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16th International Conference on Modelling, Identification and Control, ICMIC 2024

作者： Heng, Shuai Song, Chao Chen, Boyang Zhang, Yue Zang, Xizhe Zhao, Jie State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China

ISBN: (纸本)9789819617760

In this paper, our objective is to achieve stable walking for biped robots using a simple yet powerful control scheme. This control scheme consists of a planning and control framework. For the motion planner, we utilize the Linear Inverted Pendulum Model as the equations of motion for the biped. Model Predictive Control is applied to plan the Zero Moment Point (ZMP) for future steps. Trajectories for the swing foot and base are generated based on the planned ZMP. Subsequently, a straightforward and intuitive control method called Virtual Model Control is employed to calculate control torques for tracking the generated trajectories. Finally, simulations conducted on flat-foot bipedal robots in MuJoCo validate the effectiveness of the proposed control scheme in achieving stable walking and attaining the desired locomotion velocity. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Predictive control systems

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Underwater RGB-D imaging system with millimetric precision

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Science China(Information Sciences) 2024年第10期67卷 383-385页

作者： Yajun GAO Yang CONG Xu TANG Mingxue LI State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences University of Chinese Academy of Sciences College of Automation Science and Engineering South China University of Technology

In recent years, underwater fine three-dimensional reconstruction technology has emerged as a focal point in research, exhibiting extensive potential applications, particularly in underwater archaeology and resource e...

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Design and Analysis of Rigid Continuous Deformation Mechanism Based on Heterogeneous Unit

Design and Analysis of Rigid Continuous Deformation Mechanis...

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International Conference on Mechanical Design, ICMD 2023

作者： Guo, Weiming Xiao, Hong Guo, Hongwei Tao, Jianguo Liu, Rongqiang State Key Laboratory of Robotics Harbin Institute of Technology Harbin150001 China

ISBN: (纸本)9789819709212

Inspired by the space tessellation structure, this paper presents an innovative rigid continuous deformation mechanism (RCDM) by combining the unique properties of tetrahedron and octahedron shapes. The proposed mechanism exhibits multi degrees of freedom, including expansion, bending, and twisting, creating a continuous deformation surface akin to a flexible mechanism. Furthermore, the resulting deformation surface has high rigidity while easily seamlessly integrating with flexible materials as a supportive structure. Firstly, the structural design of this novel mechanism is introduced. Secondly, the mathematical model of the mechanism is established, analyzing its degree of mobility using the principles of screw theory. A comprehensive kinematics model is constructed to streamline the deformation process alongside a control strategy based on the deformation demand. Finally, a prototype is built to prove the feasibility of the mechanism deformation. The results demonstrate the spatial continuous deformation potential of the proposed mechanism, which holds promise for applications in space capture and morphing skeleton. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Kinematics

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Enhanced strength and ductility of laser-directed energy deposition repaired IN718 superalloy via a novel tailored heat treatment

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Journal of Materials Science & technology 2024年第32期199卷 86-101页

作者： You Zhou Xuewei Fang Naiyuan Xi Xiaoxin Jin Kexin Tang Zhiyan Zhang Qi Zhang Yang Yang Ke Huang State Key Laboratory of Manufacturing Systems Engineering School of Mechanical EngineeringXi’an Jiaotong UniversityXi’an 710049China State Key Laboratory for High-Performance Tools School of Electromechanical EngineeringGuangdong University of TechnologyGuangzhou 510006China

High-quality repair of damaged Inconel 718(IN718)superalloy components can achieve great economic ***,the directly double aging(DA)treatment by industrial standards,yields an inferior ductility on the repaired component than that of the wrought base *** this work,wrought IN718 components were repaired by laser-directed energy deposition(LDED),a novel tailored heat treatment(THT)schedule consisting of a short-term low-temperature homogenization,and subsequent DA was sub-sequently conducted to strengthen the repaired IN718 *** microstructure evolution and mechan-ical properties of the DA and THT-treated repaired alloys were comparatively *** results indicated that the THT effectively dissolved most of the hard brittle Laves precipitates in the deposition region with only slight coarsening of the grains in the *** compared to the DA sample,the elon-gation of the THT sample increased remarkably by 88%with only a slight reduction of 19.2 MPa in yield ***,the strain distribution of the THT sample was overall more even but then destabilized in a narrow abnormal coarsened grain region caused by the static *** general,this study breaks through the limitation of the low ductility of the DA-treated repaired IN718 alloys and provides a promising way to further improve the mechanical properties.

