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2023 International Conference on Frontiers of robotics and Software Engineering, FRSE 2023

作者： Yin, Hong Jin, Hongzhe Zhao, Jie Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9798350301113

Solving time-varying linear equations is a common problem in many fields. In this article, a novel approach is proposed based on the cost function constructed by the mixed error, which is made up of the residual error and its integration. The merits of the novel approach include high accuracy, noise immunity, and asymptotic convergence. Since the derivative information of time-varying signals is used in the proposed method, a proportional-integral differentiator is designed based on the mixed estimation error for the first derivative estimation. The proposed differentiator has a high degree of precision, asymptotic convergence, and no chattering. In addition, theoretical analyses prove the convergence of the proposed optimal strategy and differentiator. Simulation results validate the effectiveness and superiority of the proposed strategy and the designed differentiator. Finally, the proposed approach is employed in the motion tracking of redundant robots. © 2023 IEEE.

关键词： Errors

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GCA-Net: A Global Context Aggregation Network for Effective Optical Flow 49

GCA-Net: A Global Context Aggregation Network for Effective ...

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49th Annual Conference of the IEEE Industrial Electronics Society, IECON 2023

作者： Xie, Tao Gao, Jinghan Wang, Ke Li, Ruifeng Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9798350331820

Optical flow seeks to estimate the per-pixel 2D motion between two frames by identifying corresponding pixels. Current flow estimators typically involve per-pixel feature extraction, multi-scale 4D correlation volume construction, and iterative flow field updates through a Conv-GRU module. However, the locality of convolutional features in these methods renders the calculated correlations vulnerable to different noises. In addition, the Conv-GRU module of these methods is only executed with a convolution layer, which is incapable of exploiting context clues from larger window sizes even inside the image being queried itself, thus raising it more difficult for the model to process images with challenging regions, e.g., textureless areas. To this end, we introduce GCA-Net, a global context aggregation network for credible yet effective optical flow estimation. More specifically, we propose a highly efficient multi-scale transformer (MSFormer) layer which enables the per-pixel feature to aggregate long-range information from other features, hence building more accurate 4D correlation volumes. Besides, we develop an attention-enhanced Conv-GRU block (AttGRU) that can incorporate information alongside a larger context window even within itself empowering our network to estimate optical flow in even the most challenging regions. Experimentally, we demonstrate that GCA-Net outperforms previous state-of-the-art methods by large margins on Sintel (Final) and KITTI 2015 (background and foreground) benchmarks. © 2023 IEEE.

关键词： Optical flows

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An Effective Rotor-Shape Optimization Method for IPM Motor with 1/2 Slot per Phase per Pole

An Effective Rotor-Shape Optimization Method for IPM Motor w...

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

作者： Yu, Guodong Sun, Shuqi Li, Junlong Xiao, Lijun Xu, Yongxiang Zou, Jibin Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9798350301571

Although IPM motor with 1/2 slot per phase per pole has a relatively less rotor loss in comparison with other fractional slot concentrated winding (FSCW), the problems of THD of back-EMF and cogging torque are worse, which limits its application in electric vehicles and other industry fields. This paper proposes an effective rotor-shape optimization method to suppress both THD of back-EMF and cogging torque for improving torque ripple problem. Different from the prevalent rotor optimization methods, the proposed rotor-shape optimization method associates both shape function optimization of rotor surface with PM shaping, which can effectively decrease optimization parameters, and enhance optimization efficiency. To clarify the optimization strategy, the back-EMF and cogging torque for this PM motor with 1/2 slot per phase per pole are analyzed firstly. Then, the proposed optimization method is presented in detail. Finally, the optimized IPM motor is prototyped and its experimental results verifies the effectiveness of the proposed optimization method. © 2023 IEEE.

关键词： back-EMF cogging torque IPM motor optimization method

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Dual-Arm Dynamic Planning with Considering Arm Reachability Constraint in Task Space 16th

Dual-Arm Dynamic Planning with Considering Arm Reachability ...

