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12th International Conference on CYBER Technology in Automation, Control, and Intelligent systems, CYBER 2022

作者： Dai, Xiaolin Liu, Yixiang Liu, Xinyu Zang, Xizhe Song, Rui Li, Yibin School of Control Science and Engineering Shandong University Jinan250061 China Engineering Research Center of Intelligent Unmanned System Ministry of Education Jinan250061 China Jiangsu Automation Research Institute Lianyungang222000 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

In the process of walking, humans are accompanied by the important action of foot rotation. The foot rotates taking the heel and toe as the axis of rotation when landing on and leaving the ground, respectively. Although having high similarity to humans, many biped robots do not reproduce this important feature. This paper describes a method for adding foot rotation into biped robots using the passive metatarsophalangeal joint. Firstly, the biomechanics of human metatarsophalangeal joint during walking is analyzed. Then, the control strategy based on finite state machine for human-like biped walking with foot rotation is proposed for a simplified biped robot model that is composed of eight joints. Finally, the simulation results of the walking gait of the biped robot in MATLAB demonstrate the effectiveness of the control strategy. © 2022 IEEE.

关键词： Rotation

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Spatial Correspondence between Graph Neural Network-Segmented Images

arXiv

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arXiv 2023年

作者： Li, Qian Fu, Yunguan Yang, Qianye Du, Zhijiang Yu, Hongjian Hu, Yipeng Department of Medical Physics and Biomedical Engineering University College London London United Kingdom State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Graph neural networks (GNNs) have been proposed for medical image segmentation, by predicting anatomical structures represented by graphs of vertices and edges. One such type of graph is predefined with fixed size and connectivity to represent a reference of anatomical regions of interest, thus known as templates. This work explores the potentials in these GNNs with common topology for establishing spatial correspondence, implicitly maintained during segmenting two or more images. With an example application of registering local vertebral sub-regions found in CT images, our experimental results showed that the GNN-based segmentation is capable of accurate and reliable localization of the same interventionally interesting structures between images, not limited to the segmentation classes. The reported average target registration errors of 2.2±1.3 mm and 2.7±1.4 mm, for aligning holdout test images with a reference and for aligning two test images, respectively, were by a considerable margin lower than those from the tested non-learning and learning-based registration algorithms. Further ablation studies assess the contributions towards the registration performance, from individual components in the originally segmentation-purposed network and its training algorithm. The results highlight that the proposed segmentation-in-lieu-of-registration approach shares methodological similarities with existing registration methods, such as the use of displacement smoothness constraint and point distance minimization albeit on non-grid graphs, which interestingly yielded benefits for both segmentation and registration. We, therefore, conclude that the template-based GNN segmentation can effectively establish spatial correspondence in our application, without any other dedicated registration algorithms. © 2023, CC BY.

关键词： Computerized tomography

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Least Squares Support Vector Machine Kalman Filter for Physiological Tremor Suppression in Minimally Invasive Surgical Robot

引用

Journal of Harbin Institute of Technology(New Series) 2020年第5期27卷 22-28页

作者： Jiandong Dai Zhijiang Du Zhiyuan Yan Yunlei Liang State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

This paper studies the physiological tremor filtering in minimally invasive surgical *** surgeon􀆳s physiological tremor of the hand can cause the vibration of the tip of the surgical instrument,which may reduce operative accuracy and limit the application of surgical *** at the vibration caused by physiological tremor of hand,we propose a Least Squares Support Vector Machine Kalman Filter(LSSVMKF),which can filter the tremor by estimating and modeling the tremor signal by Kalman filter and then superimposing it reversely in the control *** estimating and modeling the tremor signal,the filter uses the Least Squares Support Vector Machine(LS⁃SVM)to build the regression model of the constant parameters(Process Noise Covariance and Measurement Noise Covariance)of the traditional Kalman filter,which can dynamically adjust these parameters during the operation and improve the accuracy of Kalman *** simulation results show that the LSSVMKF can effectively filter out the tremor signal,thereby improving the accuracy of surgery.

关键词： physiological tremor suppression minimally invasive surgical robot Kalman filter support vector machine

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Buckling-Inspired Triboelectric Sensor for Multifunctional Sensing of Soft robotics and Wearable Devices

SSRN

引用

SSRN 2024年

作者： Xu, Jinsui Pan, Xueting Xu, Boyi Yue, Honghao Lu, Yifan Ying, Kai Wang, Zheping Yang, Fei State Key Laboratory of Robotics and System School of Mechatronics Engineering Harbin Institute of Technology Harbin150001 China Wu Xianming School of Intelligent Engineering South China University of Technology Guangzhou510641 China

