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IEEE International Conference on robotics and Biomimetics

作者： Enbo Li Yili Fu Haibo Feng Zhejiang Laboratory Intelligent Robot Research Center Hangzhou China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Robot grasping has always been a hot topic in the research field, but there are still a lot of problems to be solved. In this paper, we propose a general grasping method for the unknown objects in cluttered environment from a single-view. Our method is divided into three steps: sampling points selection, grasping pose sampling and grasping pose evaluation. Firstly, we generate a pixel-wise probability image based on the trained sampling affordance network from RGB images, and map the points with high probability to the 3D point cloud combined with the depth map. Then, we obtaine the candidate grasps by sampling on the proposal points, and finally we evaluate the candidate grasps through the trained grasp evaluation network. The network can capture the geometric structure represented by the point cloud information. The proposed method directly uses the original sensor data and can increases the sampling success rate.

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First Demonstration of Wafer-level Arrayed β-Ga2O3 Thin Films and MOSFETs on Diamond by Transfer Printing technology

First Demonstration of Wafer-level Arrayed β-Ga2O3 Thin Fil...

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2024 IEEE International Electron Devices Meeting, IEDM 2024

作者： Zhao, Tiancheng Yu, Xinxin Xu, Wenhui He, Yang Qu, Zhenyu Shen, Rui Wang, Ruize Guo, Huaixin Sun, Huarui Li, Zhonghui Zhou, Min You, Tiangui Ou, Xin State Key Laboratory of Materials for Integrated Circuits Shanghai Institute of Microsystem and Information Technology Chinese Academy of Sciences Shanghai200050 China CETC Key Laboratory of Carbon-based Electronics Nanjing Electronic Devices Institute Nanjing210016 China National Key Laboratory of Solid-State Microwave Devices and Circuits Nanjing210016 China School of Science Ministry of Industry and Information Technology Key Laboratory of Micro-Nano Optoelectronic Information System Harbin Institute of Technology Shenzhen518055 China

ISBN: (纸本)9798350365429

We, for the first time, fabricated wafer-level arrayed βGa2O3 single crystal thin films on diamond substrate using transfer printing technology. The transfer-printed β-Ga2O3 thin film possesses a thickness of 260 nm, a XRD rocking curve FWHM of ~78 arcsec, and a surface roughness of 0.36 nm. The amorphous interface layer after post-annealing is less than 2 nm. The thermal boundary resistance is extracted to 21.7 m2·K/GW, which is the lowest value reported for single-crystal β-Ga2O3 integrated with diamond. Thanks to the high thermal conductivity of diamond and the high-quality hetero-interface, the performance of β-Ga2O3-on-diamond RF MOSFETs is significantly enhanced. The maximum on-state current is 810 mA/mm, and the fmax before de-embedding reaches 61 GHz, which is the highest recorded value to date. Infrared thermal imaging shows that integrating with diamond significantly reduces the junction temperature of β-Ga2O3 devices. The Rth of β-Ga2O3-ondiamond devices is merely 5.52 K·mm/W, setting a new record for βGa2O3-based devices. These results demonstrate that hetero-integration with diamond via wafer-level transfer printing technology provides an effective thermal management platform for β-Ga2O3, facilitating its advancement in high-power and RF devices. © 2024 IEEE.

关键词： Substrates

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Formation and growth of nanophase iron particles on the surface of Mercury revealed by experimental study

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Acta Geochimica 2024年第4期43卷 774-784页

