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Mechanical design,modeling,and identification for a novel antagonistic variable stiffness dexterous finger

Frontiers of Mechanical Engineering 2022年第3期17卷 59-74页

作者： Handong HU Yiwei LIU Zongwu XIE Jianfeng YAO Hong LIU State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

This study traces the development of dexterous hand research and proposes a novel antagonistic variable stiffness dexterous finger mechanism to improve the safety of dexterous hand in unpredictable environments,such as unstructured or man-made operational errors through comprehensive consideration of cost,accuracy,manufacturing,and *** on the concept of mechanical passive compliance,which is widely implemented in robots for interactions,a finger is dedicated to improving mechanical *** finger mechanism not only achieves passive compliance against physical impacts,but also implements the variable stiffness actuator principle in a compact finger without adding supererogatory *** achieves finger stiffness adjustability according to the biologically inspired stiffness variation principle of discarding some mobilities to adjust *** mechanical design of the finger and its stiffness adjusting methods are *** stiffness characteristics of the finger joint and the actuation unit are *** results of the finger joint stiffness identification and finger impact tests under different finger stiffness presets are provided to verify the validity of the *** have been experimentally proven to be robust against physical ***,the experimental part verifies that fingers have good power,grasping,and manipulation performance.

关键词： multifingered hand mechanism design robot safety variable stiffness actuator

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Ultrasound-guided prostate percutaneous intervention robot system and calibration by informative particle swarm optimization

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Frontiers of Mechanical Engineering 2022年第1期17卷 18-33页

作者： Jiawen YAN Bo PAN Yili FU State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

Applying a robot system in ultrasound-guided percutaneous intervention is an effective approach for prostate cancer diagnosis and *** limited space for robot manipulation restricts structure volume and *** this paper,an 8-degree-of-freedom robot system is proposed for ultrasound probe manipulation,needle positioning,and needle insertion.A novel parallel structure is employed in the robot system for space saving,structural rigidity,and collision *** particle swarm optimization method based on informative value is proposed for kinematic parameter identification to calibrate the parallel structure *** method identifies parameters in the modified kinematic model stepwise according to parameter *** experiments prove that the robot system can realize motions needed in *** applying the calibration method,a reasonable,reliable forward kinematic model is built,and the average errors can be limited to 0.963 and 1.846 mm for insertion point and target point,respectively.

关键词： ultrasound image guidance prostate percutaneous intervention parallel robot kinematics identification particle swarm optimization informative value

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Influence of Incomplete Soil Plugs on Bearing Capacities of Bucket Foundations in Clay

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China Ocean Engineering 2024年第1期38卷 144-155页

作者： LI Hui-shan LIU Run YANG Xu LIAN Ji-jian State Key Laboratory of Hydraulic Engineering Intelligent Construction and Operation Tianjin UniversityTianjin 300072China School of Civil Engineering Tianjin UniversityTianjin 300072China Institute of Marine Energy and Intelligent Construction Tianjin University of TechnologyTianjin 300384China

Due to the uneven seabed and heaving of soil during pumping,incomplete soil plugs may occur during the installation of bucket foundations,and the impacts on the bearing capacities of bucket foundations need to be *** this paper,the contact ratio(the ratio of the top diameter of the soil plug to the diameter of the bucket)and the soil plug ratio(the ratio of the soil heave height to the skirt height)are defined to describe the shape and size of the incomplete soil ***,finite element models are established to investigate the bearing capacities of bucket foundations with incomplete soil plugs and the influences of the contact ratios,and the soil plug ratios on the bearing capacities are *** results show that the vertical bearing capacity of bucket foundations in homogeneous soil continuously improves with the increase of the contact ***,in normally consolidated soil,the vertical bearing capacity barely changes when the contact ratio is smaller than 0.75,while the bearing capacity suddenly increases when the contact ratio increases to 1 due to the change of failure *** contact ratio hardly affects the horizontal bearing capacity of bucket ***,the moment bearing capacity improves with the increase of the contact ratio for small aspect ratios,but hardly varies with increasing contact ratio for aspect ratios larger than ***,the reduction coefficient method is proposed based on this analysis to calculate the bearing capacities of bucket foundations considering the influence of incomplete soil *** comparison results show that the proposed reduction coefficient method can be used to evaluate the influences of incomplete soil plug on the bearing capacities of bucket foundations.

