sagittal plane with a single RGB camera. This paper proposes a method for extracting and monitoring of the lower limb marker points based on YOLOv3 and DarkNet-53 convolutional neural networks, and optimizes the pixel coordinates of the target point based on Kalman. The measurement accuracy of the proposed method is tested by JACO robotic arm, and the test shows that the standard deviation (SD) of the measurement is less than 0.5°. © VDE VERLAG GMBH · Berlin · Offenbach.

关键词： Neural networks

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Multi-stage Objective Function Optimized Hand-Eye Self-calibration of Robot in Autonomous Environment 1

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17th International Conference on Bio-Inspired Computing: Theories and Applications, BIC-TA 2022

作者： Liu, Kaibo Zheng, Wangli Min, Huasong Lin, Yunhan School of Computer Science and Technology Wuhan University of Science and Technology Hubei Wuhan430065 China Hubei Province Key Laboratory of Intelligent Information Processing and Real-Time Industrial System Wuhan University of Science and Technology Hubei Wuhan430065 China State Grid Electric Power Research Institute Jiangsu Nanjing211106 China Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology Hubei Wuhan430081 China

ISBN: (数字)9789819915491

ISBN: (纸本)9789819915484

In the application scenario of robot autonomous tasks, the robot needs to be able to complete calibration online and automatically to achieve self-maintenance, which differs from traditional robot hand-eye calibration in that the traditional robot hand-eye calibration requires a dedicated calibration board to assist offline completion. Aiming at the problem that the existing self-calibration methods cannot be optimized as a whole, which leads to low accuracy and instability of the solution, a multi-stage objective function optimization self-calibration algorithm is proposed, which describes the solution of hand-eye self-calibration as a minimization objective function problem involving multiple stages. An optimization method based on the minimization of re-projection error is designed to compensate for the results, which uses an efficient Oriented fast and rotated brief (ORB) feature extraction algorithm and introduces a scoring mechanism to retain more correct matching points in the feature matching stage. Two different types of experiments were designed to validate our method. One is a single camera dataset experiment, which shows that our method is more accurate and robust than the existing self-calibration method;the other is an application platform experiment, which verifies the feasibility and availability of our method. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Calibration

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A simulation framework for ultrasound-guided minimally invasive robotic breast surgery

A simulation framework for ultrasound-guided minimally invas...

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IEEE International Conference on robotics and Biomimetics

作者： Le Zhang Yanchen Ye Baoshan Niu Genliang Xiong Dapeng Yang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin HeilongJiang China School of Mechanical and Automotive Engineering Shanghai University of Engineering Science Shanghai China

ISBN: (纸本)9781665481106

Surgical simulation plays an essential role for surgeons to familiarize themselves with surgical procedures and improve the success rate of surgery. In this paper, a flexible and easy-extendable intervention surgery simulation framework was presented, which can perform virtual simulation training and realize synchronous interaction between the real and virtual environment. In particular for breast surgery, the simulation framework was exemplified for an ultrasound-guided minimally invasive robotic breast surgery. The framework used Visual Studio ® (Microsoft, USA) and Chai3D open graphics library to realize the virtual surgery environment, and integrated the anti-collision warning of the robotic arms and teleoperation communication support. A layered deformation model of breast was established based on the Mass-Spring Model to simulate the real-time deformation of breast during puncture surgery. In addition, due to the hyperelasticity and great deformation characteristics of breast soft tissue, we further used an improved meshless Radial Point Interpolation Method to improve the simulation accuracy of breast soft tissue deformation model. Finally, experiments on robot pressing a rectangular parallelepiped breast phantom were carried out to verify the simulation accuracy of the deformation model.

关键词： Deformable models Training Visualization Ultrasonic imaging Minimally invasive surgery Biological system modeling Biological tissues

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An Adaptive Force Control Architecture with Fast-Response and Robustness in Uncertain Environment∗

An Adaptive Force Control Architecture with Fast-Response an...

