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Robot learning from demonstration for path planning: A review

Science China(Technological Sciences) 2020年第8期63卷 1325-1334页

作者： XIE ZongWu ZHANG Qi JIANG ZaiNan LIU Hong State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

Learning from demonstration(LfD)is an appealing method of helping robots learn new *** papers have presented methods of LfD with good performance in ***,complicated robot tasks that need to carefully regulate path planning strategies remain *** or non-contact constraints in specific robot tasks make the path planning problem more difficult,as the interaction between the robot and the environment is *** this paper,we focus on the path planning of complex robot tasks in the domain of LfD and give a novel perspective for classifying imitation learning and inverse reinforcement *** classification is based on constraints and obstacle ***,we summarize these methods and present promising directions for robot application and LfD theory.

关键词： learning from demonstration path planning imitation learning inverse reinforcement learning obstacle avoidance

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Research and Introduction of the Process Flow of 3D-IC Thermo-Compression Intelligent Collective Bonding Equipment

Research and Introduction of the Process Flow of 3D-IC Therm...

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International Conference on (ICEPT) Electronic Packaging technology

作者： Bin Zhou Jianxin Qiao Longqiu Li Yunkang Su Dapeng Liu Haichuan Shi Wentao Huang State Key Laboratory of Robotics and System Key Laboratory for Microsystems and Microstructure Manufacturing Harbin Institute of Technology Harbin China School of Mechanical and Electrical Engineering Harbin Institute of Technology Harbin China

ISBN: (数字)9798350353808

ISBN: (纸本)9798350353815

Three-dimensional integrated (3D IC) technologies have attracted substantial academic interest due to their enhanced performance and reduced interfacial dimensions. Conventional 3D packaging for chips of four layers must be stacked and bonded four and three times, respectively, bringing about the low reliability of bumps and productivity. Additionally, the decreasing size and spacing of solder bumps present challenges for defect detection. This paper proposes a collective intelligent bonding equipment for flip-chip 3D packaging. The equipment includes a bonding head system, downward vision, chip shift table, upward vision, bonding zone, in-situ monitoring system, and substrate movement platform. The bonding head system, downward vision, chip shift table, upward vision, and bonding zone complete the collective bonding. The defect detection is accomplished by the in-situ monitoring system. The chips need to be stacked four times, and the time of bonding is once. Meanwhile, during the bonding process, the defects can be monitored in real-time by the in situ monitoring system based on active infrared technology. Four layers in chips can be simultaneously bonded, and alignment accuracy is ±15μm@3sigma. The breakage, misalignment, and other defects can be monitored during the bonding progress. The introduction of this equipment will enhance productivity while ensuring bump reliability. Moreover, its successful development holds significant importance for the advancement and manufacturing of semiconductor packaging equipment domestically.

关键词： Productivity Three-dimensional displays Machine vision Packaging Reliability Bonding Soldering

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Bio-inspired design of alternate rigid-flexible segments to improve the stiffness of a continuum manipulator

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Science China(Technological Sciences) 2020年第8期63卷 1549-1559页

作者： LIU Hong WANG HaiRong FAN ShaoWei YANG DaPeng State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

Intrinsic flexible structures enable a continuum manipulator to exhibit attractive dexterity and intrinsic compliance over traditional hyper-redundant ***,its insufficient stiffness makes the performance of continuum manipulators unsatisfactory and thus limits the applications in many fields.A significant challenge is how to make a trade-off among dexterity,compliance and *** an evolutionary perspective,this paper compares several biological structures that enable the continuum manipulator function,and intends to reveal the mechanism on how the biological structures can improve the *** notochord and the vertebral column with acoelous centra are abstracted and physically implemented.A fundamental roddriven continuum manipulator is also introduced as a *** stiffness models of these three continuum manipulators are proposed,and comparative experiments are conducted to verify their stiffness *** results demonstrate that the rigid-flexible segmental structure can improve the stiffness properties of a continuum manipulator.