关键词： bucket foundation incomplete soil plug uniaxial bearing capacity contact ratio soil plug ratio

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Autonomous relative optical navigation based on unified modeling of external systematic errors

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Chinese Journal of Aeronautics 2024年第3期37卷 282-289页

作者： Dayi WANG Bowen SUN Maodeng LI Jiaxing LI Haiyin ZHOU Beijing Institute of Spacecraft System Engineering Beijing 100191China College of Sciences National University of Defense TechnologyChangsha 410073China National Key Laboratory of Space Intelligent Control Beijing Institute of Control EngineeringBeijing 100191China

To solve the problem that external systematic errors of the optical camera cannot be fully estimated due to limited computing resources,a unified dimensionality reduction representation method for the external systematic errors of the optical camera is proposed,and autonomous relative optical navigation is *** camera translational and misalignment errors are converted into a three-dimensional rotation error,whose differential model can be established through specific attitude control and appropriate ***,the rotation error and the relative motion state are jointly estimated in an augmented Kalman filter *** with the traditional method that estimates the camera translational and misalignment errors,the proposed method reduces the computational complexity in that the estimated state dimension is ***,as demonstrated by numerical simulation,the estimation accuracy is improved significantly.

关键词： Unified model systematic errors Optical navigation Observability analysis Calibration

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YOLOv8-Based Small Object Detection Method for Warp Yarn Defects

YOLOv8-Based Small Object Detection Method for Warp Yarn Def...

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2024 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2024

作者： Zhao, Zitong Gong, Zeyu Tao, Bo Huazhong University of Science and Technology State Key Laboratory of Intelligent Manufacturing Equipment and Technology Wuhan China

ISBN: (纸本)9798350372601

This paper presents a method of small object detection and applies it to warp yarn defect detection in warp knitting. Warp yarn defect is very challenging for existing small object detection methods. In the warping process, due to the fast speed and small size of warp yarns, the method requires high accuracy and real-time performance. In response to these challenges, we have made several changes to the current one-stage detection SOTA network - YOLOv8. An FPN attention module is designed to improve the effectiveness of spatial attention to small objects. A weighted pyramid is used to fuse feature maps at different scales effectively. The loss function is replaced with Inner-WIoU, which reduces geometric metric loss and focuses on general-quality samples to improve detection performance. The proposed method achieves a mAP of 99.4% for warp yarn defects. On the general dataset DIOR, the mAP reaches 88.5%. Meanwhile, the calculation amount of the proposed method is only 1/4 of YOLOv8m. However, in the DIOR dataset and the mixed dataset, the proposed method exceeds YOLOv8m in small objects. The proposed method effectively reduces missed detections and false detections in warp yarn defect detection tasks. © 2024 IEEE.

关键词： Wool

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Spatial confinement of free-standing graphene sponge enables excellent stability of conversion-type Fe_(2)O_(3)anode for sodium storage

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Chinese Chemical Letters 2025年第3期36卷 544-549页

作者： Jun Dong Senyuan Tan Sunbin Yang Yalong Jiang Ruxing Wang Jian Ao Zilun Chen Chaohai Zhang Qinyou An Xiaoxing Zhang Hubei Key Laboratory for High-efficiency Utilization of Solar Energy and Operation Control of Energy Storage System Hubei University of TechnologyWuhan 430068China State Key Laboratory of New Textile Materials and Advanced Processing Technologies Wuhan Textile UniversityWuhan 430200China State Key Laboratory of Advanced Technology for Materials Synthesis and Processing Wuhan University of TechnologyWuhan 430070China Nanjing University of Aeronautics and Astronautics Nanjing 210016China

