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A Wireless Communication Method with Dynamic Adding Nodes for the Underground Search and Rescue Robot

Journal of Measurement Science and Instrumentation 2010年第3期000卷

作者： Guo-tai JIAO Feng WANG Dong-ze QIN State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China College of Mechatronics Engineering North University of China Taiyuan030051 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China Robotics Research Center North University of China Taiyuan 030051 China College of Mechatronics Engineering North University of China Taiyuan030051 China

A wireless communication method with dynamic adding nodes for Underground Search and Rescue robot is proposed: fix the address of the controller, add repeater nodes into the net dynamically, and shift the address of the mobile terminal. With this method, the Search and Rescue robot can reach the deeper place of a mine to help rescue and keep in touch with the controller through wireless communication in a single channel, even in a complex laneway where radio wave cannot go through the thick wall. The collision in the process of the two-way multi-hop communication in the single channel will also be resolved by the communication direction priority and response signal mechanism, to enhance the reliability of communication. Finally, a sample is designed and an experiment is conducted to verify the efficiency of the method.

关键词： multi-hop wireless communication underground search and rescue robot

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A practical distortion correcting method from fisheye image to perspective projection image

A practical distortion correcting method from fisheye image ...

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International Conference on Information and Automation (ICIA)

作者： Zhongli Wang Hedong Liang Xian Wu Yipeng Zhao Baigen Cai Chuanqi Tao Zhiyi Zhang Yinling Wang Shanwen Li Fengtian Huang Shuangfu Fu Feng Zhang State Key Laboratory of Robotics and System Harbin Institute of Technology China Beijing Engineering Research Center of EMC GNSS Technology for Rail Transportation Haidian Beijing China School of Electronics and Information Engineering Beijing Jiaotong University CSR Qindao Sifang Co. Ltd. Qindao Shandong Province China CSR Qindao Sifang Co.. Ltd. Shandong Province 266111 China

ISBN: (纸本)9781467391054

Fisheye camera is finding increasing number of applications in robotic vision, visual surveillance, and other fields. But the use of super-wide angle fish-eye lenses causes strong distortions in the resulting images. A method for the correction of fisheye distortion using only single images and linearity of imaged objects is presented. Spherical projection is a simple and effective method to transform a fisheye image to a perspective projection image. To use this method, the optic center of the fisheye image and the radius of the projecting sphere must be known in advance. The proposed algorithm is based on ellipse fitting. It requires only the possibility of the extraction of distorted image points from straight lines in the 3D scene. The mathematical model is introduced for the transformation. The method for finding out the optic center and the radius of the projection sphere is discussed. Contrary to most former algorithms, the algorithm discussed here does not depend on information about the real world coordinates of matching points. The correctness and effectiveness of the proposed method are demonstrated with real image.

关键词： Cameras Nonlinear distortion Lenses Three-dimensional displays Optical distortion Calibration

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Corrigendum to ‘A method for investigating aerodynamic load models of piezoaeroelastic energy harvester’ [Journal of Sound and Vibration 502 (2021) 116084]

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Journal of Sound and Vibration 2021年 508卷

作者： Haigang Tian Xiaobiao Shan Han Cao Rujun Song Tao Xie State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China School of Mechanical Engineering Shandong University of Technology Zibo 255049 China

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Collision detection based on octree for virtual surgery system

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IOP Conference Series: Materials Science and Engineering 2020年第7期768卷

作者： Yanrong Hu Zhiyuan Yan Zhenlun Yin Zhijiang Du State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China School of Naval Architecture and Ocean Engineering Harbin Institute of Technology Harbin China

In the virtual surgery system, the organ is always non-convex and deforms over time which makes the collision detection problem more difficult to handle. In this case, we put forward an innovative collision detection algorithm based on octree. This algorithm can perfectly apply to deal with non-convex organs and organ deformation scenario. In addition, it can achieve high run-time efficiency.

