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International Conference on Applied Superconductivity and Electromagnetic Devices, ASEMD

作者： Guodong Yu Shuqi Sun Junlong Li Lijun Xiao Yongxiang Xu Jibin Zou State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Although IPM motor with 1/2 slot per phase per pole has a relatively less rotor loss in comparison with other fractional slot concentrated winding (FSCW), the problems of THD of back-EMF and cogging torque are worse, which limits its application in electric vehicles and other industry fields. This paper proposes an effective rotor-shape optimization method to suppress both THD of back-EMF and cogging torque for improving torque ripple problem. Different from the prevalent rotor optimization methods, the proposed rotor-shape optimization method associates both shape function optimization of rotor surface with PM shaping, which can effectively decrease optimization parameters, and enhance optimization efficiency. To clarify the optimization strategy, the back-EMF and cogging torque for this PM motor with 1/2 slot per phase per pole are analyzed firstly. Then, the proposed optimization method is presented in detail. Finally, the optimized IPM motor is prototyped and its experimental results verifies the effectiveness of the proposed optimization method.

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A Sequential Design Framework of Robot Leg for High Locomotion Performance*

A Sequential Design Framework of Robot Leg for High Locomoti...

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IEEE International Conference on Cyborg and Bionic systems (CBS)

作者： Bin Qi Songyuan Zhang Yili Fu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Leg length, joint maximum torque/speed, motor model and transmission ratio are the most concerning parameters in the leg mechanism design of the legged-robot. The first two parameters are related to the locomotion performance, and the last two determine the actuator’s performance. At the beginning of the design, it is difficult to intuitively grasp the relationship between the leg length, the maximum torque of the joint and the locomotion performance of the legged-robot. When selecting the motor and determining the transmission ratio, these factors impact the control bandwidth and the locomotion performance. Considering the above-mentioned practical problems in the design, this paper proposes a systematic and two-stage sequential leg design framework for the legged-robot, which provides the design guidance in the early stage and the selection of the actuator motor and the determination of the transmission ratio in the later stage. Furthermore, the analytic solution of nonlinear constraint’s gradient was derived. Finally, a case study shows the application of the proposed framework. This work shows that finding an optimal set of design parameters among multiple objectives is not always possible. During design process, it is necessary to weigh the relationship between multiple indexes in many aspects.

关键词： Legged locomotion Actuators Torque systematics Process control Indexes Task analysis

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Tool geometry design and microstructure fabrication by micro flat-end milling on soft-brittle LiF surface

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Journal of Manufacturing Processes 2025年 149卷 868-877页

作者： Lei, Hongqin Zhang, Zixiao Chen, Liang Guo, Yanqiu Cheng, Jian Zhao, Linjie Chen, Mingjun Yang, Dinghuai Chen, Guang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China School of Mechatronics Engineering Harbin Institute of Technology Harbin 150001 China

The LiF crystal with the three-layer step microstructure is vital in the laser-driven quasi-isentropic compression experiment. However, due to the high chemical activity and easy deliquescence of soft-brittle LiF crystals, brittle fracture can easily occur during the microstructure preparation achieved by the micro-milling technology. Therefore, it is essential to determine the optimal tool geometry and preferred processing parameters to achieve an ultra-smooth surface. A finite element (FE) model of the tool geometry optimization for LiF crystals is constructed based on dimensional analysis and the stress-strain curve obtained by nanoindentation tests. Micro-slot and microstructure preparation experiments are conducted to verify the cutting performance of the manufactured cutters with optimal geometry. It is found that the optimal negative rake/relief angles of side- and bottom edges are determined to be −35°/9° and − 25°/20° for tool I from the perspectives of the tensile stress, cutting force, and tool surface stress (σ1), respectively. For tool II, optimal negative rake/relief angles of the side- and bottom edges are −60°/15° and − 55°/20°, respectively. The σ1 of tool II is 110.3 MPa, which is 0.74 times and 0.95 times that of tool I (149 MPa) and the CBN tool (116.1 MPa), respectively, indicating that tool II has the most substantial wear resistance under the same processing parameters. Besides, compared with other tool structures, the cutting force and tensile stress are the smallest when using the tool II. The small stress can make the milling process stable, and the vibration and impact generated by the tool are smaller, which helps to make the micro-milled surface smooth. Therefore, the average surface roughness processed by tool II is 0.70 times and 0.47 times that of the CBN tool and tool I, respectively, further illustrating the best cutting performance of tool II. Furthermore, for tool II, the optimal spindle speed and feed per tooth are 40,000 r/min a

关键词： Cutting performance Flat-end milling LiF crystals Microstructure fabrication Tool geometry

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GCA-Net: A Global Context Aggregation Network for Effective Optical Flow

GCA-Net: A Global Context Aggregation Network for Effective ...

