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Review on Development of Automatic Docking system for Weapons and Cabins

Recent Patents on Engineering 2024年第2期18卷 63-87页

作者： Tang, Dedong Cheng, Chao Quan, Qiquan Deng, Zongquan Liu, Hao Key Laboratory of Advanced Manufacturing and Intelligent Technology Ministry of Education Harbin University of Science and Technology Harbin150080 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

Background: In the manufacturing setup process of weapons, aviation, and aerospace, docking assembly is a key component in determining manufacturing efficiency and quality. The traditional docking method uses manual alignment, which depends on the experience and operation level of the workers, so the docking accuracy is low and the installation speed is slow. In response to this problem, how to achieve automatic docking of weapons and cabins has become a key technology. Objective: The objective of this study is to provide an overview of recent key technologies for automatic docking systems and introduce their respective classification, characteristics, and development. Methods: This paper reviews the patents and products related to the key technologies of automatic docking systems. The structural features, methodological principles, control characteristics and applications of the patents and products are summarized. Results: The key technologies related to different aspects of an automatic docking system are compared and analyzed, and the structural features, and methodological principles are also summarized. The problems of the current key technologies are analyzed, and the current status of research and future directions of the automatic docking system are discussed. Conclusion: According to the key technologies related to different aspects of the automatic docking system, they can be divided into motion mechanism, pose detection technology, and computer control technology. The accuracy, compliance, and flexibility of the automatic docking system can be improved by choosing the proper key technology. Further improvements are needed in terms of fast performance, robustness and authenticity, and more patents on key technologies of automatic docking systems should be invented. © 2024 Bentham Science Publishers.

关键词： Patents and inventions

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Design and In Situ Additive Manufacturing of Multifunctional Structures

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Engineering 2023年第9期28卷 58-68页

作者： Yan Zhang Guangyu Zhang Jing Qiao Longqiu Li State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China School of Materials Science and Engineering Harbin Institute of TechnologyHarbin 150001China

Multifunctional structures(MFSs)integrate diverse functions to achieve superior ***,conventional design and manufacturing methods—which generally lack quality control and largely depend on complex equipment with multiple stations to achieve the integration of distinct materials and devices—are unable to satisfy the requirements of MFS applications in emerging industries such as aerospace *** by the concept of design for manufacturing,we adopt a layer regulation method with an established optimization model to design typical MFSs with load-bearing,electric,heat-conduction,and radiation-shielding functions.A high-temperature in situ additive manufacturing(AM)technology is developed to print various metallic wires or carbon fiber-reinforced high-meltingpoint polyetheretherketone(PEEK)*** is found that the MFS,despite its low mass,exceeds the stiffness of the PEEK substrate by 21.5%.The embedded electrics remain functional after the elastic deformation *** with those of the PEEK substrate,the equivalent thermal conductivity of the MFS beneath the central heat source area is enhanced by 568.0%,and the radiation shielding is improved by 27.9%.Moreover,a satellite prototype with diverse MFSs is rapidly constructed as an *** work provides a systematic approach for high-performance design and advanced manufacturing,which exhibits considerable prospects for both the function expansion and performance enhancement of industrial equipment.

关键词： Additive manufacturing Multifunctional structure Optimal design Satellite Polyetheretherketone

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Design of a linear-rotary ultrasonic motor for optical focusing inspired by the bionic motion principles of the earthworms

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International Journal of Smart and Nano Materials 2022年第2期13卷 346-365页

作者： Yingzhi Wang Jie Deng Shijing Zhang He Li Weishan Chen Yingxiang Liu State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbinHeilongjiang ProvinceChina

Multi-motor configuration of multi-DOF(degree of freedom)optical system is a major source of redundant structure,putting a limitation on the simple and miniaturized ***,a novel two-DOF ultrasonic motor(USM)is proposed to provide a feasible method of application in the lens autofocus of the optical *** proposed USM operates by one longitudinal mode and two orthogonal bending modes,which is inspired by the bionic motion principle of the *** frequency degeneration among the three working modes is per-formed,and the working principle of the USM is verified via the FEM simulation.A prototype of the two-DOF USM is fabricated,and its mechanical output characteristics are *** experimental results indicate that the prototype achieves the maximum rotary and linear speeds of 3319.6 rpm and 57.6 mm/s,***,we demonstrate the result of a simple focusing experiment using the prototype and obtain a series of clear pictures,which verifies the feasibility of application in the optical focusing system.

