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15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Liu, Yixiang Zang, Xizhe Zhou, Xinyu Liu, Yubin State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province150080 China

ISBN: (纸本)9781538660720

Human walking is quite an efficient and smooth movement involving multiple successive phases. But for biped robots, most current dynamic walking models are simplified to some extent, with some phases neglected. This paper addresses the development of a complete multi-phase dynamics model for a biped robot. To achieve this, both the single support phase and double support phase are divided into two sub-phases by taking into consideration the rotation of stance foot around its toe and the rotation of swing foot around its heel. Therefore, a more human-like robotic gait is achieved, with transitions occurring at toe-off, heel-off, heel-strike, and toe-strike. Comparing the numbers of degrees of freedom with independent actuators of the biped robot, the whole gait cycle can also be represented by fully-actuated phase, under-actuated phase, and over-actuated phase. On this basis, the detailed dynamics model of each phase is derived using Euler-Lagrange method. And the validity of the dynamics model is demonstrated by simulation. © 2018 IEEE.

关键词： Rotation

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A novel End-effector Finger Rehabilitation Robot (EFRR) for stroke patients

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Journal of Physics: Conference Series 2021年第5期1885卷

作者： Wang Hongbo Tian Yu Niu Baoshan Du Jiazheng Tian Junjie Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao 066004 China Academy for Engineering & Technology Fudan University Shanghai 200433 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China

This paper proposes a prototype of a novel end-traction finger rehabilitation robot with flexion/extension and adduction/abduction functions. The degree of freedom (DoF) and finger joint torque of a single-finger module has been analysed, and the calculation and selection of the motor driving force are completed. Finally, the design details of the mechanism and the hardware system of the robot are illustrated. This device minimized the mechanical size to some extent by using only one motor for a single finger, which also reduces the cost and increases the possibility of industrial application prospects.

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Study of a Novel Amphibious Water Jet Thruster for Returnable Jumping

Study of a Novel Amphibious Water Jet Thruster for Returnabl...

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IEEE International Conference on Cyborg and Bionic systems (CBS)

作者： Jixue Mo Bing Li Hailin Huang Ying Hu State Key Laboratory of Robotics and Systems Harbin Institute of Technology Shenzhen China Shenzhen Key Laboratory of Minimally Invasive Surgical Robotics and System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen China

ISBN: (数字)9781728150734

ISBN: (纸本)9781728150741

In consideration of the poor load capacity and limited jumping performance of the existing aquatic bionic robots, an amphibious water jet thruster which can conduct effective jumping actions both in aquatic and terrestrial environments is under development for the amphibious jumping robot. This paper covers the structural design, working process analysis, theoretical modeling and experimental verification of jumping performance of the water jet thruster. The proposed water jet thruster adopts liquid nitrogen to accelerate propellant water stored in the water tank and generate enough reaction thrust, therefore realizing its returnable jumping (two sequential jumping movements). Then a simple and effective mathematical model is established to evaluate its two sequential jumping performances. Finally, the indoor experiments of thrust measurement are carried out to validate the reasonability of the theoretical model and the practicability of the water jet thruster.

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Design and Experiment of Triangular Prism Mast with Tape-Spring Hyperelastic Hinges

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Chinese Journal of Mechanical Engineering 2018年第2期31卷 35-44页

作者： Hui Yang Hong-Wei Guo Yan Wang Rong-Qiang Liu Meng Li College of Electrical Engineering and Automation Anhui University China State Key Laboratory of Robotics and System Harbin Institute of Technology China Electronics Technology Group Corporation No.38 Research Qian Xuesen Laboratory of Space Technology China Academy of Space Technology

Because of the limited space of the launch rockets, deployable mechanisms are always used to solve the phenomenon. One dimensional deployable mast can deploy and support antenna, solar sail and space optical camera. Tape-spring hyperelastic hinges can be folded and extended into a rod like configuration. It utilizes the strain energy to realize self-deploying and drive the other structures. One kind of triangular prism mast with tape-spring hyperelastic hinges is proposed and developed. Stretching and compression stiffness theoretical model are established with considering the tape-spring hyperelastic hinges based on static theory. The finite element model of ten-module triangular prism mast is set up by ABAQUS with the tape-spring hyperelastic hinge and parameter study is performed to investigate the influence of thickness, section angle and radius. Two-module TPM is processed and tested the compression stiffness by the laser displacement sensor, deploying repeat accuracy by the high speed camera, modal shape and fundamental frequency at cantilever position by LMS multi-channel vibration test and analysis system, which are used to verify precision of the theoretical and finite element models of ten-module triangular prism mast with the tape-spring hyperelastic hinges. This research proposes an innovative one dimensional triangular prism with tape-spring hyperelastic hinge which has great application value to the space deployable mechanisms.

