检索结果-内蒙古大学图书馆

2022 IEEE International Conference on Unmanned systems, ICUS 2022

作者： Xu, Yurui Gao, Liang Liu, Benshan Zhang, Junming Zhu, Yanhe Zhao, Jie Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China

ISBN: (数字)9781665484565

ISBN: (纸本)9781665484565

In order to improve the stability of the dual-rotor Unmanned Aerial Vehicle (UAV), a balance tail is designed to be equipped on the UAV. With reasonable movement, the balance tail may generate additional force and moment which can promote the UAV to be stable rapidly when the UAV is ready to stop. Firstly, the kinematics and dynamics of the tilt-rotor UAV are modeled by Newton-Euler method, and the relations between the movement of the balance tail and the additional force and moment are deduced. The flight control of tilting dual-rotor UAV is realized. Then, the influences of the balance tail on the dual-rotor UAV are analyzed by the nonlinear simulation under the conditions of different masses of the tail and swing rules. Finally, the tail coordinating with the motor tilting and active control of the tail based on cascade PID are explored for stability augmentation of the UAV, respectively. and the effectiveness of the two methods is verified by simulation. © 2022 IEEE.

关键词： Attitude control

来源：评论

学校读者我要写书评

暂无评论

FWAF-VID: A Flapping-Wing Aggressive Flight Benchmark Dataset for Visual-Inertial Localization

引用

IEEE robotics and Automation Letters 2025年第6期10卷 6328-6335页

作者： Jiang, Jizhou Pan, Erzhen Xu, Wenfu Sun, Wei Ye, Jingyang Harbin Institute of Technology School of Robotics and Advanced Manufacture Shenzhen518055 China Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Shenzhen518055 China Guangdong Biomimetic Intelligent Unmanned System Engineering Technology Research Center Shenzhen518052 China

Accurate state estimation of micro aerial vehicles (MAVs) in high-speed and dynamic environments poses a significant challenge for visual-inertial odometry (VIO) algorithms. Flapping-wing aerial vehicles (FWAVs), as an emerging flight platform, have attracted significant attention for stealth capabilities and efficient flight characteristics. Despite the availability of numerous MAV visual-inertial datasets for six-degree-of-freedom (6-DoF) state estimation, these datasets are not applicable for FWAVs with pronounced vibrations and agile maneuverability. To address this gap, we propose a large-scale flapping-wing aggressive flight visual-inertial dataset FWAF-VID. It contains diverse integrations of synchronized onboard cameras and IMU sensors. A total of 28 sequences include static flapping, calibration, and real-world flights collected in outdoor and indoor environments. The 17 flight sequences feature variations in illuminations, speeds, trajectories, camera perspectives, and flight modalities. We provide precisely aligned ground truth RTK and UWB measurements for algorithm evaluation. Furthermore, a comprehensive benchmark comparison is conducted, qualitatively and quantitatively evaluating the positioning accuracy of state-of-the-art VIO algorithms. The experimental results indicate that despite the degradation in localization accuracy in high-dynamic environments, FWAF-VID can effectively support the further development of VIO algorithms for FWAVs. To the best of our knowledge, this is the first onboard benchmark dataset tailored for aggressive flight in flapping-wing airborne platforms. © 2025 IEEE.

关键词： Micro air vehicle (MAV)

来源：评论

学校读者我要写书评

暂无评论

Review:Wearable Sweat Sensors for Diseases Prevention and Monitoring

引用

Journal of harbin institute of technology(New Series) 2023年第3期30卷 1-21页

作者： Yanan Ding Haiying Xiao Ping’an Hu School of Chemistry and Chemical Engineering Harbin Institute of TechnologyHarbin 150080China MOE Key Lab of Micro-System and Micro-Structures Manufacturing Harbin Institute of TechnologyHarbin 150080China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150080China School of Materials Science and Engineering Harbin Institute of TechnologyHarbin 150080China

Advanced in wireless technologies and flexible materials with great biocompatibility,wearable devices have been utilized in the field of healthcare,sports management,and diseases prevention,which have been widely applied in current electronic ***,as a common metabolite on the skin surface,contains a wealth of biomarkers for disease detection and ***,developing wearable sweat sensors can provide a non⁃invasive method for health data collecting,sports monitoring,and clinical diagnosis in a convenient *** research in sweat metabolomics has offered a lot of information for sweat analysis and the wearable sweat sensors with small size,various sensing,and transmission units,and good skin contact has exhibited dynamic multi⁃signal *** article introduces the biomarkers in sweat related to different diseases and the current development of sweat sensors for user􀆳s activation monitoring and diseases *** barriers and difficulties in the future are also discussed and perspectives in the next generation sweat sensors are proposed.