关键词： Ultrasonic motor bondedtype two-DOF motions optical focusing bionic motion

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The deleterious effects and potential therapeutic strategy of fluorene-9-bisphenol on circadian activity and liver diseases in zebrafish and mice

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Journal of Environmental Sciences 2024年第11期145卷 13-27页

作者： Shuhui Zhang Xiang Zuo Jialu Luan Huijuan Bai Zhenhua Fu Mingzhu Sun Xin Zhao Xizeng Feng College of Life Science State Key Laboratory of Medicinal Chemical BiologyThe Key Laboratory of Bioactive MaterialsMinistry of EducationNankai UniversityTianjin 300071China Institute of Robotics&Automatic Information System College of Artificial IntelligenceNankai UniversityTianjin 300071China

Increasing evidence indicates that disturbance of the clock genes,which leads to systemic endocrine perturbation,plays a crucial role in the pathogenesis of metabolic and liver ***-9-bisphenol(BHPF)is utilized in the manufacturing of plastic materials but its biological effects on liver homeostasis remain *** impacts and involved mechanisms of BHPF on the liver diseases,metabolism,and circadian clock were comprehensively studied by zebrafish andmouse *** therapeutic effect of melatonin(MT)was also *** and mousemodels with either acute exposure(0.5 and 1μmol/L,1-4 days post-fertilization)or chronic oral exposure(0.5 and 50 mg/(kg·2 days),30 days)were established with various BHPF ***,we identified a crucial role for estrogenic regulation in liver development and circadian locomotor rhythms damaged by BHPF in a zebrafish *** mice showed chaos in circadian activity through the imbalance of circadian clock component Brain and Muscle Aryl hydrocarbon receptor nuclear translocator-like 1 in the liver and *** liver sexual dimorphic alteration alongwith reduced growth hormone and estrogens played a critical role in damaged glucose metabolism,hepatic inflammation,and fibrosis induced by ***,sleep improvement by exogenous MT alleviated BHPF-related glucose metabolism and liver injury in *** proposed the pathogenesis of metabolic and liver disease resulting from BHPF and promising targeted therapy for livermetabolism disorders associated with endocrine perturbation *** results might play a warning role in the administration of endocrine-disrupting chemicals in everyday life and various industry applications.

关键词： Fluorene-9-bisphenol(BHPF) Melatonin Circadian activity Endocrine perturbation Liver diseases Female behavior Hepatic sexual dimorphism

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Investigation on laser annealing mechanism of fused silica optics polished by CO2 lasers based on fictive temperature distribution 8

Investigation on laser annealing mechanism of fused silica o...

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Advanced Laser Processing and Manufacturing VIII 2024

作者： Zhang, Tianhao Zhao, Linjie Chen, Mingjun Cheng, Jian Yin, Zhaoyang Li, Tianyuan State Key Laboratory of Robotics and System Harbin Institute of Technology Heilongjiang Harbin150001 China

ISBN: (数字)9781510681972

ISBN: (纸本)9781510681965

CO2 laser polishing process can significantly improve the surface quality and the laser-induced damage threshold (LIDT) of fused silica optics. However, due to the thermal history of the laser polishing process, the increment of the fictive temperature inside the modification layer would cause densification and residual stress, which critically affect the surface accuracy and the service life of fused silica optics. In this work, a 3D multi-physical coupling model including temperature, fluid flow and fictive temperature was established. Based on the fictive temperature distribution of the fused silica polished by CO2 lasers, the mechanism of laser annealing on the modified layer was revealed. The annealing results of fused silica were defined as three states including incomplete annealing, perfect annealing and over annealing. Based on the simulation results, the fictive temperature inside the modified layer was completely reduced with no increment of modified layer depth under the perfect annealing state. Additionally, the residual stress and the fictive temperature after the laser annealing were characterized by the Raman spectrum. The fictive temperature was reduced by 16.8 % and the residual stress was effectively reduced. This work can provide theoretical and experimental guidance for the control of surface modification and residual stress of fused silica optics polished by CO2 lasers. © 2024 SPIE.

