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Teleoperation of the Tiangong-2 Space Manipulator System

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Teleoperation of the Tiangong-2 Space Manipulator System

IEEE International Conference on robotics and Biomimetics

作者： Chongyang Li Zainan Jiang Yang Liu Ziqi Liu Hegao Cai State Key Laboratory of Robotics and System School of Mechatronics Engineering Harbin Institute of Technology Harbin China

ISBN: (纸本)9781665405362

In this paper, we would present the structure of the teleoperation system of the Tiangong-2 Space Manipulator system. The system consist of on-orbit teleoperation and on-ground skill learning subsystem, and they meet the requirements of different tasks. Then, we also represented the key technology, the calibration method of the CyberGlve, of the two subsystem. And the experiments showed the methods are effective.

关键词： Conferences Biomimetics Manipulators Calibration Task analysis

A Triboelectric Multifunctional Sensor Based on the Controlled Buckling Structure for Motion Monitoring and Bionic Tactile of Soft Robots

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SSRN 2022年

作者： Xu, Jinsui Xie, Zhijie Yue, Honghao Lu, Yifan Yang, Fei State Key Laboratory of Robotics and System School of Mechatronics Engineering Harbin Institute of Technology Harbin150001 China College of mechanical and electrical engineering Northeast Forestry University Harbin150042 China

Soft robots have unlimited degrees of freedom, which limits the application of traditional sensors in the field of soft robots. Therefore, continuous motion monitoring and tactile feedback for soft robots have been challenging. To address this challenge, this paper proposes a multifunctional sensor by combining controlled buckling structure with triboelectric nanogenerator for the first time to detect and control grasping, realize two-dimensional (2D) planar motion, and achieve adaptive obstacle avoidance in soft robots. A 2D kirigami electrode is compressed and buckled into a stretchable three-dimensional (3D) structure by pre-stretching the substrate. The proposed soft grasping system sensor can detect the bending angle of a soft gripper to identify the size of a grasped object, achieving a detection accuracy of 91.67%. By alternately arranging the buckling electrodes to form a 2D spatial decoupling structure, the 2D motion sensor (2DMS) can detect the movement direction and real-time position of a robot with an accuracy rate of 83.33%. Using the compressible properties of the buckling 3D structure, the inchworm-like soft robot (I-LSR) tactile sensor can sense the surrounding environment, thereby realizing dynamic obstacle avoidance. The proposed novel multifunctional triboelectric sensor by combining the properties of controlled buckling structure provides a theoretical and experimental basis for high-precision motion detection and intelligent obstacle avoidance for soft robots. © 2022, The Authors. All rights reserved.

关键词： Buckling

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SSRN 2024年

作者： Gao, Mingyu Song, Peng Liang, Zhipeng Huo, Liang Gao, Yulong Yang, Guohui Xie, Yunji Song, Yinghao Wang, Fei Liu, Junyan School of Mechatronics Engineering Harbin Institute of Technology Harbin150001 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China The 41st Institute of the Sixth Academy of CASIC Hohhot010010 China School of Electronics and Information Engineering Harbin Institute of Technology Harbin150001 China

This paper proposes a microwave defect characterization algorithm based on Convolutional Neural Networks (CNN). A defect dataset derived from reflection microwave signals, was manually compiled by detecting samples with critical defects. The CNN framework was utilized for precise classification of microwave signals, employing a classification encoding strategy to extract two-dimensional defect information and achieve automatic localization and imaging of defects. Multiple deep learning models were compared in both simulations and experiments, revealing that the proposed CNN exhibited significant advantages in feature extraction, enabling highly effective identification of internal defects even with a limited dataset. Compared with traditional algorithms, the detection accuracy of the proposed 1D-SENet has been improved by 53.35% and 50.66%, respectively, and can achieve detection of defects with a minimum size of Φ6mm. These validate the effectiveness of algorithm in intelligent and automated microwave characterization of delamination defects within composite materials. © 2024, The Authors. All rights reserved.

关键词： Composite materials

Damage evolution mechanism and low-damage grinding technology of silicon carbide ceramics

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International Journal of Extreme Manufacturing 2025年第2期 555-591页

作者： Chen Li Kechong Wang Oleg Zakharov Hailong Cui Mingtao Wu Tianchen Zhao Yongda Yan Yanquan Geng State Key Laboratory of Robotics and System (HIT) Harbin Institute of Technology School of Mechatronics Engineering Harbin Institute of Technology Hunan Provincial Key Laboratory of High Efficiency and Precision Machining of Difficult-to-cut Material Hunan University of Science and Technology Moscow State University of Technology Sichuan Precision and Ultra-Precision Machining Engineering Technology Center College of Mechanical Engineering Quzhou University

