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

作者： Fan, Zhendong Wang, Ke Bao, Minjie Li, Ruifeng Harbin Institute of Technology State Key Laboratory of Robotics and Systems Harbin China

ISBN: (纸本)9798350331820

As a classic SLAM algorithm, LIDAR-based EKF SLAM still remains a problem. An open issue is high computational complexity, which leading a very limited map size to sufficient real-time requirements. To address this problem, in this paper, we propose an MJ-EKF SLAM system that is fully implemented on a Heterogeneous Multi-Core SoC(HMS). To limit the EKF SLAM computation complexity, the Map Joining algorithm participates in the framework. The most computation cost step in EKF SLAM and Map Joining algorithms is implemented on an MJ-EKF dedicated accelerator. Meanwhile, several hardware optimization methods are proposed to save logic resources, avoid redundant computation and reduce data communication between on-chip memory and off-chip main memory. Field experiments demonstrate the HMS-based MJ-EKF algorithm achieved high real-time performance (over 30Hz) in a large-scale map with 500 landmarks. © 2023 IEEE.

关键词： System-on-chip

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Label-free and rapid mechanics of single cells under high-density co-culture conditions by deep learning image recognition-assisted atomic force microscopy

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生物化学与生物物理学报（英文版） 2025年第2期57卷 317-320页

作者： Xuliang Yang Mi Li State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China School of Artificial Intelligence Shenyang University of TechnologyShenyang 110870China State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China

Mechanical cues play an important role in regulating cellular *** are able to sense and respond to the mechanical cues present in the extracellular physical microenvironment via mechan-otransduction[1],which can ultimately shape the functions and behaviors of the cells themselves as well as their microenviron-ments during numerous developmental,physiological and patho-logical processes[2].The development of human diseases such as cancer is generally accompanied by unique changes in the mechanical properties of cells and their physical microenviron-ments,and discoveries in the field of physical oncology are beginning to be translated into new therapeutic strategies for cancer[3].

关键词： label-free conditions mechanics learning rapid image force single cells deep

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

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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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Self-adjusting voxelated electrochemical three-dimensional printing of metallic microstructures

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International Journal of Extreme Manufacturing 2025年第1期7卷 420-433页

作者： Xianghe Meng Xiaomo Wu Xingjian Shen Yan Xu Hao Zhang Mingjun Chen Hui Xie State Key Laboratory of Robotics and Systems Harbin Institute of TechnologyHarbin 150080People’s Republic of China

Microscale metallic structures enhanced by additive manufacturing technology have attracted extensive attention especially in microelectronics and electromechanical ***-confined electrodeposition(MCED)advances microscale 3D metal printing,enabling simpler fabrication of superior metallic microstructures in air without complex equipment or ***,accurately predicting growth rates with current MCED techniques remain challenging,which is essential for precise structure fabrication and preventing nozzle *** this work,we present a novel approach to electrochemical 3D printing that utilizes a self-adjusting,voxelated method for fabricating metallic *** from conventional voxelated printing which focuses on monitoring voxel thickness for structure control,this technique adopts a holistic *** ensures each voxel’s position is in alignment with the final structure by synchronizing the micropipette’s trajectory during deposition with the intended design,thus facilitating self-regulation of voxel position and reducing errors associated with environmental fluctuations in deposition *** method’s ability to print micropillars with various tilt angles,high density,and helical arrays demonstrates its refined control over the deposition *** electron microscopy analysis reveals that the deposited structures,which are fabricated through layer-by-layer(voxel)printing,contain nanotwins that are widely known to enhance the material’s mechanical and electrical ***,in situ scanning electron microscopy(SEM)microcompression tests confirm this enhancement,showing these structures exhibit a compressive yield strength exceeding 1 *** indentation tests provided an average hardness of 3.71 GPa,which is the highest value reported in previous work using *** resistivity measured by the four-point probe method was(1.95±0.01)×10^(−7)Ω·m,nearly 11 times that of bulk ***

关键词： additive manufacturing self-adjusting voxelated electrodeposition metallic microstructures 3D printing nanotwinned copper

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Review on Development of Automatic Docking System for Weapons and Cabins

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Recent Patents on Engineering 2024年第2期18卷 63-87页

作者： Tang, Dedong Cheng, Chao Quan, Qiquan Deng, Zongquan Liu, Hao Key Laboratory of Advanced Manufacturing and Intelligent Technology Ministry of Education Harbin University of Science and Technology Harbin150080 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

Background: In the manufacturing setup process of weapons, aviation, and aerospace, docking assembly is a key component in determining manufacturing efficiency and quality. The traditional docking method uses manual alignment, which depends on the experience and operation level of the workers, so the docking accuracy is low and the installation speed is slow. In response to this problem, how to achieve automatic docking of weapons and cabins has become a key technology. Objective: The objective of this study is to provide an overview of recent key technologies for automatic docking systems and introduce their respective classification, characteristics, and development. Methods: This paper reviews the patents and products related to the key technologies of automatic docking systems. The structural features, methodological principles, control characteristics and applications of the patents and products are summarized. Results: The key technologies related to different aspects of an automatic docking system are compared and analyzed, and the structural features, and methodological principles are also summarized. The problems of the current key technologies are analyzed, and the current status of research and future directions of the automatic docking system are discussed. Conclusion: According to the key technologies related to different aspects of the automatic docking system, they can be divided into motion mechanism, pose detection technology, and computer control technology. The accuracy, compliance, and flexibility of the automatic docking system can be improved by choosing the proper key technology. Further improvements are needed in terms of fast performance, robustness and authenticity, and more patents on key technologies of automatic docking systems should be invented. © 2024 Bentham Science Publishers.

