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

作者： Huijie Dong Chunyang Zhao Tiezhu Qiao Jian Wang Di Chen Yan Meng Junzhi Yu Ministry of Education Key Laboratory of Advanced Transducers and Intelligent Control System Taiyuan University of Technology Taiyuan China Institute of Automation Laboratory of Cognitive and Decision Intelligence for Complex System Chinese Academy of Sciences Beijing China Department of Advanced Manufacturing and Robotics College of Engineering State Key Laboratory for Turbulence and Complex Systems Peking University Beijing China College of Electronics and Information Engineering Guangdong Ocean University Zhanjiang China

Underwater supporting robots serving as a relay of energy supplements and communication for other underwater equipment are promising for ocean exploration, development, and protection. This paper proposes a novel autonomous docking system centered on a designed supporting robotic fish named ‘CourierFish’. Specifically, CourierFish is capable of docking with a surface dock station for supplying itself and docking with a seafloor platform for supporting equipment in the platform. A visual navigation scheme integrating LED and ArUco markers is presented for accurate localization. The control approach for docking motion is also illustrated. Simulations and aquatic experiments are performed to verify the feasibility of the proposed docking system. The obtained results lay a solid foundation for the construction of various underwater equipment and robot networks.

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Material Removal Mechanism and Microstructure Fabrication in Micro-Milling of Glow Discharge Polymer (GDP)

SSRN

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SSRN 2022年

作者： Wang, Guangzhou Yu, Tianyu Zhou, Xingying Guo, Ruiyang Chen, Mingjun Sun, Yazhou School of Mechatronics Engineering Harbin Institute of Technology Heilongjiang Harbin150001 China State Key Laboratory of Robotics and System Harbin Institute of Technology Heilongjiang Harbin150001 China

Glow discharge polymer (GDP) is an essential material for target ball applied in inertial confinement fusion (ICF). The processing quality of GDP material directly affects its high energy performance. Machinability and material removal mechanism are critical to attain a high processing quality during micro cutting. In this work, a comprehensive study of the machinability and removal mechanism of GDP material is conducted. Mechanical properties of GDP, such as elastic modulus, hardness and elastic recovery rate, were investigated first using nanoindentation experiments. Micro milling experiments were performed using micro ball end milling. Chip modes, machined surface morphology and their formation mechanism are emphatically analyzed. An geometric model for calculating undeformed chip area removed by ball end mill was proposed for analyzing the specific cutting force. Additionally, the effects of minimum uncut chip thickness (MUCT) threshold and size effect on the machining quality of GDP material were also studied. By comprehensively analyzing chip morphology, cutting force, specific cutting force as well as surface integrity, the cutting mechanism of GDP material can be roughly divided into the ploughing dominated, the ploughing-shearing coexist and the shearing dominated Below normalized MUCT threshold of 0.339, the size effect is obvious. When the ratio of feed per tooth to cutting edge radius is up to 0.714, the size effect has little influence on the machining of GDP material. At the end, micro dimples were fabricated on the GDP surface by ball end milling. The surface quality of machined micro dimples indicates that the ploughing effect and size effect have significant impact on machining micro-dimpled structures in ploughing dominated mode. The parameters (e.g. step or pitch distance) of specific machining ways (e.g. layer milling or spiral milling) are the main factors affecting machining micro dimples in shearing dominated mode. © 2022, The Authors. All rig

关键词： Surface morphology

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Moobot: a miniature origami omnidirectional jumping robot with high trajectory accuracy

TechRxiv

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TechRxiv 2022年

作者： Tang, Lingqi Li, Yao Li, Bing School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen Shenzhen518055 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

The jumping trajectory control is important for the jumping robots to overcome different obstacles. However, the trajectory control of a micro jumping robot is not easy. No insect-scale jumping robots have demonstrated the precise trajectory following yet. We proposed a miniature origami omnidirectional jumping robot (Moobot) that achieved the feedback control of jumping trajectory. The jumping of the robot is based on a four-bar origami structure and the SMA actuators. Unlike the tethered micro robots that powered externally, we integrated a miniature control board with LiPo battery on the robot for remote control. The overall system measured 6 g in mass, 5.5 cm in length and 2cm in height. Two strain gauges and an IMU sensor were used on the robot for the feedback control of the jumping force and take-off angle, respectively. Meanwhile, a reliable jumping mechanism and a novel supporting leg were designed to improve the jumping stability and trajectory accuracy. The standard deviation of the jumping distances was less than 1.4 cm, which is greatly improved from all previous micro jumping robots. Furthermore, we integrated the yaw control and conducted the omnidirectional jumping experiments. The results revealed that Moobot could climb different platforms from all directions precisely. © 2022, CC BY.