Silicon carbide(SiC) ceramics are extensively utilized in aerospace, national defense, and petrochemical industries due to their superior physical and chemical properties. The processing of bulk SiC ceramics necessitates precise and efficient grinding techniques to produce components with satisfactory functionality. However, the inherent high hardness and brittleness of SiC ceramics present significant challenges during grinding, leading to severe brittle fracture and tool wear that compromise both surface integrity and production efficiency. Although ductile-regime grinding of SiC ceramics can be achieved by enhancing machine tool accuracy and stiffness while optimizing wheel performance alongside appropriate selection of process parameters, a comprehensive summary of the mechanisms underlying damage evolution during grinding is lacking, and a mature grinding process for SiC ceramics has yet to be developed. To bridge this gap, the sintering technologies, mechanical properties, and microstructures of SiC ceramics were briefly covered. The grinding-induced damage mechanism and low-damage grinding technologies of SiC ceramics were summarized. The fundamental science underlying the ductile deformation and removal mechanisms of brittle solids was emphasized. Additionally,attention was directed towards the critical role of hybrid energy field grinding in minimizing brittle damages and promoting removal efficiency. This review not only elucidates the intrinsic interactions between the work material and abrasives, but also offers valuable insights for optimizing the grinding processes of brittle solids.

关键词：

Robot-aided fN∙m torque sensing within an ultrawide dynamic range

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Microsystems & Nanoengineering 2021年第1期7卷 51-61页

作者： Shudong Wang Xueyong Wei Haojian Lu Ziming Ren Zhuangde Jiang Juan Ren Zhan Yang Lining Sun Wanfeng Shang Xinyu Wu Yajing Shen State Key Laboratory for Manufacturing Systems Engineering Xi’an Jiaotong UniversityXi’an 710049China Mechanical and Biomedical Engineering Department City University of Hong KongHong Kong SAR 999077China Department of Mechatronics Chang’an UniversityXi’an 710054China Robotics and Microsystems Center Soochow UniversitySuzhou 215021China Shenzhen Institutes of Advanced Technology Chinese Academy of SciencesShenzhen 518055China Shenzhen Research Institute City University of Hong KongShenzhen 440305China

In situ scanning electron microscope(SEM)characterization have enabled the stretching,compression,and bending of micro/nanomaterials and have greatly expanded our understanding of small-scale ***,as one of the fundamental approaches for material analytics,torsion tests at a small scale remain a major challenge due to the lack of an ultrahigh precise torque sensor and the delicate sample assembly ***,we present a microelectromechanical resonant torque sensor with an ultrahigh resolution of up to 4.78 fN∙m within an ultrawide dynamic range of 123 ***,we propose a nanorobotic system to realize the precise assembly of microscale specimens with nanoscale positioning accuracy and to conduct repeatable in situ pure torsion tests for the first *** a demonstration,we characterized the mechanical properties of Si microbeams through torsion tests and found that these microbeams were five-fold stronger than their bulk *** proposed torsion characterization system pushes the limit of mechanical torsion tests,overcomes the deficiencies in current in situ characterization techniques,and expands our knowledge regarding the behavior of micro/nanomaterials at various loads,which is expected to have significant implications for the eventual development and implementation of materials science.

关键词： torsion precise dynamic

Time-Optimal Trajectory Planning Based on Dynamics for Industrial Robot 5

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Time-Optimal Trajectory Planning Based on Dynamics for Indus...

5th International Conference on Automation, Control and robotics Engineering, CACRE 2020

作者： Wang, Rundong Kong, Minxiu Cheng, Yanchun Castellani, Marco Harbin Institute of Technology State Key Laboratory of Robotics and System School of Mechatronics Engineering Harbin China University of Birmingham Department of Mechanical Engineering Birmingham United Kingdom

ISBN: (纸本)9781728198880

Given the trajectory of the industrial robot in Cartesian space, the existing methods only consider the kinematic constraints when optimizing the time trajectory planning, and ignore the maximum driving ability of the motor, which is likely to cause an overrun alarm and greatly reduce the trajectory accuracy. Therefore, this paper studies the time-optimal trajectory planning algorithm based on dynamics. Firstly, the algorithm discretizes the path, calculates the Cartesian coordinates of each discrete point and the differential about the path length. Then, this algorithm considers the constraints of dynamics and kinematics, uses the principle of linear programming, recursively calculates the upper limit value of speed and the maximum acceleration value at each discrete point, and calculates the speed value at each discrete point and keeps it within its allowable ranges. Finally, this algorithm uses the speed to calculate the corresponding time of each discrete point, and according to the interpolation period, outputs the path position of each period, the position and orientation in the Cartesian space and joint parameters. The MATLAB program is written to verify the feasibility and efficiency of the algorithm. © 2020 IEEE.

