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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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PCE: Multi-Agent Path Finding via Priority-Aware Communication & Experience Learning

IEEE Transactions on Intelligent Vehicles

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IEEE Transactions on Intelligent Vehicles 2024年 1-13页

作者： Gao, Jianqi Li, Yanjie Ye, Zhaohui Wu, Xinyu Department of Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics and School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen China Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China

Multi-agent path finding (MAPF) is an essential issue for warehouse automation, where multiple agents plan collision-free paths from the start to goal positions. Reinforcement learning (RL) has been employed to develop partially observable distributed MAPF methods that can be scaled to any number of agents. However, existing RL-based MAPF methods still have some limitations in handling redundant information and avoiding deadlock, resulting in a low success rate or longer makespan. This paper proposes a Priority-aware Communication & Experience learning method (PCE), which combines RL with a novel priority-aware multi-agent communication and a new priority-aware deadlock experience replay to tackle this challenge. To be specific, our innovation encompasses two-fold. Our proposed communication mechanism aims to handle redundant information, which establishes a dynamic communication topology based on agents' priorities and proposes a two-head priority-aware graph attention network to aggregate information. In order to help the agent avoid deadlock, we prioritize the expert experience that solves the deadlock when performing experience replay. We conduct multiple simulation experiments on warehouse-like structured grid maps. Compared with the state-of-the-art RL-based MAPF methods, PCE performs significantly better with a higher success rate and lower makespan in small and large MAPF and higher average throughput in the lifelong MAPF, which can further improve the efficiency of warehouse automation. Finally, we validate PCE using three Turtlebot3-Burger robots, which shows that PCE can be applied in real warehouse automation scenarios. IEEE

关键词： Aggregates

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Versatile Jumping of Humanoid Robots via Curriculum-Assisted Reinforcement Learning

Versatile Jumping of Humanoid Robots via Curriculum-Assisted...

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2024 China Automation Congress, CAC 2024

作者： Tan, Ruiyu Li, Xueai Ni, Fenglei Zhou, Dong Ji, Yi Shao, Xiangyu Key Laboratory of Autonomous Intelligent Unmanned Systems Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China

ISBN: (纸本)9798350368604

Versatile jumping is crucial for agile and adaptive behavior of humanoid robots in complex environments. However, humanoid robots have to manage impact forces while maintaining balance and stability throughout the take-off, flight, and landing phases, which imposes significant challenges for motion planning and controller design. This paper proposes a curriculum-assisted reinforcement learning framework for the humanoid robot to achieve various jumping tasks. The curriculum learning divides the jump training process into multi-stages and design different episodes in each stage to guarantee the training feasibility and generalize learned skills. Simulations on a 28 DOFs humanoid robot verify the excellent diverse jumping capability of the proposed policy. This exploration of different tasks also proves the policy’s robustness, allowing the robot quickly recover from perturbations using a variety of learned maneuvers. © 2024 IEEE.

关键词： Anthropomorphic robots

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Fabrication of a biomimetic controllable adhesive surface by ultraprecision multistep and layered scribing and casting molding

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Science China(Technological Sciences) 2021年第8期64卷 1814-1826页

作者： WANG Wei XIE ZongWu State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150001China

Wedge-shaped microstructures have the ability to reproduce the excellent adhesive properties of geckos’feet because of their unique anisotropic *** particular,the controllability of the wedge-shaped microstructures on adhesion is beneficial to the undisturbed grasp or the capture of space ***,the problem currently remains of how to process it efficiently and with high *** a strategy called ultraprecision multistep and layered scribing is proposed for the manufacture of the biomimetic controllable adhesive *** results show that the metal master mold prepared based on the manufacturing strategy has not only good surface topography but also high reliability and ***,the controllable adhesive surface of 1.96 cm2,fabricated by the proposed manufacturing strategy,has a normal adhesion of 1.012 N,and the corresponding shear friction and adhesion coefficient are 3.105 N and 4.82,***,the controllable adhesive surface has been shown to be approximately superhydrophobic and also to possess the properties of controllable adhesion and dynamic ***,after 250 adhesion-detachment cycles,the normal adhesion and shear friction only decrease by 5%and 3%,*** research realizes an environmentally friendly and efficient method by which to manufacture a durable metal mold for fabricating a biomimetic controllable adhesive surface,laying a foundation for its effective application in the adherence of space-floating targets.