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

作者： Shu, Xin Fan, Xinyang Min, Kang Ji, Zhu Ni, Fenglei Liu, Hong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9789819964888

This paper aims to address the issue of planning dual-arm motions in scenarios involving tracking dynamic desired pose and obstacle avoidance. In situations where dual-arm motion requires synchronous behavior, inflexible planning, encountering obstacles, and beyond-the-arm motion capability may lead to task failure. To overcome these issues, we propose a dynamic-system-based method for dual-arm collaborative planning. The method can coordinate the motions of dual arms while keeping synchronous behavior in tracking the moving target and avoiding obstacles. Meanwhile, we incorporate the reachability by modeling the motion boundary to ensure that the arms moving within the reachable space. The experiment successfully verified the above scenarios, showcasing its adaptability in dual-arm planning and its potential applicability in dual-arm applications such as transportation. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Target tracking

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Towards understanding the surface rippling process by periodic reciprocal nanoscratching

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Friction 2023年第10期11卷 1815-1828页

作者： Zihan LI Yongda YAN Jiqiang WANG Chen LI Yanquan GENG State Key Laboratory of Robotics and Systems Robotics InstituteHarbin Institute of TechnologyHarbin 150080China Center for Precision Engineering Harbin Institute of TechnologyHarbin 150001China

The bundle structure formed perpendicular to the scratching direction is a type of wear-induced structure for *** this study,the formation mechanism of bundle structures on polycarbonate(PC)surfaces is investigated by reciprocal scratching *** on the analysis of the morphologies,friction forces,and height signals,the formation of the bundle structure is *** influence of scratching parameters,including the feed value and scratching direction,on the formation of the bundle structure is also *** is found that the bundle structure is accumulated by the continuous stacking of the sample materials plowed by the tip in stick–slip motion,and that the stick–slip behavior is enhanced with increased scratching *** work reproduces the formation process of bundle structure in experiments for the first time and demonstrates that the stick–slip enhancement mechanism exists in the reciprocal scratching process,providing further insight into the friction behavior of polymers.

关键词： atomic force microscopy(AFM) bundle structures stick-slip friction force

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Adaptive Dead Zone Compensation Control Method for Electro-Hydrostatic Actuators Under Low-Speed Conditions

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Chinese Journal of Mechanical Engineering 2024年第6期37卷 199-211页

作者： Haoyi Jiang Zhenfei Ling Fengqi Zhou Maowen Sun Hao Liu Lilin Xu Yeming Yao Xiaoping Ouyang Huayong Yang State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang UniversityHangzhou 310027China Aviation Key Laboratory of Science and Technology on Aero Electromechanical System Integration Nanjing Engineering Institute of Aircraft SystemNanjing 210000China

This study proposes an accurate dead zone compensation control method for electro-hydrostatic actuators(EHAs)under low-speed ***,the nonlinear dead zone characteristics under low-speed conditions are summarized based on numerous EHA *** adaptive compensation function(ACF)is then constructed for the dead ***,this study proposes an adaptive dead zone compensation control method for EHAs by integrating the ACF with a virtual decomposition controller(VDC)based on the established EHA *** stability of the proposed control method is also ***,the proposed control method is verified using an EHA *** test results show that the dead zone trajectory tracking errors of EHAs are significantly reduced when combined with the ***,since most EHAs are controlled by adjusting the motor speed,the method presented in this study is simpler and easier to use than methods that employ flow compensation.

关键词： Electro-hydrostatic actuator Dead zone Compensation Control Low-speed

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Characteristic model-based control of aerial manipulator for improved interaction stability

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Science China(Technological Sciences) 2025年第4期68卷 166-178页

作者： Bingkai XIU Zhan LI Yipeng YANG Huijun GAO Research Institute of Intelligent Control and Systems Harbin Institute of TechnologyHarbin150001China State Key Laboratory of Robotics and Systems(HIT) Harbin Institute of TechnologyHarbin150001China

Maintaining contact stability is crucial when the aerial manipulator interacts with the surrounding environment. In this paper, a novel output feedback framework based on a characteristic model is proposed to improve the contact stability of the aerial manipulator. First, only position measurements of the aerial manipulator are introduced to design the practical finite-time command filter-based force observer. Second, an attitude control architecture including characteristic modeling and controller design is presented. In the modeling part, input-output data is utilized to build the characteristic model with fewer parameters and a simpler structure than the traditional dynamic model. Different from conventional control methods, fewer feedback values,namely only angle information, are required for designing the controller in the controller part. In addition, the convergence of force estimation and the stability of the attitude control system are proved by the Lyapunov analysis. Numerical simulation comparisons are conducted to validate the effectiveness of the attitude controller and force observer. The comparative results demonstrate that the tracking error of x and θ channels decreases at least 10.62% and 10.53% under disturbances and the force estimation precision increases at least 45.19% in the different environmental stiffness. Finally, physical flight experiments are conducted to validate the effectiveness of the proposed framework by a self-built aerial manipulator platform.

