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Reorientation and obstacle avoidance control of free-floating modular robots using sinusoidal oscillator

Chinese Journal of Aeronautics 2024年第6期37卷 262-275页

作者： Zhiyuan YANG Mingzhu LAI Jian QI Ning ZHAO Xin SUI Jie ZHAO Yanhe ZHU State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China School of Mathematics and Statistics Hainan Normal UniversityHaikou 571158China

This paper presents that a serpentine curve-based controller can solve locomotion control problems for articulated space robots with extensive flight phases,such as obstacle avoidance during free floating or attitude adjustment before *** proposed algorithm achieves articulated robots to use closed paths in the joint space to accomplish the above *** snakes,which can shuttle through gaps and adjust their landing posture by swinging their body during gliding in jungle environments,inspired the design of two *** first maneuver generates a rotation of the system by varying the moment of inertia between the joints of the robot,with the magnitude of the net rotation depending on the controller *** maneuver can be repeated to allow the robot to reach arbitrary *** second maneuver involves periodic undulations,allowing the robot to avoid collisions when the trajectory of the global Center of Mass(CM)passes through the *** maneuvers are based on the improved serpenoid curve,which can adapt to redundant systems consisting of different numbers of ***,the simulation illustrates that combining the two maneuvers can help a free-floating chain-type robot traverse complex *** proposed algorithm can be used with similar articulated robot models.

关键词： Collision avoidance Modularrobots Reorientation Free-floating space robots Nonholonomic systems Biologically inspired controllers Serpenoid curve

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A nanonewton-scale biomimetic mechanosensor

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Microsystems & Nanoengineering 2023年第4期9卷 45-56页

作者： Chi Zhang Mengxi Wu Ming Li Lixuan Che Zhiguang Tan Di Guo Zhan Kang Shuye Cao Siqi Zhang Yu Sui Jining Sun Liding Wang Junshan Liu State Key Laboratory of High-performance Precision Manufacturing Dalian University of Technology116024 DalianLiaoningChina Key Laboratory for Micro/Nano Technology and System of Liaoning Province Dalian University of Technology116024 DalianLiaoningChina State Key Laboratory of Structural Analysis for Industrial Equipment Dalian University of Technology116024 DalianChina

Biomimetic mechanosensors have profound implications for various areas,including health care,prosthetics,human‒machine interfaces,and *** one of the most important parameters,the sensitivity of mechanosensors is intrinsically determined by the detection resolution to mechanical *** this manuscript,we expand the force detection resolution of current biomimetic mechanosensors from the micronewton to nanonewton *** develop a nanocrack-based electronic whisker-type mechanosensor that has a detection resolution of 72.2 *** achieve the perception of subtle mechanical stimuli,such as tiny objects and airflow,and the recognition of surface morphology down to a 30 nm height,which is the finest resolution ever reported in biomimetic *** importantly,we explore the use of this mechanosensor in wearable devices for sensing gravity field orientation with respect to the body,which has not been previously achieved by these types of *** develop a wearable smart system for sensing the body’s posture and movements,which can be used for remote monitoring of falls in elderly *** summary,the proposed device offers great advantages for not only improving sensing ability but also expanding functions and thus can be used in many fields not currently served by mechanosensors.

关键词： mec expanding profound

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Construction of mesoporous silica-implanted tungsten oxides for selective acetone gas sensing

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Chinese Chemical Letters 2024年第11期35卷 492-498页

作者： Jichun Li Zhengren Wang Yu Deng Hongxiu Yu Yonghui Deng Xiaowei Cheng Kaiping Yuan Department of Chemistry Shanghai Stomatological Hospital&School of StomatologyState Key Laboratory of Molecular Engineering of PolymersShanghai Key Laboratory of Molecular Catalysis and Innovative MaterialsiCHEMFudan UniversityShanghai 200433China Frontier Institute of Chip and System State Key Laboratory of ASIC and SystemFudan UniversityShanghai 200433China State Key Lab of Transducer Technology Shanghai Institute of Microsystem and Information Technology Chinese Academy of Sciences Shanghai 200050China

