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2019 International Congress on Ultrasonics, ICU 2019

作者： Dong, Huijuan Meng, Fanbin Lan, Bin Mu, Guanyu Zhao, Jie School of Mechatronics Engineering Harbin Institute of Technology Hei Longjiang Harbin150001 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

ISBN: (纸本)9781665407090

In this work, a standing wave acoustic field formed by using two contraposition transducers is used to classify the mixed powder. COMSOL-based simulations reveal the influence of the factors on the drop trajectories of the particles within an acoustic field. Then the experiments are carried out to demonstrate those obtained using COMSOL-based simulations. Finally, the separation experiments of the mixed powder of iron and dioxide silica are achieved, including the mixed powder both in the same diameter and the different diameter respectively. © 2020 Acoustical Society of America.

关键词： Acoustic fields

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Application of light diffraction theory to qualify the downstream light field modulation property of mitigated KDP crystals

arXiv

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arXiv 2020年

作者： Yang, Hao Cheng, Jian Liu, Zhichao Liu, Qi Zhao, Linjie Tan, Chao Wang, Jian Chen, Mingjun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Research Center of Laser Fusion China Academy of Engineering Physics Mianyang621900 China

Micro-milling can effectively remove laser damage sites on a KDP (potassium dihydrogen phosphate) surface and then improve the laser damage resistance of the components. However, the repaired KDP surface could cause light propagating turbulence and downstream light intensification with the potential risk to damage downstream optics. In order to analyze the downstream light field modulation caused by Gaussian mitigation pits on KDP crystals, a computational model of the downstream light diffraction based on the angular spectrum theory and the Gaussian repair contour is established. The results show that the phase offset caused by the repaired surface produces a large light field modulation near the rear KDP surface. The modulation generated in the whole downstream light field is greater than that caused by the amplitude change. Therefore, the phase characteristics of the outgoing light could be suggested as a vital research topic for future research on the downstream light field modulation caused by mitigation contours. Significantly, the experimental results on the downstream light intensity distribution have good agreement with the simulation ones, which proves the validity of the established downstream light diffraction model. The phase characterization of the outgoing light is proposed as an evaluation tool in the repair of KDP crystals. The developed analytical method and numerical discrete algorithm could be also applicable in qualifying the repair quality of other optical components applied in high-power laser systems. Copyright © 2020, The Authors. All rights reserved.

关键词： Diffraction

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Bilateral Teleoperation of Wheeled Mobile Robots Subject to Lateral Sliding on Soft Terrains

Bilateral Teleoperation of Wheeled Mobile Robots Subject to ...

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第三十九届中国控制会议

作者： Weihua Li Sanjun Liu Dianbo Ren Jianfeng Wang Haibo Gao School of Automotive Engineering Harbin Institute of Technology(Weihai) State Key Laboratory of Robotics and System Harbin Institute of Technology Shanghai Aerospace Equipments Manufacturer Co Ltd.

With the widespread applications of wheeled mobile robots（WMR） in various fields,new challenges have arisen in terms of designing its control system.A special challenge is the soft terrain which can induce both of the longitudinal slipping and the lateral *** paper proposes a new method for haptic teleoperation control of a WMR with lateral *** this teleoperation system,the linear velocity and the angular velocity of the WMR separately follow the master haptic interface’s *** to the functional benefits of displaying the lateral sliding information as haptic feedback to the operator,the lateral velocity is segregated and only perceived by the human *** the teleoperator for the master robot and the slave WMR is designed based on the passivity *** of the proposed controller demonstrate that this approach results in stable bilateral teleoperation with a satisfactory tracking performance.

关键词： Teleoperation Lateral Sliding Wheeled Mobile Robot

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Object-aware hybrid map for indoor robot visual semantic navigation

Object-aware hybrid map for indoor robot visual semantic nav...

