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2016 Asia-Pacific Magnetic Recording Conference, APMRC 2016

作者： Zhao, Yu Li, Longqiu Zhang, Hongtao Shao, Guanbin Liu, Qingkang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

ISBN: (纸本)9781509021246

Heat-assisted magnetic recording (HAMR) is a promising method to increase the area density to 1 Tb/in2 in hard disk drives. In HAMR, a pulsed laser is used to heat the magnetic medium above its Curie temperature. High temperatures can cause lubricant depletion, degradation, and carbon overcoat damage at the head disk interface. Near-field radiation effects in HAMR are important to contribute the heat transfer and hence the flying ability at the head disk interface. Therefore investigation of the near-field heat transfer is essential to optimize the head disk interface. An equivalent simulation model of the head disk interface for studying the radiative heat transfer is provided in this paper. The head can be simplified as a nanosphere, while the disk can be simplified to a semi-infinite multilayer structure, the thickness of every layer in the multilayer structure is nano-scale. And the distance between head and disk is smaller than 10nm. The near field heat transfer problem can be solved by combining the dyadic Green's functions with the fluctuations electrodynamics, and the scattering matrix approach is used in the multilayer structure. Considering both the nonmagnetic media and the magnetic media, several numerical computations are conducted. © 2016 IEEE.

关键词： Heat transfer

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A three-chambed soft actuator module with omnidirectional bending motion

A three-chambed soft actuator module with omnidirectional be...

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2016 IEEE International Conference on Real-Time Computing and robotics, RCAR 2016

作者： Yan, Jihong Dong, Hongbing Zhang, Xinbin Zhao, Jie State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

ISBN: (纸本)9781467389594

Unlike traditional rigid robots, soft robots can deform in a wide range to suit environment and contact compliantly with operating objects. Therefore, soft robots have wide potential application prospects in terms of physical rehabilitation, minimally invasive surgery and other fields. This paper presents the concept design and fabrication of a three-chambed soft actuator module with omnidirectional bending capability. The effect of geometrical parameters on the module bending properties was investigated by using finite element methods (FEM). Preliminary tests as proof of concept and assessment of performances were implemented, indicating that the module has good deformation capacity and can be used to assemble soft multi fingers hand, soft manipulators and other soft robotic systems. © 2016 IEEE.

关键词： Finite element method

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Environment feature recognition algorithm for rescue robot based on a 2D laser radar

Environment feature recognition algorithm for rescue robot b...

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2016 IEEE International Conference on Real-Time Computing and robotics, RCAR 2016

作者： Zang, Xizhe Zhang, Can Liu, Yixiang Zhao, Jie State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China

ISBN: (纸本)9781467389594

It is very important for mobile robot to recognize the surrounding 3D environment in a unknown workspace. This paper proposes a 2D laser radar based 3D environment feature recognition algorithm which is applied to a novel rescue robot with wireless control system. It is used to help rescue robot to avoid obstacles in complex unstructured environment. Firstly, a multi-linked tracked robot platform and the features of control system are introduced. Reliable structure and control system ensure the stability of robot. Then the algorithm of 2D laser radar based 3D environment feature recognition is introduced. It makes a good use of the advantage of the laser radar, and this algorithm can effectively identify the area where there is no obstacle by a simple and fast way. Finally, the communication performance of the control system and the stability and accuracy of this feature recognition algorithm is verified by experiment. © 2016 IEEE.

关键词： Optical radar

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Neural Adaptive Tracking Control via Chained Transform for Wheeled Mobile Robot 35

Neural Adaptive Tracking Control via Chained Transform for W...

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第35届中国控制会议

作者： SONG Xingguo GAO Hongli GAO Haibo Ding Liang Mechanical Engineering school Southwest Jiaotong University State Key Laboratory of Robotics and System Harbin Institute of Technology

ISBN: (纸本)9781509009107

In this paper,an adaptive stable control method is proposed for the trajectory tracking of nonholonomic wheeled mobile robots with *** control method is designed at the dynamical *** kinematic constraints of the mobile robot are transformed into the chained equations,and the desired trajectory is assumed to meet the nonholonomic *** adaptive control law is presented for the globally tracking purpose,and the stability of the control system is guaranteed by the standard Lyapunov *** particular,a radial basis function(RBF) neural network is applied to adaptively approximate the uncertain function within the dynamics *** weights of RBF neural network can be training,which is used to minimizing the tracking errors and guarantee the global *** superior simulation results demonstrate that the proposed control method can achieve the trajectory tracking accurately.

