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HIT-Hawk and HIT-Phoenix: Two kinds of flapping-wing flying robotic birds with wingspans beyond 2 meters

Biomimetic Intelligence & robotics 2021年第1期1卷 13-25页

作者： Erzhen Pan Hui Xu Han Yuan Jianqing Peng Wenfu Xu The School of Mechanical Engineering and Automation Harbin Institute of TechnologyShenzhen 518055China The State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

Inspired by large and medium-sized birds,two kinds of flapping-wing flying robots with wingspans beyond 2 meters were *** have the appearance of a hawk and a phoenix respectively,so they are called HIT-Hawk and *** this paper,the bionic concept,theoretical analysis,design and manufacturing are introduced in ***,the flight principle and characteristics of large and medium-sized birds were ***,the aerodynamics was modeled based on the thin airfoil theory,and the main design basis was ***,the mechanical structures of HIT-Hawk and HIT-Phoenix were designed to ensure the lateral and longitudinal stability and have optimized flight ***,an autonomous flight control method was proposed and realized in highly integrated on-onboard controller;it satisfies the strict restrictions on mass,size,power and ***,the prototypes were fabricated and verified through practical flight *** wingspans of these two flapping wing aircrafts are 2.0 m and 2.3 m respectively,the take-off weights are 1.15 kg and 0.86 kg,and the maximum stable endurance is 65 min(with battery of 3S LiPo,4300 mAh)and 8 min(with battery of 3S LiPo,800 mAh).Their wind resistance can both reach level *** with the small and micro flapping-wing aerial vehicles that mimic insects or small birds,they both have strong load capacity,strong wind resistance and long endurance.

关键词： Bionic robots Flapping-wing flying Unmanned aerial vehicle Robotic bird

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Research on Longitudinal Ultrasonic Vibration Assisted Flip Chip Bonding Process

Research on Longitudinal Ultrasonic Vibration Assisted Flip ...

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International Conference on (ICEPT) Electronic Packaging Technology

作者： Dapeng Liu Jianxin Qiao Longqiu Li Zhi Qiao Bin Zhou Yunkang Su State Key Laboratory of Robotics and System Key Laboratory for Microsystems and Microstructure Manufacturing Harbin Institute of Technology Harbin China School of Mechanical and Electrical Engineering Harbin Institute of Technology Harbin China

ISBN: (数字)9798350353808

ISBN: (纸本)9798350353815

The current flip-chip bonding technology still faces defects such as surface thermal burnout of chips due to excessively high process temperature and significant mechanical stress leading to solder joint fracture and chip damage. This paper proposes a longitudinal ultrasonic-assisted flip-chip bonding process. By introducing ultrasonic vibration of a certain frequency in the bonding direction, stress on the device during the bonding process is reduced, leading to lower bonding temperatures and improved bonding quality and reliability. However, unreasonable ultrasonic bonding parameters may result in the fracture at the bonding interface by hammering effect. Based on the longitudinal ultrasonic-assisted bonding experimental platform was constructed to conduct bonding experiments. Through orthogonal contrast experiments, it has been determined that longitudinal ultrasonic assisted technology could reduce the bonding temperature at most by 180°C and bonding duration by 3-5s with ultrasonic parameter of 26W/cm 2 sound intensity and 4~4.66MPa prebonding pressure. This study provides valuable insights for optimizing flip-chip bonding processes.

关键词： Vibrations Temperature distribution Ultrasonic imaging Acoustics Flip-chip devices Bonding Surface cracks

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A NOVEL PID SELF-TUNING METHOD BASED ON CLOSED-LOOP IDENTIFICATION USED IN NUCLEAR POWER PLANTS 29

A NOVEL PID SELF-TUNING METHOD BASED ON CLOSED-LOOP IDENTIFI...