关键词： sweat sensor sweat metabolites disease monitoring wearable device

来源：评论

学校读者我要写书评

暂无评论

Exploring Eye-Tracking Based Biomarkers to Assess Cognitive Abilities in Autistic Children: A Feasibility Study

引用

IEEE Journal of Biomedical and Health Informatics 2025年第6期29卷 4401-4414页

作者： Zhang, Hanlin Hu, Chunchun Wang, Zhiyong Zhou, Bingrui Wang, Xinming Nie, Wei Ye, Qinyi Lin, Ruihan Xu, Xiu Liu, Honghai Harbin Institute of Technology State Key Laboratory of Robotics and System School of Mechanical Engineering and Automation Shenzhen518055 China Children's Hospital of Fudan University Department of Child Health Care Shanghai201102 China Peng Cheng Laboratory Shenzhen518000 China

Cognitive assessment can reveal a person's cognitive processing and behavioral patterns, making it an indispensable component of autism intervention and prognosis. Existing machine-assisted cognitive assessment methods primarily focus on children's performance outcomes, overlooking distinctive behavioral models, particularly characteristics of eye movement behavior, which have been demonstrated as the most direct indicators of cognitive abilities. In this study, we explore eye-tracking biomarkers for assisting cognitive assessment through a series of meticulously designed multi-level human-computer interaction protocols, encompassing three cognitive abilities: pairing and categorization, emotion recognition, and social interaction. A platform embedded with an eye-tracking module has been developed to reliably collect and analyze eye movement data, even in the presence of unrestricted large head movements in children. Experimental results indicate that there are significant group differences between autism and typically developing children in the eye-tracking features of total fixation duration, response latency, time to first fixation, mean fixation duration, and visit count in the absence of significant intergroup differences in the Wechsler Preschool and Primary Scale of Intelligence (WPPSI) and Wechsler Intelligence Scale for Children (WISC) assessment results. In addition, certain eye-tracking features in each group are correlated with WPPSI/WISC scale scores, enabling clinical cognitive assessments within each group based on these eye movement features. This study suggests that using eye-tracking features as biomarkers to assist detailed cognitive assessments holds significant potential for the intervention and prognosis of autism. © 2013 IEEE.

关键词： Diseases

来源：评论

学校读者我要写书评

暂无评论

Real-Time Break-Through Detection in Craniotomy Using Long Short-Term Memory Networks

Real-Time Break-Through Detection in Craniotomy Using Long S...

引用

2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Chen, Yunle Shen, Xingjian Meng, Xianghe Xie, Hui Harbin Institute of Technology State key Laboratory of Robotics and Systems 2 Yikuang Nangang District Harbin150080 China

ISBN: (纸本)9781665481090

An important step before the implantation of an invasive brain-computer interface (BCI) is craniotomy, which provides direct access to the brain. During the craniotomy, the precision of cranial drilling is critical, as any deviation or exces-sive penetration can pose significant risks, potentially leading to severe brain injury. Traditional methods of force signal analysis lack effective feedback in complex situations, leading to a risk of over-drilling and potential brain damage. Here, we proposes a Long Short-Term Memory (LSTM) neural network to detect the break-through of the drill bit in real-time. Thrust force data from five drilling experiments on a fancy rat skull specimen are collected. The force data are then split into 0.2-second intervals corresponding to different stages of the drilling process. An LSTM network is trained with these labeled datasets to detect changes in the drilling stage, thereby determining the break-through point. The trained classicfication network gets a accuracy of 96%. Practical drilling experiments on a fancy rat skull specimen validates the feasibility and accuracy of the break-through detection algorithm. The experimental results demonstrate that the method can achieve an over-penetration distance within 15 μm, which is safe for performing craniotomy in rats. Given that this method ensures safety for the stringent requirements of rat craniotomy, it can be expected to provide even greater safety for human craniotomy procedures. © 2024 IEEE.