关键词： Nonholonomic constraints wheeled mobile robots chained transform neural networks Lyapunov theorem

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Experiments and simulations of the standing wave acoustic field produced by two transducers mounted in contraposition 6

Experiments and simulations of the standing wave acoustic fi...

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2017 ICU Honolulu: 6th International Congress on Ultrasonics

作者： Dong, Huijuan Jia, Longfei Guan, Yingzi Zhao, Jie School of Mechatronics Engineering Harbin Institute of Technology Harbin Hei Longjiang150001 China Chongqing Vocational College of Transportation Chongqing China School of Astronautics Harbin Institute of Technology Harbin Hei Longjiang150001 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Hei Longjiang150001 China

Acoustic standing wave levitation transmission technique has been widely used in many research areas. In this work, two Langevin-type piezoelectric transducers' output are assembled face to face at a certain angle. Each transducer's output acts as both its radiator and another transducer's reflector. The authors termed it as contraposition transducer array. Standing acoustic wave in the cavity between the radiator and the reflector is formed when optimizing the angle between the central lines of the two transducers, the distance of the cavity, and the phase differential of the generator being used to excite the two transducers. Accordingly, the object during the acoustic field can be levitated, moved and manipulated. Not only the standing acoustic field pressure is theoretically derived, but also its potential location is Ansys-programmed simulated and illustrated. As a result, the restrictions are detailed which are necessary to form the standing acoustic wave. The corresponding experiments are carried out to demonstrate the proposed method by the authors. Finally, the influences of geometrical parameters and exciting phase differential on the formed acoustic field are numerically simulated. © 2018 Acoustical Society of America.

关键词： Acoustic fields

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Analysis on biomechanical characteristics of post-operational vertebral C5-C6 segments

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International Journal Bioautomation 2016年第1期20卷 99-114页

作者： Tian, Heqiang Zhu, Xuanxuan Zhao, Jun Su, Chunjian Mechanical and Electronic Engineering College Shandong University of Science and Technology Qingdao266590 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China

Both anterior cervical decompression and fusion (ACDF) and artificial cervical disc replacement (ACDR) have obvious advantages in the treatment of cervical spondylosis. To analyze the operation results, it is absolutely necessary to study the biomechanics of the movement range of post-operational vertebral C5-C6 segments, especially the biomechanical characteristics in cervical tissues in actual movements. In this study, using the human vertebral 3D graph gained by imaging diagnosis (CT), a vertebral solid model is established by the 3D reconstruction algorithm and reverse engineering technology. After that, with cervical soft tissue structure added to the solid model and set with a joint contact mechanism, a finite element model with a complete, accurate cervical C5-C6 kinematic unit is constructed, based on relevant physiological anatomical knowledge. This model includes vertebral segments, an intervertebral disc, ligament and zygopophysis in the cervical C5-C6 kinematic unit. In the created vertebral finite element model, the model is amended, referring to ACDF and ACDR, and the load and constraint are applied to a normal group, a fusion group and a displacement group, so as to analyze the biomechanical characteristics of the cervical vertebra after ACDF and ACDR. By comparing the finite element simulation results of different surgeries, this paper is intended to evaluate the functions and biomechanical behaviors of the post-operational vertebra, and explore the influence of the operation on the biomechanical stability of the cervical vertebra. This will provide theoretical guidance for implementation and optimization of ACDF and ACDR.

关键词： Biomechanics

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The performance of a piezoelectric micro-pump for 3D additive manufacturing

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IOP Conference Series: Materials Science and Engineering 2018年第1期409卷

作者： Kai Li Jun-kao Liu Wei-shan Chen Lu Zhang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Harbin Dongan Engine Corporation LTD Aero Engine Corporation of China Harbin China

The piezoelectric micro-pump is one kind of electronic device which can achieve supplying fluid on demand, and the total volume of fluid per time is at μL level. For fluid, such as fluid base on Cyanoacrylate, with low dynamic viscosity and can be solidified easily, the micro-pump is effectively to be used for 3D additive manufacturing. In this paper, we show a valve less piezoelectric micro-pump with the advantages of simple structure and stable performance. And we analyze the performance of the piezoelectric micro-pump which can be used for 3D additive manufacturing. A fluid solid coupling method is proposed for simulating the working progress of the piezoelectric micro-pump. The fluid transmission performance of the piezoelectric is mainly analyzed, such as the mass flow, flow rate of the outlet and the internal pressure distribution. The working principle of the piezoelectric micro-pump is discussed as well.