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2022 29th International Conference on Nuclear Engineering, ICONE 2022

作者： Zhang, Pengbin Xing, Kunpeng Zou, Tao Yang, Zhijia Wang, Jingyang Wang, Hongrui State Key Laboratory of Robotics Key Laboratory of Networked Control System Institutes for Robotics and Intelligent Manufacturing Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Beijing China China Nuclear Power Engineering Co. Ltd Shenzhen China College of Mechanical and Electrical Engineering Guangzhou University Guangzhou China Key Laboratory of Networked Control System Institutes for Robotics and Intelligent Manufacturing Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China

ISBN: (纸本)9780791886472

Nuclear power is one of several significant clean energy and its production capacity is increasing rapidly. This paper proposed a novel PID self-tuning method based on closed-loop identification used in nuclear power plants to deal with the turbine's load tracking problem. A setpoint-shifting method is adopted to achieve the informativity of the closed-loop system, and the PID parameters are designed through an optimization method. For validating the proposed method, this paper modeled a pressurized-water reactor (PWR) nuclear power plant, a complex system consisting of three circuits, through the first principle. The primary circuit contains three main devices: a nuclear reactor, a pressurizer, and a steam generator. The models of these three devices are provided by previous literature separately. The whole model is generated through mass and energy balance. This mechanism model is used as the plant model, while the identified model is used as the control model. The initial PID parameters are set through open-loop identification using an external excitation. Then the proposed method works online to track the turbine's load in time. The effectiveness of the proposed method is illustrated by simulations. Copyright © 2022 by ASME.

关键词： Nuclear power plants

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Natural Gas Load Forecasting Based on Multi-Stage Model Identification 14

Natural Gas Load Forecasting Based on Multi-Stage Model Iden...

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14th IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent systems, CYBER 2024

作者： Zhang, Pengbin Wang, Hongrui Xing, Kunpeng Yuan, Mingzhe Shenyang Institute of Automation Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang110016 China Chinese Academy of Sciences Key Laboratory of Networked Control System Shenyang110016 China University of Chinese Academy of Sciences Beijing100049 China Guangzhou Institute of Industrial Intelligence Guangzhou511458 China China Nuclear Power Engineering Co. Ltd. Shenzhen518124 China

ISBN: (纸本)9798331506056

Natural gas load forecasting is crucial for the safe operation of urban natural gas. Based on the system identification method, the short-term natural gas load forecasting is studied in the paper. Employing a multi-stage identification framework, the initial values of the model parameters using the least squares and the instrumental variables method, while the model parameters are further optimized by the prediction error method to improve the accuracy of the model identification. The proposed method is validated by the simulation based on the public natural gas data in the U.S., demonstrating the algorithm's effectiveness in forecasting the daily natural gas load effectively. © 2024 IEEE.

关键词： Prediction models

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Research and Introduction of the Process Flow of 3D-IC Thermo-Compression Intelligent Collective Bonding Equipment

Research and Introduction of the Process Flow of 3D-IC Therm...

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International Conference on (ICEPT) Electronic Packaging Technology

作者： Bin Zhou Jianxin Qiao Longqiu Li Yunkang Su Dapeng Liu Haichuan Shi Wentao Huang State Key Laboratory of Robotics and System Key Laboratory for Microsystems and Microstructure Manufacturing Harbin Institute of Technology Harbin China School of Mechanical and Electrical Engineering Harbin Institute of Technology Harbin China

ISBN: (数字)9798350353808

ISBN: (纸本)9798350353815

Three-dimensional integrated (3D IC) technologies have attracted substantial academic interest due to their enhanced performance and reduced interfacial dimensions. Conventional 3D packaging for chips of four layers must be stacked and bonded four and three times, respectively, bringing about the low reliability of bumps and productivity. Additionally, the decreasing size and spacing of solder bumps present challenges for defect detection. This paper proposes a collective intelligent bonding equipment for flip-chip 3D packaging. The equipment includes a bonding head system, downward vision, chip shift table, upward vision, bonding zone, in-situ monitoring system, and substrate movement platform. The bonding head system, downward vision, chip shift table, upward vision, and bonding zone complete the collective bonding. The defect detection is accomplished by the in-situ monitoring system. The chips need to be stacked four times, and the time of bonding is once. Meanwhile, during the bonding process, the defects can be monitored in real-time by the in situ monitoring system based on active infrared technology. Four layers in chips can be simultaneously bonded, and alignment accuracy is ±15μm@3sigma. The breakage, misalignment, and other defects can be monitored during the bonding progress. The introduction of this equipment will enhance productivity while ensuring bump reliability. Moreover, its successful development holds significant importance for the advancement and manufacturing of semiconductor packaging equipment domestically.