关键词： Deployable mechanism Triangular prism mast Tape-spring hyper-elastic hinges Static analysis Modal experiment

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Design and Dynamic Model of a Frog-inspired Swimming Robot Powered by Pneumatic Muscles

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Chinese Journal of Mechanical Engineering 2017年第5期30卷 1123-1132页

作者： Ji-Zhuang Fan Wei Zhang Peng-Cheng Kong He-Gao Cai Gang-Feng Liu State Key Laboratory of Robotics and System Harbin Institute of Technology

Pneumatic muscles with similar characteristics to biological muscles have been widely used in robots, and thus are promising drivers for frog inspired robots. How- ever, the application and nonlinearity of the pneumatic system limit the advance. On the basis of the swimming mechanism of the frog, a frog-inspired robot based on pneumatic muscles is developed. To realize the indepen- dent tasks by the robot, a pneumatic system with internal chambers, micro air pump, and valves is implemented. The micro pump is used to maintain the pressure difference between the source and exhaust chambers. The pneumatic muscles are controlled by high-speed switch valves which can reduce the robot cost, volume, and mass. A dynamic model of the pneumatic system is established for the sim- ulation to estimate the system, including the chamber, muscle, and pneumatic circuit models. The robot design is verified by the robot swimming experiments and the dynamic model is verified through the experiments and simulations of the pneumatic system. The simulation results are compared to analyze the functions of the source pressure, internal volume of the muscle, and circuit flow rate which is proved the main factor that limits the response of muscle pressure. The proposed research provides the application of the pneumatic muscles in the frog inspired robot and the pneumatic model to study muscle controller.

关键词： Frog-inspired robot Pneumatic muscle High-speed switch valve Pneumatic model

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Towards a Realistic 5G Infrastructure Emulator for Experimental Service Deployment and Performance Evaluation 18

Towards a Realistic 5G Infrastructure Emulator for Experimen...

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22nd IEEE/ACM International Symposium on Distributed Simulation and Real Time Applications (DS-RT)

作者： Chirivella-Perez, Enrique Alcaraz Calero, Jose M. Wang, Qi Gutierrez-Aguado, Juan School of Mechanical Engineering and Automation Shenzhen China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781538650486

The emerging Fifth Generation (5G) mobile networks have been attracting enormous attention from various stakeholders around the world. In particular, in the research community, prototyping 5G infrastructures and deploying 5G services have gained gears recently towards realising market-oriented 5G trials. However, accessing to and programming on real-world 5G infrastructure is almost prohibitive for most 5G researchers especially in academia. Therefore, it is critical to build realistic yet cost-efficient 5G infrastructure emulators for 5G research labs to enable credible 5G research activities. This paper proposes such a 5G infrastructure emulator that is able to emulate a realistic 5G network in a lab setting based on a small number of commercial-off-the-shelf servers by leveraging virtualization and other technologies. Moreover, this emulator allows a service provider to automatically deploy 5G services from 'empty' machines through advanced automation. The emulation platform is described in details with the 5G infrastructure and service deployment procedure highlighted. Empirical results are presented to show the performance of the proposed emulator.

关键词： 5G Infrastructures 5G Emulation Service Deployment Infrastructure Orchestrator Monitoring Service Automated Deployment 5G Testbed Performance evaluation

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A review of ultrasonic infrared thermography in non-destructive testing and evaluation (NDT&E): Physical principles, theory, and data processing

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Infrared Physics & Technology 2025年 150卷

作者： Rongcheng Li Fei Wang Peng Yin Feng Yang Jianghao Zhao Zhuoyan Yue Lixia Liu Stefano Sfarra G.T. Vesala Honghao Yue Junyan Liu School of Mechatronics Engineering Harbin Institute of Technology Harbin 150001 PR China State Key Laboratory of Robotics and System (HIT) Harbin 150001 PR China Beijing Satellite Manufacturing Factory Co. LTD Beijing 100001 PR China Department of Industrial and Information Engineering and Economics University of L’Aquila 67100 Italy Infrared Imaging Center Department of Electronics and Communication Engineering Koneru Lakshmaiah Educational Foundation Vaddeswaram A.P India

Ultrasonic Infrared Thermography (UIT) represents a high-efficiency non-destructive testing method that combines ultrasonic excitation and infrared thermography. UIT produces thermoelastic effect or friction heat generation effect through ultrasonic excitation, and uses infrared camera to capture the changes of surface temperature field, achieving the visual detection of defects. The merits of UIT are manifold, including non-contact, high sensitivity, rapidity, and efficiency, as well as the capacity for multi-scale detection and quantitative evaluation. Consequently, it finds wide application in the detection of surface and near-surface defects in metals, composites, and other materials. This study firstly introduces the principles of ultrasonic infrared thermography non-destructive testing technology. Subsequently, the implementation process of UIT in ultrasound excitation source, excitation waveform, feature extraction algorithm, and image processing were described to facilitate understanding of the technology. The paper then goes on to highlight the development status and practical application examples of ultrasonic infrared thermography non-destructive testing technology, and analyses the problems faced by ultrasonic infrared thermography technology. Finally, the paper offers an outlook on future development trends in ultrasonic infrared thermography non-destructive testing technology.

