检索结果-内蒙古大学图书馆

A 3-DOF piezoelectric robot with continuous walking gait aiming at cross-scale smooth motion

Science China(Technological Sciences) 2023年第1期66卷 233-242页

作者： YU HongPeng LIU YingXiang DENG Jie ZHANG ShiJing CHEN WeiShan State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 15000lChina

Piezoelectric robots play important roles in the field of micromanipulation, but it is difficult for them to generate steady precision motion at any moment. In order to eliminate the changing inertial force and improve the motion smoothness, this work proposes a piezoelectric robot with continuous walking gait inspired by ants. The idea is verified with theoretical models and numerical simulation, and the performances are evaluated with experiments. The robot is proven to have the ability to generate 3-DOF(dgeree of freedom) continuous smooth motions with constant speeds. The maximum and minimum smooth velocities have a difference of six orders of magnitude, realizing cross-scale velocity control. Besides, the motion resolution reaches several nanometers with the unlimited workspace, so the cross-scale displacement control can be also obtained. Furthermore, with great robustness against varying loads, the stable actuation capability of the robot is more than 22 times of the self-weight. To sum up,the proposed robot generates cross-scale smooth motion in both aspects of displacement and velocity, so it has good prospects in the applications requiring steady precision motion. The design philosophy and research methods in this work can be valuable references for further advances of micromanipulation robots.

关键词： piezoelectric robot continuous walking gait cross-scale displacement cross-scale velocity smooth motion constant speed

来源：评论

学校读者我要写书评

暂无评论

Position-aware pushing and grasping synergy with deep reinforcement learning in clutter

引用

CAAI Transactions on Intelligence technology 2024年第3期9卷 738-755页

作者： Min Zhao Guoyu Zuo Shuangyue Yu Daoxiong Gong Zihao Wang Ouattara Sie Intelligent Robotics Laboratory Faculty of Information TechnologyBeijing University of TechnologyBeijingChina Beijing Key Laboratory of Computational Intelligence and Intelligent Systems BeijingChina Laboratory of Biomechatronics and Intelligent Robotics(BIRO) Department of Mechanical and Aerospace EngineeringNorth Carolina State UniversityRaleighNorth CarolinaUSA

The positional information of objects is crucial to enable robots to perform grasping and pushing manipulations in *** effectively perform grasping and pushing manipu-lations,robots need to perceive the position information of objects,including the co-ordinates and spatial relationship between objects(e.g.,proximity,adjacency).The authors propose an end-to-end position-aware deep Q-learning framework to achieve efficient collaborative pushing and grasping in ***,a pair of conjugate pushing and grasping attention modules are proposed to capture the position information of objects and generate high-quality affordance maps of operating positions with features of pushing and grasping *** addition,the authors propose an object isolation metric and clutter metric based on instance segmentation to measure the spatial re-lationships between objects in cluttered *** further enhance the perception capacity of position information of the objects,the authors associate the change in the object isolation metric and clutter metric in cluttered environment before and after performing the action with reward function.A series of experiments are carried out in simulation and real-world which indicate that the method improves sample efficiency,task completion rate,grasping success rate and action efficiency compared to state-of-the-art end-to-end *** that the authors’system can be robustly applied to real-world use and extended to novel *** material is available at https://***/NhG\_k5v3NnM}{https://***/NhG\_k5v3NnM.

关键词： deep learning deep neural networks intelligent robots

来源：评论

学校读者我要写书评

暂无评论

High-efficiency inspecting method for mobile robots based on task planning for heat transfer tubes in a steam generator

引用

Frontiers of Mechanical Engineering 2023年第2期18卷 161-175页

作者： Biying XU Xuehe ZHANG Yue OU Kuan ZHANG Zhenming XING Hegao CAI Jie ZHAO Jizhuang FAN State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

Many heat transfer tubes are distributed on the tube plates of a steam generator that requires periodic inspection by *** inspection robots are usually involved in issues:Robots with manipulators need complicated installation due to their fixed base;tube mobile robots suffer from low running efficiency because of their structural *** there are thousands of tubes to be checked,task planning is essential to guarantee the precise,orderly,and efficient inspection *** in-service robots check the task tubes using row-by-row and column-bycolumn *** leads to unnecessary inspections,resulting in a long shutdown and affecting the regular operation of a nuclear power ***,this paper introduces the structure and control system of a dexterous robot and proposes a task planning *** method proceeds into three steps:task allocation,base position search,and sequence *** allocate the task regions,this method calculates the tool work matrix and proposes a criterion to evaluate a *** then all tasks contained in the sub-region are considered globally to search the base ***,we apply an improved ant colony algorithm for base sequence planning and determine the inspection orders according to the planned *** validated the optimized algorithm by conducting task planning experiments using our robot on a tube *** results show that the proposed method can accomplish full task coverage with few repetitive or redundant inspections and it increases the efficiency by 33.31% compared to the traditional planning algorithms.

