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2023 International Conference on Mechatronic Engineering and Artificial Intelligence, MEAI 2023

作者： Ni, Wencheng Wang, Yaobing Ma, Ruqi Sun, Kang Pan, Bo Beijing Key Laboratory of Intelligent Space Robotic System Technology and Applications Beijing Institute of Spacecraft System Engineering Beijing China

ISBN: (纸本)9781510674608

In the process of on orbit capture, there is a large contact and impact between the manipulator and the target. The flexibility of variable stiffness joints can effectively reduce the collision force and improve the capture reliability. In this paper, a design method of variable stiffness modular manipulator joint with large stiffness variation range is proposed, the mechanism design and variable stiffness principle of variable stiffness joint are described, and the ability of stiffness variation in large range is verified through experiments. © 2024 SPIE.

关键词： Leaf springs

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Accurate manipulation of anthropomorphic robotic arm based on 3D human eye gazing with posture error compensation

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Science China(Technological Sciences) 2025年第2期68卷 178-198页

作者： Quanlin LI Xianzong WANG Jiaji MA Qianjun HUANG Qizhi JIANG Wenbin CHEN Caihua XIONG State Key Laboratory of Intelligent Manufacturing Equipment and Technology School of Mechanical Science and EngineeringHuazhong University of Science and TechnologyWuhan 430074China Institute of Medical Equipment Science and Engineering Huazhong University of Science and TechnologyWuhan 430074China

As humans and robots work closer together than ever,anthropomorphic robotic arms with intuitive human-robot interaction interfaces have drawn massive attention to improving the quality of robot-assisted *** pursuit of this,we designed a dedicated 7-degrees-of-freedom(DoF)anthropomorphic robotic arm having three compact differential joints and a head-mounted gaze tracker enabling head-pose-tracked 3D gaze ***,two key challenges were addressed to achieve accurate robot-assisted manipulation of the object indicated by the direction of human ***,a novel predictive pupil feature was proposed for 3D gaze *** from most existing features subjected to the common paraxial approximation assumption,the proposed novel predictive pupil feature considered the light refraction at two corneal surfaces with a more realistic eye model,significantly improving the 3D gaze estimation accuracy when the eyeball rotates at large ***,a novel optimization-based approach was developed to efficiently compensate for the posture errors of the designed 7-DoF anthropomorphic robotic arm for accurate *** with the existing Jacobian-based or optimization-based approaches with nominal joint values as iteration initial,the proposed approach computed the optimal iteration initial and realized faster convergence for real-time posture error *** the posture error compensation in real time and 3D gaze estimated accurately,the human can command accurate robot-assisted manipulation using his eyes *** proposed system was successfully tested on five healthy subjects.

关键词： anthropomorphic robotic arm differential joint posture error compensation 3D gaze estimation corneal refraction head-mounted gaze tracker

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QTFN:A General End-to-End Time-Frequency Network to Reveal the Time-Varying Signatures of the Time Series

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Big Data Mining and Analytics 2024年第3期7卷 905-919页

作者： Tao Chen Yang Jiao Lei Xie Hongye Su State Key Laboratory of Industrial Control Technology Zhejiang UniversityHangzhou 310027China Shenzhen Key Laboratory of Intelligent Bioinformatics and College of Computer Science and Control EngineeringShenzhen Institute of Advanced TechnologyChinese Academy of SciencesShenzhen 518055China

Nonstationary time series are ubiquitous in almost all natural and engineering *** the time-varying signatures from nonstationary time series is still a challenging problem for data *** Time-Frequency Distribution(TFD)provides a powerful tool to analyze these ***,they suffer from Cross-Term(CT)issues that impair the readability of ***,to achieve high-resolution and CT-free TFDs,an end-to-end architecture termed Quadratic TF-Net(QTFN)is proposed in this *** by classic TFD theory,the design of this deep learning architecture is heuristic,which firstly generates various basis functions through ***,more comprehensive TF features can be extracted by these basis ***,to balance the results of various basis functions adaptively,the Efficient Channel Attention(ECA)block is also embedded into ***,a new structure called Muti-scale Residual Encoder-Decoder(MRED)is also proposed to improve the learning ability of the model by highly integrating the multi-scale learning and encoder-decoder ***,although the model is only trained by synthetic signals,both synthetic and real-world signals are tested to validate the generalization capability and superiority of the proposed QTFN.