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Annual Conference of Industrial Electronics Society

作者： Tao Xie Jinghan Gao Ke Wang Ruifeng Li State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Optical flow seeks to estimate the per-pixel 2D motion between two frames by identifying corresponding pixels. Current flow estimators typically involve per-pixel feature extraction, multi-scale 4D correlation volume construction, and iterative flow field updates through a Conv-GRU module. However, the locality of convolutional features in these methods renders the calculated correlations vulnerable to different noises. In addition, the Conv-GRU module of these methods is only executed with a convolution layer, which is incapable of exploiting context clues from larger window sizes even inside the image being queried itself, thus raising it more difficult for the model to process images with challenging regions, e.g., textureless areas. To this end, we introduce GCA-Net, a global context aggregation network for credible yet effective optical flow estimation. More specifically, we propose a highly efficient multi-scale transformer (MSFormer) layer which enables the per-pixel feature to aggregate long-range information from other features, hence building more accurate 4D correlation volumes. Besides, we develop an attention-enhanced Conv-GRU block (AttGRU) that can incorporate information alongside a larger context window even within itself empowering our network to estimate optical flow in even the most challenging regions. Experimentally, we demonstrate that GCA-Net outperforms previous state-of-the-art methods by large margins on Sintel (Final) and KITTI 2015 (background and foreground) benchmarks.

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Poly-MOT: A Polyhedral Framework For 3D Multi-Object Tracking

Poly-MOT: A Polyhedral Framework For 3D Multi-Object Trackin...

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IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Xiaoyu Li Tao Xie Dedong Liu Jinghan Gao Kun Dai Zhiqiang Jiang Lijun Zhao Ke Wang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

3D Multi-object tracking (MOT) empowers mobile robots to accomplish well-informed motion planning and navigation tasks by providing motion trajectories of surrounding objects. However, existing 3D MOT methods typically employ a single similarity metric and physical model to perform data association and state estimation for all objects. With large-scale modern datasets and real scenes, there are a variety of object categories that commonly exhibit distinctive geometric properties and motion patterns. In this way, such distinctions would enable various object categories to behave differently under the same standard, resulting in erroneous matches between trajectories and detections, and jeopardizing the reliability of downstream tasks (navigation, etc.). Towards this end, we propose Poly-MOT, an efficient 3D MOT method based on the Tracking-By-Detection framework that enables the tracker to choose the most appropriate tracking criteria for each object category. Specifically, Poly-MOT leverages different motion models for various object categories to characterize distinct types of motion accurately. We also introduce the constraint of the rigid structure of objects into a specific motion model to accurately describe the highly nonlinear motion of the object. Additionally, we introduce a two-stage data association strategy to ensure that objects can find the optimal similarity metric from three custom metrics for their categories and reduce missing matches. On the NuScenes dataset, our proposed method achieves state-of-the-art performance with 75.4% AMOTA. The code is available at https://***/lixiaoyu20001P0Iy-MOT.

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The Occluded Prosthetic Hand can be Perceived based on Augmented Reality Technology

The Occluded Prosthetic Hand can be Perceived based on Augme...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Shi, Chunyuan Wang, Zixin Yang, Dapeng Zhao, Jingdong Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150081 China Harbin Institute of Technology Artificial Intelligence Laboratory Harbin150081 China

ISBN: (纸本)9781665481090

In this paper, an augmented reality-based perceptual feedback method of dexterous prosthesis has been proposed, which can establish an intuitive and convenient feedback pathway and reduce the use load of prosthetic hands. The proprioception and force feedback strategy was proposed and established based on augmented reality technology. Finally, the effectiveness and feasibility of the above strategies are verified by experiments. First, the feasibility of the proprioception feedback strategy is tested, and then the force feedback strategy is tested. The experimental results show that the proposed method establishes an effective perceptual feedback closed-loop control, improving patients' cognition of the prosthesis, including force, grasping gestures and other information, and improving users' perception ability. © 2022 IEEE.

关键词： Augmented reality

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Cable Length Estimation for a Hyper-Redundant Robot Based on Cable Hole Clearance Calculation 19

Cable Length Estimation for a Hyper-Redundant Robot Based on...

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19th IEEE International Conference on Automation Science and Engineering, CASE 2023

作者： Li, Ziqing Deng, Jiangqin Zheng, Yang Liu, Chao Gu, Guoying Robotics Institute School of Mechanical Engineering Shanghai Jiao Tong University Shanghai200240 China Shanghai Jiao Tong University State Key Laboratory of Mechanical System and Vibration Shanghai200240 China

ISBN: (纸本)9798350320695

For the cable-driven hyper-redundant robot, most of the current drive cable length estimation methods consider that the cable always passes through the center of the hole, and do not consider the effect of cable-hole clearance, resulting in a large motion error. In this paper, we propose a cable length estimating method by considering cable-hole clearance. Based on the simplified space model of the cable hole, it uses the recursive algorithm to obtain the approximate solution of the actual drive cable length. The algorithm can meet the requirements of real-time control while ensuring calculation accuracy. The correctness of the approximate solution is verified by using the interior point penalty function method. Taking a 24DoF hyper-redundant manipulator with joint angle closed-loop control as an example, the effectiveness of the proposed method is proved by comparing the theoretical calculation results with the actual drive cable length. © 2023 IEEE.