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A Modular Framework for Task-Agnostic, Energy Shaping Control of Lower-Limb Exoskeletons

TechRxiv

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TechRxiv 2024年

作者： Lin, Jianping Thomas, Gray Cortright Divekar, Nikhil V. Peddinti, Vamsi Gregg, Robert D. State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai200240 China Department of Mechanical Engineering Texas A&M University College StationTX77843 United States Department of Robotics University of Michigan Ann ArborMI48109 United States Department of Electrical and Computer Engineering University of Michigan Ann ArborMI48109 United States

Various backdrivable lower-limb exoskeletons have demonstrated the electromechanical capability to assist volitional motions of able-bodied users and people with mild to moderate gait disorders, but there does not exist a control framework that can be deployed on any joint(s) to assist any activity of daily life in a provably stable manner. This paper presents the modular, multi-task optimal energy shaping (M-TOES) framework, which uses a convex, data-driven optimization to train an analytical control model to instantaneously estimate assistive joint torques across activities for any lower-limb exoskeleton joint configuration. The presented modular energy basis is sufficiently descriptive to fit normative human joint torques (given normative feedback from signals available to a given joint configuration) across sit-stand transitions, stair ascent/descent, ramp ascent/descent, and level walking at different speeds. We evaluated controllers for four joint configurations (unilateral/bilateral, hip/knee) of the modular M-BLUE exoskeleton on eight able-bodied users navigating a multi-activity course comprising the primary activities of daily life. The two unilateral conditions significantly lowered overall muscle activation across all tasks and subjects (p © 2024, CC BY-NC-SA.

关键词： Exoskeleton (robotics)

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Experiments on the vibration of particles levitating in a standing wave acoustic field

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Proceedings of Meetings on Acoustics 2019年第1期38卷

作者： Huijuan Dong Yi Wang Yingzi Guan Guanyu Mu Jie Zhao 1State Key Laboratory of Robotics and System Harbin Institude of Technology Harbin Heilongjiang 150001 CHINA dhj@*** wangyiabc@*** guanyz@*** mu-guanyu@*** jzhao@***

Standing wave acoustic levitation and transmission technique has been widely used in many research areas. However, the vibration of particles in an acoustic field restricts their applications. In this work, a kind of mechanism is developed by the authors, in which not only a harmonic linear actuator but also position feedback are used to precisely adjust the distance between the radiator and the reflector with micrometric accuracy. And video computing software is applied to track the motion of the particle. The influence of the factors on the frequencies of the particle both in vertical and horizontal were detailed. Besides, the acceleration field was calculated, which is in good agreement with the model of spring oscillator of an acoustic field.

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Correction to “Dynamic Modeling and Control for a Deployable Grasping Manipulator”

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IEEE Access 2019年 7卷 46135-46135页

作者： Guotao Li Hailin Huang Hongwei Guo Bing Li Department of Mechanical Engineering and Automation Harbin Institute of Technology at Shenzhen Shenzhen China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

In the above paper [1] , the second author’s biography was incorrectly listed as:

关键词： Manipulator dynamics Grasping Object recognition Mechanical engineering Automation

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Localization and Surface Characterization by Zhurong Mars Rover at Utopia Planitia

Research Square

引用

Research Square 2021年

作者： Ding, Liang Zhou, Ruyi Yu, Tianyi Gao, Haibo Yang, Huaiguang Li, Jian Yuan, Ye Liu, Chuankai Wang, Jia Zhao, Yuyan Wang, Zhengyin Wang, Xiyu Bao, Gang Deng, Zongquan Huang, Lan Li, Nan Cui, Xiaofeng He, Ximing Jia, Yang Yuan, Baofeng Liu, Guangjun Zhang, Hui Zhao, Rui Zhang, Zuoyu Cheng, Ziqing Wu, Fan Xu, Qian Lu, Hao Richter, Lutz Liu, Zhen Niu, Fuliang Qi, Huanan Li, Shu Feng, Wenhao Yang, Chaojie Chen, Baichao Dang, Zhaolong Zhang, Mingming Li, Lichun Wang, Xiaoxue Huang, Zhao Zhang, Jitao Xing, Hongjun Wang, Guanyu Niu, Lizhou Xu, Peng Wan, Wenhui Di, Kaichang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China Beijing Aerospace Control Center Beijing100094 China Center for Lunar and Planetary Sciences Institute of Geochemistry Chinese Academy of Science Guiyang550081 China CAS Center for Excellence in Comparative Planetology Hefei230026 China University of Chinese Academy of Sciences Beijing100049 China Beijing Institute of Spacecraft System Engineering Beijing100094 China Department of Aerospace Engineering Ryerson University TorontoONM5B 2K3 Canada Hauptstrasse 1e Eching Germany State Key Laboratory of Remote Sensing Science Aerospace Information Research Institute Chinese Academy of Sciences Beijing100101 China