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Correction to: Fabrication of high-strength polyoxymethylene fibers by gel spinning

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Journal of Materials Science 2018年第18期53卷 13316-13316页

作者： Xudong Fang Tom Wyatt Jing Shi Donggang Yao School of Mechanical Engineering Xi’an Jiaotong University Xi’an China School of Materials Science and Engineering Georgia Institute of Technology Atlanta USA State Key Laboratory for Manufacturing Systems Engineering Xi’an China State Key Laboratory of Robotics and System (HIT) Harbin China

In the original article, the name of author Donggang Yao was misspelled. It is correct here.

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Building and analyzing of an active robot-assisted surgical navigation for cervical vertebra bone grinding in spine surgery

Advances in Modelling and Analysis C

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Advances in Modelling and Analysis C 2017年第1期72卷 25-47页

作者： Tian, Heqiang Ma, Longxin Dang, Xiaoqing Zhang, Jinfeng Ma, Junlin Mechanical and Electronic Engineering College Shandong University of Science and Technology Qingdao266590 China Qingdao Municipal Hospital Qingdao266073 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China

Surgical navigation has emerged as a potential solution to improve accuracy and security of intraoperative surgery. This paper introduces surgical navigation technologies into cervical vertebra bone grinding in spine surgery to guide a bone-grinding robot. Firstly, an active robot-assisted surgical navigation system based on optical positioning for cervical vertebra bone grinding is created, and the space registration coordinate system among "image-patient-robot" is also established. Secondly, space registration among "image-patient-robot" is studied. Here, intraoperative registration between image and patient is achieved by ICP improved algorithm based on coordinate system direction fitting, and space transformation between patient and robot is established by using an optical locator based on planimetric method. At last, the navigating and positioning precision of robot-assisted spine surgery is analyzed by performing positioning and tracking experiments and the influencing factors for surgical navigation errors are also analyzed. The experiment results show that the active surgical navigation system can achieve positioning and tracking of bone-grinding robot feasibly and rationally. © 2018 AMSE Press. All rights reserved.

关键词： Robots

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Type Synthesis of fully-Decoupled 2T2R Parallel Mechanisms Based on Driven - Chain Principle

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Journal of Harbin Institute of Technology(New Series) 2016年第5期23卷 45-52页

作者： Yi Cao School of Mechanical Engineering Jiangnan University Wuxi Jiangsu 214122 China State Key Laboratory of Robotics and System Harbin 150080 China State Key Laboratory of Mechanical System and Vibration Shanghai 200240 China Jiangsu Key Laboratory of Advanced Food Manufacturing Equipment and Technology Wuxi Jiangsu 214122 China

Based on the screw theory and the driven-chain principle,a methodology of structural synthesis for fully-decoupled two-translational(2T) and two-rotational(2R) parallel mechanism is proposed by analyzing the characteristics of the input-output relations for fully-decoupled parallel ***,according to the desired kinematic characteristics of fully-decoupled parallel mechanisms,a method is proposed by virtue of screw theory to synthesize the desired forms for both the direct and the inverse Jacobian ***,according to the feature of the direct and the inverse Jacobian matrices,the effective screws,the actuated screws and the mobile un-actuated screws of each leg are established based on the reciprocal screw theory and all possible topology structures fulfilling the requirements are ***,the desired fully-decoupled parallel mechanisms can be synthesized by using the structural synthesis rule and structural synthesis of fullydecoupled 2T2R parallel mechanisms can be obtained exploiting the abovementioned *** particular,the direct Jacobian matrix of each synthesized fully-decoupled 2T2R parallel mechanism is a non-zero diagonal matrix throughout the entire *** are mounted on each leg and each one of them actuates one degree-of-freedom(Do F) of the fully-decoupled parallel mechanism through a one-to-one velocity relation.

关键词： type synthesis fully-decoupled parallel mechanisms driven-chanin principle screw theory

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