关键词： Real time control

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An Aerial Non-contact Detection system For Quayside Crane Using A Hexacopter

An Aerial Non-contact Detection System For Quayside Crane Us...

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2023 IEEE International Conference on Real-Time Computing and robotics, RCAR 2023

作者： Zhang, Yehui Wang, Zhaoying Dong, Wei Shanghai Jiao Tong University State Key Laboratory of Mechanical System and Vibration Shanghai200240 China Shanghai Jiao Tong University Robotics Institute School of Mechanical Engineering Shanghai200240 China

ISBN: (纸本)9798350327182

In recent years, aerial robots have been widely used and developed in high-altitude defect detection in academia and business. To solve the detection problem of beams at quayside cranes, reduce the cost of staffing in the traditional manual detection process and improve detection safety, a non-contact detection system using a hexacopter is designed. This article analyzes the task requirements of flaw detection for quayside cranes and the workflow. The Unmanned Aerial Vehicle (UAV) system is equipped with a non-contact detective transmitter, a non-contact detective imaging plate and other task detection equipment to detect the crack of quayside crane beams. The system is based on multi-sensor modules. Besides, the system is designed as light as possible to increase the flight endurance of the UAV. On this basis, the system takes the UAV as the carrier and carries the detection equipment to the location which needs detection. At the same time, people on the ground can control the non-contact detective transmitter and imaging plate to move to the defect area through remote radio control, then can obtain the internal crack. The reliability and effectiveness of the whole system are verified by performing an actual detection experiment with a crane model. © 2023 IEEE.

关键词： Antennas

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AEROENGINE remaining life prediction based on grey similarity multiscale matching 20

AEROENGINE remaining life prediction based on grey similarit...

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20th International Conference on Condition Monitoring and Asset Management, CM 2024

作者： Sun, Shilong Huang, Haodong Ding, Jian Lu, Wenjie Wang, Dong School of Mechanical Engineering and Automation Harbin Institute of Technology Guangdong Shenzhen518055 China Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Shanghai Jiao Tong University Shanghai200240 China State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai200240 China

ISBN: (纸本)9780903132848

In this paper, we address the challenge of predicting the remaining useful life (RUL) of aero-engines, which are critical components of aircraft that operate under increasingly extreme conditions as engine performance enhances. Ensuring the safety and reliability of these engines is paramount. To this end, we introduce a novel RUL prediction methodology that leverages grey similarity multiscale matching. This approach employs the robust capabilities of Long Short-Term Memory (LSTM) networks for processing time-series data. Specifically, an LSTM Stacked AutoEncoder (L-SAE) is designed to extract pivotal operational features of the engine, thereby delineating its degradation trajectory. Furthermore, the grey correlation analysis is utilized to assess the similarity between these degradation trajectories, which is complemented by a multi-time scale sliding window technique for enhanced similarity matching. Subsequently, kernel density estimation is applied to gauge the uncertainty associated with the prediction outcomes. The efficacy and superiority of our proposed method are demonstrated through the validation of the experiment study. Comparative analysis reveals that our method outperforms existing techniques in key evaluation metrics, underscoring its potential applicability to large-scale datasets. This validation not only confirms the method’s effectiveness but also its advantage in predicting the RUL of aero-engines with greater accuracy and reliability. © 2024 20th International Conference on Condition Monitoring and Asset Management, CM 2024. All rights reserved.

关键词： Long short-term memory

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Cam-Driven Frequency Up-Conversion Mechanism For Kinetic Energy Harvesting

Cam-Driven Frequency Up-Conversion Mechanism For Kinetic Ene...

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Micro and Nanotechnology for Power Generation and Energy Conversion Applications (PowerMEMS)

作者： Heng Zhao Tianyi Tang Yunfei Li Mingqi Mei Huicong Liu School of Mechanical and Electrical Engineering Jiangsu Provincial Key Laboratory of Advanced Robotics Soochow University Suzhou CHINA State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin CHINA

ISBN: (数字)9798350380200

ISBN: (纸本)9798350380217

This paper proposes an ocean wave energy harvester (WEH) with a cam-driven frequency up-conversion mechanism. It utilizes a planar pendulum structure to achieve motion response to ultra-low-frequency wave excitation and then converts the mechanical energy of the pendulum into high-frequency and high-power electrical energy output through the cam-driven frequency upconversion mechanism. WEH’s superior design enables high-power output even under excitation below 1 Hz. At the excitation frequency of 0.75 Hz and resistance load of $20 \Omega$, the maximum power output can reach 461.4 mW. Due to its high output power, the WEH can be integrated into the ocean observation buoy to power the sensors, thereby enabling long-term, unattended operation of the buoy in remote offshore areas.

关键词： Temperature sensors Resistance Ocean waves Frequency conversion Sensor systems Sensors Power systems Wave energy conversion Power generation Ocean temperature

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