Conversion-type anode materials are highly desirable for Na-ion batteries(NIBs)due to their high theoretical ***,the active materials undergo severe expansion and pulverization during the sodiation,resulting in inferior cycling ***,a self-supporting three-dimensional(3D)graphene sponge decorated with Fe_(2)O_(3)nanocubes(rGO@Fe_(2)O_(3))is ***,the 3D graphene sponge with resilience and high porosity benefits to accommodate the volume expansion of the Fe_(2)O_(3)nanocubes and facilitates the rapid electrons/ions transport,enabling spatial confinement to achieve outstanding ***,the free-standing rGO@Fe_(2)O_(3)can be directly used as an electrode without additional binders and conductive additives,which helps to obtain a higher energy *** on the total mass of the rGO@Fe_(2)O_(3)material,the rGO@Fe_(2)O_(3)anode presents a specific capacity of 859 mAh/g at 0.1 A/*** also delivers an impressive cycling performance(327 mAh/g after 2000 cycles at 1 A/g)and a superior rate capacity(162mAh/g at 20 A/g).The coin-type Na_(3)V_(2)(PO_(4))_(3)@C//rGO@Fe_(2)O_(3)NIB exhibits an energy density of 265.3Wh/*** unique 3D ionic/electronic conductive network may provide new strategies to design advanced conversion-type anode materials for high-performance NIBs.

关键词： Conversion-type anode Spatial confinement Fe_(2)O_(3) Graphene network Self-supporting Sodium-ion batteries

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Bioinformatic Resources for Exploring Human-virus Protein-protein Interactions Based on Binding Modes

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Genomics, Proteomics & Bioinformatics 2024年第5期22卷 45-59页

作者： Huimin Chen Jiaxin Liu Gege Tang Gefei Hao Guangfu Yang State Key Laboratory of Green Pesticide International Joint Research Center for Intelligent Biosensor Technology and HealthCentral China Normal UniversityWuhan 430079China State Key Laboratory of Green Pesticide Key Laboratory of Green Pesticide and Agricultural BioengineeringMinistry of EducationCenter for Research and Development of Fine ChemicalsGuizhou UniversityGuiyang 550025China

Historically,there have been many outbreaks of viral diseases that have continued to claim millions of *** on human-virus protein-protein interactions(PPIs)is vital to understanding the principles of human-virus relationships,providing an essential foundation for developing virus control strategies to combat *** rapidly accumulating data on human-virus PPIs offer unprecedented opportunities for bioinformatics research around human-virus ***,available detailed analyses and summaries to help use these resources systematically and efficiently are ***,we comprehensively review the bioinformatic resources used in human-virus PPI research,and discuss and compare their functions,performance,and *** review aims to provide researchers with a bioinformatic toolbox that will hopefully better facilitate the exploration of human-virus PPIs based on binding modes.

关键词： Artificial intelligence Bioinformatic resource Protein-protein docking Protein-protein interaction Viral pandemic

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Bi-Directional and Triangular Circulation Fusion Neural Networks for Small Object Detection

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IEEE Transactions on Circuits and systems for Video technology 2024年第6期35卷 5140-5152页

作者： Li, Fangyu Duan, Junzhu Zhang, Qiyu Shan, Caifeng Han, Honggui the School of Information Science and Technology Beijing Key Laboratory of Computational Intelligence and Intelligent System Engineering Research Center of Digital Community Ministry of Education Beijing Artificial Intelligence Institute Beijing University of Technology Beijing100124 China the State Key Laboratory for Novel Software Technology Nanjing University Nanjing210023 China the School of Intelligence Science and Technology Nanjing University Suzhou215163 China

Deep learning-driven object detection models are capable of accurately identifying and localizing objects. However, small objects contain limited information relative to global features, resulting in the fact that detection models often do not learn small object features adequately. To enhance the precision in detecting small objects, we propose a bi-directional and triangular circulation fusion neural network (BTFN). First, to selectively strengthen the position features of small objects, we propose a feature circulation extraction module composed of a bi-directional triangular densely nested convolutional network (BTF), thus achieving repetitive multi-layer feature fusion. Second, to fill up the semantic gaps between different scales of features, we design a mixed dual attention module (MDA) in the bi-directional triangular densely nested network. Third, to mitigate the lost information in the neural networks with deep layers as well as improve the inference time, we design a re-parameterization bi-directional composite feature fusion module (Rep-BFM) that fuses the features of multiple scales. The proposed model is evaluated extensively on the MS COCO, Tsinghua-Tencent 100k, and Haier dismantled parts of used home appliances datasets. The experiment results show that the proposed model improves the AP on MS COCO by 4%, especially the APS of small objects is improved by 7.7% compared with SOTA models. © 2024 Institute of Electrical and Electronics Engineers Inc.. All rights reserved.