Amidst the rapid development of intelligent robotics and wearable health monitoring devices, there is an urgent demand for flexible sensor systems with high sensitivity and precise feedback. In this paper, a multifunctional triboelectric sensor inspired by the phenomenon of buckling is introduced, which integrates kirigami structures with triboelectric nanogenerator principles to accurately detect one-dimensional (1D) and two-dimensional (2D) deformations. The sensor employs a contact-separating structure, with its friction layers consisting of 2D laser-cut kirigami electrodes, which deform into three-dimensional (3D) structures through tensile or compressive buckling. The tensile buckling sensor (BS) developed is capable of sensing the bending angle of soft grippers, allowing the detection of the size of grasped objects with a high recognition rate of 93.75%. Additionally, in its 1D compressive buckling form, the sensor can be used to recognize various human motion patterns effectively, while the 2D compressive version can be used to measure the expansion of curved surfaces with a sensitivity of 1.3307 V/mm. By combining the unique properties of buckling structures, the innovative triboelectric multifunctional sensor proposed offers a new solution for high-precision motion feedback control with potential application in soft robotics and health monitoring. © 2024, The Authors. All rights reserved.

关键词： Buckling

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Comprehensive Study of Plastic Deformation Mechanism of Polycrystalline Copper Using Crystal Plasticity Finite Element

SSRN

引用

SSRN 2024年

作者： Zhou, Xingying Zan, Shusong Zeng, Yifei Guo, Ruiyang Wang, Guangzhou Wang, Tingzhang Zhao, Linjie Chen, Mingjun State Key Laboratory of Robotics and System Harbin Institute of Technology Heilongjiang Harbin150001 China Machining and Condition Monitoring Group Faculty of Engineering University of Nottingham NG81BB United Kingdom

Graded polycrystalline copper materials have been expected in the field of scientific research and engineering in recent years because the core of the material has enough toughness and a sufficient surface strength. However, the plastic deformation mechanism, gradient grain generation mechanism and material strengthening principle of polycrystalline copper are still not well understood. Therefore, it is urgent to further analyze the plastic deformation of polycrystalline copper. In this study, the micron scale plastic deformation behavior of polycrystalline copper is simulated based on the crystal plasticity finite element method. The simulation analysis is carried out from the aspects of grain size, grain shape, crystal orientation type and quantity, loading mode and so on. The effects of the above parameters on the Mises stress nephogram and stress-strain curve of polycrystalline copper were analyzed. At the end of the article, the EBSD orientation distribution information of graded polycrystalline copper grains obtained in the cutting process is analyzed comprehensively and the formation mechanism of graded polycrystalline copper is explained by combining the simulation results. © 2024, The Authors. All rights reserved.

关键词： Crystal orientation

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Simulation study of a spider-like robot based on leg reorganization

Simulation study of a spider-like robot based on leg reorgan...

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

作者： Wang, Shu Qi Fan, Ji Zhuang Zhang, Kuan Zhang, Wei Liu, Gang Feng Zhao, Jie Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China Harbin University of Science and Technology College of Mechanical and Power Engineering Harbin China

ISBN: (纸本)9781665436786

This paper presents a four-legged bionic robot based on leg reorganization with the hunter spider as the bionic research object. By studying the biological structure of the hunter spider, its movement mode, and the characteristics of limb movement during the conversion process is analyzed and the principle of wheel and foot conversion of the robot is obtained. The three-dimensional model of the bionic robot is designed, and the overall assembly of the bionic structure model is completed. The rationality of the design of the bionic structure is initially verified by the leg reorganization. The virtual prototype is built by adding constraints to realize the bionic motion simulation, including in-situ rotary motion, foot-wheel conversion motion, wheel motion, wheel-foot conversion motion, foot motion, which provides a theoretical basis for the development of the physical prototype and the selection of hardware. © 2021 IEEE.

关键词： Wheels

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Acoustically Activated Nozzle for Microdroplet Generation and Dispensing

引用

Physical Review Applied 2023年第2期20卷 024067-024067页

作者： Qiu Yin Xiuyuan Li Zhichao Ma Wenming Zhang State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai 200240 China Institute of Medical Robotics School of Biomedical Engineering Shanghai Jiao Tong University No. 800 Dongchuan Road Shanghai 200240 China

Droplet-based microfluidic has emerged as a versatile tool for widespread applications, such as biochemical analysis and synthesis, for which the generation and manipulation of the microdroplets are fundamental. Acoustic based droplet control has shown advantages of good biocompatibility and widescale tunability. Here, we demonstrate an acoustic controlled nozzle that is integrated with both generation and directed dispensing of microdroplets. The system can generate monodisperse microdroplets with tunable sizes (50–641 µm) at a highest throughput of 2000 droplets per second. Besides, by tuning the acoustic frequency, the droplets can be steered to different directions after their formation, realizing on-demand dispensing of the microdroplets. The controlled microdroplet generation and dispensing are both attributed to the acoustic streaming effect induced by the nozzle vibration. Two basic mechanisms for the droplet control were studied: (1) the correlation between the droplet size and the acoustic actuation time, (2) the dependence of the droplet dispensing direction on the acoustic frequency. This work paves the way towards programmable control over acoustic generation and dispensing of microdroplets, which has great potential in the applications of bio-chemical analysis and synthesis.