关键词： aerial manipulator interaction stability contact force observer characteristic model

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Inflatable Metamorphic Origami

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Research 2023年第2期6卷 53-63页

作者： Sen Wang Peng Yan Hailin Huang Ning Zhang Bing Li School of Mechanical Engineering and Automation Harbin Institute of TechnologyShenzhen 518052P.R.China Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Harbin Institute of TechnologyShenzhen 518052P.R.China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001P.R.China

This study created a new type of inflatable metamorphic origami that has the advantage of being a highly simplified deployable system capable of realizing multiple sequential motion patterns with a monolithic actuation.

关键词： simplified lata system

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Control of myoelectric prosthetic hand with a novel proximity-tactile sensor

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Science China(Technological Sciences) 2022年第7期65卷 1513-1523页

作者： YANG Bin JIANG Li GE ChuanYang CHENG Ming ZHANG Jia State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150080China Key Laboratory of Microsystems and Microstructure Manufacturing Ministry of Education Harbin Institute of TechnologyHarbin 150080China

Currently, prosthetic hands can only achieve several prespecified and discrete hand motion patterns from popular myoelectric control schemes using electromyography(EMG) signals. To achieve continuous and stable grasping within the discrete motion pattern, this paper proposes a control strategy using a customized, flexible capacitance-based proximity-tactile sensor. This sensor is integrated at the fingertip and measures the distance and force before and after contact with an object. During the pregrasping phase, each fingertip’s position is controlled based on the distance between the fingertip and the object to make all fingertips synchronously approach the object at the same distance. Once contact is established, the sensor turns to output the tactile information, by which the contact force of each fingertip is finely controlled. Finally, the method is introduced into the human-machine interaction control for a myoelectric prosthetic hand. The experimental results demonstrate that continuous and stable grasping could be achieved by the proposed control method within the subject’s discrete EMG motion mode. The subject also obtained tactile feedback through the transcutaneous electrical nerve stimulation after contact.

关键词： prosthetic hand proximity tactile sensor myoelectric control sensory feedback

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Robot Navigation Strategy in Complex Environment Based on Episode Cognition

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Journal of Bionic Engineering 2023年第1期20卷 1-15页

作者： Jinsheng Yuan Wei Guo Zhiyuan Hou Fusheng Zha Mantian Li Lining Sun Pengfei Wang State Key Laboratory of Robotics and System Harbin Institute of Technology(HIT)Harbin150001China Shenzhen Academy of Aerospace Technology Shenzhen518057China School of Mechanical and Electrical Engineering Lanzhou University of TechnologyLanzhou730050China

The hippocampal formation of the brain contains a series of nerve cells related to environmental cognition and *** cells can integrate their moment information and external perceptual information and acquire episodic cognitive *** episodic cognition and memory,organisms can achieve autonomous navigation in complex *** paper mainly studies the strategy of robot episode navigation in complex *** exploring the environment,the robot obtains subjective environmental cognition and forms a cognition *** grid cells information contained in the cognitive map can obtain the direction and distance of the target through vector calculation,which can get a shortcut through the inexperienced *** synaptic connection of place cells in the cognitive map can be used as the topological relationship between episode *** the target-oriented vector navigation encounters obstacles,the obstacles can be realized by setting closer *** on the known obstacle information obtained from boundary cells in the cognitive map,topological paths can be divided into multi-segment vector navigation to avoid encountering *** paper combines vector and topological navigation to achieve goal-oriented and robust navigation capability in a complex environment.

关键词： Bionic intelligent.Grid cell-Hippocampus-Navigation strategy Episode cognition

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