China’s first Mars rover, Zhurong, has successfully touched down on the southern Utopia Planitia of Mars at 109.925° E, 25.066° N, and since performed cooperative multiscale investigations with the Tianwen-1 orbiter. Here we present primary localization and surface characterization results based on complementary data of the first 60 sols. The Zhurong rover has traversed 450.9 m southwards over a flat surface with mild wheel slippage (less than 0.2 in slip ratio). The encountered crescent-shaped sand dune indicates a NE-SW local wind direction, consistent with larger-range remote-sensing observations. Soil parameter analysis based on terramechanics indicates that the topsoil has high bearing strength and cohesion, and its equivalent stiffness and internal friction angle are ~1390-5872 kPa∙m-n and ~21°-34° respectively. Rocks observed strewn with dense pits, or showing layered and flaky structures, are presumed to be involved in physical weathering like severe wind erosion and potential chemical weathering processes. These preliminary observations suggest great potential of in-situ investigations by the scientific payload suite of the Zhurong rover in obtaining new clues of the region’s aeolian and aqueous history. Cooperative investigations using the related payloads on both the rover and the obiter could peek into the habitability evolution of the northern lowlands on Mars. © 2021, CC BY.

关键词： Sols

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Overcoming Van der Waals Forces in reconfigurable nanostructures

arXiv

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arXiv 2022年

作者： Zhang, Wang Wang, Hao Tan, Alvin T.L. Ranganath, Anupama Sargur Zhang, Biao Wang, Hongtao Chan, John You En Ruan, Qifeng Liu, Hailong Ha, Son Tung Wang, Dong Ravikumar, Venkat K. Low, Hong Yee Yang, Joel K.W. Engineering Product Development Singapore University of Technology and Design Singapore487372 Singapore Northwestern Polytechnical University 127 West Youyi Road Xi'An710072 China Institute of Materials Research and Engineering Singapore138634 Singapore Robotics Institute State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai200240 China Advanced Micro Devices Singapore Pte Ltd Singapore Singapore

Reconfigurable metamaterials1-3 require constituent nanostructures to demonstrate switching of shapes with external stimuli. For generality, such nanostructures would touch and stick to other surfaces in one of its configurations. Yet, a longstanding challenge is in overcoming this stiction caused by Van der Waals forces, which impedes shape recovery. Here, we introduce a stiff yet self-recovering material system based on acrylic acid, and tested it in high-aspect ratio structures, where recovery is weak. This designer material has a storage modulus of ~5.2 GPa at room temperature and ~90 MPa in the rubbery state at 150 ℃, an order of magnitude higher than previous reports. A high-resolution resin for two-photon lithography was developed based on this polymer system, enabling 3D printing of nanopillars with diameters of ~400 nm and aspect ratio as high as ~10. Experimentally, we observed self-recovery as collapsed and touching structures overcome stiction to stand back up. We developed a theoretical model to explain the recoverability of these sub-micron structures. Reconfigurable structural colour prints and holograms were demonstrated, indicating potential applications of the material system as a shape memory polymer suitable for sub-micron reconfigurable metamaterials. Copyright © 2022, The Authors. All rights reserved.

关键词： Van der Waals forces

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The performance of a piezoelectric micro-pump for 3D additive manufacturing

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IOP Conference Series: Materials Science and Engineering 2018年第1期409卷

作者： Kai Li Jun-kao Liu Wei-shan Chen Lu Zhang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Harbin Dongan Engine Corporation LTD Aero Engine Corporation of China Harbin China

The piezoelectric micro-pump is one kind of electronic device which can achieve supplying fluid on demand, and the total volume of fluid per time is at μL level. For fluid, such as fluid base on Cyanoacrylate, with low dynamic viscosity and can be solidified easily, the micro-pump is effectively to be used for 3D additive manufacturing. In this paper, we show a valve less piezoelectric micro-pump with the advantages of simple structure and stable performance. And we analyze the performance of the piezoelectric micro-pump which can be used for 3D additive manufacturing. A fluid solid coupling method is proposed for simulating the working progress of the piezoelectric micro-pump. The fluid transmission performance of the piezoelectric is mainly analyzed, such as the mass flow, flow rate of the outlet and the internal pressure distribution. The working principle of the piezoelectric micro-pump is discussed as well.

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