关键词： Time-Frequency Analysis(TFA) Multi-scale Residual Encoder-Decoder(MRED) quadratic Time-Frequency Distribution(TFD)

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Atomic layer deposition in advanced display technologies:from photoluminescence to encapsulation

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International Journal of Extreme Manufacturing 2024年第2期6卷 65-82页

作者： Rong Chen Kun Cao Yanwei Wen Fan Yang Jian Wang Xiao Liu Bin Shan State Key Laboratory of Intelligent Manufacturing Equipment and Technology School of Mechanical Science and EngineeringHuazhong University of Science and TechnologyWuhan 430074HubeiPeople’s Republic of China State Key Laboratory of Materials Processing and Die&Mould Technology School of Materials Science and EngineeringHuazhong University of Science and TechnologyWuhan 430074HubeiPeople’s Republic of China

Driven by the growing demand for next-generation displays,the development of advanced luminescent materials with exceptional photoelectric properties is rapidly accelerating,with such materials including quantum dots and phosphors,***,the primary challenge preventing the practical application of these luminescent materials lies in meeting the required durability *** layer deposition(ALD)has,therefore,been employed to stabilize luminescent materials,and as a result,flexible display devices have been fabricated through material modification,surface and interface engineering,encapsulation,cross-scale manufacturing,and *** addition,the appropriate equipment has been developed for both spatial ALD and fluidized ALD to satisfy the low-cost,high-efficiency,and high-reliability manufacturing *** strategic approach establishes the groundwork for the development of ultra-stable luminescent materials,highly efficient light-emitting diodes(LEDs),and thin-film ***,this significantly enhances their potential applicability in LED illumination and backlighted displays,marking a notable advancement in the display industry.

关键词： atomic layer deposition display luminescent encapsulation

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Deep reinforcement learning for optimal denial-of-service attacks scheduling

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Science China(Information Sciences) 2022年第6期65卷 98-106页

作者： Fangyuan HOU Jian SUN Qiuling YANG Zhonghua PANG State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Key Laboratory of Fieldbus Technology and Automation of Beijing North China University of Technology

We consider an optimal denial-of-service(DoS) attack scheduling problem of N independent linear time-invariant processes, where sensors have limited computational capability. Sensors transmit measurements to the remote estimator via a communication channel that is exposed to DoS attackers. However,due to limited energy, an attacker can only attack a subset of sensors at each time step. To maximally degrade the estimation performance, a DoS attacker needs to determine which sensors to attack at each time step. In this context, a deep reinforcement learning(DRL) algorithm, which combines Q-learning with a deep neural network, is introduced to solve the Markov decision process(MDP). The DoS attack scheduling optimization problem is formulated as an MDP that is solved by the DRL algorithm. A numerical example is provided to illustrate the efficiency of the optimal DoS attack scheduling scheme using the DRL algorithm.

关键词： optimal denial-of-service attack scheduling optimization limited energy deep reinforcement learning

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Human Reliability Analysis of Professional Theater Based on CREAM

Human Reliability Analysis of Professional Theater Based on ...

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2024 International Conference on Culture-Oriented Science and technology, CoST 2024

作者： Wang, Huiqin Wang, Huiqi Ren, Hui Ministry of Culture and Tourism Key Laboratory of Acoustic Visual Technology and Intelligent Control System Beijing China

ISBN: (纸本)9798350380347

In the context of human/equipment interaction processes, human error has become a significant factor influencing performance risk in professional theaters. To address this issue, the Cognitive Reliability and Error Analysis Method (CREAM) is integrated with fuzzy inference to assess the human reliability of theater staff and predict the probability of human error (HEP). Additionally, Grey Relational Analysis (GRA) is introduced to determine the weights of Common Performance Conditions (CPCs) within CREAM. Through this methodological framework, human reliability analysis of theater operators is conducted, enabling the prediction of human error rates across various scenarios. Subsequently, corresponding measures are provided, culminating in an effective solution to enhance performance safety within theatrical environments. © 2024 IEEE.

关键词： Reliability analysis

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Inflatable Metamorphic Origami

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Research 2023年第2期6卷 53-63页

作者： Sen Wang Peng Yan Hailin Huang Ning Zhang Bing Li School of Mechanical Engineering and Automation Harbin Institute of TechnologyShenzhen 518052P.R.China Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Harbin Institute of TechnologyShenzhen 518052P.R.China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001P.R.China

This study created a new type of inflatable metamorphic origami that has the advantage of being a highly simplified deployable system capable of realizing multiple sequential motion patterns with a monolithic actuation.