关键词： Feedback control

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Design of soft smart shoes for joint angle estimation in human gait 4

Design of soft smart shoes for joint angle estimation in hum...

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4th CIRP Conference on Biomanufacturing, CIRP-BioM 2019

作者： Yang, Jiantao Lin, Xianghan Yin, Yuehong State Key Laboratory of Mechanical System and Vibration Robotics Institute Shanghai Jiao Tong University Shanghai200240 China

Human gait involves activities in nervous and biomechanics of the musculoskeletal system. Thus, approaching the dynamics may be challenging. This paper aims to present the design of soft smart shoes for joint angle estimation in human gait. There are three pneumatic chambers at the heel, arch, and forefoot of the soft sole. Barometers embedded in every chambers are used to measure the ground reaction forces (GRFs). The inertial sensors are installed on the outsole of shoes to detect the foot attitudes. The soft soles are made of silicone rubber to provide good compliance and ensure the comfort of human. Gaussian process regression (GPR) is established and serves as the mathematics foundation to explore the deep layer correlation between the joint angle and GRFs and foot attitudes which are regarded as the inputs of the model. The statistic nature of the proposed model offers superior flexibility and encouraging estimation results of joint angles. One potential use of the novel designed shoes and the proposed joint estimation method is the high-level control of exoskeletons and prosthetic legs. Finally, experiments were conducted to verify the superiority of the proposed algorithms. © 2020 The Authors.

关键词： Exoskeleton (robotics)

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A Novel Non-cooperative Target Capture Tool for Defunct Satellite 17

A Novel Non-cooperative Target Capture Tool for Defunct Sate...

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17th IEEE International Conference on Mechatronics and Automation, ICMA 2020

作者： Sun, Yongjun Liu, Yiwei Jin, Minghe Liu, Rongqiang Liu, Hong Harbin Institute of Technology School of Mechatronics Engineering State Key Laboratory of Robotics and System Harbin Heilongjiang Province China

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164151

With the increase of defunct satellites, the orbit resource of the Earth is becoming more and more shortage. As one of the key technologies, the capture of non-cooperative targets has become a research hotspot. Due to its obvious characteristics, easy identification, high strength and high stiffness, the Launch Adapter Ring (LAR) has become a capture object on the defective and tumbling satellite. In this paper, a novel LAR capture tool is developed, and the LAR capture tool is designed, manufactured and tested. In order to improve the probability of grasp, the direct drive was adopted. The main research contents are as follows: overall design of the capture tool, design of electromagnetic brake, analysis of kinematics, and test the prototype. © 2020 IEEE.

关键词： Orbits

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A Path Planning Algorithm of Spray Robot based on 3D Point Cloud

A Path Planning Algorithm of Spray Robot based on 3D Point C...

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2020 International Conference on Communications, Information system and Computer Engineering, CISCE 2020

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

ISBN: (纸本)9781728197616

The automatic path planning method of spray robot has always been a challenging problem, especially for the mixed-line production of various workpieces. This paper discusses the self-acquisition technology of spray path based on the point cloud model of furniture. The coordinate relationship between the coordinate system of the spraying system and the adaptive adjustment of the pose are discussed for the point cloud pose of the furniture. The furniture surface path planning based on point cloud slices and edge spraying based on edge extraction technology were studied to obtain the ordered path point sequence and posture of the spray gun. Through the robot spraying experiment on flat furniture and complex curved furniture, the reliability of the algorithm is verified from the aspects of algorithm efficiency and spraying effect. © 2020 IEEE.