关键词： continuous and tilted wedge-shaped microstructures biomimetic controllable adhesive surface ultraprecision multistep and layered scribing controllable adhesion dynamic adhesion

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Obstacle Identification Based on Deep Learning for Inspection Robot of FAST Wire Rope 2

Obstacle Identification Based on Deep Learning for Inspectio...

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2nd International Conference on Automation, robotics and Computer Engineering, ICARCE 2023

作者： Yang, Chengxu Sun, Xiangyu Liu, Gangfeng School of Mechatronics Engineering Harbin Institute of Technology Harbin China Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9798350308341

In this paper, for the requirements of image recognition and localization of the obstacles existing on the moving path in the inspection task of FAST cable inspection robot, the deep learning method is used to realize the recognition of multi-kind and multi-scale obstacles. The obstacles on FAST wire rope have not been identified before. By enhancing the data set and improving the network model, the recognition accuracy and speed are both improved, which meets the efficiency and accuracy requirements of obstacle detection on the wire rope, and provides help for the subsequent robot pace planning and overhaul tasks. © 2023 IEEE.

关键词： Inspection

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Robustness and Push Recovery of Humanoid Robots Using Predictive and Whole-Body Control

Robustness and Push Recovery of Humanoid Robots Using Predic...

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2024 IEEE International Conference on Unmanned systems, ICUS 2024

作者： Zhang, Shaojie Ni, Fenglei Li, Xueai Li, Xu Ji, Yi Shao, Xiangyu State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China Key Laboratory of Autonomous Intelligent Unmanned Systems Harbin Institute of Technology Harbin China

ISBN: (纸本)9798350384185

Robustness walking and recovery ability in uneven terrains and unexpected collisions are crucial for the practical application of humanoid ***, existing methods struggle to effectively balance stability, motion safety and walking *** paper proposes a hybrid control strategy combing Nonlinear Model Predictive Control (NMPC) and Whole-Body Control (WBC) to improve the robot's walking stability and reaction safety in collisions *** NMPC generates long-term and macroscopic movements, with capture point theory being utilized for foot placements determination under external *** this foundation, the WBC regulates the robot refinedly in real-time based on task priorities and *** verify the effectiveness of the proposed method, involving uneven terrain walking and external impacts rejection. © 2024 IEEE.

关键词： Anthropomorphic robots

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Magnetic Actuated Shape-memory Helical Microswimmers with Programmable Recovery Behaviors

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Journal of Bionic Engineering 2021年第4期18卷 799-811页

作者： Fu Zhao Weibin Rong Lefeng Wang Lining Sun State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150080China

Inspired by bacterial flagella in nature,magnetic helical microswimmer is an ideal model to perform complex task in a low Reynolds number *** Memory Polymers(SMPs)with desirable properties are considered as one of the most preferred options for the development of small-scale ***,fabricating and programming strategies are still ***,we report an approach to fabricate helical microswimmers based on thermoplastic SMP(polylactic acid).Melt-spun polylactic acid fibers containing magnetic particles were enwound to form helical *** shape recovery behaviors were programmed by annealing and *** forms of helical microswimmers(constant-helix-angle conical helix,constant-pitch conical helix,and straight helix)with controlled morphological parameters were *** obtained microswimmers showed 3D locomotion capability under rotating magnetic *** maximum swimming velocity of microswimmers was nearly six body lengths per second,and the near-wall swimming of conical helixes along their sharp end exhibited a smaller ***,we demonstrated programmed shape-switching processes(spring-like contraction and elongation,coiling and uncoiling)and self-repairing of the *** demonstrations of potential applications,tasks of mobile microstent,cargo delivery,and minimally invasive injection were carried *** multifunctional shape-memory microswimmers have immense potential in a variety of applications.

关键词： helical microrobot magnetic actuation Shape Memory Polymer(SMP) polylactic acid magnetic particles

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