关键词： Risk assessment

来源：评论

学校读者我要写书评

暂无评论

Acoustic black hole effect enhanced micromanipulator

引用

Microsystems & Nanoengineering 2024年第5期10卷 345-352页

作者： Qiu Yin Haoyong Song Zhaolong Wang Zhichao Ma Wenming Zhang State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong UniversityShanghaiChina institute of Medical Robotics School of Biomedical EngineeringShanghai Jiao Tong UniversityShanghaiChina College of Mechanical and Vehicle Engineering Hunan UniversityChangshaChina School of Energy Science and Engineering Harbin Institute of TechnologyHarbinP.R.China

Microparticle manipulation is a critical concern across various felds including microfabrication,flexible electronics and tissue ***-activated sharp structures have been designed as simple and flexible tools to manipulate microparticles with their good compatibility,fast response,and broad ***,there still lacks rational acoustic-structure design for effective energy concentration at the acoustic-activated sharp structures for microparticle ***,we present the acoustic black hole(ABH)effect as enhancement for the acoustic *** provides great reliability,simplicity and ease of use,supporting custom design of high-throughput patterning ***,compared to commonly used configurations,such as cylindrical or conical microneedles,those microneedles with ABH profle exhibit superior acoustic energy focusing at the tip and induce stronger acoustofluidic *** average acoustic flow velocity induced by the ABH microneedle is 154 times greater than that of the conical one and 45 times greater than that of the cylindrical ***,the average acoustic radiation force(ARF)produced by the ABH microneedle against acrylic microparticles is about 319 times greater than that of the cylindrical one and 16 times greater than that of the conical *** results indicate that ABH design significantly enhances microparticle *** demonstrate this concept with ABH effect enhanced microparticle manipulation and study the parameters influencing its performance including operating frequency,operating voltage and particle ***,considering the flexibility of this system,we employ it for various patterning and high-throughput microparticle *** work paves the way for controllable microparticle manipulation,holding great potential for applications in microfabrication and biomedicine.

关键词： cylindrical Acoustic simplicity

来源：评论

学校读者我要写书评

暂无评论

A Locust-Inspired Energy Storage Joint for Variable Jumping Trajectory Control 16th

A Locust-Inspired Energy Storage Joint for Variable Jumping ...

引用

16th International Conference on Intelligent robotics and Applications, ICIRA 2023

作者： Yang, Yongzun Feng, Zhiyuan Jin, Cheng Tang, Lingqi Ma, Songsong Li, Yao School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen518052 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Harbin Institute of Technology Shenzhen518052 China

ISBN: (纸本)9789819964949

Jumping is a good solution for small robots over obstacles. Most of the current jumping robots are not energy store adjustable due to the design of the energy storage elements and structures, which limits the effective working space of the robot. The locust is good at jumping. Thanks to the excellent structure of the hind legs, the locust can change the degree of compression of the simi-lunar process (SLP) and change the energy storage while maintaining the same jumping stance. Herein, we design a locust-inspired energy storage joint and verified its function on a jumping robot. The motors and wires were used to imitate the muscles and the torsion springs were used to imitate SLP. To accurately describe the energy stored, a static model of the torsion springs was developed. Furthermore, the number of motor revolutions and the stored energy value were also calculated and could be used for subsequent precise control. Six jumping experiments with different compression angles for torsion springs proved the feasibility of the static model. This locust-inspired energy storage joint is the basis for the next robot capable of the omnidirectional, continuous autonomous jumping. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Energy storage

来源：评论

学校读者我要写书评

暂无评论

General closed-form inverse kinematics for arbitrary three-joint subproblems based on the product of exponential model

引用

Frontiers of Mechanical Engineering 2022年第2期17卷 85-101页

作者： Tao SONG Bo PAN Guojun NIU Jiawen YAN Yili FU State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China School of Mechanical Engineering and Automation Zhejiang Sci-Tech UniversityHangzhou 310018China