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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Wang, Li Li, Ruifeng Sun, Jingwen Zhao, Lijun Shi, Hezi Seah, Hock Soon Tandianus, Budianto Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150001 China School of Computer Science and Engineering Nanyang Technological University Nanyang Avenue639798 Singapore

ISBN: (纸本)9781728163215

In order to achieve an intuitive interaction and visual semantic navigation for the indoor robot, we propose a novel object-aware hybrid map. The existing map is usually a metric map, lacking semantics for interaction. We combine objects in the indoor environment with the metric map to constitute a hybrid map. The map consists of a 3D object semantic map and a 2D occupancy grid map, which transfers human commands to the grid map through object semantics, thereby enabling autonomous navigation for the robot. We utilize ORB-SLAM2 for continuous pose estimation and 3D mapping. 2D object detection in key-frames is conducted based on YOLO v3. The object point clouds in multiple perspectives are merged and a 3D bounding box of the object is estimated. These objects construct a 3D semantic map. Furthermore, we project a 3D point cloud map into a 2D plane in order to get an occupancy grid map. Finally, these two maps are combined forming an object-aware hybrid map. We conduct experiments in real environments in order to verify the feasibility and robustness of the hybrid map for robot semantic navigation. © 2019 IEEE.

关键词： Object detection

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Trajectory Optimization for a Six-DOF Cable-Suspended Parallel Robot with Dynamic Motions Beyond the Static Workspace

Trajectory Optimization for a Six-DOF Cable-Suspended Parall...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Sheng Xiang Haibo Gao Zhen Liu Clément Gosselin State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Département de génie mécanique Université Laval Québec City Canada

ISBN: (数字)9781728173955

ISBN: (纸本)9781728173962

This paper presents a trajectory optimization formulation for planning dynamic trajectories of a six-degree-of-freedom (six-DOF) cable-suspended parallel robot (CSPR) that extend beyond the static workspace. The optimization is guided by low-dimensional dynamic models to overcome the local minima and accelerate the exploration of the narrow feasible state space. The dynamic similarity between the six-DOF CSPR and the three-DOF point-mass CSPR is discussed with the analyses of their feasible force polyhedra. Finally, the transition trajectories of a three-DOF CSPR are used as the initial guess of the translational part of the six-DOF motion. With the proposed approach, highly dynamic motions for a six-DOF CSPR are efficiently generated with multiple oscillations. The feasibility is demonstrated by point-to-point and periodic trajectories in the physics simulation.

关键词： Dynamics Planning Robots Trajectory optimization Chebyshev approximation

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Learning to navigate in indoor environments: From memorizing to reasoning

arXiv

引用

arXiv 2019年

作者： Ma, Liulong Liu, Yanjie Chen, Jiao Jin, Dong State Key Laboratory of Robotics and System Harbin Institute of Technology China

Autonomous navigation is an essential capability of smart mobility for mobile robots. Traditional methods require the environment map to plan a collision-free path in workspace. Deep reinforcement learning (DRL) is a promising technique to realize the autonomous navigation task without a map, with which deep neural network can fit the mapping from observation to reasonable action through explorations. It should not only memorize the trained target, but more importantly, the planner can reason out the path to unseen goal. We proposed a new motion planner based on deep reinforcement learning that can arrive at new targets that have not been trained before in the indoor environment with RGB image and odometry only. The model has a structure of stacked Long Short-Term memory (LSTM). Finally, experiments were implemented in both simulated and real environments. The source code is available: Https://***/marooncn/navbot. Copyright © 2019, The Authors. All rights reserved.

关键词： Long short-term memory

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system Integration and Control Design of a Maglev Platform for Space Vibration Isolation

arXiv

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arXiv 2019年

作者： Gong, Zhaopei Ding, Liang Yue, Honghao Gao, Haibo Liu, Rongqiang Deng, Zongquan Lu, Yifan State Key Laboratory of Robotics and System Harbin Institute of Technology China

Micro-vibration has been a dominant factor impairing the performance of scientific experiments which are expected to be deployed in a micro-gravity environment such as spacelab. The micro-vibration has serious impact on the scientific experiments requiring quasi-static environment. Therefore, we proposed a maglev vibration isolation platform (MVIP) operating in six degrees of freedom (DOF) to fulfill the environmental requirements. In view of non-contact and large stroke requirement for micro-vibration isolation, an optimization method was utilized to design the actuator. Mathematical models of actuator’s remarkable nonlinearity was established, so that its output can be compensated according to floater’s varying position and system’s performance may be satisfied. Furthermore, aiming to adapt to an energy-limited environment such as spacelab, an optimum allocation scheme was put forward. Considering actuator’s nonlinearity, accuracy and minimum energy-consumption can be obtained simultaneously. In view of operating in six DOF, methods for nonlinear compensation and system decoupling were discussed, the necessary controller were also presented. Simulation and experiments validate system’s performance. With a movement range of 10×10×8 mm and rotations of 200 mrad, the decay ratio of -40 dB/Dec between 1–10 Hz was obtained under close-loop control. Copyright © 2019, The Authors. All rights reserved.