关键词： Fused silica

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Design of a Novel Macro-Micro Integrated Brain Surgery Robot Based on Modular Parallel Mechanisms

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Chinese Journal of Mechanical Engineering 2024年第5期37卷 349-364页

作者： Hao Zheng Chenbo Liang Feng Gao Chenkun Qi Bingze He Renqiang Liu Longhai Chen State Key Laboratory of Mechanical System and Vibration School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai 200030China Institute of Medical Robotics Shanghai Jiao Tong UniversityShanghai 200030China

The advancement and development of medical surgical robots have provided new technological support for brain surgery and neurosurgical procedures,improving the reliability of highly complex and precise *** turn,this urges the design and development of novel surgical robots to possess higher precision,stability,and enhanced motion *** response to this practical demand,this paper introduces a macro-micro integrated medical brain surgery robot system based on the concept of modular PMs(parallel mechanisms),which have a total of 13 active DOFs(degrees of freedom).This system divides the motion process of brain surgery into a large-scale macro-motion space and a small-scale high-precision motion space for design and planning *** introduction of the design concept that combines multiple modular parallel sub-mechanisms has brought a significant level of decoupling characteristics to the mechanism itself.A comprehensive introduction and analysis of the surgical robot are provided,covering aspects such as design,kinematics,motion planning,and performance *** address the pose allocation and coordination of motion between the macro platform and the micro platform,a pose allocation algorithm based on the decoupling and non-decoupling characteristics in various dimensions of the macro-micro platform is *** designed measurement experiments have demonstrated that the repeatability in positioning accuracy of the macro and micro platform reaches the level of micron and submicron *** experiments of motion control and simulated brain electrode implantation validate the excellent performance and stability of the entire surgical robot *** research contributes innovative insights to the development of medical surgical robot systems,particularly in the domain of mechanism design.

关键词： Medical surgical robot Macro-micro integrated system Modular parallel mechanism High-precision robot

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A Real-Time Planning and Control Framework for Robust and Dynamic Quadrupedal Locomotion

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Journal of Bionic Engineering 2023年第4期20卷 1449-1466页

作者： Jun Li Haibo Gao Yuhui Wan Haitao Yu Chengxu Zhou State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150001China School of Mechanical Engineering University of LeedsLeedsLS29JTUK

Legged locomotion poses significant challenges due to its nonlinear,underactuated and hybrid dynamic *** challenges are exacerbated by the high-speed motion and presence of aerial phases in dynamic legged locomotion,which highlights the requirement for online planning based on current states to cope with uncertainty and *** article proposes a real-time planning and control framework integrating motion planning and whole-body *** the framework,the designed motion planner allows a wider body rotation range and fast reactive behaviors based on the 3-D single rigid body *** addition,the combination of a Bézier curve based trajectory interpolator and a heuristic-based foothold planner helps generate continuous and smooth foot *** developed whole-body controller uses hierarchical quadratic optimization coupled with the full system dynamics,which ensures tasks are prioritized based on importance and joint commands are physically *** performance of the framework is successfully validated in experiments with a torque-controlled quadrupedal robot for generating dynamic motions.