关键词： Drops

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IMPROVING LATERAL SAFETY DISTANCE-BASED ON FEATURE DETECTION AND PRM FOR UNMANNED VEHICLE PATH PLANNING

IMPROVING LATERAL SAFETY DISTANCE-BASED ON FEATURE DETECTION...

引用

2022 International Conference on Computer, Artificial Intelligence, and Control Engineering, CAICE 2022

作者： Wang, Boqian Wang, Jianfeng Li, Wenxuan Liu, Yiqun Yang, Na Wang, Quanqing Yao, Xinyue School of Automotive Engineering Harbin Institute of Technology Shandong Weihai264209 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Weihai Guangtai Airport Equipment Co. Ltd. Weihai264200 China

ISBN: (纸本)9781510655942

Most of the existing path-planning algorithms do not consider lateral safe distance requirements in practical applications. Hence, in this study, a new path point selection algorithm is proposed for path planning. The algorithm first used the Harris and Line Segment Detector(LSD) algorithms to detect and obtain the corner and edge information of obstacles. A vertical line was provided to the edge of the surrounding obstacles along each corner successively. In this process, the narrow impassable area in the map was filtered and removed by setting a safety threshold, and the foot of the vertical coordinates were simultaneously obtained. The corresponding midpoint coordinates were solved by using the corner coordinates and the foot of the corresponding perpendicular coordinates. The midpoint coordinates were used as candidate points to generate path points. These candidate points are screened and relaxed using the Probabilistic Roadmaps(PRM) algorithm to obtain the series of path points required. Finally, the path was planned according to these path points and smoothed using the Quadratic polynomial interpolation method(QPMI). Through simulation experiments, the method proposed in this study can solve a unique path without randomness under given conditions, and the probability of a collision in practical applications was reduced. © 2022 SPIE.

关键词： Motion planning

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FlexDelta: A flexure-based fully decoupled parallel xyz positioning stage with long stroke

arXiv

引用

arXiv 2023年

作者： Zhang, Qianjun Dong, Wei Xu, Qingsong Goteea, Bimal J. Gao, Yongzhuo State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150000 China Department of Electromechanical Engineering Faculty of Science and Technology University of Macau Macau999078 China

Decoupled parallel xyz positioning stages with large stroke have been desired in high-speed and precise positioning fields. However, currently such stages are either short in stroke or unqualified in parasitic motion and coupling rate. This paper proposes a novel flexure-based decoupled parallel xyz positioning stage (FlexDelta) and conducts its conceptual design, modeling, and experimental study. Firstly, the working principle of FlexDelta is introduced, followed by its mechanism design with flexure. Secondly, the stiffness model of flexure is established via matrix-based Castigliano’s second theorem, and the influence of its lateral stiffness on the stiffness model of FlexDelta is comprehensively investigated and then optimally designed. Finally, experimental study was carried out based on the prototype fabricated. The results reveal that the positioning stage features centimeter-stroke in three axes, with coupling rate less than 0.53%, parasitic motion less than 1.72 mrad over full range. And its natural frequencies are 20.8 Hz, 20.8 Hz, and 22.4 Hz for x, y, and z axis respectively. Multi-axis path tracking tests were also carried out, which validates its dynamic performance with micrometer error. Copyright © 2023, The Authors. All rights reserved.

关键词： Stiffness

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A Collision Avoidance Path Planning Method for 7-DOF Space Manipulator*

A Collision Avoidance Path Planning Method for 7-DOF Space M...

引用

IEEE International Conference on robotics and Biomimetics

作者： Xu Han Guocai Yang Minghe Jin Qi Wang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilong Jiang China Department of the Aerospace Systems Department Military Representative Office of the Equipment Changchun China

This paper proposes a collision avoidance path planning approach for redundant robotic arms based on the RRT algorithm. The study focuses on a 7-DOF robotic arm with an SSRMS configuration. The method involves improved RRT-based path planning in configuration space (C-space) and collision detection in Cartesian space. The results of collision detection are employed to guide the path planning process. Emulating the SSRMS configuration robotic arm, a kinematic model is established. By enhancing the RRT algorithm with the following points: probabilistic sampling towards the target configuration, guided exploration near existing tree nodes, parent node reassignment for new nodes, and the adoption of a bidirectional searching tree, the randomness of sampling is reduced and the planning process is accelerated. By continuously mapping points on the surface of the arm to both the base coordinate system and the self-collision coordinate system, collision detection and self-collision detection are performed in the Cartesian space using a combination of surface equations and projection methods. Finally, a series of simulation experiments were conducted to analyze the impact of various parameters, different obstacles and different methods on the planning process. This validation confirmed the feasibility and effectiveness of the approach.

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