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2024 IEEE International Conference on Control Science and systems Engineering, ICCSSE 2024

作者： Li, Delun Cao, Jianfei Chen, Yiliang Xie, Zongwu Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China Beijing Institute of Spacecraft System Engineering Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing China

ISBN: (纸本)9798331517199

In anticipation of future extensive lunar surface operations, lunar rovers are required to advance towards higher speeds and improved energy conservation. When traveling at high speeds on the lunar surface, the vehicle's energy expenditure is greatly amplified by the influence of the terrain, particularly in conditions where driving and steering are coupled. This paper proposes an energy-saving control strategy for lunar rovers that employs dynamic rear-axle torque distribution, with the goal of optimizing transient energy consumption during travel. To tackle the challenge of non-differentiable functions within the optimization objectives, we suggest using a zeroth-order gradient optimization method for resolution, dynamically constraining the range of control parameters to fulfill the dynamic torque distribution objectives as needed for the task. The energy-saving control effectiveness of the algorithm has been confirmed through simulation, demonstrating a minimum energy-saving ratio of at least 4%, which increases to over 11% as the speed level rises, offering a valuable technical solution for the energy optimization of lunar rovers. © 2024 IEEE.

关键词： Rovers

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A Study of Prototypical Network Techniques for Cross-Subject EEG Analysis 27

A Study of Prototypical Network Techniques for Cross-Subject...

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27th European Conference on Artificial Intelligence, ECAI 2024

作者： Liu, Wenchao Wang, Guagnyu He, Yuhong Bo, Hongjian Ma, Lin Li, Haifeng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Faculty of Computing Harbin Institute of Technology Harbin China Shenzhen Academy of Aerospace Technology Shenzhen China

ISBN: (纸本)9781643685489

Electroencephalography (EEG), a technique that uses electrodes on the scalp to record changes in cerebral electrical potentials, plays a key role in various brain-computer interface applications. However, due to the large differences in EEG distribution across subjects, how to accurately classify cross-subject EEG is still a challenge. In practice, it is unavoidable to collect data for each subject to perform calibration, which is cumbersome and expensive. In this paper, we propose a Cross Subject EEG Prototypical Network (CS-EEGPNet) for accurate few-shot EEG classification. To the best of our knowledge, we are the first to eliminate inter-subject distribution shift in few-shot EEG classification through multiple feature layers computation. Specifically, to avoid the effect of individual differences, we propose a few-shot feature normalization (FSFN) method, which uses the mean and variance of the same subject’s support set features to normalize the query set features. Meanwhile, we design a prototypical module based on auxiliary factors. This module utilizes learnable vectors to store category-related information for assisting the construction of prototypes, thus mitigating the effects of EEG’s randomness and non-stationary characteristics on cross-subject few shot classification. To validate the effectiveness of the method, we selecte the motor imagery paradigm, which is relatively complex in brain-computer interfaces, and test our method on the BCIC IV 2a and HGD datasets. The results demonstrate that our method significantly enhances EEG classification performance, achieving the state-of-the-art accuracies. © 2024 The Authors.

关键词： Electroencephalography

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A Legged Small Celestial Body Landing Mechanism:Landing Simulation and Experimental Test

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Space(Science & technology) 2023年第1期3卷 453-463页

作者： Zhijun Zhao Shuang Wu Jingdong Zhao Yaobing Wang Chuncheng Zhao Beijing Key Laboratory of Intelligent Space Robotic System Technology and Applications Beijing Institute of Spacecraft System EngineeringBeijing 100094China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150006China Department of Aerospace Science and Technology Polytechnic University of MilanMilan 20133Italy

Landing mechanism tends to rebound and turn over,and the stability time is long when landing on the small celestial *** landing performance in different conditions is necessary to be evaluated to guide the ***,landing performance evaluation is realized by *** factors affecting the landing performance including cardan element damping,foot anchors,retro-rocket thrust,landing slope angle,and landing attitude are analyzed.A microgravity platform is built to test the landing mechanism,and the consistency between the simulation and the experiment is *** the basis of simulation and experiment,some landing suggestions are proposed to improve the landing performance.