As a key biomarker for noninvasive diagnosis of diabetes,the selective detection of trace acetone in exhaled gas using a portable and low-cost device remains a great *** metal oxide(SMO)based gas sensors have drawn signification attention due to their potential in miniaturization,user-friendliness,high cost-effectiveness and selective real-time detection for noninvasive clinical ***,we propose a one-pot solvent evaporation induced tricomponent co-assembly strategy to design a novel ordered mesoporous SMO of silica-implanted WO_(3)(Si O_(2)/WO_(3))as sensing materials for trace acetone *** controlled co-assembly of silicon and tungsten precursors and amphiphilic diblock copolymer poly(ethylene oxide)-block-polystyrene(PEO-b-PS),and the subsequent thermal treatment enable the local lattice disorder of WO_(3)induced by the amorphous silica and the formation of ordered mesoporous Si O_(2)/WO_(3)hybrid walls with a unique metastableε-phase WO_(3)*** obtained mesoporous SiO_(2)/WO_(3)composites possess highly crystalline framework with large uniform pore size(12.0-13.3 nm),high surface area(99-113 m^(2)/g)and pore volume(0.17-0.23 cm^(3)/g).Typically,the asfabricated gas sensor based on mesoporous 2.5%Si O_(2)/WO_(3)exhibits rapid response/recovery rate(5/17 s),superior sensitivity(R_(air)/R_(gas)=105 for 50 ppm acetone),as well as high selectivity towards *** limit of detection is as low as 0.25 ppm,which is considerably lower than the thresh value of acetone concentration(>1.1 ppm)in the exhaled breath of diabetic patients,demonstrating its great prospect in real-time monitoring in diabetes ***,the mesoporous 2.5%Si O_(2)/WO_(3)sensor is integrated into a wireless sensing module connected to a smart phone,providing a convenient real-time detection of acetone.

关键词： Mesoporous materials ε-Tungsten oxide Silica-implanted Acetone sensing Real-time detection

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A novel method of suppressing machining vibration in robotic milling using magneto-rheological foam damper

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Chinese Journal of Aeronautics 2024年第12期37卷 522-543页

作者： Bo LI Chenxin SU Wei ZHAO Shengli SONG Wei TIAN Wenhe LIAO College of Mechanical and Electrical Engineering Nanjing University of Aeronautics and AstronauticsNanjing 210016China State Key Laboratory of Intelligent Manufacturing System Technology Beijing 100854China

Owing to their remarkable flexibility and favorable cost-effectiveness,industrial robots have found extensive applications to cutting of materials across sophisticated manufacturing ***,the structurally low rigidity of these robots renders the tool tip prone to substantial oscillations during machining processes,significantly impacting product fabrication *** objective of this study is to present a novel methodology employing magnetorheological dampers for mitigating vibrations during robotic milling ***,a new type of ring nested Magneto-Rheological Foam Damper(MRFD)working in the squeeze mode is ***,the MRFD’s structure is designed considering the vibrational characteristics of robotic ***,a damping force model of the MRFD is *** feasibility of the MRFD’s structural design is validated by the finite element analyses,which is instrumental in comprehending the influence of structural parameters on the electromagnetic characteristics of the ***,a prototype of the MRFD is fabricated selecting appropriate ***,a series of excitation and milling experiments are conducted on a KUKA KR500 *** outcomes demonstrate a substantial reduction(37%-69%)in radial vibration amplitude at the tool tip during robotic milling,highlighting the effectiveness of the developed *** research endeavor has introduced a pioneering avenue and framework for vibration control in robotic milling,offering a novel paradigm for enhancing the precision of robotic machining.