The inverse kinematics problems of robots are usually decomposed into several Paden–Kahan subproblems based on the product of exponential model. However, the simple combination of subproblems cannot solve all the inverse kinematics problems, and there is no common approach to solve arbitrary three-joint subproblems in an arbitrary postural relationship. The novel algebraic geometric (NAG) methods that obtain the general closed-form inverse kinematics for all types of three-joint subproblems are presented in this paper. The geometric and algebraic constraints are used as the conditions precedent to solve the inverse kinematics of three-joint subproblems. The NAG methods can be applied in the inverse kinematics of three-joint subproblems in an arbitrary postural relationship. The inverse kinematics simulations of all three-joint subproblems are implemented, and simulation results indicating that the inverse solutions are consistent with the given joint angles validate the general closed-form inverse kinematics. Huaque III minimally invasive surgical robot is used as the experimental platform for the simulation, and a master–slave tracking experiment is conducted to verify the NAG methods. The simulation result shows the inverse solutions and six sets given joint angles are consistent. Additionally, the mean and maximum of the master–slave tracking experiment for the closed-form solution are 0.1486 and 0.4777 mm, respectively, while the mean and maximum of the master–slave tracking experiment for the compensation method are 0.3188 and 0.6394 mm, respectively. The experiments results demonstrate that the closed-form solution is superior to the compensation method. The results verify the proposed general closed-form inverse kinematics based on the NAG methods.

关键词： inverse kinematics Paden-Kahan subproblems three-joint subproblems product of exponential closed-form solution

来源：评论

学校读者我要写书评

暂无评论

The hydrodynamics of self-rolling locomotion driven by the flexible pectoral fins of 3-D bionic dolphin

引用

Journal of Ocean Engineering and Science 2022年第1期7卷 29-40页

作者： Zhihan Li Dan Xia Xufeng Zhou Jiabo Cao Weishan Chen Xingsong Wang School of Mechanical Engineering Southeast UniversityNanjing 211189China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150080China

The novel autonomous rolling performance is realized by the pair of pectoral fins of a three-dimensional(3-D)bionic dolphin in this paper numerically.3-D Navier-Stokes equations are employed to simulate the viscous fluid around the bionic *** effect of self-rolling manoeuvrability is ex-plored using the dynamic mesh technology and user-defined function(UDF).By varying the parameter ratios,the interaction of flexible pectoral fins is divided into two motion modes,amplitude differential and frequency differential *** the primary driving source,the differential motion of a pair of pec-toral fins can effectively provide the rolling torque,and the trajectory of the entire rolling process is approximately the clockwise *** results demonstrate that the rolling angular velocity and driving torque in the steady state can be improved by increasing parameter ratios,and the rolling efficiency can reach the maximum under the optimal parameter ***,different parameter ratios do not af-fect the rolling radius of the self-rolling *** evolution process around the pair of pectoral fins is shown by the flow structures in self-rolling swimming,reasonably revealing that self-rolling locomotion is produced by the pressure and wake vortices surrounding the pair of pectoral fins,and the wake struc-tures depend primarily on the variation of parameter *** properly turns out that the application of the pair of pectoral fins can realize the self-rolling performance through parameter differential modes.

关键词： Self-rolling dolphin Parameter differential mode Numerical simulation Hydrodynamic performance Flow structures

来源：评论

学校读者我要写书评

暂无评论

3D-DEM Simulation and Post-Process Method of Wheel-Terrain Interaction for Planetary Rovers 11

3D-DEM Simulation and Post-Process Method of Wheel-Terrain I...

引用

11th Asia-Pacific Regional Conference of the International Society for Terrain-Vehicle systems, ISTVS 2022

作者： Lan, Qingning Wang, Zhengyin Yang, Huaiguang Ding, Liang Gao, Haibo State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

ISBN: (纸本)9781942112532

Understanding the physical essence of wheel-terrain interaction is critical to establish the terramechanics model. The discrete element method (DEM) can be used to simulate a series of wheel-terrain interaction quickly and efficiently, which can be convenient to analyze the physical information of the interaction. This paper simulates the interaction of slipping wheel running on soil simulant using 3D-DEM. The information of particles and wheel is obtained from the wheel-terrain interaction. The consequent velocity and stress field of soil simulant is obtained by smoothening the velocity of discrete soil particles and contact interaction force between particles. A method to calculate the fraction field of soil simulant in the particle bed with boundary is proposed to obtain the consequent fraction field distribution. The simulation results are consistent with experimental results. This study can provide instructions for the establishment of physical terramechanics model. Copyright © 2022 by the International Society for Terrain-Vehicle systems. All rights reserved.

关键词： Landforms

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：