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Real-world Robot Reaching Skill Learning Based on Deep Reinforcement Learning

Real-world Robot Reaching Skill Learning Based on Deep Reinf...

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第32届中国控制与决策会议

作者： Naijun Liu Tao Lu Yinghao Cai Rui Wang Shuo Wang State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences University of Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced TechnologyChinese Academy of Sciences Center for Excellence in Brain Science and Intelligence Technology of the Chinese Academy of Sciences

Traditional programming method can achieve certain manipulation tasks with the assumption that robot environment is known and ***,with robots gradually applied in more domains,robots often encounter working scenes which are complicated,unpredictable,and *** overcome the limitation of traditional programming method,in this paper,we apply deep reinforcement learning(DRL) method to train robot agent to obtain skill *** policy trained with DRL on real-world robot is time-consuming and costly,we propose a novel and simple learning paradigm with the aim of training physical robot ***,our method train a virtual agent in an simulated environment to reach random target position from random initial ***,virtual agent trajectory sequence obtained with the trained policy,is transformed to real-world robot command with coordinate transformation to control robot performing reaching *** show that the proposed method can obtain self-adaptive reaching policy with low training cost,which is of great benefits for developing intelligent and robust robot manipulation skill system.

关键词： Robot reaching skill learning deep reinforcement learning

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Drilling load modeling and validation based on the filling rate of auger flute in planetary sampling

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Chinese Journal of Aeronautics 2017年第1期30卷 434-446页

作者： Quan Qiquan Tang Junyue Yuan Fengpei Jiang Shengyuan Deng Zongquan State Key Laboratory of Robotics and System Harbin Institute of Technology

Some type of penetration into a subsurface is required in planetary sampling. Drilling and coring, due to its efficient penetrating and cuttings removal characteristics, has been widely applied in previous sampling missions. Given the complicated mechanical properties of a planetary regolith, suitable drilling parameters should be matched with different drilling formations ***, drilling faults caused by overloads could easily happen. Hence, it is necessary to establish a drilling load model, which is able to reveal the relationships among drilling loads, an auger＇s structural parameters, soil＇s mechanical properties, and relevant drilling parameters. A concept for the filling rate of auger flute（FRAF） is proposed to describe drilling conditions. If the FRAF index under one group of drilling parameters is less than 1, this means that the auger flute currently removes cuttings smoothly. Otherwise, the auger will be choked with compressed cuttings. In drilling operations, the drilling loads on the auger mainly come from the conveyance action, while the drilling loads on the drill bit primarily come from the cutting action. Experiments in one typical lunar regolith simulant indicate that the estimated drilling loads based on the FRAF coincide with the test results quite well. Based on this drilling load model, drilling parameters have been optimized.

关键词： Coring Drilling load Filling rate of auger fluteLunar regolith simulant Planetary drilling

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Data-Driven Design Space Exploration and Exploitation for Design for Additive Manufacturing (vol 141, 101101, 2019)

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JOURNAL OF MECHANICAL DESIGN 2019年第11期141卷 101101页

作者： Xiong, Yi Pham Luu Trung Duong Wang, Dong Park, Sang-In Ge, Qi Raghavan, Nagarajan Rosen, David W. Digital Manufacturing and Design Centre Singapore University of Technology and DesignSingapore 487372 Singapore Robotics Institute School of Mechanical EngineeringState Key Laboratory of Mechanical System and VibrationShanghai Jiao Tong UniversityShanghai 200241 China Department of Mechanical Engineering and Robotics Incheon National UniversityIncheon 22012 South Korea Science and Math Cluster and Digital Manufacturing and Design Centre Singapore University of Technology and DesignSingapore 487372 Singapore Engineering Product Development Pillar and Digital Manufacturing and Design Centre Singapore University of Technology and DesignSingapore 487372 Singapore

Recently, design for additive manufacturing has been proposed to maximize product performance through the rational and integrated design of the product, its materials, and their manufacturing processes. Searching design solutions in such a multidimensional design space is a challenging task. Notably, no existing design support method is both rapid and tailored to the design process. In this study, we propose a holistic approach that applies data-driven methods in design search and optimization at successive stages of a design process. More specifically, a two-step surrogate model-based design method is proposed for the embodiment and detailed design stages. The Bayesian network classifier is used as the reasoning framework to explore the design space in the embodiment design stage, while the Gaussian process regression model is used as the evaluation function for an optimization method to exploit the design space in detailed design. These models are constructed based on one dataset that is created by the Latin hypercube sampling method and then refined by the Markov Chain Monte Carlo sampling method. This cost-effective data-driven approach is demonstrated in the design of a customized ankle brace that has a tunable mechanical performance by using a highly stretchable design concept with tailored stiffnesses.

关键词： Design

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