关键词： Industrial robots Machining vibration Magneto-rheological dampers robotic milling Vibration suppression

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Temperature field characteristics of CF/PEEK thermoplastic composites formed by automated fiber placement using hot gas torch with slit structure nozzle

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Chinese Journal of Aeronautics 2024年第6期37卷 392-409页

作者： Ziang JIN Shouzheng SUN Sunil Chandrakant JOSHI Zhenyu HAN Hongya FU State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China School of Mechanical and Aerospace Engineering Nanyang Technological UniversitySingapore 639798Singapore

In-situ consolidation forming of high-performance thermoplastic composites by Automated Fiber Placement(AFP)is of significant interest in *** the laying process,the heating temperature has a great influence on the quality of the formed components.A threedimensional heat transfer finite element model of Carbon Fiber(CF)/Polyether Ether Ketone(PEEK)heated by Slit Structure Nozzle Hot Gas Torch(SSNHGT)assisted AFP is *** influence of gas flow rate,heat transfer distance,and laying speed on heating temperature is *** results show that the overall temperature increases and then decreases as the gas flow rate *** the increase in heat transfer distance and laying speed,the overall temperature ***,the gas flow rate has the greatest influence on the temperature of CF/PEEK being heated,followed by the laying speed and finally the heat transfer ***,the model can also be extended to other fiber-reinforced polymer composites formed by hot gas torch assisted AFP,which can guide the optimization of process parameters for subsequent heating temperature control.

关键词： Fiber reinforced plastics Thermoplastics Heating temperature Automated fiber placement CF/PEEK

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Applications of mercury stable isotopes for tracing volcanism in the geologic record

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Science China Earth Sciences 2024年第5期67卷 1436-1458页

作者： Qing GONG Ming-Xing LING Wang ZHENG State Key Laboratory of Nuclear Resources and Environment East China University of TechnologyNanchang 330013China School of Earth System Science Institute of Surface-Earth System ScienceTianjin UniversityTianjin 300072China

Mercury(Hg)enrichments in ancient sediments have been used as a proxy of volcanism,especially large igneous province(LIP)***,considering the existence of other potential Hg sources besides volcanoes and the diverse factors(e.g.,organic matters,clay minerals,sulfide minerals and Fe oxides)that can affect Hg sequestration,there are considerable uncertainties to simply regard sedimentary Hg anomalies as signatures of volcanic *** stable isotopes,a promising tool for tracing the origins and transformations of Hg,have been increasingly used for determining the causes of Hg spikes and understanding the geochemical behavior of Hg in the geologic *** date,lots of researches have applied Hg concentrations and Hg isotopes to identify LIP volcanisms linking with significant geological events such as mass extinctions,ocean anoxic events and other environmental perturbations that mainly occurred in the ***,the results in previous studies clearly show that not all Hg enrichments are derived from volcanic inputs,which emphasize the need for more caution in using Hg as a fingerprint of *** a better understanding of Hg isotopes in the future,there will be important implications for Hg isotopes to reconstruct volcanic activities in the rock records and their impacts on biological evolution.

关键词： Mercury stable isotopes Large igneous province Mass extinction event Ocean anoxic event

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A numerical method for predicting bursting strength of composite rocket motor case considering filament winding process-induced stress

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Chinese Journal of Aeronautics 2025年第2期38卷 505-518页

作者： Jiqiu LIANG Fei ZHAO Dan WU Anxin DING Hubei Key Laboratory of Advanced Aerospace Propulsion Technology Wuhan 430040China System Design Institute of Hubei Aerospace Technology Academy Wuhan 430040China School of Materials Science and Engineering Wuhan University of TechnologyWuhan 430070China State Key Laboratory of Advanced Technology for Materials Synthesis and Processing Wuhan University of TechnologyWuhan 430070China

A numerical method to predict the bursting strength of filament wound composite rocket motor case is proposed *** method can evaluate the longitudinal stress evolution of each composite layer as impregnated filaments with fiber tension are wound layer by layer,and consider the effects of accumulated stress and deformation during filament winding on the bursting strength of composite ***∅520 mm composite cases as a case study,the filament-winding-process-induced stress and deformation as well as progressive damage behavior are numerically predicted,followed by a comparison with experimental *** numerical results show that the predicted bursting pressures for composite cases manufactured on the mandrels with and without a flexible component are 14.20 MPa and 21.40 MPa,*** values exhibit slight deviation from the measured pressures of 13.50 MPa and 21.57 ***,the predicted damage locations,situated respectively in the dome and cylinder,agree well with the experimental *** observations indicate that use of flexible component reduces the load-bearing capacity of the ***,it validates the reliability and accuracy of the proposed numerical method in predicting the bursting strength of composite cases.