关键词： steam generator transfer tubes mobile robot dexterous structure task planning efficient inspection

来源：评论

学校读者我要写书评

暂无评论

Multi-modal Bionic Motion Analysis of A Cpg-controlled Pneumatic Soft Robot

引用

Journal of Bionic Engineering 2024年第5期21卷 2247-2257页

作者： Yu Zhang Peiyu Huang Dongjie Li Jiangyu Zhou Yu Li Bo You Yanhe Zhu Heilongjiang Provincial Key Laboratory of Complex Intelligent System and Integration Harbin University of Science and TechnologyHarbin150080China State Key Laboratory of Robotics and System Harbin Institute of Technology(HIT)Harbin150001China

This paper designs a soft robot with a multi-chamber,multi-airbag mimicking soft biological structure,where the airbags of the same chamber are interconnected with each *** upper and lower chambers are separated by an intermediate layer(thin plate),which is extended and widened to achieve robot movement and *** applying pressure to the different chambers of the soft robot,it is possible to produce a variety of bionic movements of the inchworm and *** to the strong nonlinearity and infinite number of degrees of freedom properties of the material,it is impossible to obtain the analytical solution of the bending morphology and pressure of the soft robot ***,a method to establish a mathematical model of soft robot deformation based on the classical stacked plate theory is proposed,and a chain composite model of soft robot bending motion is established based on the large-deflection modeling *** paper proposes a method to generate a multi-mode soft robot motion control based on the Central Pattern Generator(CPG)using a single controller,which achieves the switching of sine wave-like patterns,half-wave-like patterns,and dragging patterns by adjust-ing frequency,amplitude and period of ***,a pneumatic control platform is built for the validation of the theoretical model and different experimental models of the motion of the *** comparation of the different motion modes of the soft robot under similar non-load and load conditions.

关键词： Soft robot Bionic multi-modal movement Laminated plate theory CPG control

来源：评论

学校读者我要写书评

暂无评论

Data-Driven Fault-Tolerant Bipartite Consensus Tracking for Multi-Agent systems With a Non-Autonomous Leader

引用

IEEE/CAA Journal of Automatica Sinica 2025年第1期12卷 279-281页

作者： Yan Zhou Guanghui Wen Jialing Zhou Tao Yang the Department of Systems Science Southeast University the State Key Laboratory of CNS/ATM Beijing Institute of Technology the Beijing Institute of Technology (Zhuhai) the State Key Laboratory of Synthetical Automation for Process Industries Northeastern University

Dear Editor,This letter studies the bipartite consensus tracking problem for heterogeneous multi-agent systems with actuator faults and a leader's unknown time-varying control input. To handle such a problem, the continuous fault-tolerant control protocol via observer design is developed. In addition, it is strictly proved that the multi-agent system driven by the designed controllers can still achieve bipartite consensus tracking after faults occur.

关键词： Time varying control systems

来源：评论

学校读者我要写书评

暂无评论

JADFER: Exploring Spatial-Contextual Interaction With Joint Attention Dropping for Facial Expression Recognition

引用

IEEE Transactions on Affective Computing 2025年第2期16卷 655-668页

作者： Gao, Yu Ren, Weihong Jiang, Weibo Dong, Qian Nie, Wei Wu, Wenhao Liu, Honghai Harbin Institute of Technology State Key Lab of Robotics and Systems School of Mechanical Engineering and Automation Shenzhen518055 China

Facial Expression Recognition (FER) aims to cate-gorize emotional expressions depicted on a human face, and isa challenging task under unconstrained conditions, such as faceocclusions and pose variations. Recent methods usually adopt selfattention or cross attention to explore global or local relationshipsamong different level features. However, these methods are inclinedto focus on the redundant facial regions, causing model *** address this problem, we propose a new FER model namedJADFER, which drops the joint attention in the weight matrix toadaptively enhance facial expression representations. Specifically,our JADFER model consists of three components: Spatial Branch(SB), Contextual Branch (CB), and Spatial-Contextual Interaction(SCI). First, SB runs N paths in parallel, where a Variety loss is de-signed to guide the paths of SB to focus on different discriminativeregions. Meanwhile, CB abstracts the contextual facial represen-tations using self attention with Joint Attention Dropping (JAD).Then, the SCI adopts the spatial features from SB to query thecontextual representations from CB through cross attention withJAD, which regulates the attention weights by dropping the similaractivations to further enhance the facial embeddings. Experimen-tal results demonstrate that the proposed model outperforms thestate-of-the-art methods on several FER benchmarks. © 2010-2012 IEEE.