关键词： Additive manufacturing Laser repairing Heat treatment schedule Mechanical properties Inconel 718 alloy

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Bifunctional nanoprobe for simultaneous detection of intracellular reactive oxygen species and temperature in single cells

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Microsystems & Nanoengineering 2024年第6期10卷 161-172页

作者： Yanmei Ma Weikang Hu Jian Hu Muyang Ruan Jie Hu Ming Yang Yi Zhang Hanhan Xie Chengzhi Hu Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy EngineeringSouthern University of Science and TechnologyShenzhen 518000China Department of Electrical and Electronic Engineering Southern University of Science and TechnologyShenzhen 518000China

Living cells can rapidly adjust their metabolic activities in response to external stimuli,leading to fluctuations in intracellular temperature and reactive oxygen species(ROS)*** these parameters is essential for understanding cellular metabolism,particularly during dynamic biological *** this study,we present a bifunctional nanoprobe capable of simultaneous measurement of ROS levels and temperature within single *** nanoprobe features two individually addressable nanoelectrodes,with platinum(Pt)and nickel(Ni)coatings on both *** the tip,these two metal layers form a nano-thermocouple,enabling precise intracellular temperature measurements,while the Pt layer facilitates selective ROS *** dual functionality allows for real-time monitoring of cellular responses during synergistic chemo-photothermal therapy of cancer cells and zebrafish embryos subjected to mitochondrial toxic *** results demonstrate that the nanoprobe effectively measures increases in temperature and ROS levels in HeLa cells undergoing chemo-photothermal therapy,as well as in chemically stimulated zebrafish *** providing detailed analysis of submicrometer-scale temperature and ROS variations within living cells,this nanoprobe offers valuable insights into cellular processes and holds promise for early disease detection and drug development.

关键词： metabolism simultaneous holds

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A Novel FBG Shape Sensor Based on Mechanical Model for Continuum Manipulator 10

A Novel FBG Shape Sensor Based on Mechanical Model for Conti...

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10th International Conference on Automation, robotics, and Applications, ICARA 2024

作者： Zhang, Yuxin Dong, Wei Yan, Zhiyuan Gao, Yongzhuo Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9798350394245

Fiber Bragg Gratings (FBG) are used widely for that it is small and sensitive. It is suitable to insert a sensor based on FBGs to some narrow cavities. At the same time, a slender continuum structure requires tiny sensors inside it. A multi-node differential curvature measurement sensor of FBG fiber is designed in this paper to realize temperature compensation. Considering the friction among FBG, driving wires, and niti tube and external forces applied on the end, a mechanical model about the FBG sensor and the continuum manipulator is proposed. At last, a linear interpolation method is used in the curvature estimation. Under the condition that there is no end resistance and only the bending moment and friction along the outer surface of the continuum generated by the steel wire driven by the motor the absolute measurement error of the position of the end of the continuum is 1.9mm. © 2024 IEEE.

关键词： Fiber Bragg gratings

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An efficient stiffness analysis model based on shear deformation theory for flexible skin shear variable-sweep wing

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Chinese Journal of Aeronautics 2024年第10期37卷 445-458页

作者： Yue BAI Guang YANG Hong XIAO Hongwei GUO Rongqiang LIU Bei LIU State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China China Aerodynamics Research and Development Center Institute of High-Speed AerodynamicsMianyang 621000China

Fixed-wing aircraft cannot maintain optimal aerodynamic performance at different flight speeds. As a type of morphing aircraft, the shear variable-sweep wing(SVSW) can dramatically improve its aerodynamic performance by altering its shape to adapt to various flight *** order to achieve smooth continuous shear deformation, SVSW's skin adopts a flexible composite skin design instead of traditional aluminum alloy materials. However, this also brings about the non-linear difficulty in stiffness modeling and calculation. In this research, a new SVSW design and efficient stiffness modeling method are proposed. Based on shear deformation theory, the flexible composite skin is equivalently modeled as diagonally arranged nonlinear springs, simulating the elastic force interaction between the skin and the mechanism. By shear loading tests of flexible composite skin, the accuracy of this flexible composite skin modeling method is verified. The SVSW stiffness model was established, and its accuracy was verified through static loading tests. The effects of root connection, sweep angles, and flexible composite skin on the SVSW stiffness are analyzed. Finally, considering three typical flight conditions of SVSW: low-speed flow(Ma = 0.3,Re = 5.82 × 10^(6)), transonic flow(Ma = 0.9, Re = 3.44 × 10^(6)), and supersonic flow(Ma = 3,Re = 7.51 × 10^(6)), the stiffness characteristics of SVSW under flight conditions were *** calculated results guide the application of SVSW.

关键词： Shear variable-sweep wing(SVSW) Flexible composite skin Morphing mechanism Stiffness analysis Loading tests Structure

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Reinforcement Learning Navigation for Robots Based on Hippocampus Episode Cognition

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Journal of Bionic Engineering 2024年第1期21卷 288-302页

作者： Jinsheng Yuan Wei Guo Zhiyuan Hou Fusheng Zha Mantian Li Pengfei Wang Lining Sun State Key Laboratory of Robotics and System Harbin Institute of Technology(HIT)Harbin 150001China Shenzhen Academy of Aerospace Technology Shenzhen 518057China School of Mechanical and Electrical Engineering Lanzhou University of TechnologyLanzhou 730050China