关键词： Productivity Three-dimensional displays Machine vision Packaging Reliability Bonding Soldering

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Research status and development trend of inspection robot for steam generator heat transfer tubes

Research status and development trend of inspection robot fo...

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2021 IEEE International Conference on Real-Time Computing and robotics, RCAR 2021

作者： Zhang, Kuan Xu, Biying Xing, Zhenming Wang, Shuqi Zhao, Jie Fan, Jizhuang Harbin Institute of Technology State Key Laboratory of Robotics and System Heilongjiang Province Harbin City China

ISBN: (纸本)9781665436786

The steam generator is an important heat transfer equipment in nuclear power plant. Its main component is the tube sheet with thousands of U-shaped heat transfer tubes. The inspection robot repairs the heat transfer tubes by positioning various types of tools to the specific heat transfer pipe, greatly reducing human intervention in the nuclear environment. Based on a brief overview of the research status of inspection robots used in steam generators, the mechanical structure of the body, tube-holding mechanism, collision detection, and trajectory planning are analyzed, problems and challenges are summarized, and the future development trend is prospected. © 2021 IEEE.

关键词： Tubes (components)

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A bionic approach for the mechanical and electrical decoupling of an MEMS capacitive sensor in ultralow force measurement

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Frontiers of Mechanical Engineering 2023年第2期18卷 297-317页

作者： Wendi GAO Bian TIAN Cunlang LIU Yingbiao MI Chen JIA Libo ZHAO Tao LIU Nan ZHU Ping YANG Qijing LIN Zhuangde JIANG Dong SUN State Key Laboratory for Manufacturing Systems Engineering International Joint Laboratory for Micro/Nano Manufacturing and Measurement TechnologiesOverseas Expertise Introduction Center for Micro/Nano Manufacturing and Nano Measurement Technologies Discipline InnovationXi’an Jiaotong University(Yantai)Research Institute for Intelligent Sensing Technology and SystemSchool of Mechanical EngineeringXi’an Jiaotong UniversityXi’an 710049China Shandong Laboratory of Yantai Advanced Materials and Green Manufacturing Yantai 265599China State Key Laboratory of Robotics and Systems(HIT) Harbin 150006China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of TechnologyBeijing 100081China Department of Biomedical Engineering City University of Hong KongHong KongChina

Capacitive sensors are efficient tools for biophysical force measurement,which is essential for the exploration of cellular ***,attention has been rarely given on the influences of external mechanical and internal electrical interferences on capacitive *** this work,a bionic swallow structure design norm was developed for mechanical decoupling,and the influences of structural parameters on mechanical behavior were fully analyzed and optimized.A bionic feather comb distribution strategy and a portable readout circuit were proposed for eliminating electrostatic *** instability was evaluated,and electrostatic decoupling performance was verified on the basis of a novel measurement method utilizing four complementary comb arrays and applicationspecific integrated circuit *** electrostatic pulling experiment showed that the bionic swallow structure hardly moved by 0.770 nm,and the measurement error was less than 0.009% for the area-variant sensor and 1.118% for the gap-variant sensor,which can be easily compensated in *** proposed sensor also exhibited high resistance against electrostatic rotation,and the resulting measurement error dropped below 0.751%.The rotation interferences were less than 0.330 nm and(1.829×10^(-7))°,which were 35 times smaller than those of the traditional differential *** on the proposed bionic decoupling method,the fabricated sensor exhibited overwhelming capacitive sensitivity values of 7.078 and 1.473 pF/μm for gap-variant and area-variant devices,respectively,which were the highest among the current *** immunity to mechanical disturbances was maintained simultaneously,i.e.,less than 0.369% and 0.058% of the sensor outputs for the gap-variant and area-variant devices,respectively,indicating its great performance improvements over existing devices and feasibility in ultralow biomedical force measurement.

关键词： micro-electro-mechanical system capacitive sensor bionics operation instability mechanical and electrical decoupling biomedical force measurement

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Analysis and compensation of kinematic errors in a five-axis machine tool based on an internal data-driven method 10

Analysis and compensation of kinematic errors in a five-axis...