关键词： Face recognition

来源：评论

学校读者我要写书评

暂无评论

Hemispherical resonator with low subsurface damage machined by small ball-end fine diamond grinding wheel:A novel grinding technique

引用

Chinese Journal of Aeronautics 2024年第5期37卷 570-585页

作者： Biao QIN Henan LIU Jian CHENG Jinchuan TIAN Jiangang SUN Zihan ZHOU Chuanzhen MA Mingjun CHEN State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China Center for Precision Engineering Harbin Institute of TechnologyHarbin 150001China

As for the ultra-precision grinding of the hemispherical fused silica resonator,due to the hard and brittle nature of fused silica,subsurface damage(SSD)is easily generated,which enormously influences the performance of such ***,ultra-precision grinding experiments are carried out to investigate the surface/subsurface quality of the hemispherical resonator machined by the small ball-end fine diamond grinding *** influence of grinding parameters on the surface roughness(SR)and SSD depth of fused silica samples is then *** experimental results indicate that the SR and SSD depth decreased with the increase of grinding speed and the decrease of feed rate and grinding *** addition,based on the material strain rate and the maximum undeformed chip thickness,the effect of grinding parameters on the subsurface damage mechanism of fused silica samples is ***,a multi-step ultra-precision grinding technique of the hemispherical resonator is proposed based on the interaction influence between grinding depth and feed ***,the hemispherical resonator is processed by the proposed grinding technique,and the SR is improved from 454.328 nm to 110.449 nm while the SSD depth is reduced by 94%from 40μm to 2.379μ*** multi-step grinding technique proposed in this paper can guide the fabrication of the hemispherical resonator.

关键词： Fused silica Ultra-precision grinding Hemispherical resonator Subsurface damage Grinding technique

来源：评论

学校读者我要写书评

暂无评论

Thermal shock of subsurface material with plastic flow during scuffing

引用

Friction 2023年第1期11卷 64-75页

作者： Chuanwei ZHANG Han ZHAI Dong SUN Dezhi ZHENG Xiaoli ZHAO Le GU Liqin WANG MIIT Key Laboratory of Aerospace Bearing Technology and Equipment Harbin Institute of TechnologyHarbin 150001China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150080China

The thermal shock of subsurface material with shear instability and severe plastic flow during scuffing was *** scuffing damage of M50 steel was tested using a high-speed rolling-sliding contact test rig,and the transient temperature during scuffing was calculated using the Fourier transform method considering the effects of both frictional heat and plastic *** results show that a thermal shock with a rapid rise and subsequent rapid decrease in the contact temperature is generated in the subsurface *** frictional power intensity generates a high temperature rise,leading to the austenitization of the subsurface ***,the plastic flow is generated in the subsurface layer under the high shear stress,and the resulting plastic strain energy generates a further temperature ***,a rapid decrease in the contact temperature quenches the material,resulting in clear shear slip bands and retained austenite in the subsurface layers of the M50 steel.

关键词： scuffing thermal shock high temperature plastic flow

来源：评论

学校读者我要写书评

暂无评论

Versatile Jumping of Humanoid Robots via Curriculum-Assisted Reinforcement Learning

Versatile Jumping of Humanoid Robots via Curriculum-Assisted...

引用

2024 China Automation Congress, CAC 2024

作者： Tan, Ruiyu Li, Xueai Ni, Fenglei Zhou, Dong Ji, Yi Shao, Xiangyu Key Laboratory of Autonomous Intelligent Unmanned Systems Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China

ISBN: (纸本)9798350368604

Versatile jumping is crucial for agile and adaptive behavior of humanoid robots in complex environments. However, humanoid robots have to manage impact forces while maintaining balance and stability throughout the take-off, flight, and landing phases, which imposes significant challenges for motion planning and controller design. This paper proposes a curriculum-assisted reinforcement learning framework for the humanoid robot to achieve various jumping tasks. The curriculum learning divides the jump training process into multi-stages and design different episodes in each stage to guarantee the training feasibility and generalize learned skills. Simulations on a 28 DOFs humanoid robot verify the excellent diverse jumping capability of the proposed policy. This exploration of different tasks also proves the policy’s robustness, allowing the robot quickly recover from perturbations using a variety of learned maneuvers. © 2024 IEEE.

关键词： Anthropomorphic robots

来源：评论

学校读者我要写书评

暂无评论

Robustness and Push Recovery of Humanoid Robots Using Predictive and Whole-Body Control

Robustness and Push Recovery of Humanoid Robots Using Predic...

引用

2024 IEEE International Conference on Unmanned systems, ICUS 2024

作者： Zhang, Shaojie Ni, Fenglei Li, Xueai Li, Xu Ji, Yi Shao, Xiangyu State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China Key Laboratory of Autonomous Intelligent Unmanned Systems Harbin Institute of Technology Harbin China

ISBN: (纸本)9798350384185

Robustness walking and recovery ability in uneven terrains and unexpected collisions are crucial for the practical application of humanoid ***, existing methods struggle to effectively balance stability, motion safety and walking *** paper proposes a hybrid control strategy combing Nonlinear Model Predictive Control (NMPC) and Whole-Body Control (WBC) to improve the robot's walking stability and reaction safety in collisions *** NMPC generates long-term and macroscopic movements, with capture point theory being utilized for foot placements determination under external *** this foundation, the WBC regulates the robot refinedly in real-time based on task priorities and *** verify the effectiveness of the proposed method, involving uneven terrain walking and external impacts rejection. © 2024 IEEE.

关键词： Anthropomorphic robots

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：