关键词： simplified lata system

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Multiscale Topology Optimization Design and Additive Manufacturing of Thermal Expander Metadevices

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Additive Manufacturing Frontiers 2024年第3期3卷 3-10页

作者： Wei Sha Mi Xiao Yihui Wang Mingzhe Huang Liang Gao State Key Laboratory of Intelligent Manufacturing Equipment and Technology Huazhong University of Science and TechnologyWuhan 430074China

Thermal expander metadevices can yield a large uniform temperature field powered by a linear heat *** design of thermal expander metadevices can be regarded as a combination of achieved thermal cloaks and their background ***,these thermal-cloak-inspired expander metadevices have an inherent flaw,i.e.,their thermal functionality will be lost when the background material is changed,thus limiting their practical *** solve this problem,the multiscale topology optimization(MTO)method is employed to design thermal expander metadevices that can maintain their expander functionality under different background *** MTO,transformation thermotic technology is used to determine the anisotropic thermal conductiv-ities inside a thermal expander metadevice and topology optimization is performed to generate the topological configuration of each microstructure with the target effective thermal ***,the thermal functionalities of thermal double and triple expander metadevices with different background materials are nu-merically verified via ***,the thermal double expander metadevice is fabricated via additive manufacturing and experimentally tested for its thermal *** findings of this study address the challenge of designing thermal expander metadevices with background material-independent functionality.

关键词： Thermal expander metadevice Background material Multiscale topology optimization Regionalization transformation

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Leader-follower:Human-centered intention-guided controller for novel SuperLimb with application to load-carrying scenarios

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Science China(Technological Sciences) 2025年第1期68卷 321-334页

作者： Qinghua ZHANG Xianglong LI Hongwei JING Kerui SUN Yuancheng LI Sikai ZHAO Lele LI Haotian JU Ziqi WANG Rui WU Tianjiao ZHENG Jie ZHAO Yanhe ZHU The State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China The Learning Algorithms and Systems Laboratory School of EngineeringÉcole Polytechnique Fédérale de LausanneLausanne CH 101510587Switzerland

Supernumerary robotic arms(SuperLimb)are a new type of wearable robot that works closely with humans as a third hand to augment human operation *** conveyance of wearers'intentions,allocation of roles,and humancentered interaction considerations are the key points in the process of human-SuperLimb *** paper proposes a human-centered intention-guided leader-follower controller that relies on the dynamic modeling of SuperLimb with application to load-carrying *** proposed leader-follower controller takes the human as the leader and the SuperLimb as the follower,achieving effective information communication,autonomous coordination,and good force compliance between SuperLimb,humans,and the environment under human safety ***,the human-SuperLimb dynamic system is modeled to achieve force interaction with the environment and ***,to achieve the precise intention extraction of humans,pose data from five visual odometry sensors are fused to capture the human state,the generalized position,the velocity of hands,and the surface electromyography signals from two myoelectric bracelets sensors are processed to recognize the natural hand gestures during load-carrying scenarios by a designed Swin transformer ***,based on the real-time distance detection between human and mechanical limbs,the security assurance and force-compliant interaction of the human-SuperLimb system are ***,the human hand muscle intention recognition,human-robot safety strategy verification,and comparative load-carrying experiments with and without the proposed method are conducted on the SuperLimb *** showed that the task parameters are well estimated to produce more reasonable planning trajectories,and SuperLimb could well understand the wearer's intentions to switch different SuperLimb *** proposed sensor-based human-robot communication framework motivates future studies of other collaboration scenes fo

关键词： SuperLimb leader-follower human intention estimation human-robot safety human-robot communication

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Layer-controlled 2D Sn_(4)P_(3) via space-confined topochemical transformation for enhanced lithium cycling performance

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Nano Research 2024年第11期17卷 9697-9703页

作者： Jianan Gu Yongzheng Zhang Bingbing Fan Yanlong Lv Yanhong Wang Ruohan Yu Meicheng Li State Key Laboratory of Alternate Electrical Power System with Renewable Energy Sources School of New Energy North China Electric Power University Beijing 100096 China State Key Laboratory of Chemical Engineering East China University of Science and Technology Shanghai 200237 China Wuhan University of Technology Sanya 572000 China

Topochemical transformation has emerged as a promising method for fabricating two-dimensional (2D) materials with precise control over their composition and morphology. However, the large-scale synthesis of ultrathin 2D materials with controllable thickness remains a tremendous challenge. Herein, we adopt an efficient topochemical synthesis strategy, employing a confined reaction space to fabricate ultrathin 2D Sn_(4)P_(3) nanosheets in large-scale. By carefully adjusting the rolling number during the processing of Sn/Al foils, we have successfully fabricated Sn_(4)P_(3) nanosheets with varied layer thicknesses, achieving a remarkable minimum thickness of two layers (~ 2.2 nm). Remarkably, the bilayer Sn_(4)P_(3) nanosheets display an exceptional initial capacity of 1088 mAh·g^(−1), nearing the theoretical value of 1230 mAh·g^(−1). Furthermore, we reveal their high-rate property as well as outstanding cyclic stability, maintaining capacity without fading more than 3000 cycles. By precisely controlling the layer thickness and ensuring nanoscale uniformity, we enhance the lithium cycling performance of Sn_(4)P_(3), marking a significant advancement in developing high-performance energy storage systems.

关键词： topochemical transformation 2D materials confined reaction layer-controlled Sn_(4)P_(3)nanosheets lithium storage

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