关键词： Industrial robots

A Soft Robotic System Imitating the Multimodal Sensory Mechanism of Human Fingers for Intelligent Grasping and Recognition

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SSRN 2024年

作者： Xu, Jinsui Xu, Boyi Zhan, Hao Xie, Zhijie Tian, Zhen Lu, Yifan Wang, Zheping Yue, Honghao Yang, Fei South China University of Technology China State Key Laboratory of Robotics and System School of Mechatronics Engineering Harbin Institute of Technology Harbin150001 China Wu Xianming School of Intelligent Engineering South China University of Technology Guangzhou510641 China College of Mechanical and Electrical Engineering Northeast Forestry University Harbin150042 China Science and Technology on Space Physics Laboratory China Academy of Launch Vehicle Technology Beijing100000 China

The sensory function is crucial for achieving precise feedback control and environmental interaction in soft robots. Therefore, the multimodal sensory capabilities that mimic human fingers have always been a research hotspot. This study proposes a design method for a soft robotic gripper that can emulate the multimodal perception mechanism of human fingers and achieve high-precision recognition of grasped objects using machine learning algorithms. In addition, a finger texture structure inspired by human fingerprints is designed using a negative pressure-induced buckling method to enhance the soft gripper's ability to perceive minute surface textures. Inspired by slow adapting (SA) receptors and fast adapting (FA) receptors of human fingers, this study designs a capacitive curvature sensor (CS) and a triboelectric texture sensor (TS) to detect the size, material, and texture of objects. Furthermore, a non-contact medium identification sensor (MIS), having a sensitivity of more than 1300 times higher compared to the traditional MISs, is fabricated using the principle of electromagnetic resonance. It is shown that by employing a deep learning-based multi-channel feature fusion network, the soft grasping system with multimodal sensing can achieve an object recognition accuracy of 98.43%. This work provides an innovative approach for the application of soft robots in various fields, such as logistics sorting and food safety. © 2024, The Authors. All rights reserved.

关键词： Textures

Constant Direct Current Triboelectric Nanogenerator Based on Soft-Contact Mode for Self-Powered Cathodic Protection

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SSRN 2022年

作者： Li, Ming Jiang, Tianyi Ren, Yukun Jiang, Hongyuan School of Mechatronics Engineering Harbin Institute of Technology West Da-zhi Street 92 Harbin150001 China State Key Laboratory of Robotics and System Harbin Institute of Technology West Da-zhi Street 92 Heilongjiang Harbin150001 China

Triboelectric nanogenerator (TENG) has been proved to be a promising technology for harvesting decentralized energy. However, the application fields of the traditional TENGs are limited by the high crest factor. Here a constant direct current TENG (CDC-TENG) with low crest factor is proposed by connecting three rotating TENGs with specific phase difference (Δ θ ) in parallel. Excellent wear resistance and humidity resistance are demonstrated owing to the soft-contact mode and 3D encapsulated design. For the CDC-TENG (3P6E), the crest factor surprisingly decreases to 1.05 while that of the TENGs without Δ θ is up to 1.31. Meanwhile, the current density up to 3021 μA·m -2 is achieved at the rotation speed of 500 r·min -1 . Then, owing to the excellent output of constant direct current (DC), a commercial timer is directly driven by the CDC-TENG without using capacitor. Finally, the CDC-TENG is used as the power source of cathodic protection (CP) system, which exhibits an excellent corrosion protection effect. In general, this work provides a meaningful template for TENGs to broaden the marine industrial applications of constant DC demand. © 2022, The Authors. All rights reserved.

关键词： Nanogenerators

Optimization of Flexible Bronchoscopy Shape Sensing Using Fiber Optic Sensors

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Optimization of Flexible Bronchoscopy Shape Sensing Using Fi...

IEEE International Conference on robotics and Automation (ICRA)

作者： Xinran Liu Hao Chen Hongbin Liu School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences Beijing China Professor at Chinese Academy of Sciences Institute of Automation (CASIA) Executive Director for the Centre of AI and Robotics (CAIR) Hong Kong Institute of Science & Innovation Chinese Academy of Sciences An Adjunct Reader and Director of the Haptic Mechatronics and Medical Robotics (HaMMeR) lab at the School of Biomedical Engineering and Imaging Sciences King’s College London (KCL) UK

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

This work presents a novel shape evaluation and optimization approach for shape sensing, specifically targeting the constrained, irregular, and intricate spatial shapes of flexible bronchoscopes (FB) in human bronchial tree. The proposed evaluation criteria and optimization methods combine clinical significance related to bronchial anatomical structures and address issues related to singular points and discontinuities in traditional shape reconstruction models. Three-dimensional experiments were conducted within eight spatial complex configurations printed from a proportional bronchial model. The 3D experiment results demonstrate an average reduction of approximately 34.1% in shape reconstruction errors across all eight airway models compared to the traditional model, validating the effectiveness and feasibility.

关键词： Bronchoscopy Solid modeling Optical fiber sensors Three-dimensional displays Shape Atmospheric modeling Optimization methods