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16th International Conference on Intelligent robotics and Applications, ICIRA 2023

作者： Sun, Yongjun Wang, Qiang Xue, Zhao Liu, Rongqiang Liu, Hong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

ISBN: (纸本)9789819964826

Snake robot is a robot that can move freely in a small and complex space with super-redundant DOF and motion flexibility, and it has been proven to have a wide range of application prospects. RGB-D camera is a new type of visual sensor that can directly obtain color images and depth information. To enable the snake robot to work in some special task environments, we developed an orthogonal modular snake robot using RGB-D cameras, and conducted research on snake robot map building and path planning. An improved Batch Informed Tree (BIT*) algorithm is proposed. Finally, to verify the effectiveness of the proposed method, a corresponding experimental program is designed and related experimental analysis is carried out. The results show that our designed snake robot can complete the task of map building and path planning. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Motion planning

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Structural Design and Experiment of a Small Wheel-legged Mobile Robot with Variable Configuration 20

Structural Design and Experiment of a Small Wheel-legged Mob...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Cui, Xiulong Fan, Jizhuang Dong, Zhihui Ou, Yue Zhao, Jie Harbin Institute of Technology The State Key Laboratory of Robotics and System Harbin150001 China

ISBN: (纸本)9798350320831

In this paper, we made an improved design on the traditional quadruped robot structure and developed a new small wheel-legged mobile robot structure. It has four legged configurations, which can be selected according to different situations, improving the mobility and operability of the robot. In wheeled mode, the robot can adjust its center of gravity according to actual needs. Including the rotational degree of freedom of the wheel, each leg has four degrees of freedom. Each leg adopts a series structure and moves the knee drive motor to the fuselage position using a parallel four-link mechanism and is symmetrically arranged with the hip drive motor. A wheel is installed at the end of the shank, and a DC brushless motor is built inside it, enabling the robot to have the function of wheeled motion. This article introduces the details of the wheel-legged robot, emphasizing the innovative design of the physical structure and the diversity of deformation. The forward kinematics was analyzed. Based on the full-elbow configuration (a type of legged configuration), a cycloidal motion optimization simulation was completed for the single leg structure. Simulation experiment has proven that the optimized robot's single leg motion is smoother. Finally, we conducted a typical experiment using an embedded controller to control single leg motion. The experimental results verify that the optimized cycloidal motion of the robot meets the desired motion effect. © 2023 IEEE.

关键词： Mobile robots

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Research and Analysis on the Signal Regime of 802.15.4z Protocol LRP UWB Communication and Navigation Integration

Research and Analysis on the Signal Regime of 802.15.4z Prot...

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International Conference on Internet of Things, Communication and Intelligent technology, IoTCIT 2022

作者： Li, Jianjia State Key Laboratory of Satellite Navigation System and Equipment Technology Shijiazhuang050081 China

ISBN: (纸本)9789819904150

Analyzed the changes to the Ultra-Wide Band (UWB) physical layer of the latest IEEE 802.15.4z protocol, and designed three types of Low Frequency Pulse Ultra-Wide Band (LRP UWB) based on MATLAB Working mode and high-frequency pulse ultra-wideband (HRP UWB) communication ranging integrated system, and under the conditions of 802.15.4 CM1 channel simulation and comparison of the bit error rate of each system (Bit- Error-Rate, BER) and ranging accuracy to analyze the UWB system performance characteristics under different operating modes. The bit error rate simulation result is that LRP UWB is lower than HRP UWB, and the LRP long-range mode has the lowest bit error, and the signal-to-noise ratio is 10–4 above 15, indicating that the long-range mode communication link is the most stable. The range simulation results show that the three modes of the LRP UWB system are comparable to the HRP UWB system in terms of range performance within 20 m, with an accuracy of 0.1 m;while the LRP UWB long-range mode has a better range accuracy than 0.1 m over 100 m, and the other modes have an accuracy of 0.5 m or more, indicating that the long-range mode is more suitable for long-range range. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Bit error rate

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Design and Implementation of Quasi-Direct-Drive Legs for a Frog-Like Jumping Robot 3

Design and Implementation of Quasi-Direct-Drive Legs for a F...

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3rd International Conference on Computer, Control and robotics, ICCCR 2023

作者： Zhihui, Dong Jizhuang, Fan Qilong, Du Jie, Zhao Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150001 China

ISBN: (纸本)9781665492126

This study aims to design and optimize a motor-driven frog-like jumping robot leg for efficient vertical jumps and multiple consecutive horizontal jumps. We have conducted bionic research on frog legs' structure and motion characteristics and further explored their motion mechanism, providing new ideas and methods for designing and manufacturing robots with high mobility and adaptability. First, our research team designed a robot leg prototype based on the frog's body structure, optimized the robot using computer-Aided design software, and selected a suitable motor-driven actuator. Secondly, the weight reduction optimization of the robot body is carried out regarding material selection and topology optimization to improve the robot's maneuverability and jump height. Finally, after manufacturing the prototype of the robot legs, the robot is experimentally verified. The results show that the robot legs can achieve efficient vertical jumps (the maximum height is 1.40 meters, about 7.8 times the length of the leg link). It can also jump multiple times consecutively, which is significant for applying robots in dangerous environments, search and rescue, and other fields. © 2023 IEEE.