作者： Ronghua Pang Yang Li Chen Li Pengfei Zhang Zhuang Guo Sizhe Zhao Han Yu Li Wang Chenxi Zhu Shuangyu Wang Kairui Tai Qinwei Zhang Yuanyun Wen Rui Li Center for Lunar and Planetary Sciences Institute of GeochemistryChinese Academy of SciencesGuiyangChina University of Chinese Academy of Sciences BeijingChina Center for Excellence in Comparative Planetology Chinese Academy of SciencesHefeiChina Institute of Remote Sensing and Geographical Information System School of Earth and Space SciencesPeking UniversityBeijingChina State Key Laboratory of Lunar and Planetary Sciences Macao University of Science and TechnologyMacaoChina Faculty of Metallurgical and Energy Engineering Kunming University of Science and TechnologyKunmingChina State Key Laboratory of High Performance Ceramics and Superfi ne Microstructures Shanghai Institute of CeramicsChinese Academy of SciencesShanghaiChina Laboratory for Space Environment and Physical Sciences Harbin Institute of TechnologyHarbinChina Research Center for Planetary Science College of Earth ScienceChengdu University of TechnologyChengduChina Key Laboratory of Planetary Sciences Purple Mountain ObservatoryChinese Academy of SciencesNanjingChina

Space weathering is a primary factor in altering the composition and spectral characteristics of surface materials on airless ***,current research on space weathering focuses mainly on the Moon and certain types of *** particular,the impacts of meteoroids and micrometeoroids,radiation from solar wind/solar flares/cosmic rays,and thermal fatigue due to temperature variations are being *** weathering produces various transformation products such as melted glass,amorphous layers,iron particles,vesicles,and solar wind *** in turn lead to soil maturation,changes in visible and near-infrared reflectance spectra(weakening of characteristic absorption peaks,decreased reflectance,increased near-infrared slope),and alterations in magnetism(related to small iron particles),collectively termed the“lunar model”of space weathering *** to the Moon and asteroids,Mercury has unique spatial environmental characteristics,including more intense meteoroid impacts and solar thermal radiation,as well as a weaker particle radiation environment due to the global distribution of its magnetic ***,the lunar model of space weathering may not apply to *** studies have extensively explored the eff ects of micrometeoroid ***,this work focuses on the eff ects of solar-wind particle radiation in global magnetic-field distribution and on the weathering transformation of surface materials on Mercury under prolonged intense solar *** the utilization of highvalence state,heavy ion implantation,and vacuum heating simulation experiments,this paper primarily investigates the weathering transformation characteristics of the major mineral components such as anorthite,pyroxene,and olivine on Mercury’s surface and compares them to the weathering transformation model of the *** experimental results indicate that ion implantation at room temperature is insufficient to generate np-Fe^(0)directly but

关键词： Mercury Space weathering Np-Fe^(0) Solar thermal radiation Solar wind

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YOWOv2: A Stronger yet Efficient Multi-level Detection Framework for Real-time Spatio-temporal Action Detection

arXiv

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arXiv 2023年

作者： Yang, Jianhua Dai, Kun The State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Wuhu Robot Industry Technology Research Institute Harbin Institute of Technology Wuhu241000 China

Designing a real-time framework for the spatiotemporal action detection task is still a challenge. In this paper, we propose a novel real-time action detection framework, YOWOv2. In this new framework, YOWOv2 takes advantage of both the 3D backbone and 2D backbone for accurate action detection. A multi-level detection pipeline is designed to detect action instances of different scales. To achieve this goal, we carefully build a simple and efficient 2D backbone with a feature pyramid network to extract different levels of classification features and regression features. For the 3D backbone, we adopt the existing efficient 3D CNN to save development time. By combining 3D backbones and 2D backbones of different sizes, we design a YOWOv2 family including YOWOv2-Tiny, YOWOv2-Medium, and YOWOv2-Large. We also introduce the popular dynamic label assignment strategy and anchor-free mechanism to make the YOWOv2 consistent with the advanced model architecture design. With our improvement, YOWOv2 is significantly superior to YOWO, and can still keep real-time detection. Without any bells and whistles, YOWOv2 achieves 87.0% frame mAP and 52.8% video mAP with over 20 FPS on the UCF101-24. On the AVA, YOWOv2 achieves 21.7% frame mAP with over 20 FPS. Our code is available on https://***/yjh0410/YOWOv2. Copyright © 2023, The Authors. All rights reserved.