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IEEE International Conference on robotics and Biomimetics

作者： Xin Shu Fenglei Ni Kang Min Yechao Liu Hong Liu The State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781665405362

One of the fundamental requirements for the success of a manipulation task is the capacity to handle the interaction between manipulator and environment. However, there are many uncertain factors during the interaction, such as the shape of objects, contact stiffness, and external interference. The performance of force control pursues fast-response and robustness, but it is not an effective solution to apply the traditional impedance control to track force in an uncertain environment. Herein, an adaptive force control architecture is proposed, which has the capability to compensate for environmental uncertainties. Simulations and experiments of tracking constant/variable desired force in constant/variable stiffness environment and on an unknown shape surface are carried out. The proposed approach is contrasted with some classic methods in the indexes of overshoot, transient response, tracking error, and robustness. The results comparison confirms that the proposed control law is superior in fast-response and robustness in uncertain environments.

关键词： Transient response Surface impedance Uncertainty Shape Force Interference Manipulators

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A grasshopper-inspired miniature piezoelectric actuator integrated with three vibrating units

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International Journal of Mechanical Sciences 2025年 300卷

作者： Yingzhi Wang Bingwei Zhang Jie Deng Shijing Zhang Weishan Chen Yingxiang Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province 150001 China

Miniature piezoelectric actuators (MPAs) have been extensively investigated owing to their gram-scale mass, sub-micrometer resolution, and milliwatt-range power consumption. However, improving their output characteristics (force, speed, resolution) while maintaining miniaturization remains challenging. In this study, a three-vibrating-unit MPA (3VU-MPA) was proposed, which consists of three vibrating units (VUs) and two integrated vibration isolation mechanisms (VIMs). The design of the VIM was analyzed using the transfer matrix method and finite element analysis. The VIM design enables the 3VU-MPA to work in three working modes: individual excitation, alternating excitation and cooperative excitation. A prototype was fabricated and experimentally evaluated, measuring 15.4 × 15.6 × 30 mm 3 and weighing 4.7 g. A maximum speed of 351.8 mm/s was achieved by the 3VU-MPA under no-load conditions, while a maximum payload capacity of 203.5 g was obtained at reduced speed. A maximum speed of 197.7 mm/s was achieved with a traction force of 46.1 mN when climbing vertical rods. Additionally, a displacement resolution of 0.15 μm was obtained. This work provides a feasible approach to enhance both output performance and working mode diversity in MPAs.

关键词： Vibration analysis

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An Acoustic Activated Nozzle for Microdroplet Generation and Dispensing

SSRN

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SSRN 2023年

作者： Yin, Qiu Li, Xiuyuan Ma, Zhichao Zhang, Wenming State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai200240 China Institute of Medical Robotics School of Biomedical Engineering Shanghai Jiao Tong University No.800 Dongchuan Road Shanghai200240 China

Droplet-based microfluidic has emerged as a versatile tool for widespread applications such as biochemical analysis and synthesis, for which the generation and manipulation of the microdroplets are the fundamental. Acoustic based droplet control has shown its advantages of good biocompatibility and widescale tunability. Here, we demonstrate an acoustic controlled nozzle that is integrated with both generation and directed dispensing of microdroplets. The system can generate monodisperse microdroplets with tunable sizes (50 μm – 641 μm) at a highest throughput of 2000 droplets per second. Besides, by tuning the acoustic frequency, the droplets can be steered to different directions after their formation, realizing on-demand dispensing of the microdroplets. The controlled microdroplet generation and dispensing are both attributed to the acoustic streaming effect induced by the nozzle vibration. Two basic mechanisms for the droplet control were studied: (1) the correlation between the droplet size and the acoustic actuation time, (2) the dependence of the droplet dispensing direction on the acoustic frequency. This work paves the way towards programmable control over acoustic generation and dispensing of microdroplets, which has great potential in the applications of bio-chemical analysis and synthesis. © 2023, The Authors. All rights reserved.

关键词： Biocompatibility

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