关键词： Machine design

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Rethinking Mutual Information for Language Conditioned Skill Discovery on Imitation Learning 34

Rethinking Mutual Information for Language Conditioned Skill...

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34th International Conference on Automated Planning and Scheduling, ICAPS 2024

作者： Ju, Zhaoxun Yang, Chao Sun, Fuchun Wang, Hongbo Qiao, Yu Academy for Engineering and Technology Fudan University China Shanghai Artificial Intelligence Laboratory China State Key Laboratory of Intelligent Technology and System Tsinghua University China

ISBN: (纸本)9781577358893

Language-conditioned robot behavior plays a vital role in executing complex tasks by associating human commands or instructions with perception and actions. The ability to compose long-horizon tasks based on unconstrained language instructions necessitates the acquisition of a diverse set of general-purpose skills. However, acquiring inherent primitive skills in a coupled and long-horizon environment without external rewards or human supervision presents significant challenges. In this paper, we evaluate the relationship between skills and language instructions from a mathematical perspective, employing two forms of mutual information within the framework of language-conditioned policy learning. To maximize the mutual information between language and skills in an unsupervised manner, we propose an end-to-end imitation learning approach known as Language Conditioned Skill Discovery (LCSD). Specifically, we utilize vector quantization to learn discrete latent skills and leverage skill sequences of trajectories to reconstruct high-level semantic instructions. Through extensive experiments on language-conditioned robotic navigation and manipulation tasks, encompassing BabyAI, LORel, and CALVIN, we demonstrate the superiority of our method over prior works. Our approach exhibits enhanced generalization capabilities towards unseen tasks, improved skill interpretability, and notably higher rates of task completion success. Copyright © 2024, Association for the Advancement of Artificial Intelligence (***). All rights reserved.

关键词： Semantics

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Torque Ripple Suppression Under Open-Circuit Fault for DTPPMSM Considering Back EMF Harmonics

Torque Ripple Suppression Under Open-Circuit Fault for DTPPM...

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2023 IEEE International Conference on Applied Superconductivity and Electromagnetic Devices, ASEMD 2023

作者： Liu, Chengsi Zou, Jibin Harbin Institute of Technology Hit State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9798350301571

This paper analyzed the impact of phase back electromotive force (back EMF) harmonics on torque of dual three phase permanent magnet synchronous motor (DTPPMSM) from the view of electromagnetic power, and proposed a torque ripple suppression fault-tolerant method for open-circuit fault of DTPPMSM. The proposed method can consider the phase back EMF harmonics, thus achieveing both minimum torque ripple and maximum average torque. The proposed method is verified by both finite element analysis (FEA) and prototype experiment. © 2023 IEEE.

关键词： Dual three phase permanent magnet synchronous motor (DTPPMSM) fault-tolerant finite element analysis (FEA) open circuit

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Aerodynamic Analysis and Deployment Mechanism of A Foldable Mars Quadrotor 20

Aerodynamic Analysis and Deployment Mechanism of A Foldable ...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Zhu, Kaijie Tang, Dewei Quan, Qiquan Wang, Kaiyi Dong, Yachao Deng, Zongquan Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150001 China

ISBN: (纸本)9798350320831

The Mars quadrotor is a vertical take-off and landing aerial platform developed to enhance the efficiency of Mars exploration. The four-blade rotor has a high thrust coefficient due to its high solidity, which enables the quadrotor to navigate the Martian atmospheric environment efficiently. This paper proposes a payload-carrying Mars quadrotor featuring four four-bladed rotors that can fold along the rotor arms. The computational fluid dynamics (CFD) method is employed to perform numerical hovering simulations, exploring the propulsion capability and aerodynamic efficiency of rotors with different diameters. The mass distribution and hovering time are estimated when the quadrotor consists of the rotors with the highest figure of merit. The results demonstrate that a larger rotor diameter of the quadrotor yields greater payload capacity and shorter hovering time. During the launch, the quadrotor is folded and constrained within an envelope to protect it from vibrations and shocks. A lifting mechanism with shape-constraint slides is utilized for quadrotor deployment. © 2023 IEEE.