关键词： thrust mechanism landing

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Development of a novel hand-eye calibration for intuitive control of minimally invasive surgical robot

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Frontiers of Mechanical Engineering 2022年第3期17卷 91-108页

作者： Yanwen SUN Bo PAN Yili FU State Key Laboratory of Robotics and Systems Harbin Institute of TechnologyHarbin150001China

Robotic-assisted surgical system has introduced a powerful platform through dexterous instrument and hand-eye coordination intuitive *** knowledge of laparoscopic vision is a crucial piece of information for robot-assisted minimally invasive surgery focusing on improved surgical *** the transformation with respect to the laparoscope and robot slave arm frames using hand-eye calibration is essential,which is a key component for developing intuitive control *** proposed a novel two-step modified dual quaternion for hand-eye calibration in this *** dual quaternion was exploited to solve the hand-eye calibration simultaneously and powered by an iteratively separate *** obtained hand-eye calibration result was applied to the intuitive control by using the hand-eye coordination *** simulations and experimental studies were conducted to evaluate the proposed method on our surgical robot *** extensively compared the proposed method with state-of-the-art *** demonstrate this method can improve the calibration *** effectiveness of the intuitive control algorithm was quantitatively evaluated,and an improved hand-eye calibration method was *** relationship between laparoscope and robot kinematics can be established for intuitive control.

关键词： minimally invasive surgery hand-eye calibration intuitive control surgical robot dual quaternion

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Magnetic-Field-Assisted LCD Stereolithography for Centipede-Inspired Magnetic Soft Robot

Magnetic-Field-Assisted LCD Stereolithography for Centipede-...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Wang, Jinrong Li, Ruixuan Xu, Yaoyuan Li, Shishi Meng, Xianghe Xie, Hui State key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin150080 China

ISBN: (纸本)9781665481090

This paper presents a novel magnetic-field-assisted LCD stereolithography technique for fabricating centipede-inspired magnetic soft robots. Unlike previous DLP-based methods, our approach leverages Liquid Crystal Display (LCD) technology, offering a simpler optical path, comparable resolution, and cost-effectiveness. The method integrates LCD photo-polymerization with a permanent magnet orienting system possessing 5-DOF in motion, enabling precise control over the direction of magnetization patterns during manufacturing. We demonstrate the technique by designing and fabricating a biomimetic centipede robot with programmable deformation capabilities. Finite element analysis was used to simulate the robot's deformation behavior, which was subsequently validated through experimental locomotion tests. The fabricated robot exhibited complex deformation and efficient locomotion in response to external magnetic fields. This approach advances the creation of intricate magnetic arrangements for planar soft robots, potentially expanding their application in fields such as biomedicine and microfluidics. The proposed method provides a new pathway for manufacturing biologically inspired magnetic soft robots with complex programmable behaviors. © 2024 IEEE.

关键词： Liquid crystal displays

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Deep Learning-Enhanced Super-Resolution Ultrasound for Efficient Brain Vascular Mapping

Deep Learning-Enhanced Super-Resolution Ultrasound for Effic...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Sun, Andi Shen, Xingjian Meng, Xianghe Xie, Hui Harbin Institute of Technology State key Laboratory of Robotics and Systems Harbin150080 China

ISBN: (纸本)9781665481090

Robotic implantation of neural electrodes for in-vasive brain-computer interface(BCI) requires precise vascular mapping to avoid major blood vessels. While super-resolution ultrasound imaging offers superior resolution compared to traditional methods, it typically requires probes with numer-ous elements, demanding substantial hardware resources. This paper presents a novel approach combining deep learning with reduced-element probes for high-resolution vascular imaging. The proposed method employs a transformer-based neural network to accurately localize high-density microbubbles while reducing the required number of probe elements. Simulations reveal that a 32-element linear probe with deep learning outper-forms a 64-element probe using 2D normalized cross-correlation for microbubble concentrations below 1.95 microbubbles/mm2. The overall localization precision and Jaccard index demon-strate superior performance of the deep learning approach, particularly at lower microbubble densities. In vivo experiments on a mouse brain model using a 64-element probe (15 MHz) and deep learning achieved vascular network reconstruction with 21 um resolution, distinguishing vessels 26 um apart. This technique significantly lowers the hardware requirements for constructing high-resolution vascular networks, thereby providing detailed cerebrovascular distribution maps. These maps have the potential to enable more precise planning and safer execution of neural electrode implantation for BCI research, while reducing overall system complexity. © 2024 IEEE.

关键词： Brain mapping

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Research on Robust Current Control Algorithm for Permanent Magnet Synchronous Motor Based on Extended state Observer 20

Research on Robust Current Control Algorithm for Permanent M...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Ding, Xiaofei Qi, Bin Zhang, Bowen Shahzad, Khuram Zhang, Songyuan Harbin Institute of Technology State Key Laboratory of Robotics and System 92 Xidazhi Street Harbin China

ISBN: (纸本)9798350320831

High-performance servo joints are the basis for quadruped robots to have excellent motion performance. The current loop is the innermost loop of the servo system, and its control effect on torque directly determines the control effect of the entire servo system. This paper proposes a robust current control algorithm for permanent magnet synchronous motors (PMSM) based on the extended state observer (ESO) to improve the performance of the current loop. Traditional predictive current control relies more on the accuracy of model parameters. This paper uses ESO to obtain unknown disturbances to reduce the dependence of control effects on model parameters. Simulation and experiments show that predictive current control has more excellent dynamic performance than PI control. After adding the ESO compensation link, the static error and oscillation of current caused by controller model parameter error are effectively eliminated, significantly reducing the dependence on model parameters and improving the robustness of the current loop in the servo system. © 2023 IEEE.