关键词： Signal encoding

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Evaluation of surface integrity for ultra-precision machined fused silica surface based on atomic point-defect density

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Journal of Manufacturing Processes 2025年 149卷 917-930页

作者： Dinghuai Yang Linjie Zhao Jian Cheng Qi Liu Zixiao Zhang Hongqin Lei Zican Yang Henan Liu Jinghe Wang Yazhou Sun Mingjun Chen State Key Laboratory of Robotics and System School of Mechatronics Engineering Harbin Institute of Technology Harbin 150001 China Centre for Precision Manufacturing DMEM University of Strathclyde Glasgow G1 1XJ UK Center for Precision Engineering School of Mechatronics Engineering Harbin Institute of Technology Harbin 150001 China

The degree of plasticity and brittleness (DPB) of the material significantly affects the service performance of fused silica manufacturing surfaces in many frontier fields. However, there is still no effective method to quantitatively and non-destructively characterize their DPB, severely restricting the application of fused silica. Herein, atomic manufacturing-induced point defects on fused silica manufacturing surfaces were determined. Based on this, the evolution laws of various types of point defects with the DPB were discussed. Interestingly, it was found that the DPB is closely related to the densities of specific ODCII point defects, whose proportion ( k ) was chosen as the characteristic parameter to judge surface brittle fractures. Additionally, it was discovered that k sharply increased at the material brittle-plastic transition boundary, which was also verified based on the molecular dynamics simulation. Accordingly, whether k is >15 % was proposed as a criterion to judge whether the material has undergone brittle fractures during manufacturing processes. Furthermore, the significant increment of ODCII point defects was found to be the main cause of the obvious increment of k . Moreover, two causes of the significant increment of ODCII point defects were determined. Finally, the effectiveness of the judge criterion in six specific manufacturing cases was verified. Summarily, the study proposes a powerful nondestructive approach to judge the brittle fractures. It could quantitatively and non-destructively characterize the DPB during manufacturing processes. It is also applicable to the quantitative DPB characterization and the early warning detection of fracture breakdown for other brittle silicate materials.

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A reusable SMA actuated non-explosive lockrelease mechanism for space application

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International Journal of Smart and Nano Materials 2020年第1期11卷 65-77页

作者： Xueting Pan Yuliang Zhang Yifan Lu Fei Yang Honghao Yue State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbinChina Beijing Spacecraft BeijingChina

After the satellite is launched with the carrier rocket,it is necessary to separate the satellite from the rocket at an appropriate time to ensure that the satellite enters the intended *** this process,it is vital to ensure a reliable connection and accurate *** the increasing use of microsatellite in orbit,the contradiction between the shock of separation and the requirement of the platform’s dynamic environment is becoming increasingly ***,the traditional pyrotechnic separation device can no longer meet the *** paper presents a reusable non-explosive release actuator using shape memory alloy(SMA)wire for high load and low *** system is based on the Fast Acting Shock-less Separation Nut(FASSN)*** the shape memory effect of SMA,a biased SMA wire trigger has been developed,which is used as the driver source of the *** the moment of receiving the electrical signal,the SMA wire generates stress and *** trigger set free the constraints on the mechanical components,and the target is *** results indicate that the trigger device can unlock successfully and well meet the technical objectives.

关键词： SMA actuator non-explosive lock-release space application

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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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IEEE International Conference on robotics and Biomimetics

作者： Xiangxiao Chai Shihua Wang Erzhen Pan Wenfu Xu School of Mechanical Engineering and Automation Harbin Institute of Technology (Shenzhen) Shenzhen China Key University Laboratory of Mechanism & Machine Theory and Intelligent Unmanned Systems of Guangdong Shenzhen China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

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.