关键词： Composite case Fiber tension Bursting strengt hProgressive damage analysis Filament winding

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A Rhythmic Motion Control Method Inspired by Board Shoe Racing for a Weight-Bearing Exoskeleton

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Journal of Bionic Engineering 2022年第2期19卷 403-415页

作者： Tianshuo Wang Jie Zhao Dongbao Sui Sikai Zhao Yanhe Zhu State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

To ensure the flexible walking of the weight-bearing exoskeleton robot,most researchers control the exoskeleton to follow the wearer’s movements and provide force to maintain the current dynamic ***,due to the limitation of sensing information and computing power,it is difficult for the exoskeleton to provide the wearer reasonable and stable force only based on the dynamic model,especially in switching between swing phase and stance *** by China’s traditional sport named board shoe racing,a walking control method based on the cooperation of the human and the exoskeleton is proposed in this paper for a lower-limb exoskeleton named *** certain conditions,the exoskeleton itself can walk stably depending on the rhythm signals generated by the Central Pattern Generator(CPG).With certain initiative during walking,it can make proper adjustments according to the human *** the help of dynamic simulation software and Genetic Algorithm(GA),the optimized CPG parameters are *** control is introduced to increase the comfort of the *** impedance parameters as well as the CPG parameters are tuned in real time based on *** experiments were conducted with *** results demonstrate that PALExo can effectively assist the wearer walking with a 45-kg payload benefiting from the proposed method.

关键词： Exoskeleton robot Central pattern generator Walking control method

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Nonlinear impedance control with trajectory adaptation for collaborative robotic grinding

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Science China(Technological Sciences) 2023年第7期66卷 1928-1936页

作者： HAN FengTao TAM SikYuen CAO ZhiHong ZHAO XingWei TAO Bo DING Han State Key Laboratory of Intelligent Manufacturing Equipment and Technology School of Mechanical Science and EngineeringHuazhong University of Science and TechnologyWuhan 430074China State Key Laboratory of Intelligent Manufacturing System Technology for Complex Products Beijing Institute of Electronic System EngineeringBeijing 100854China ROKAE(Beijing)Technology Co. Ltd.Beijing 100193China

Stiffness adjustment is an important feature of human arm *** adaptive variable impedance control can adapt to the robotic stiffness,but may result in a large *** this paper,nonlinear impedance control is proposed for collaborative robotic grinding,where nonlinear force feedback is designed to compensate for the nonlinear stiffness of the ***,the interaction system can be linearization to ensure the system ***,a target trajectory adaptation strategy is studied to ensure the force tracking ***,switching law between trajectory tracking and force tracking is proposed when the robot performs a complex grinding *** stability of the switch control as well as the trajectory adaptation law is *** are conducted in a robotic grinding test rig,where the robot is used to grind a turbine *** results show that the nonlinear impedance control can obtain stable grinding force,and have better grinding quality than the linear impedance control.

关键词： impedance control robotic grinding trajectory adaptation force tracking

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Hybrid Mapping Method:from Human to robotic Hands with Dissimilar Kinematics

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Journal of Bionic Engineering 2022年第4期19卷 935-952页

作者： Bingchen Liu Li Jiang Shaowei Fan State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150080China

Mapping grasps from human to anthropomorphic robotic hands is an open issue in research,because the master hand and the slave hand have dissimilar *** paper proposes a hybrid mapping method to solve this *** the proposed method,fingers in the master and the slave hands are divided into vital and synergic fingers according to their contribution to the grasping *** tip of the vital finger of the master hand is first mapped to that of the slave hand while ensuring that both are in simultaneous contact with the object to be *** postural synergy theory,joints of the other synergic fingers of the slave hand are then used to generate an anthropomorphic grasping configuration according to the shape of the object to be *** this,a human-guided impedance controller is used to reduce the pre-grasping error and realize compliant interaction with the *** proposed hybrid mapping method can not only generate the posture of the humanoid envelope but can also carry out impedance-adaptive *** was evaluated using simulations and an experiment involving an anthropomorphic robotic slave hand.

关键词： robotic hand Human-in-the-loop Grasping Postural synergy Impedance control

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