Artificial intelligence is currently achieving impressive success in all ***,autonomous navigation remains a major challenge for *** learning is used for target navigation to simulate the interaction between the brain and the environment at the behavioral level,but the Artificial Neural Network trained by reinforcement learning cannot match the autonomous mobility of humans and *** hippocampus–striatum circuits are considered as key circuits for target navigation planning and *** paper aims to construct a bionic navigation model of reinforcement learning corresponding to the nervous system to improve the autonomous navigation performance of the *** ventral striatum is considered to be the behavioral evaluation region,and the hippocampal–striatum circuit constitutes the position–reward *** this paper,a set of episode cognition and reinforcement learning system simulating the mechanism of hippocampus and ventral striatum is constructed,which is used to provide target guidance for the robot to perform autonomous *** with traditional methods,this system reflects the high efficiency of learning and better Environmental *** research is an exploration of the intersection and fusion of artificial intelligence and neuroscience,which is conducive to the development of artificial intelligence and the understanding of the nervous system.

关键词： Episode cognition Reinforcement learning Hippocampus Robot navigation

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Mechanical Properties Inside Origami-Inspired Structures: An Overview

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Applied Mechanics Reviews 2025年第1期77卷 011001页

作者： Yan, Peng Huang, Hailin Meloni, Marco Li, Bing Cai, Jianguo Department of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen518052 China Harbin Institute of Technology Shenzhen518052 China Key Laboratory of C & PC Structures of Ministry of Education National Prestress Engineering Research Center Southeast University Nanjing211189 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Harbin Institute of Technology Shenzhen518052 China Key University Laboratory of Mechanism Machine Theory and Intelligent Unmanned Systems of Guangdong Habin Institute of Technology Shenzhen518052 China

In recent decades, origami has transitioned from a traditional art form into a systematic field of scientific inquiry, characterized by attributes such as high foldability, lightweight frameworks, diverse deformation modes, and limited degrees-of-freedom. Despite the abundant literature on smart materials, actuation methods, design principles, and manufacturing techniques, comprehensive reviews focusing on the mechanical properties of origami-inspired structures are relatively rare and unsystematic. This review aims to fill this void by analyzing and summarizing the significant studies conducted on the mechanical properties of origami-inspired structures from 2013 to 2023. We begin with an overview that includes essential definitions of origami, classical origami patterns, and their associated tessellated or stacked structures. Following this, we delve into the principal dynamic modeling method for origami and conduct an in-depth analysis of the key mechanical properties of origami-inspired structures. These properties include tunable stiffness, bistability and multistability, metamechanical properties demonstrated by origami-based metamaterials, and bio-inspired mechanical properties. Finally, we conclude with a comprehensive summary that discusses the current challenges and future directions in the field of origami-inspired structures. Our review provides a thorough synthesis of both the mechanical properties and practical applications of origami-inspired structures, aiming to serve as a reference and stimulate further research. © 2025 American Society of Mechanical Engineers (ASME). All rights reserved.

关键词： Degrees of freedom (mechanics)

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Microstructure,mechanical and fracture properties of friction stir welded 2195 Al-Li alloy joints

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Chinese Journal of Aeronautics 2024年第1期37卷 345-361页

作者： Guangda SUN Weizhao SUN Li ZHOU Sanfeng LUO Zili ZHANG Debo LIU Huiqiang WU State Key Laboratory of Advanced Welding and Joining Harbin Institute of TechnologyHarbin 150001China Shandong Provincial Key Laboratory of Special Welding Technology Harbin Institute of Technology(Weihai)Weihai 264209China Beijing Institute of Astronautical Systems Engineering Beijing 100076China

The 8 mm-thick 2195 Al-Li alloy joints were achieved by Friction Stir Welding(FSW).The microstructural evolution,temperature-dependent mechanical properties,and fracture properties were *** T1,δ’/β’and θ’precipitates were observed in the Base Metal(BM)and the Heat Affected Zone(HAZ).Most of the precipitates,except for re-precipitated δ’/β’phases,were dissolved in the Nugget Zone(NZ).The tensile specimens that failed at cryogenic temperatures(-196℃)had the maximum Ultimate Tensile Strength(UTS),and the fracture surface showed the inter-granular fracture *** to those at room temperature(25℃),the decreasing tensile properties at high temperature(180℃)were related to microstructure and strain hardening *** NZ presented the optimal fracture toughness,and the Crack Tip Opening Displacement(CTOD)was mutually dominated by microhardness and grain *** on Fatigue Crack Growth(FCG)rates indicates that the Thermal-Mechanically Affected Zone(TMAZ)exhibited the most superior fatigue resistance performance at stress intensity range below17 MPa.m1/2due to compressive residual stress and the crack closure *** fatigue fracture surfaces reveal that the crack propagation zone was characterized by the striations and secondary ***,inter-granular fracture behavior was responsible for the fastest FCG rates in the NZ.

关键词： Aluminum alloys Friction stir welding Microstructural evolution Mechanical properties Fracture mechanism

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