关键词： Motion planning

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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...

引用

IEEE International Conference on robotics and Biomimetics

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

ISBN: (纸本)9781665481106

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.

关键词： Sea surface Gears Trajectory tracking Simulation Helicopters Force Transportation

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Study on the Shock Resistance of Double-Layer Vibration Isolation system for Ship Power Equipment

Study on the Shock Resistance of Double-Layer Vibration Isol...

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China Instrument and Control Society (ACCIS), Academic Conference of

作者： Zhongyi Cheng Junning Cui Xinbin Zhang Yizhong Zhuang Bo Kang Yamin Zhao Center of Ultra-precision Optoelectronic Instrument Engineering Harbin Institute of Technology Harbin China Key Lab of Ultra-precision Intelligent Instrumentation Harbin Institute of Technology (Harbin Institute of Technology) Ministry of Industry and Information Technology Harbin China Laboratory for Space Environment and Physical Sciences Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (数字)9798350350326

ISBN: (纸本)9798350350333

Given the problem that the influences of different vibration isolation parameters on the dynamic characteristics of isolated equipment in the double-layer vibration isolation system of ship power equipment is still unclear, a double-layer vibration isolation model for ship power equipment is established to study the time-domain response characteristics of the isolated equipment under the action of a half-sine wave shock. The dimensionless differential equations of system motion are derived using dimensional analysis, and the numerical simulation based on the fourth-order Runge-Kutta method is used to analyze the influences of vibration isolation parameters on shock resistance performance of the system, which provides a theoretical basis for the shock resistance design of the double-layer vibration isolation system of ship power equipment and is of significant instruction to the practice.

关键词： Vibrations Resistance Damping Isolators Electric shock Numerical simulation Shock absorbers Numerical models Marine vehicles Time-domain analysis

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Teleoperation of the Tiangong-2 Space Manipulator system

Teleoperation of the Tiangong-2 Space Manipulator System

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IEEE International Conference on robotics and Biomimetics

作者： Chongyang Li Zainan Jiang Yang Liu Ziqi Liu Hegao Cai State Key Laboratory of Robotics and System School of Mechatronics Engineering Harbin Institute of Technology Harbin China

ISBN: (纸本)9781665405362

In this paper, we would present the structure of the teleoperation system of the Tiangong-2 Space Manipulator system. The system consist of on-orbit teleoperation and on-ground skill learning subsystem, and they meet the requirements of different tasks. Then, we also represented the key technology, the calibration method of the CyberGlve, of the two subsystem. And the experiments showed the methods are effective.

关键词： Conferences Biomimetics Manipulators Calibration Task analysis

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Permanent Magnet Shape Optimization Method for PMSM Air Gap Flux Density Harmonics Reduction

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CES Transactions on Electrical Machines and systems 2021年第4期5卷 284-290页

作者： Chengsi Liu Yongxiang Xu Jibin Zou Guodong Yu Liang Zhuo School of Electrical Engineering and Automation of HIT Department of Electrical Engineering Harbin Institute of Technology the State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Institute of Technology and National Engineering Research Center for Small and Special Precision Motors Guizhou Aerospace Linquan Motor Co.Ltd

This paper proposed a permanent magnet optimization method to suppress the air gap flux density harmonic of permanent magnet synchronous motor(PMSM).The method corrected the effective air gap length of the motor,calculated the magnetization length of the permanent in the case of parallel magnetization,and took the influence of the permanent magnet relative permeability into *** on these works,for a given sinusoidal air gap flux density waveform,the corresponding structural parameters can be calculated,so as to achieve the optimization of the permanent *** using this method to optimize the shape of the magnet,the fundamental wave of the air gap flux density can be retained to the greatest extent,so as to eliminate harmonics and maintain the output capacity at the same *** feasibility and accuracy of the method have been verified by finite element analysis(FEA)and prototype machine *** method is simple and time-saving,and has a satisfactory accuracy,which provides a reference method for permanent magnet optimization of PMSM.

关键词： Permanent magnet synchronous motor(PMSM) analytical method finite element analysis(FEA) magnet shape optimization.

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