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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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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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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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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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Fabrication of bamboo-inspired continuous carbon fiber-reinforced SiC composites via dual-material thermally assisted extrusion-based 3D printing

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材料科学技术（英文版） 2025年第5期208卷 92-103页

作者： Sai Li Haitian Zhang Zhongliang Lu Fusheng Cao Ziyao Wang Yan Liu Xiaohui Zhu Shuai Ning Kai Miao Shaoyu Qiu Dichen Li State Key Laboratory for Manufacturing Systems Engineering School of Mechanical EngineeringXi'an Jiaotong UniversityXi'an 710049China State Key Laboratory for Manufacturing Systems Engineering School of Mechanical EngineeringXi'an Jiaotong UniversityXi'an 710049China School of Intelligent Manufacturing Modern Industry Xinjiang UniversityUrumqi 830046China Science and Technology on Reactor Fuel and Materials Laboratory Nuclear Power Institute of ChinaChengdu 610213China

Ceramic matrix composites(CMCs)structural components encounter the dual challenges of severe mechanical conditions and complex electromagnetic environments due to the increasing demand for stealth technology in aerospace *** address various functional requirements,this study integrates a biomimetic strategy inspired by gradient bamboo vascular bundles with a novel dual-material 3D print-ing *** distinct bamboo-inspired structural configurations Cf/SiC composites are designed and manufactured,and the effects of these different structural configurations on the CVI process are *** method is utilized to characterize the relationship between interface bonding strength and mechanical *** results reveal that the maximum flexural strength and fracture toughness reach 108.6±5.2 MPa and 16.45±1.52 MPa m1/2,respectively,attributed to the enhanced crack propagation resistance and path caused by the weak fiber-matrix ***,the bio-inspired configuration enhances the dielectric loss and conductivity loss,exhibiting a minimum reflection loss of-24.3 dB with the effective absorption band of 3.89 *** work introduces an innovative biomimetic strategy and 3D printing method for continuous fiber-reinforced ceramic composites,expanding the ap-plication of 3D printing technology in the field of CMCs.

关键词： 3D printing Cf/SiC composites Mechanical properties Electromagnetic wave absorption

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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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ER‐Mapping: An extrinsic robust coloured mapping system using residual evaluation and selection

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IET Cyber-systems and robotics 2024年第2期6卷 97-108页

作者： Changjian Jiang Zeyu Wan Ruilan Gao Yu Zhang State Key Laboratory of Industrial Control Technology College of Control Science and EngineeringZhejiang UniversityHangzhouChina Key Laboratory of Collaborative Sensing and Autonomous Unmanned Systems of Zhejiang Province HangzhouChina

The colour-enhanced point cloud map is increasingly being employed in fields such as robotics,3D reconstruction and virtual *** authors propose ER-Mapping(Extrinsic Robust coloured Mapping system using residual evaluation and selection).ER-Mapping consists of two components:the simultaneous localisation and mapping(SLAM)subsystem and the colouring *** SLAM subsystem reconstructs the geometric structure,where it employs a dynamic threshold-based residual selection in LiDAR-inertial odometry to improve mapping *** the other hand,the col-ouring subsystem focuses on recovering texture information from input images and innovatively utilises 3D–2D feature selection and optimisation methods,eliminating the need for strict hardware time synchronisation and highly accurate extrinsic *** were conducted in both indoor and outdoor *** results demonstrate that our system can enhance accuracy,reduce computational costs and achieve extrinsic robustness.

关键词： robot vision sensor fusion simultaneous localisation and mapping(robots)

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Effect of Symmetric Delay on Airfoil Plunging

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Journal of Bionic Engineering 2024年第6期21卷 2864-2876页

作者： Mostafa El-Salamony State Key Laboratory of Turbulence and Complex Systems Collaborative Innovation Center of Advanced Aero-EnginePeking UniversityBeijing100871China Institute of Aviation Engineering and Technology CairoEgypt

Delaying the sinusoidal plunging in the middle of the up-and down stroke is *** form of kinematics can appear if the flapping mechanism is malfunctioning,or while large birds fly in some *** of this study is to understand the effect of pausing the airfoil during plunging in the equilibrium *** paused plunging is modelled mathematically by means of a sinusoidal waveform raised to the third *** of this waveform is done on two stages;the wake pattern analysis and the aerodynamic and propulsive *** this waveform reveals a robust way to generate two triads wake pattern instead of the regular reverse von Karman vortex wake *** thrust generation mechanism is *** performance evaluation is done based on the thrust,lift,and power coefficients and the propulsive efficiency at different point in the nondimensional amplitude–reduced frequency *** modeling methods are utilized to stand on the performance of the paused waveform with respect to the regular sinusoidal *** findings underscore the potential of the proposed waveform as a promising alternative for enhancing the aerodynamic performance and propulsive efficiency in the design of Micro Air Vehicles(MAVs),a rapidly evolving field.

关键词： Unsteady aerodynamics Wake structure Plunging Flapping Fluid structure interaction Vortex MAV

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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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Flapping-Wing Robot Achieves Multi-Domain Locomotion Using Transformable Wheel Mechanism

Flapping-Wing Robot Achieves Multi-Domain Locomotion Using T...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Chai, Xiangxiao Wang, Shihua Pan, Erzhen Xu, Wenfu Shenzhen518055 China Key University Laboratory of Mechanism & Machine Theory and Intelligent Unmanned Systems of Guangdong Shenzhen518055 China Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150001 China

ISBN: (纸本)9781665481090

The difficulty of moving from aquatic to aerial environment is one of the major challenges limiting the development of trans-medium multi-domain locomotion vehicles. In this paper, the concept of the transformable wheel, a feature commonly found in autonomous land vehicles (AL V s), is introduced into the design. Additionally, a flapping-wing robot equipped with multi-domain locomotion capability, which can not only realize aerial flight and surface navigation on water, but also ascend from water to land for subsequent takeoff is presented. The paper first introduces the system design of the robot and proposes the corresponding multi-domain locomotion strategy. Subsequently, the design of the transformable wheel mechanism is described in detail and the force analysis for the water-exit is conducted. The feasibility of the proposed strategy is experimentally validated, confirming the prototype's multi-domain locomotion performance finally. This research explores the feasibility of introducing the transformable wheel mechanism into trans-medium multi-domain vehicle platforms and provides a design example. © 2024 IEEE.

关键词： Machine design

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