关键词： continuum robots biologically inspired robot flexible arm stiffness kinematics

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Poly-MOT: A Polyhedral Framework For 3D Multi-Object Tracking

arXiv

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arXiv 2023年

作者： Li, Xiaoyu Xie, Tao Liu, Dedong Gao, Jinghan Dai, Kun Jiang, Zhiqiang Zhao, Lijun Wang, Ke State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150006 China

3D Multi-object tracking (MOT) empowers mobile robots to accomplish well-informed motion planning and navigation tasks by providing motion trajectories of surrounding objects. However, existing 3D MOT methods typically employ a single similarity metric and physical model to perform data association and state estimation for all objects. With large-scale modern datasets and real scenes, there are a variety of object categories that commonly exhibit distinctive geometric properties and motion patterns. In this way, such distinctions would enable various object categories to behave differently under the same standard, resulting in erroneous matches between trajectories and detections, and jeopardizing the reliability of downstream tasks (navigation, etc.). Towards this end, we propose Poly-MOT, an efficient 3D MOT method based on the Tracking-By-Detection framework that enables the tracker to choose the most appropriate tracking criteria for each object category. Specifically, Poly-MOT leverages different motion models for various object categories to characterize distinct types of motion accurately. We also introduce the constraint of the rigid structure of objects into a specific motion model to accurately describe the highly nonlinear motion of the object. Additionally, we introduce a two-stage data association strategy to ensure that objects can find the optimal similarity metric from three custom metrics for their categories and reduce missing matches. On the NuScenes dataset, our proposed method achieves state-of-the-art performance with 75.4% AMOTA. The code is available at https://***/lixiaoyu2000/Poly-MOT. © 2023, CC BY-NC-SA.

关键词： Motion planning

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Torque Ripple Suppression Under Open-Circuit Fault for DTPPMSM Considering Back EMF Harmonics

Torque Ripple Suppression Under Open-Circuit Fault for DTPPM...

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International Conference on Applied Superconductivity and Electromagnetic Devices, ASEMD

作者： Chengsi Liu Jibin Zou State Key Laboratory of Robotics and System Harbin Institute of Technology HIT Harbin China

This paper analyzed the impact of phase back electromotive force (back EMF) harmonics on torque of dual three phase permanent magnet synchronous motor (DTPPMSM) from the view of electromagnetic power, and proposed a torque ripple suppression fault-tolerant method for open-circuit fault of DTPPMSM. The proposed method can consider the phase back EMF harmonics, thus achieveing both minimum torque ripple and maximum average torque. The proposed method is verified by both finite element analysis (FEA) and prototype experiment.

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Research on Longitudinal Ultrasonic Vibration Assisted Flip Chip Bonding Process

Research on Longitudinal Ultrasonic Vibration Assisted Flip ...

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International Conference on (ICEPT) Electronic Packaging technology

作者： Dapeng Liu Jianxin Qiao Longqiu Li Zhi Qiao Bin Zhou Yunkang Su State Key Laboratory of Robotics and System Key Laboratory for Microsystems and Microstructure Manufacturing Harbin Institute of Technology Harbin China School of Mechanical and Electrical Engineering Harbin Institute of Technology Harbin China

ISBN: (数字)9798350353808

ISBN: (纸本)9798350353815

The current flip-chip bonding technology still faces defects such as surface thermal burnout of chips due to excessively high process temperature and significant mechanical stress leading to solder joint fracture and chip damage. This paper proposes a longitudinal ultrasonic-assisted flip-chip bonding process. By introducing ultrasonic vibration of a certain frequency in the bonding direction, stress on the device during the bonding process is reduced, leading to lower bonding temperatures and improved bonding quality and reliability. However, unreasonable ultrasonic bonding parameters may result in the fracture at the bonding interface by hammering effect. Based on the longitudinal ultrasonic-assisted bonding experimental platform was constructed to conduct bonding experiments. Through orthogonal contrast experiments, it has been determined that longitudinal ultrasonic assisted technology could reduce the bonding temperature at most by 180°C and bonding duration by 3-5s with ultrasonic parameter of 26W/cm 2 sound intensity and 4~4.66MPa prebonding pressure. This study provides valuable insights for optimizing flip-chip bonding processes.

关键词： Vibrations Temperature distribution Ultrasonic imaging Acoustics Flip-chip devices Bonding Surface cracks

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Three-line structured light vision system for non-cooperative satellites in proximity operations

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Chinese Journal of Aeronautics 2020年第5期33卷 1494-1504页

作者： Yang LIU Zongwu XIE Hong LIU State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150000China

Adapter ring is a commonly used component in non-cooperative satellites,which has high strength and is suitable to be recognized and grasped by the space *** proximity operations,this circle feature may be occluded by the robot arm or limited field of ***,the captured images may be underexposed when there is not enough *** address these problems,this paper presents a structured light vision system with three line lasers and a monocular *** lasers project lines onto the surface of the satellite,and six break points are formed along both sides of the adapter ring.A closed-form solution for real-time pose estimation is given using these break ***,a virtual structured light platform is constructed to simulate synthetic images of the target *** with the predefined camera parameters and relative positions,the proposed method is demonstrated to be more effective,especially at a close ***,a physical space verification system is set up to prove the effectiveness and robustness of our method under different light *** results indicate that it is a practical and effective method for the pose measurement of on-orbit tasks.

