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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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A Compact Control system and A Myoelectric Control Method for Multi-DOFs Prosthetic Hand

A Compact Control System and A Myoelectric Control Method fo...

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

作者： Bin Yang Li Jiang Jianhao Hu Chongyang Li Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilong Jiang China Harbin Institute of Technology Harbin China

ISBN: (数字)9781728137261

ISBN: (纸本)9781728137278

This paper introduces a compact control system for multi-DOFs prosthetic hand. Based on the optimization of sensors configuration and hardware structure of the control system, the power consumption and volume can meet the needs of the actual using. In addition, a myoelectric control method based on the principle of finite state machine (FSM) is integrated in the control system. The proposed method enables amputees to select one of the given gestures directly, and grasp objects. As the control method requires less electromyography electrodes comparing to the traditional myoelectric control method based on EMG pattern recognition, it's available for a wider range of amputees with less active muscles. To assess the performance of the proposed method, the experiments of grasping random objects by non-amputee subjects has been conducted with the 6-DOFs HIT-V prosthetic hand, and an amputee volunteer used this prosthetic hand for one day to demonstrate viability. The non-amputee experimental results indicate that subjects can select gesture correctly among seven gestures and accomplish the designed grasping tasks with a success rate up to 96.67% within a shorter time just using two electrodes, and amputee proved viability of proposed method in daily life.

关键词： Prosthetic hand Electromyography Control systems Sensors Training Muscles Grasping

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Research on Impedance Control of Flexible Joint Space Manipulator On-Orbit Servicing

Research on Impedance Control of Flexible Joint Space Manipu...

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IEEE International Conference on robotics and Biomimetics

作者： Dongyu Liu Hong Liu Yechao Liu Zhiqi Li Institute of Manned Spacecraft System Engineering China Academy of Space Technology Beijing China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

In this paper, the positional accuracy and contact force index requirements of the manipulator are analyzed according to the tolerance index of the space manipulator screwing. An position-based in Cartesian space impedance control strategy based on friction identification and compensation is proposed. By using joint friction torque compensation to improve the system control precision and setting the desired Cartesian position of the manipulator end point to control the contact force, this strategy solves the contradiction between the positional accuracy index and the contact force index requirement of manipulator during contact operating. The control algorithm is designed based on the system dynamics model, and the stability analysis of the control algorithm is given. The correctness of the control strategy is verified by simulation and on-orbit implementation. China's space manipulator has successfully completed the actual on-orbit servicing mission based on impedance control for the first time.

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A New Era of Servo system Structure: The SoC-Based Multi-Axis Control-Drive Integration Platform

A New Era of Servo System Structure: The SoC-Based Multi-Axi...

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International Conference on Electrical Machines and systems (ICEMS)

作者： Yangyang Chen Ming Yang Jiang Long Yongping Sun Dianguo Xu Frede Blaabjerg State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Department of Energy Technology Aalborg University Aalborg Denmark

ISBN: (纸本)9781728133997

Nowadays, the system on Chip (SoC) based multi-axis control drive integration platform has been a good alternative to the classic distributed servo system structure. Compared with the distributed structure, the integration structure can reduce the manufacturing cost, achieve a faster internal information sharing, and has richer resources of multi-class chips. Hence, SoC-based integration platforms have greater potential and better control performance. In this paper an easy-to-follow SoC-based multi-axis control-drive integration platform design method is presented at first. The hardware design and software structure are discussed in detail. Then, based on the SoC-based platform, several control performance improvement strategies are listed out to verify the advantages of the SoC-based integration platform. The results of the analyses and experiments show that SoC-based integration servo system structure can be a good technology carrier for the advanced servo system in future.

关键词： Servomotors Frequency modulation Software Field programmable gate arrays Power supplies Hardware

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A Novel Frequency Characteristic Model and Noise Shaping Method for Encoder-Based Speed Measurement in Motor Drive

A Novel Frequency Characteristic Model and Noise Shaping Met...