关键词： Error compensation

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Vision Based Surface Defect Detection of Long-Distance and Steep-Slope FAST Cable

Vision Based Surface Defect Detection of Long-Distance and S...

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International Conference on Wireless Communications, Networking and Applications (WCNA 2022)

作者： Tong, Xin Zhang, Xuehe Liu, Gangfeng Li, Changle Zhao, Jie Harbin Institute of Technology Heilongjiang Harbin15000 China State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9789819939503

Aiming at problems of long-distance and steep-slope FAST (Five-hundred-meter Aperture Spherical radio Telescope) cable detection, a set of vision system and its processing method based YOLOX are proposed. This system overcomes many difficulties such as collecting high-altitude samples and complex background environment in FAST cable detection tasks, and It achieves the accurate positioning and classification of defects. Good detection effects have been achieved for multi-morphology, multi-scale, especially small defects. The defect detection system was validated on three defect data sets which could affect the normal use of the cable, and the accuracy is 91.7%. Thus the system and method can meet the efficiency and accuracy requirements of FAST cable detection, and it can also be practically applied to other various cables. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Cables

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Experimental and numerical study of deposition mechanisms for cold spray additive manufacturing process

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Chinese Journal of Aeronautics 2022年第2期35卷 276-290页

作者： Tianyu YU Mingjun CHEN Zhuoru WU State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China School of Mechatronics Engineering Harbin Institute of TechnologyHarbin 150001China Department of Mechanical Engineering Iowa State UniversityAmes 50011USA

Cold spray is an attractive and rapidly developing process for additive manufacturing with high efficiency and precision,repairing and coating,especially in aircraft and aerospace *** spray additive manufacturing deposits micro-particles with large plastic deformation below their melting point,eliminating heat effect zone which could deteriorate the quality of repairing *** particle deposition in cold spray is a complex process which involves high strain rate,high contact pressure and high *** we develop,utilize and validate a thermomechanical model to provide a definitive way to predict deposition mechanics and surface deformation evolution for particle deposition process in cold spray additive *** a single particle and dual particles models were developed to investigate the contact interaction between particle/substrate and particle/*** combinations of particle/substrate materials(Cu/Cu,Al/Al,steel/steel,and nickel/nickel)and process parameters were considered in this *** experimental study was conducted to validate simulation results,providing useful information for understanding the limitations and challenges associated with cold spray additive *** framework provides insights into improving the quality and precision of stress/strain formation,particle interactions and particle deposition in cold spray additive manufacturing process.

关键词： Additive manufacturing Cold spray Finite element analysis Residual stresses Surface morphology

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Repaired morphology of CO_(2)laser rapid ablation mitigation of fused silica and its influence on downstream light modulation

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Science China(Technological Sciences) 2022年第5期65卷 1116-1126页

作者： TAN Chao ZHAO LinJie CHEN MingJun CHENG Jian ZHANG Yu ZHANG Jiong YANG Hao YIN ZhaoYang State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150001China Department of Mechanical Engineering National University of SingaporeSingapore117575Singapore

The threat of cascading damage to downstream components caused by the light modulation intensification of laser repaired morphology on the surface of fused silica optics cannot be ignored in high-power laser *** paper uses the angular spectrum diffraction theory based on the analysis of repaired surface morphology of CO_(2)laser rapid ablation mitigation to study the influence of different repaired morphologies on the downstream 355 nm laser *** show that the arc-shaped laser processing lines on the repaired surface are formed by the residual height superposition of the material after laser scanning of two adjacent layers,and the short-pulse laser can substantially suppress the heat-affected zone of the repaired *** offaxis ring caustic and on-axis hotspot are sequentially generated in the downstream modulated light fields of the conical repaired sites with different diameters.A secondary peak with modulation larger than 3 emerges downstream of the modulation ***,the maximum modulation and the secondary peak increase with the diameter and cone angle of the repaired site,and the position of the secondary peak appears farther away from the rear *** modulations of three repaired sites with cone angles of 15°,20°,and 25°can finally be stabilized below ***,the downstream optics should be installed far away from the positions where the maximum modulation and the secondary peak ***,the maximum value and the secondary peak of the downstream light modulation of double repaired sites are larger than that of the single repaired site,and both rise as the repaired sizes ***,large-scale and large-size repairing of multiple surface damages in the same area should be avoided in the laser repairing of fused silica.

关键词： fused silica laser repairing morphology light modulation secondary peak double repaired sites

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