关键词： Adapter ring Line detection Non-cooperative target Pose measurement Space robot Structured light

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Experimental Study on Frog-inspired Swimming Robot Based on Articulated Pneumatic Soft Actuator

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Journal of Bionic Engineering 2020年第2期17卷 270-280页

作者： Jizhuang Fan Shuqi Wang Qingguo Yu Yanhe Zhu State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

This paper presents a frog-inspired swimming robot based on articulated pneumatic soft *** realize the miniaturization of the robot and enhance its environmental adaptability,combined with the advantages and characteristics of soft materials,an articulated pneumatic soft actuator is designed based on analysis of a frog's propulsion characteristics.A structural model is established to analyse the mechanical properties of the soft *** the goal of making full use of the driving torque of the actuator and enhancing the propulsion efficiency of the robot,the motion trajectories of each joint of the robot are *** on the trajectory planning,the control strategy of the soft actuator is determined to realize the frog-like swimming of the *** torso size after assembly is 0.175 m×0.100 m×0.060 m,which realizes the miniaturization of the frog-inspired *** the movement of the robot,the torso moves stably and flexibly,and can realize continuous linear and turning *** rationality of the structure and trajectory planning are verified by prototype experiments.

关键词： bionic robotic frog articulated pneumatic soft actuator trajectory planning prototype experiment

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Development of a high-performance bend-actuated piezoelectric tip/tilt stage with low power and simple operation

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Science China Technological Sciences 2025年第6期 234-245页

作者： Jinghan GUAN Shijing ZHANG Jie DENG Weishan CHEN Junkao LIU Yingxiang LIU State Key Laboratory of Robotics and System Harbin Institute of Technology

Piezoelectric tip/tilt stages(PZT stages), which precisely and quickly control laser beam deflection, are widely used in laser communications. Most are driven by piezoelectric stack actuators(PSAs) and have high capacitance and power consumption. The negative voltage causes irreversible damage to PSAs. Therefore, negative voltage operation needs to be prohibited, which complicates manipulating the bidirectional deflection of the mirror. However, the aerospace field places higher requirements on power consumption and ease of operation, which makes the PZT stage require reduced power consumption and simple operation. This paper presents a high-performance bend-actuated PZT stage, which uses ceramic plates for driving, with a capacitance of only 26.4 nF/axis and a power of only 27 mW(at operating conditions of 1 mrad and 100 Hz).The sandwich structure allows for bi-directional voltage, which makes the operation easier. Two channels control two degrees of freedom(DOFs). A theoretical model suitable for bend-actuated structures is proposed. It is used to calculate the deflection angle and resonance frequency, and its validity is verified by finite element analysis. Experimental results show that it has a deflection angle of ±2.97 mrad(x-axis), ±3.24 mrad(y-axis) at 600 V p-p, an unloaded first-order resonance frequency of 1728 Hz, and a quasi-static hysteresis of only 7.5%, which is less than that of PSAs(>10%). With the constructed laser beam deflection system, a circular trajectory is realized, which has the potential for beam steering.

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Design and Verification of a Projectile Structure for Main-belt Comets Penetration Exploration

Design and Verification of a Projectile Structure for Main-b...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Tang, Junyue Liang, He Chi, Cheng Xiao, Junxiao Lu, Zixiao Yao, Ziyun Ha, Zekun Jiang, Shengyuan Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China CAS Center for Excellence in Nanoscience National Center for Nanoscience and Technology Beijing100190 China

ISBN: (纸本)9781665481090

Comparing the isotopic composition of the D/H ratio of the water ice in Main-belt Comets (MBCs) to that of the oceans on the Earth can enhance the understanding of where the water comes from and of how the distribution of the water ices in our early solar system. Herein, a jet penetrator with a turbo-blasting explosion device and a high-precision accelerometer has been proposed to realize a 1m class subsurface detection for China next asteroidal exploration mission. Considering the ruggedness of rubble pile structure in the low-gravity environment, the projectile's posture and its overloads determined by its structure and velocity during the penetration is highly uncertain. By establishing the rubble pile structure penetrating mechanism model, the real-time overloads and posture is analyzed to acquire an optimized projectile structure. Finally, a frozen rubble pile simulant penetrating experiment under gas gun system verified the optimized structure. © 2022 IEEE.

关键词： Comets

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