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International Conference on Power Electronics (ICPE)

作者： Yangyang Chen Ming Yang Dianguo Xu Frede Blaabjerg State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Department of Energy Technology Aalborg University Aalborg Denmark

ISBN: (纸本)9781728116129

The performance of the closed-loop control system is determined by the accuracy of the feedback signal to some extent. In most motor drive systems, the position and speed signals come from the optical encoder. Thus, to reduce the quantization error from encoder and achieve better speed measurement results are the focuses of scholars and engineers. Although many improved speed measurement methods have been proposed, there are still few literatures discussed about the frequency characteristic of the encoder quantization noise. Even in some algorithms like Kalman filter based speed measurement methods usually regard the quantization noise as white noise. In this paper, a noise frequency characteristic model of encoder-based speed measurement in motor drive is built up. According to this model, the variation rule of the noise frequency is found. Besides, a variable-period noise shaping method is proposed to reduce the impact of quantization noise. Both the notch filter and a finite impulse response (FIR) filter are used to cope with the quantization noise. The frequency model and noise shaping method are verified by experiment results.

关键词： Quantization (signal) Notch filters Velocity measurement Noise shaping Motor drives Optical filters Frequency modulation

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Target Recognition and 3D Pose Estimation Based on Prior Knowledge and Convolutional Neural Network for Robots

Target Recognition and 3D Pose Estimation Based on Prior Kno...

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Chinese Automation Congress (CAC)

作者： Jingwen Sun Lijun Zhao Li Wang Ke Wang Yuting Ma State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China School of Astronautics Harbin Institute of Technology Harbin China

In the competition of RoboMaster, the robot needs to trigger the target, the “Energy Mechanism” which consists of nine different dynamic flame numbers, in a nine square area by shooting projectiles. Therefore, 3D target detection should be implemented including target recognition and 3D pose estimation in real-time. As the targets are dynamic flame numbers and quite small in the whole image, it increases the difficulty to detect. The robot should achieve to shoot the target in multi-angle and multi-scale to adjust the competition. To address these issues, we propose a fast and accurate method to detect all nine numbers and estimate each 3D pose based on prior knowledge and convolutional neural network only by a monocular camera. The geometric constraints around the target are employed as prior knowledge when estimating the target pose. Then, we utilize the relative position information to detect the region of each dynamic number in the image, which is recognized by a convolutional neural network trained by flame numbers. Experiments in the actual environment show that our method can achieve the detection of each dynamic number in real-time and high accuracy. The runtime is 29ms on average (about 11ms in detection and 18ms in recognition) and the recognition accuracy is about 94.69%. And our method wins the first place in the technical challenge of 2018 RoboMaster competition.

关键词： Fires Three-dimensional displays Bars Robots Pose estimation Cameras Feature extraction

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High Precision Data-driven Force Control of Compact Elastic Module for a Lower Extremity Augmentation Device

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Journal of Bionic Engineering 2018年第5期15卷 805-819页

作者： Likun Wang Chaofeng Chen Zhengyang Li Wei Dong Zhijiang Du Yi Shen Guangyu Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China School of Astronautics Harbin Institute of Technology Harbin 150001 China Weapon Equipment Research Institute China Ordnance Industries Group Beijing 102202 China

For human assistance device, the particular properties are usually focused on high precision, compliant interaction, large torque generation and compactness of the mechanical system. To realize the high performance of lower extremity augmentation device, in this paper, we introduce a novel control methodology for compact elastic module. Based on the previous work, the elastic module consists of two parts, i.e., the proximal interaction module and the distal control module. To improve the compactness of the exoskeleton, we only employ the distal control module to achieve both purposes of precision force control and human intention recognition with physical human-machine interaction. In addition, a novel control methodology, so-called high precision data-driven force control with disturbance observer is adopted in this paper. To assess our proposed control methodology, we compare our novel force control with several other control methodologies on the lower extremity augmentation single leg exoskeleton system. The experiment shows a satisfying result and promising application feasibility of the proposed control methodology.

关键词： series elastic actuator Human-Machine Interaction （HMI） force control model prediction control exoskeleton bioinspired

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Recent Advances in Triboelectric Nanogenerators: From Technological Progress to Commercial Applications

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ACS Nano 2023年第12期17卷 11087-11219页