关键词： Legged locomotion Torque Limiting Navigation Propellers Roads Wheels Prototypes Motors system analysis and design

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An Efficient Inverse Kinematic Method for SSRMS-type Manipulator with Conformal Geometric Algebra

An Efficient Inverse Kinematic Method for SSRMS-type Manipul...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Jingdong Zhao Jiayu Zhang Liangliang Zhao Zhonglai Tian Zirui Wang Wei Jiang Hong Liu School of Mechatronics Engineering State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (数字)9798350355369

ISBN: (纸本)9798350355376

SSRMS-type Manipulator is a typical type of space manipulator featuring 7-degree-of-freedom offset configuration with redundancy characteristic. It is challenging to solve inverse kinematics in high efficiency, make the upmost of redundancy characteristic, and select optimal redundant parameter. This paper proposes an analytical inverse kinematic method, named three-continuous-parallel-Link Direction Vector Parameterization (LDVP), in the theory of Conformal Geometric Algebra. This method employs the direction vector of the axis of parallel Joint 3, Joint 4, and Joint 5 as the parameter, and selects the optimal parameter according to context plan-points in a given trajectory. The process of solving inverse kinematics is divided into two steps, including solving joint positions and joint variables. The average solution time of forward and inverse kinematics is 9.79 us and 0.25 ms respectively. The continuous path tracking experiment verifies that all seven joints changing to pursue the optimal configuration, which makes full use of redundancy characteristic.

关键词： Mechatronics Algebra Termination of employment Kinematics Manipulators Vectors Orbits

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Practical Realization of Optimal Auxiliary Frequency Control Strategy of Wind Turbine Generator

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Journal of Modern Power systems and Clean Energy 2022年第3期10卷 617-626页

作者： Ming Sun Yong Min Xuejun Xiong Lei Chen Le Zhao Yuyao Feng Bingran Wang IEEE State Key Laboratory of Power System and Generation Equipment Department of Electrical EngineeringTsinghua UniversityBeijing 100084China State Grid Shanghai Electric Power Research Institute Shanghai 200437China School of New Energy Harbin Institute of Technology(Weihai)Weihai 264209China

Adding the auxiliary frequency control function to the wind turbine generator(WTG)is a solution to the frequency security problem of the power system caused by the replacement of the synchronous generator(SG)by the *** auxiliary frequency control using rotor kinetic energy is an economical scheme because the WTG still runs at the maximum power point during normal *** this paper,the functional optimization model of the auxiliary frequency control strategy of WTG is *** optimal auxiliary frequency control strategy is obtained by solving the model *** for the practical realization of the control strategy,the coordination of the auxiliary frequency control with the maximum power point tracking(MPPT)control is *** practical auxiliary frequency control strategy is modified to adapt to different power disturbances in the system,and the parameter setting method is also *** sensitivity of system frequency to control parameters is ***,the simulation results verify the effectiveness and practicability of the proposed control strategy.

关键词： Power system frequency security wind turbine generator auxiliary frequency control rotor kinetic energy energy constraint

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Low-gain Control Strategy for Robot Manipulators Based on Sparse Feature Learning Dynamics with an Application to Collision Detection

Low-gain Control Strategy for Robot Manipulators Based on Sp...

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IEEE International Workshop on Safety, Security, and Rescue robotics (SSRR)

作者： Chenglong Yu Zhiqi Li Weixin Chou Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology China

ISBN: (纸本)9781665456814

Recently, with the robotic technique developing toward precision and intelligence, robots have been used more widely in human life and production. As a common feature in the foreseen applications, robots should be able to detect unexpected collisions while ensuring dynamic accuracy, so as to improve safety at work. In the previous model-based collision detection solution, most methods assume that the robot dynamic model is complete and accurate. Unfortunately, reliable robot dynamics is hard to obtain due to model uncertainties, assembly errors, and the lack of information provided by manufacturers. This paper proposed a novel low-gain control strategy based on sparse feature learning dynamics. Firstly, without considering the physical structure parameters, the dynamics was learned directly via the data-driven technique. Secondly, according to the learned accurate dynamics, a model-based low-gain controller was designed to ensure control performance while avoiding excessive unspecified force. Finally, using this control strategy, sensorless collision detection was realized in a 7-DOF manipulator and the performance of the proposed method was evaluated.

关键词： Representation learning Service robots Dynamics Force Robot sensing systems Safety Security

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