关键词： Patents and inventions

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Characterizing permeability-porosity relationships of porous rocks using a stress sensitivity model in consideration of elastic-structural deformation and tortuosity sensitivity

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Journal of Rock Mechanics and Geotechnical Engineering 2024年第9期16卷 3437-3451页

作者： Ronghe Xu Liqin Wang Xiaoli Zhao Yuze Mao MIIT Key Laboratory of Aerospace Bearing Technology and Equipment Harbin Institute of TechnologyHarbin150001China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150001China Shanghai Aerospace Control Technology Institute Shanghai201100China

Clarifying the relationship between stress sensitivities of permeability and porosity is of great significance in guiding underground resource *** and more studies focus on how to construct stress sensitivity models to describe the relationship and obtain a comprehensive stress sensitivity of porous ***,the limitations of elastic deformation calculation and incompleteness of considered tortuosity sensitivity lead to the fact that the existing stress sensitivity models are still unsatisfactory in terms of accuracy and ***,a more accurate and generic stress sensitivity model considering elastic-structural deformation of capillary cross-section and tortuosity sensitivity is proposed in this *** elastic deformation is derived from the fractal scaling model and Hooke's *** the effects of elastic-structural deformation on tortuosity sensitivity,an empirical formula is proposed,and the conditions for its applicability are *** predictive performance of the proposed model for the permeability-porosity relationships is validated in several sets of publicly available experimental *** experimental data are from different rocks under different pressure *** mean and standard deviation of relative errors of predicted stress sensitivity with respect to experimental data are 2.63%and 1.91%.Compared with other models,the proposed model has higher accuracy and better predictive generalization *** is also found that the porosity sensitivity exponent a,which can describe permeability-porosity relationships,is 2 when only elastic deformation is considered.a decreases from 2 when structural deformation is also *** addition,a may be greater than 3 due to the increase in tortuosity sensitivity when tortuosity sensitivity is considered even if the rock is not fractured.

关键词： Stress sensitivity model Permeability-porosity relationships Elastic-structural deformation Tortuosity stress sensitivity

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Design methodology,synthesis,and control strategy of the high-speed planetary rover

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Frontiers of Mechanical Engineering 2024年第2期19卷 59-74页

作者： Renchao LU Haibo GAO Zhen LIU Runze YUAN Zongquan DENG State Key Laboratory of Robotics and Systems Harbin Institute of TechnologyHarbin 150001China

The planned missions to explore the surfaces of the Moon and Mars require high exploration efficiency,thus imposing new demands on the mobility system of planetary *** this paper,a design method for a high-speed planetary rover(HPR)is proposed,and the representative configurations are modeled and ***,the influence of the planetary surface environment on the design of HPRs is analyzed,and the design factors for HPRs are determined by studying a single-wheel ***,a design methodology for HPRs is *** adaptive suspension mechanisms of a four-wheeled rover are synthesized using the all-wheel-attachment condition and position and orientation characteristics theory,which are expressed in the form of a graph theory for the increase in elastic components and active ***,a dynamic model is built,and a simulation is carried out for the proposed *** validity of the proposed method and rover is verified,thus highlighting their potential application in future planetary exploration.

关键词： design methodology spectrum analysis high-speed planetary rover type synthesis

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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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A Braille Reading System Based on Electrotactile Display With Flexible Electrode Array

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IEEE/CAA Journal of Automatica Sinica 2022年第4期9卷 735-737页

作者： Ziliang Zhou Yicheng Yang Honghai Liu IEEE the State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University the State Key Laboratory of Robotics and Systems Harbin Institute of Technology Shenzhen

Dear editor,Due to visual impairment and lack of social attention,the reading problem of the blind has not been well *** existing Braille reading devices still have many problems and are not accepted by the *** paper developed a portable Braille reading system based on electrotactile display *** proposed system is composed of a six-channel electrotactile stimulator,a flexible electrode array for Braille display and a graphical user interface(GUI)for monitoring and *** on the flexibility of the system,two Braille reading strategies have been designed:spatial mode and sequential *** system was preliminary tested by six sighted *** results showed that subjects were able to recognize Braille characters with more than 80%accuracy within less than 10 seconds for the initial *** to existing Braille reading systems,this system is portable,wearable and flexible in control.

关键词： portable editor Bra

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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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