关键词： Efficiency

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Causes of Winter Persistent Extreme Cold Events in Northeastern China

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Advances in Atmospheric Sciences 2025年第4期42卷 780-793页

作者： Ming YANG Qingjiu GAO Tim LI State Key Laboratory of Climate System Prediction and Risk Management/Key Laboratory of Meteorological Disaster Ministry of Education/Collaborative Innovation Center on Forecast and Evaluation of Meteorological DisastersNanjing University of Information Science and TechnologyNanjing 210044China Department of Atmospheric Sciences University of Hawaii at ManoaHonoluluHI 96822USA

Persistent(5-day or longer)extreme cold events(ECEs)over northeastern China during the boreal winter of 1979–2020 are investigated using daily minimum temperature(Tmin)from the China Meteorological Data *** extreme cooling area and intensity indices associated with the ECEs exhibit a dominant 10–40-day periodicity,indicating a close link with atmospheric intraseasonal oscillations(ISOs).The ECEs are categorized into W-and *** the former,the low-frequency cooling associated with the ISO first penetrates into the western boundary of the northeastern China domain and later occupies the entire domain at its peak *** upper-tropospheric circulation associated with this type is characterized by a northwest–southeast-oriented Rossby wave train,expanding from the Ural Mountains to the western Pacific *** the latter,the cooling invades the northern boundary first and then penetrates into the entire *** upper tropospheric precursory signal associated with this type is a zonally oriented negative geopotential height anomaly,which slowly moves southward.A downward-propagating signal is observed in the stratospheric potential vorticity field prior to the peak cooling,implying a possible stratospheric *** addition to the W-and N-types,ECEs can also occur in a localized region near either at the northern or southern boundary of the domain.

关键词： extreme cold events low-frequency ISO mode Rossby wave train composite analysis downward propagation potential vorticity

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The Prosthetic Hand Can Grasp Occluded Objects with the Help of 3rd-Eye Based on Artificial Vision and AR technology 1

The Prosthetic Hand Can Grasp Occluded Objects with the Help...

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1st International Conference on Artificial Intelligence and Human-Computer Interaction, ArtInHCI 2023

作者： Shi, Chunyuan Zhao, Jingdong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150081 China Artificial Intelligence Laboratory Harbin Institute of Technology Harbin150081 China

ISBN: (纸本)9781643685083

Grasping occluded objects is a large challenge for hand amputees because of the hand's perception loss. This paper proposed an alternative approach based on artificial vision and augmented reality technology, termed 3rd-Eye, to solve the problem. In detail, a live stream of an RGB camera attached to the prosthetic hand was presented to the user who wore an augmented reality helmet, HoloLens 2. The 3rd-Eye was integrated into a hybrid control prosthetic system (i-MYO proposed in our previous work). It was tested in a special reach-And-grasp experiment where the subject needed to grasp an occluded object in cluttered environments (one to six objects in total) using the prosthetic hand. The new approach has achieved satisfactory results (success rate: 100% in all). © 2024 The Authors.

关键词： Computer vision

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Rare earth metal based DES assisted the VPO synthesis for n-butane selective oxidation toward maleic anhydride

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Green Energy & Environment 2023年第6期8卷 1737-1752页

作者： Muhammad Faizan Yingwei Li Xingsheng Wang Piao Song Ruirui Zhang Ruixia Liu Beijing Key Laboratory of Ionic Liquids Clean Process CAS Key Laboratory of Green Process and EngineeringState Key Laboratory of Multiphase Complex SystemInstitute of Process Engineering Chinese Academy of SciencesBeijing100190China University of Chinese Academy of Sciences Beijing100049China Zhengzhou Institute of Emerging Industrial Technology Zhengzhou450000China

Deep eutectic solvents(DESs) are now considered a new class of ionic liquid analogs that have been generously used in various ***, vanadium phosphorus oxide(VPO) catalysts are synthesized in combination with a deep eutectic solvent containing rare earth metal(rE-DES), and their catalytic performance in n-butane selective oxidation to produce maleic anhydride(MA) is evaluated. The rE-DES is produced from the interaction of choline chloride(ChCl) and rare earth metal salts(Cerium, Europium, Lanthanum, and Samarium metal salt)(ChCl:rE = 1:0.5–1:3) under mild conditions. It was found that DESs served as structural modifiers and electronic promoters during VPO synthesis. It regulated the chemical state of the catalyst surface, such as the vanadium valence state, acid-base properties, and ratios of V^(4+)/V^(5+),Lat–O/Sur–O and P/V. Various characterization techniques, such as FT-IR, DSC, XRD, SEM, EDS, TEM, Raman, TGA, NH3-TPD, and XPS,were used to examine its physical and chemical characteristics. These characteristics were correlated with the catalytic performance. The VPO catalyst modified by rE-DES showed a significant enhancement of n-butane conversion and MA selectivity while suppressing the selectivity of CO and CO_(2)as well as the CO/CO_(2)ratio compared to the unpromoted VPO catalyst. Especially for Ce-DES-VPO, it increased the n-butane conversion and MA mass yield up to approximately 11% and 10%, respectively. In addition, we evaluated the catalytic performance under different activation atmospheres.

关键词： earth anhydride vanadium

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