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2023 IEEE International Conference on Real-Time Computing and robotics, RCAR 2023

作者： Zhao, Haoxiang Rong, Haoran Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China Heilongjiang University of Science and Technology Harbin China

ISBN: (纸本)9798350327182

With the development of micro-electromechanical systems, micro-manipulation robots are extensively used in micro-nano manufacturing due to their high precision. As the core component of the MEMS, the micro-tweezers which are driven by PZT, ultrasonic motors to grasp millimeter and micron objects have developed rapidly. However, it is pretty tough for these tweezers to attain bendy gripping of objects due to the lack of sensors at the cease of the tweezer. Therefore, a force-sensing micro-tweezer with micro-operating device is designed in this paper, which is appropriate for the clamping of optical fibers of different diameters and controlled with the aid of a single-chip microcomputer. The working principle is that the certain opening at the end of the micro-tweezer is closed when the PZT outputs a tiny displacement which is amplified through the two-stage displacement amplifying mechanism, at some stage in which the PWM sign generated by using the controller and amplified by means of the signal amplifier is transmitted in this device and used to control the PZT. To enforce the function of the pressure feedback grasping of optical fibers of distinctive diameters, the sign generated by the pressure sensor at the end of the micro-tweezer is despatched to the controller after the fiber is being clamped. In this paper, the design, simulation and evaluation of the micro-tweezer, the setup and calibration of the system, and the experiments and performance assessments of the micro-tweezer are carried out. The results exhibit that the micro-tweezer can clamp the fiber with diameter of 100-300μm precisely with its output displacement at 360μm, force-sensing resolution accuracy at 9.8mN, and the clamping force at 0.392N. The force-sensing device now not only has a small volume, but also realizes the speedy replacement of a number of components, which advantage it to be widely-used in future micro-tweezers application scenario. © 2023 IEEE.

关键词： MEMS

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Swarming magnetic photonic-crystal microrobots withon-the-fly visual pH detection and self-regulated drug delivery

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InfoMat 2023年第10期5卷 64-79页

作者： Zheng Yu Luolin Li Fangzhi Mou Shimin Yu Di Zhang Manyi Yang Qing Zhao Huiru Ma Wei Luo Tianlong Li Jianguo Guan State Key Laboratory of Advanced Technology for Materials Synthesis and Processing International School of Materials Science and Engineering Wuhan University of TechnologyWuhanthe People's Republic of China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbinthe People's Republic of China Wuhan Institute of Photochemistry and Technology Wuhanthe People's Republic of China

Swarming magnetic micro/nanorobots hold great promise for biomedical applications,but at present suffer from inferior capabilities to perceive and respond to chemical signals in local *** we demonstrate swarming magnetic photonic crystal microrobots(PC-bots)capable of sponta-neously performing on-the-fly visual pH detection and self regulated drug delivery by perceiving local pH *** magnetic PC-bots consist of pH-responsive hydrogel microspheres with encapsulated one-dimensional periodic assemblies of Fe3O4 *** programming extemnal rotating magnetic fields,they can self-organize into large swarms with much-enhanced collective velocity to actively find targets while shining bright“blinking”structural *** approaching the target with abnormal pH conditions(*** ulcerated superficial tumor lesion),the PC-bots can visualize local pH changes on the fly via pH-responsive structural colors,and realize self-regulated release of the loaded drugs by recognizing local *** work facilita tes the develop-ment of intelligent micro/nanorobots for active“motile-targeting”tumor diag-nosis and treatment.

关键词： collective behaviors drug delivery micro/nanorobots on-the-fly sensing responsivephotonic crystals

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Flapping-Wing Robot Achieves Multi-Domain Locomotion Using Transformable Wheel Mechanism

Flapping-Wing Robot Achieves Multi-Domain Locomotion Using T...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Chai, Xiangxiao Wang, Shihua Pan, Erzhen Xu, Wenfu Shenzhen518055 China Key University Laboratory of Mechanism & Machine Theory and Intelligent Unmanned Systems of Guangdong Shenzhen518055 China Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150001 China

ISBN: (纸本)9781665481090

The difficulty of moving from aquatic to aerial environment is one of the major challenges limiting the development of trans-medium multi-domain locomotion vehicles. In this paper, the concept of the transformable wheel, a feature commonly found in autonomous land vehicles (AL V s), is introduced into the design. Additionally, a flapping-wing robot equipped with multi-domain locomotion capability, which can not only realize aerial flight and surface navigation on water, but also ascend from water to land for subsequent takeoff is presented. The paper first introduces the system design of the robot and proposes the corresponding multi-domain locomotion strategy. Subsequently, the design of the transformable wheel mechanism is described in detail and the force analysis for the water-exit is conducted. The feasibility of the proposed strategy is experimentally validated, confirming the prototype's multi-domain locomotion performance finally. This research explores the feasibility of introducing the transformable wheel mechanism into trans-medium multi-domain vehicle platforms and provides a design example. © 2024 IEEE.