关键词： Actuators

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Experiments on the relationship between the structural parameters of contraposition transducers and the acoustic levitation transportation trajectory

Experiments on the relationship between the structural param...

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2019 International Congress on Ultrasonics, ICU 2019

作者： Dong, Huijuan Sui, Mingyang Mao, Chuncheng Mu, Guanyu Zhao, Jie School of Mechatronics Engineering Harbin Institute of Technology Hei Longjiang Harbin150001 China State Key Laboratory of Robotics and System Harbin Institute of Technology Heilongjiang Harbin150001 China

ISBN: (纸本)9781665407090

Standing wave acoustic levitation transportation technique has been widely used in many research areas. In this work, two Langevin-type piezoelectric transducers' central lines are mounted at a certain angle which is named a contraposition transducer array. The levitator developed in this work is constructed using the array and a reflector. Accordingly, a standing wave acoustic field is formed to levitate and transport particles by optimizing the angle between central lines of the two transducers, the distance between the two transducers' output and their reflectors, the exciting phase differential on the two transducers. In this standing wave acoustic field, the trapped objects can be levitated and transported by modulating the exciting phase difference of the two transducers. In this work, the locations of the levitated particles are acquired by a high speed video camera and are clarified using the Hough Circle algorithm. The experiments carried out by the authors have demonstrated the effects of the levitator's structure parameters (including the angle between central lines of the two transducers, the distance between the two transducers' output and the reflector) on the transportation trajectory. © 2020 Acoustical Society of America.

关键词： Video cameras

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Dual-durometer combination of vacuum cup for aerial grasping

Dual-durometer combination of vacuum cup for aerial grasping

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IEEE International Conference on Real-time Computing and robotics (RCAR)

作者： Sensen Liu Wei Dong Zhao Ma Dongxiao Sun Xinjun Sheng State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University and Robotics Institute Shanghai China School of Mechanical Engineering Shanghai Jiao Tong University Shanghai China

ISBN: (数字)9781728172934

ISBN: (纸本)9781728172941

In the application of a conventional vacuum cup, a large compression force is required to eliminate the gap between the end of the cup and the object surface. However, the large interaction force will be a challenge for micro flying robots to grasp the object in the air using the suction cup as a gripper. To address the problem, a dual-durometer combined vacuum cup for aerial grasping is proposed. The combined cup is composed of one outer hard cup and one inner soft cup. The soft cup is longer than the hard one so the initial contact phase is implemented by the soft cup. The required compression force to engage the soft cup is dramatically decreased. The hard cup will be guided and pressed by the adhesion force induced by the soft one. Therefore, a larger adhesion force can be provided by the outer hard cup. The comparative experiments of static error-tolerance and aerial grasping have been conducted. The results demonstrate that the required contact pressure is significantly reduced and the object can be grasped robustly.

关键词： Force Grasping Adhesives Payloads Lips Bellows Adsorption

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Design of a series elastic actuator with double-layer parallel spring for lower limb exoskeletons

Design of a series elastic actuator with double-layer parall...

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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Chen, Chaofeng Wu, Dongmei Dong, Wei Du, Zhijiang He, Long Huang, Linxiang Wang, Jiaqi Shi, Yongjun Xu, Guoqiang Si, Fang Xiao, Tiantian Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin Heilongjiang Province China China South Industries Group Corporation Weapon Equipment Research Institute Beijing China

ISBN: (纸本)9781728163215

This paper presents a novel Series Elastic Actuator (SEA) with double-layer parallel spring for lower limb exoskeletons (LLE). The SEA can improve the human-robot interaction comfort and have the ability to absorb shock and vibration. In order to make the assembly process simple and convenient, the series elastic unit adopt split structure, which includes an inner ring structure, an outer ring structure and rectangular springs as elastic element. At the same time, in order to meet the requirements of the stiffness and dimensions of the SEA, a double-layer parallel spring arrangement is adopted. The stiffness of SEA is 312Nm/rad, which is obtained by the stiffness calibration experiment. In the experiments, the SEA is used in the knee joint of LLE and an impedance controller is designed to achieve knee joint tracking motion. Finally, the experiments results show the position tracking performance of the LLE, which illustrates the effectiveness of the SEA. © 2019 IEEE.

关键词： Human robot interaction

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