关键词： Domestic appliances

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Channel Attention Network for Feature Fusion of Ultrasonic and IMU Signals in Cross-Subject Gait Recognition

Channel Attention Network for Feature Fusion of Ultrasonic a...

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2024 IEEE International Conference on systems, Man, and Cybernetics, SMC 2024

作者： Huang, Xujia Zhou, Zixiang Xu, Xinglong Wang, Zhiyong Harbin Institute of Technology State Key Laboratory of Robotics and System Shenzhen Shenzhen China

ISBN: (纸本)9781665410205

In traditional human-machine interface research, a single sensing mode is often adopted, focusing on individual human motion classification experiments. However, the performance often declines when applied across individuals. Ultrasonic and inertial sensing, as mainstream technologies in human-machine interfaces, can respectively detect the muscle states and limb information of the human body, offering potential complementary benefits. The fusion of ultrasonic(US) and Inertial Measurement Unit(IMU) is expected to significantly enhance the generalization ability of physiological signals in motion intention recognition. This paper presents a method that employs fusion of ultrasound and IMU signals, and designs a Convolutional Neural Network with Channel Attention Module (IU-CAM-CNN) for gait classification experiments. The experimental results demonstrate that by introducing channel attention modules, the model's ability to extract features from fused signals can be effectively enhanced, resulting in a classification accuracy of 90% for cross-individual movements. In contrast, traditional LDA and CNN networks achieve only 22% and 47% classification accuracy, respectively. This method provides an effective solution for cross-individual movement intention recognition. © 2024 IEEE.

关键词： Convolutional neural networks

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Physics-Based Predictions of the Month-by-Month Summer Western North Pacific Anomalous Anticyclone

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Journal of Climate 2025年第10期38卷 2187-2203页

作者： Zhu, Zhiwei Yang, Ying Liu, Boqi State Key Laboratory of Climate System Prediction and Risk Management Key Laboratory of Meteorological Disaster Ministry of Education Collaborative Innovation Center on Forecast and Evaluation of Meteorological Disasters Nanjing University of Information Science and Technology Nanjing China State Key Laboratory of Severe Weather Chinese Academy of Meteorological Sciences Beijing China

This study identified the distinct predictors of the western North Pacific anomalous anticyclone (WNPAC) in June, July, and August and revealed their independent influencing mechanisms on the formation of the summer WNPAC in each corresponding month. For the June WNPAC (AC_Jun), the North Atlantic warming (NAW) in April–May induces subsequently enhanced convection over the Indian Ocean and suppressed the convection over the tropical central Pacific, leading to AC_Jun via the Gill-type response. Meanwhile, the warming tendency over the western North Pacific from February to April, which reflects the slow decay of El Niño, results in AC_Jun through Indian Ocean warming. For the July WNPAC (AC_Jul), the cooling tendency from April to June over the central and eastern tropical Pacific is the sole predictor, which results in AC_Jul through the wind–evaporation–SST feedback. For the August WNPAC (AC_Aug), the tropical Atlantic warming (TAW) in June and July and the Bering Strait sea ice slow melting (BSSM) from April to May are the two predictors. While TAW has a similar influence on AC_Aug to that of NAW on AC_Jun, BSSM makes for AC_Aug by strengthening the westerly jet and subsequently atmosphere–ocean coupling over the North Pacific. Using these predictors, three physics-based empirical models (PEMs) for the seasonal predictions of AC_Jun, AC_Jul, and AC_Aug are conducted, which all outperform the National Centers for Environmental Prediction Climate Forecast system (CFS), shedding light on improving the seasonal prediction of the East Asian summer climate. © 2025 American Meteorological Society.

关键词： Heat flux

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