关键词： Machine design

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A Hierarchical Control Scheme for Active Power-assist Lower-limb Exoskeletons

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Journal of Bionic Engineering 2024年第5期21卷 2184-2198页

作者： Jing Deng Wenzheng Jiang Haibo Gao Yapeng Shi Mantian Li State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150001HeilongjiangChina Shenzhen Academy of Aerospace Technology Shenzhen518063China Faculty of Computing Harbin Institute of TechnologyHarbin150001HeilongjiangChina Institute of Intelligent Manufacturing Technology Shenzhen Polytechnic UniversityShenzhen518055China

Effectively controlling active power-assist lower-limb exoskeletons in a human-in-the-loop manner poses a substantial chal-lenge,demanding an approach that ensures wearer autonomy while seamlessly adapting to diverse wearer *** paper introduces a novel hierarchical control scheme comprising five integral components:intention recognition layer,dynamics feedforward layer,force distribution layer,feedback compensation layer,as well as sensors and *** intention rec-ognition layer predicts the wearer's movement and enables wearer-dominant movement through integrated force and position *** force distribution layer effectively resolves the statically indeterminate problem in the context of double-foot support,showcasing flexible control *** dynamics feedforward layer mitigates the effect of the exoskeleton itself on ***,the feedback compensation layer provides reliable closed-loop *** approach mitigates abrupt changes in joint torques during frequent transitions between swing and stance phases by decomposed *** this innovative hierarchical control scheme on a hydraulic exoskeleton platform through a series of experiments,the results demonstrate its capability to deliver assistance in various modes such as stepping,squatting,and jumping while adapting seamlessly to different terrains.

关键词： Hierarchical control Active power-assist Exoskeleton robots Dynamics feedforward Force distribution Feedback compensation

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Power Consumption Characteristics Research on Mobile system of Electrically Driven Large-Load-Ratio Six-Legged Robot

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Chinese Journal of Mechanical Engineering 2023年第1期36卷 237-267页

作者： Hongchao Zhuang Ning Wang Haibo Gao Zongquan Deng School of Mechanical Engineering Tianjin University of Technology and EducationTianjin300222China School of Information Technology Engineering Tianjin University of Technology and EducationTianjin300222China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150001China

The electrically driven large-load-ratio six-legged robot with engineering capability can be widely used in outdoor and planetary ***,due to the particularity of its parallel structure,the effective utilization rate of energy is not high,which has become an important obstacle to its practical *** research the power consumption characteristics of robot mobile system is beneficial to speed up it toward *** on the configuration and walking modes of robot,the mathematical model of the power consumption of mobile system is set *** view of the tripod gait is often selected for the six-legged robots,the simplified power consumption model of mobile system under the tripod gait is established by means of reducing the dimension of the robot’s statically indeterminate problem and constructing the equal force ***,the power consumption of robot mobile system is solved under different working *** variable tendencies of the power consumption of robot mobile system are respectively obtained with changes in the rotational angles of hip joint and knee joint,body height,and *** articulated rotational zones and the ranges of body height and span are determined under the lowest power *** to the walking experiments of prototype,the variable tendencies of the average power consumption of robot mobile system are respectively acquired with changes in duty ratio,body height,and ***,the feasibility and correctness of theory analysis are verified in the power consumption of robot mobile *** proposed analysis method in this paper can provide a reference on the lower power research of the large-load-ratio multi-legged robots.

关键词： Electrically driven Large-load-ratio six-legged robot Power consumption Mobile system

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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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Squeezing More Past Knowledge for Online Class-Incremental Continual Learning

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IEEE/CAA Journal of Automatica Sinica 2023年第3期10卷 722-736页

作者： Da Yu Mingyi Zhang Mantian Li Fusheng Zha Junge Zhang Lining Sun Kaiqi Huang the State Key Laboratory of Robotics and System Harbin Institute of Technology(HIT)Harbin 150080China Center for Research on Intelligent System and Engineering Institute of AutomationChinese Academy of Sciences(CASIA)Beijing 100190 School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049China Center for Research on Intelligent System and Engineering Institute of AutomationChinese Academy of Sciences(CASIA)Beijing 100190the School of Artificial IntelligenceUniversity of Chinese Academy of SciencesBeijing 100049 the CAS Center for Excellence in Brain Science and Intelligence Technology Shanghai 200031China IEEE

Continual learning(CL)studies the problem of learning to accumulate knowledge over time from a stream of data.A crucial challenge is that neural networks suffer from performance degradation on previously seen data,known as catastrophic forgetting,due to allowing parameter *** this work,we consider a more practical online class-incremental CL setting,where the model learns new samples in an online manner and may continuously experience new ***,prior knowledge is unavailable during training and *** works usually explore sample usages from a single dimension,which ignores a lot of valuable supervisory *** better tackle the setting,we propose a novel replay-based CL method,which leverages multi-level representations produced by the intermediate process of training samples for replay and strengthens supervision to consolidate previous ***,besides the previous raw samples,we store the corresponding logits and features in the ***,to imitate the prediction of the past model,we construct extra constraints by leveraging multi-level information stored in the *** the same number of samples for replay,our method can use more past knowledge to prevent *** conduct extensive evaluations on several popular CL datasets,and experiments show that our method consistently outperforms state-of-the-art methods with various sizes of episodic *** further provide a detailed analysis of these results and demonstrate that our method is more viable in practical scenarios.

