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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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RGB-D Camera Based Map Building and Path Planning of Snake Robot 16th

RGB-D Camera Based Map Building and Path Planning of Snake R...

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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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Detection method of forward-scatter signal based on Rényi entropy

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Journal of systems Engineering and Electronics 2024年第4期35卷 865-873页

作者： ZHENG Yuqing AI Xiaofeng YANG Yong ZHAO Feng XIAO Shunping State Key Laboratory of Complex Electromagnetic Environment Effects on Electronics and Information System National University of Defense TechnologyChangsha 410073China

The application scope of the forward scatter radar(FSR)based on the Global Navigation Satellite system(GNSS)can be expanded by improving the detection ***,the forward-scatter signal model when the target crosses the baseline is ***,the detection method of the for-ward-scatter signal based on the Rényi entropy of time-fre-quency distribution is proposed and the detection performance with different time-frequency distributions is ***-tion results show that the method based on the smooth pseudo Wigner-Ville distribution(SPWVD)can achieve the best ***,combined with the geometry of FSR,the influence on detection performance of the relative distance between the target and the baseline is ***,the proposed method is validated by the anechoic chamber measurements and the results show that the detection ability has a 10 dB improvement compared with the common constant false alarm rate(CFAR)detection.

关键词： forward scatter radar(FSR) Global Navigation Satellite system(GNSS) time-frequency distribution Rényi entropy signal detection

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Shape Memory Polymer Composite Booms with Applications in Reel-Type Solar Arrays

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Chinese Journal of Mechanical Engineering 2023年第3期36卷 326-338页

作者： Hong Xiao Sijie Wu Dongdong Xie Hongwei Guo Li Ma Yuxuan Wei Rongqiang Liu State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150006China Yinhe Hangtian Internet Technology Co. Ltd.Beijing 100192China China Academy of Space Technology Beijing 100098China

Solar arrays are the primary energy source for *** traditional rigid solar arrays improve power supply,the quality increases ***,it is difficult to satisfy the requirements of high-power and low-cost space *** this study,a shape-memory polymer composite(SMPC)boom was designed,fabricated,and characterized for flexible reel-type solar *** SMPC boom was fabricated from a smart material,a shape-memory polymer composite,whose mechanical properties were ***,a mathematical model of the bending stiffness of the SMPC boom was developed,and the bending and buckling behaviors of the boom were further analyzed using the ABAQUS *** SMPC boom was fabricated to demonstrate its shape memory characteristics,and the driving force of the booms with varying geometric parameters was *** also designed and manufactured a reel-type solar array based on an SMPC boom and verified its self-deployment *** results indicated that the SMPC boom can be used as a deployable unit to roll out flexible solar arrays.

关键词： Shape memory polymer composite Reel-type solar array Deployable boom Bending behavior

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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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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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Security-constrained Transmission Maintenance Optimization Considering Generation and Operational Risk Costs

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Journal of Modern Power systems and Clean Energy 2024年第3期12卷 767-781页

作者： Dan Xu Zhi Cai Qian Cheng Guodong Huang Jingyang Zhou Junjie Tang Beijing Key Laboratory of Research and System Evaluation of Power Dispatching Automation Technology China Electric Power Research InstituteBeijing 100192China State Key Laboratory of Power Transmission Equipment&System Security and New Technology Chongqing UniversityChongqing 400044China

With the large-scale integration of renewable energy,the traditional maintenance arrangement during the load valley period cannot satisfy the transmission demand of renewable energy ***,in a market-oriented operation mode,the power dispatching control center aims to reduce the overall power purchase cost while ensuring the security of the power ***,a security-constrained transmission maintenance optimization model considering generation and operational risk costs is proposed *** model is built on double-layer optimization framework,where the upper-layer model is used for maintenance and generation planning,and the lowerlayer model is primarily used to address the operational security risk arising from the random prediction error and N-1 transmission ***,a generation-maintenance iterative algorithm based on a defined cost feedback is included to increase solution *** cost is determined using long-term security-constrained unit commitment,and the operational risk cost is obtained using a double-layer N-1 risk assessment *** electrical correlation coupling coefficient is proposed for the solution process to avoid maintenance of associated equipment simultaneously,thereby improving model convergence *** IEEE 118-bus system is used as a test case for illustration,and test results suggest that the proposed model and algorithm can reduce the total cost of transmission maintenance and system operation while effectively improving the solution efficiency of the joint optimization model.

关键词： Transmission maintenance security-constrained unit commitment iterative algorithm cost feedback N−1 risk assessment

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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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The Autonomous Pipeline Navigation of a Cockroach Bio-Robot with Enhanced Walking Stimuli

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Cyborg and Bionic systems 2023年第1期4卷 47-55页

作者： Songsong Ma Yuansheng Chen Songlin Yang Shen Liu Lingqi Tang Bing Li Yao Li State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbinChina Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Harbin Institute of TechnologyShenzhenChina School of Mechanical Engineering and Automation Harbin Institute of TechnologyShenzhenChina The Biorobotics Institute Scuola Superiore Sant'AnnaPisaItaly

Tens of crawling bio-robots with cockroaches as the mobile platform have been developed with various *** with artificial crawling robots of the same size,they revealed better flexibility,larger payload,and stronger *** features made bio-robots ideal for pipeline inspection scenarios because the advancements in locomotion mechanisms and efficient power systems are still hurdles for current artificial *** this study,we controlled the bio-robot to crawl in the confined dark pipeline and achieved autonomous motion control with the help of an onboard sensing ***,a micro-camera was mounted on the electronic backpack of the cockroach for image collection,and an IMU sensor was used to compute its body *** electronic backpack transmitted images to the host computer for junction recognition and distance ***,the insect's habituation to electrical stimulation has long been an uncertain factor in the control of ***,a synergistic stimulation strategy was proposed to markedly reduce the habituation and increase the number of effective turning controls to over 100 *** is also found that both the increase of payload and the application of stimulations could promote the metabolic rate by monitoring carbon dioxide *** the integration of synergistic stimulation and autonomous control,we demonstrated the fully autonomous pipeline navigation with our cockroach bio-robot,which realized the cycle number of approximately 10 in a *** research provides a novel technology that has the potential for practical applications in the future.

关键词： robot artificial Robot

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An angular blinking jamming method based on electronically controlled corner reflectors

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Journal of systems Engineering and Electronics 2024年第2期35卷 330-338页

作者： GAN Lin WU Zehao WANG Xuesong LI Jianbing State Key Laboratory of Complex Electromagnetic Environmental Effects on Electronics and Information System National University of Defense TechnologyChangsha 410073China

Passive jamming is believed to have very good potential in countermeasure *** this paper,a passive angular blinking jamming method based on electronically controlled corner reflectors is *** amplitude of the incident wave can be modulated by switching the corner reflector between the penetration state and the reflection state,and the ensemble of multiple corner reflectors with towing rope can result in complex angle decoying *** of the decoying effect on corner reflectors’radar cross section and positions are analyzed and *** show that the angle measured by a monopulse radar can be significantly interfered by this method while the automatic tracking is employed.

关键词： monopulse radar angular blinking jamming corner reflector amplitude-comparison angle measurement metasurface

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