关键词： Bionic robot Legged locomotion Motion planning Whole-body control

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Characterizing permeability-porosity relationships of porous rocks using a stress sensitivity model in consideration of elastic-structural deformation and tortuosity sensitivity

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Journal of Rock Mechanics and Geotechnical Engineering 2024年第9期16卷 3437-3451页

作者： Ronghe Xu Liqin Wang Xiaoli Zhao Yuze Mao MIIT Key Laboratory of Aerospace Bearing Technology and Equipment Harbin Institute of TechnologyHarbin150001China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150001China Shanghai Aerospace Control Technology Institute Shanghai201100China

Clarifying the relationship between stress sensitivities of permeability and porosity is of great significance in guiding underground resource *** and more studies focus on how to construct stress sensitivity models to describe the relationship and obtain a comprehensive stress sensitivity of porous ***,the limitations of elastic deformation calculation and incompleteness of considered tortuosity sensitivity lead to the fact that the existing stress sensitivity models are still unsatisfactory in terms of accuracy and ***,a more accurate and generic stress sensitivity model considering elastic-structural deformation of capillary cross-section and tortuosity sensitivity is proposed in this *** elastic deformation is derived from the fractal scaling model and Hooke's *** the effects of elastic-structural deformation on tortuosity sensitivity,an empirical formula is proposed,and the conditions for its applicability are *** predictive performance of the proposed model for the permeability-porosity relationships is validated in several sets of publicly available experimental *** experimental data are from different rocks under different pressure *** mean and standard deviation of relative errors of predicted stress sensitivity with respect to experimental data are 2.63%and 1.91%.Compared with other models,the proposed model has higher accuracy and better predictive generalization *** is also found that the porosity sensitivity exponent a,which can describe permeability-porosity relationships,is 2 when only elastic deformation is considered.a decreases from 2 when structural deformation is also *** addition,a may be greater than 3 due to the increase in tortuosity sensitivity when tortuosity sensitivity is considered even if the rock is not fractured.

关键词： Stress sensitivity model Permeability-porosity relationships Elastic-structural deformation Tortuosity stress sensitivity

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Data-Driven Robust Model Predictive Control for Pose Tracking of Redundant Manipulators

Data-Driven Robust Model Predictive Control for Pose Trackin...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Chen, Zhaoyang Ni, Fenglei Min, Kang Liu, Hong Harbin Institute of Technology State Key Laboratory of Robotics and System Heilongjiang Province Harbin150001 China

ISBN: (纸本)9781665481090

In this paper, we present a data-driven robust model predictive control (DD-RMPC) method for pose tracking of redundant manipulators. Firstly, a MPC-based trajectory tracking framework is established, in which the joint limits at three different levels (angle, velocity, and acceleration) are satisfied. Secondly, to deal with the system model's uncertainty, accelerate the error convergence speed, and reduce tracking errors, a novel data-driven RMPC is proposed, in which the system's input-output data are used to compensate for the conservatism of the system. Finally, the simulation results on a seven degrees of freedoms (DOFs) redundant manipulator show that DD-RMPC provides a faster error convergence rate and achieves smaller pose tracking errors than that of the comparison methods. © 2024 IEEE.

关键词： Predictive control systems

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A Kinematic Decoupling Whole-body Control Method for a Mobile Humanoid Upper Body Robot

A Kinematic Decoupling Whole-body Control Method for a Mobil...

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2023 International Conference on Frontiers of robotics and Software Engineering, FRSE 2023

作者： Ju, Fengjia Jin, Hongzhe Zhao, Jie Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9798350301113

The mobile humanoid upper body robot combines the humanoid upper body robot with the mobile platform. It has high redundancy and can complete complex tasks. However, coupling joints, including the waist joints and the mobile platform, exist in the configuration of the robot. During the task execution, the motion of the end-effectors on the dual arms are not independent, but interfere with each other through the motion of the waist and the mobile platform. Therefore, we need to decouple the waist and mobile platform from the dual arms. Based on the pseudo-inverse method of the redundant manipulators, we consider the motion of the coupling joints as a disturbance term and propose a kinematic decoupling whole-body control method. The method realizes the decoupling and cooperation of dual arms, avoids the interference of the inverse kinematics model of the dual arms, and fully releases the application potential of the high redundancy. The decoupling method allows the waist joints and the mobile platform to move randomly without affecting the task operation at the end-effectors, and to further plan their movements separately in order to smooth the whole body motion. The simulations on the mobile humanoid upper body robot verifies our method. © 2023 IEEE.

关键词： End effectors

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