关键词： Catastrophic forgetting class-incremental learning continual learning(CL) experience replay

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Theaflavins ameliorate insulin resistance and anxiety-like behavior induced by propionate combined with high-fat diet

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Food Science and Human Wellness 2024年

作者： Huijuan Bai Qian Yang Xiang Zuo Qian Yu Qili Zhao Yifei Tian Yixin Xu Jiawei Du Xin Zhao Xizeng Feng College of Life Science， State Key Laboratory of Medicinal Chemical Biology， Nankai University Institute of Robotics & Automatic Information System， College of Artificial Intelligence， Nankai University

Insulin resistance is a key pathological process in the development of type II diabetes， which can also lead to depression， anxiety and other symptoms. With the accelerated pace of life， food with high-energy and additives is becoming more and more common in people's diet. Propionate is a naturally existing short-chain fatty acid salt that has been widely used as a food preservative， but studies have found that low concentrations of propionate can induce insulin resistance. Theaflavins (TFs) are characteristic components of black tea， which have the biological activity of hypoglycemic and lipid-lowering. In the present study， we used propionate combined with high-fat diet to induce insulin resistance in mice and treated them with theaflavins. The results showed that propionate could aggravate insulin resistance and anxiety induced by high-fat diet in mice. TFs alleviated insulin resistance and anxiety induced by propionate combined with high-fat diet by improving the disorder of metabolic gene expression and inflammation in the adipose and liver tissue， as well as neuroinflammation in the brain. Our study suggests that the food additive propionate combined with a high-fat diet may be harmful to organismal health. As a natural drug， TFs have the potential to alleviate insulin resistance induced by propionate combined with high-fat diet.

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Optimal biaxial prestretch ratios of soft dielectric elastomer actuators for maximal voltage-induced displacement

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Science China(Technological Sciences) 2023年第10期66卷 2871-2881页

作者： LUO Kai WU JiaNing CHEN FeiFei School of Mechanical Engineering Shanghai Jiao Tong UniversityShanghai 200240China State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong UniversityShanghai 200240China Meta Robotics Institute Shanghai Jiao Tong UniversityShanghai 200240China

Prestretch plays an indispensable role in programming the voltage-induced deformation of dielectric elastomer actuators(DEAs).However,lacking rational design methods,the level of prestretch is usually determined through time-consuming experiments and trial-and-error *** this paper,we aim to quantitatively determine the optimal biaxial prestretch ratios for maximizing the voltage-induced displacement of *** on the Lagrange method and adjoint sensitivity analysis,we obtain the derivative of the displacement field with respect to the principal prestretch ratios,in which the nonlinearities and complex electromechanical coupling of DEAs are rigorously taken into *** derivative information allows for performing gradient-based optimization at a high convergence *** propose a comprehensive optimization framework connecting the nonlinear finite element analysis and sensitivity analysis to iteratively identify the optimal prestretch *** validate our method on two classical types of DEAs,i.e.,planar DEAs with fixed boundaries and free-standing three-dimensional dielectric elastomer minimum energy structures(DEMES).The simulation and experiment results both show that remarkable improvements in concerned displacements are obtained compared with the non-optimized designs.

关键词： dielectric elastomer prestretch ratios design optimization

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Smoke Attention Based Laparoscopic Image Desmoking Network with Hybrid Guided Embedding

Smoke Attention Based Laparoscopic Image Desmoking Network w...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Liu, Ziteng Gao, Wenpeng Zhu, Jiahua Liu, Bainan Fu, Yili School of Life Science and Technology Harbin Institute of Technology Harbin150080 China Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150080 China

ISBN: (纸本)9781665481090

Surgical smoke can obscure the surgeon's line of sight during the laparoscopic procedure, potentially posing risk to the patients. Robot assisted-minimally invasive surgery (MIS) also faces such a challenge, which also hinders its autonomous operation. This paper proposes a desmoking method for laparoscopic surgery smoke removal. As the surgical smoke is hetergeneous, a two-stage network is developed to estimate the smoke distribution and reconstruct the corresponding smoke-free scene with the hybrid embedding guidance, including the estimated smoke mask and the initial image. The network is designed following the concept of the atmospheric scattering model, which makes the network more explainable. To qualitatively and quantitatively evaluate the proposed method, a synthetic laparoscopic dataset is generated and a real laparoscopic dataset is obtained. Experimental results show that the Peak Signal to Noise Ratio (PSNR) of the proposed method is 1.9% higher than that of the DehazeFormer, while the run-time is shorter more than 40.9%. The proposed method is comparable to or even outperforms the state-of-the-arts in desmoking quality and computation cost. © 2024 IEEE.

关键词： Laparoscopy

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