作者： Choi, Dongwhi Lee, Younghoon Lin, Zong-Hong Cho, Sumin Kim, Miso Ao, Chi Kit Soh, Siowling Sohn, Changwan Jeong, Chang Kyu Lee, Jeongwan Lee, Minbaek Lee, Seungah Ryu, Jungho Parashar, Parag Cho, Yujang Ahn, Jaewan Kim, Il-Doo Jiang, Feng Lee, Pooi See Khandelwal, Gaurav Kim, Sang-Jae Kim, Hyun Soo Song, Hyun-Cheol Kim, Minje Nah, Junghyo Kim, Wook Menge, Habtamu Gebeyehu Park, Yong Tae Xu, Wei Hao, Jianhua Park, Hyosik Lee, Ju-Hyuck Lee, Dong-Min Kim, Sang-Woo Park, Ji Young Zhang, Haixia Zi, Yunlong Guo, Ru Cheng, Jia Yang, Ze Xie, Yannan Lee, Sangmin Chung, Jihoon Oh, Il-Kwon Kim, Ji-Seok Cheng, Tinghai Gao, Qi Cheng, Gang Gu, Guangqin Shim, Minseob Jung, Jeehoon Yun, Changwoo Zhang, Chi Liu, Guoxu Chen, Yufeng Kim, Suhan Chen, Xiangyu Hu, Jun Pu, Xiong Guo, Zi Hao Wang, Xudong Chen, Jun Xiao, Xiao Xie, Xing Jarin, Mourin Zhang, Hulin Lai, Ying-Chih He, Tianyiyi Kim, Hakjeong Park, Inkyu Ahn, Junseong Huynh, Nghia Dinh Yang, Ya Wang, Zhong Lin Baik, Jeong Min Choi, Dukhyun Kyung Hee University Gyeonggi Yongin17104 Korea Republic of Department of Electrical Engineering and Computer Science Massachusetts Institute of Technology 77 Massachusetts Avenue CambridgeMA02139 United States Department of Mechanical Engineering Soft Robotics Research Center Seoul National University Seoul08826 Korea Republic of Department of Mechanical Engineering Gachon University Seongnam13120 Korea Republic of Department of Biomedical Engineering National Taiwan University Taipei10617 Taiwan Frontier Research Center on Fundamental and Applied Sciences of Matters National Tsing Hua University Hsinchu30013 Taiwan School of Advanced Materials Science & Engineering Sungkyunkwan University Suwon16419 Korea Republic of Sungkyunkwan University 2066 Seobu-ro Gyeonggi Suwon16419 Korea Republic of Department of Chemical and Biomolecular Engineering National University of Singapore 4 Engineering Drive 4 117585 Singapore Division of Advanced Materials Engineering Jeonbuk National University 567 Baekje-daero Jeonbuk Jeonju54896 Korea Republic of Jeonbuk National University 567 Baekje-daero Jeonbuk Jeonju54896 Korea Republic of Department of Physics Inha University 100 Inha-ro Incheon22212 Korea Republic of School of Materials Science & Engineering Yeungnam University Gyeongbuk Gyeongsan38541 Korea Republic of 291 Daehak-ro Daejeon34141 Korea Republic of School of Materials Science and Engineering Nanyang Technological University 50 Nanyang Avenue 639798 Singapore Institute of Flexible Electronics Technology of Tsinghua Zhejiang Jiaxing314000 China Nanomaterials and System Lab Major of Mechatronics Engineering Faculty of Applied Energy System Jeju National University Jeju632-43 Korea Republic of School of Engineering University of Glasgow GlasgowG128QQ United Kingdom Seoul02792 Korea Republic of Department of Physics Inha University Incheon22212 Korea Republic of Suwon16419 Korea Republic of Department of

Serious climate changes and energy-related environmental problems are currently critical issues in the world. In order to reduce carbon emissions and save our environment, renewable energy harvesting technologies will serve as a key solution in the near future. Among them, triboelectric nanogenerators (TENGs), which is one of the most promising mechanical energy harvesters by means of contact electrification phenomenon, are explosively developing due to abundant wasting mechanical energy sources and a number of superior advantages in a wide availability and selection of materials, relatively simple device configurations, and low-cost processing. Significant experimental and theoretical efforts have been achieved toward understanding fundamental behaviors and a wide range of demonstrations since its report in 2012. As a result, considerable technological advancement has been exhibited and it advances the timeline of achievement in the proposed roadmap. Now, the technology has reached the stage of prototype development with verification of performance beyond the lab scale environment toward its commercialization. In this review, distinguished authors in the world worked together to summarize the state of the art in theory, materials, devices, systems, circuits, and applications in TENG fields. The great research achievements of researchers in this field around the world over the past decade are expected to play a major role in coming to fruition of unexpectedly accelerated technological advances over the next decade. © 2023 The Authors. Published by American Chemical Society

关键词： Nanogenerators

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