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2024 10th International Conference on Applied Materials and Manufacturing Technology, ICAMMT 2024

作者： Wu, Junjie Ji, Yulei Zhong, Lei Wang, Yuhan State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai200240 China Meta Robotics Institute Shanghai Jiao Tong University Shanghai200240 China Shanghai TOP Numerical Control Technology Co. Ltd Shanghai201100 China

The increasing demand for highly efficient and precise machining in the aerospace industry is leading to increasingly stringent requirements for machine tool accuracy measurement and compensation technologies. However, existing methods can only measure the accuracy of machine tools after they have been shut down, using instruments that do not measure the kinematic errors during the machining process. To address this issue, a method for real-time prediction of kinematic errors in a five-axis machine tool has been proposed to enhance machining accuracy and efficiency. The method employs a neural network-based predictive model, which has been trained and validated through experimental testing and data collection using internal sensors of the machine tool. The study reveals that this predictive model can effectively forecast the kinematic errors, through real-time compensation, and can reduce errors by 60-86%, significantly enhancing machine performance. © Published under licence by IOP Publishing Ltd.

关键词： Aerospace industry

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Synthesized colonoscopy dataset from high-fidelity virtual colon with abnormal simulation

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Computers in Biology and Medicine 2025年 186卷 109672-109672页

作者： He, Dongdong Liu, Ziteng Yin, Xunhai Liu, Hao Gao, Wenpeng Fu, Yili School of Life Science and Technology Harbin Institute of Technology Harbin150080 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Department of Gastroenterology The First Affiliated Hospital of Harbin Medical University Harbin150001 China

With the advent of the deep learning-based colonoscopy system, the need for a vast amount of high-quality colonoscopy image datasets for training is crucial. However, the generalization ability of deep learning models is challenged by the limited availability of colonoscopy images due to regulatory restrictions and privacy concerns. In this paper, we propose a method for rendering high-fidelity 3D colon models and synthesizing diversified colonoscopy images with abnormalities such as polyps, bleeding, and ulcers, which can be used to train deep learning models. The geometric model of the colon is derived from CT images. We employed dedicated surface mesh deformation to mimic the shapes of polyps and ulcers and applied texture mapping techniques to generate realistic, lifelike appearances. The generated polyp models were then attached to the inner surface of the colon model, while the ulcers were created directly on the inner surface of the colon model. To realistically model blood behavior, we developed a simulation of the blood diffusion process on the colon's inner surface and colored vertices in the traversed region to reflect blood flow. Ultimately, we generated a comprehensive dataset comprising high-fidelity rendered colonoscopy images with the abnormalities. To validate the effectiveness of the synthesized colonoscopy dataset, we trained state-of-the-art deep learning models on it and other publicly available datasets and assessed the performance of these models in abnormal classification, detection, and segmentation. Notably, the models trained on the synthesized dataset exhibit an enhanced performance in the aforementioned tasks, as evident from the results. © 2025 Elsevier Ltd

关键词： Digital elevation model

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Low-gain Control Strategy for Robot Manipulators Based on Sparse Feature Learning Dynamics with an Application to Collision Detection

Low-gain Control Strategy for Robot Manipulators Based on Sp...

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IEEE International Workshop on Safety, Security, and Rescue robotics (SSRR)

作者： Chenglong Yu Zhiqi Li Weixin Chou Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology China

ISBN: (纸本)9781665456814

Recently, with the robotic technique developing toward precision and intelligence, robots have been used more widely in human life and production. As a common feature in the foreseen applications, robots should be able to detect unexpected collisions while ensuring dynamic accuracy, so as to improve safety at work. In the previous model-based collision detection solution, most methods assume that the robot dynamic model is complete and accurate. Unfortunately, reliable robot dynamics is hard to obtain due to model uncertainties, assembly errors, and the lack of information provided by manufacturers. This paper proposed a novel low-gain control strategy based on sparse feature learning dynamics. Firstly, without considering the physical structure parameters, the dynamics was learned directly via the data-driven technique. Secondly, according to the learned accurate dynamics, a model-based low-gain controller was designed to ensure control performance while avoiding excessive unspecified force. Finally, using this control strategy, sensorless collision detection was realized in a 7-DOF manipulator and the performance of the proposed method was evaluated.

关键词： Representation learning Service robots Dynamics Force Robot sensing systems Safety Security

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