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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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A Novel Kinematic Calibration Method Based on the End Acceleration of the Manipulator 3

A Novel Kinematic Calibration Method Based on the End Accele...

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3rd International Conference on robotics and Computer Vision, ICRCV 2021

作者： Zhou, Rui Jin, Hongzhe Wang, Binluan Ge, Mingda Yin, Hong Zhao, Jie Harbin Institute of Technology State Key Laboratory of Robotics and Systems Harbin China

ISBN: (纸本)9781665436281

The kinematic calibration of the manipulator is one of the main methods to improve the absolute positioning accuracy of the end of the manipulator. Due to the disadvantages of the current calibration methods, such as excessively expensive measuring equipment, complex calibration process and numerous calculations, exploring a new calibration method has become a research focus in recent years. This paper proposes a novel kinematic calibration method based on the end acceleration of the manipulator for the first time. This method derives the relationship between the end acceleration of the manipulator and the kinematic parameters by Jacobian matrix. After obtaining the manipulator's joints data and the end acceleration acquired by the inertial measurement unit attached to the end of the manipulator, these data will be brought into the derived relationship, then using the recursive least squares method to obtain the estimated value of parameters of the manipulator. This calibration method has the advantages of low cost, simple operation and the low requirements for the experimental environment. With the improvement of inertial measurement unit technology, the calibration results of this method will become more and more accurate, and its development prospect is extremely broad. © 2021 IEEE.

关键词： Manipulators

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The Measurement of the Elastic Modulus and Kinetic Friction Coefficient of Long Nanowires by the Micro-force Probe in the SEM Combined with Finite Element Simulation 4

The Measurement of the Elastic Modulus and Kinetic Friction ...

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4th IEEE International Conference on Nanoscience and technology, ICNST 2021

作者： Gao, Peng Gao, Jian Zou, Tao Rong, Weibin State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China

ISBN: (纸本)9780738112886

As an important nanomaterial, nanowires have important applications in micro-nano manufacturing, biomedicine, nano power generation and other fields, and are one of the current research hotspots. The traditional deformation-based nanowire dynamic friction measurement method only calculates the kinetic friction coefficient based on the deformation of the nanowire. However, due to the lack of force feedback, a certain pre-load force needs to be applied, which will also introduce errors and cause inaccurate measurement results. At the same time, it is easy to cause damage to the tungsten needles and nanowires, which is not suitable for nanowire samples with large aspect ratios. Aiming at the above problems, this paper proposes a method for measuring the elastic modulus and kinetic friction coefficient of Silicon (Si) nanowires (NWs) based on the combination of measurement of micro-force probes in the scanning electron microscope (SEM) and the simulation of the deflection of NWs. First, the corresponding relationship between the deformation of the nanowire and the force was obtained. Secondly, the influence of different elastic modulus and kinetic friction ratios on the deformation of nanowires were calculated by the simulation. Finally, the experimental data and simulation results are matched, and the elastic modulus and kinetic friction proportional coefficient with the smallest error is selected. The measurement method avoids the influence of the pre-load force on the measurement result, and at the same time avoids damage such as fracture of the nanowire and the probe due to excessive force. The effectiveness of this method is proven by comparing the measurement results in this article with the values in the relevant literature. ©2021 IEEE

关键词： Nanowires

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Robust-Tube Model Predictive Control for Piezoelectrically Actuated Fast Mechanical Switches for Hybrid Circuit Breakers 2

Robust-Tube Model Predictive Control for Piezoelectrically A...

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2nd International Conference on Artificial Intelligence and Automation Control, AIAC 2024

作者： Chai, Yu Yang, Chen Dong, Huijuan Zhao, Jie Shardt, Yuri A. W. Ju, Bingfeng ZJU-Hangzhou Global Scientific and Technological Innovation Center Hangzhou China Harbin Institute of Technology State Key Laboratory of Robotics and Systems Harbin China Technical University of Ilmenau Department of Automation Engineering Ilmenau Germany School of Mechanical Engineering Zhejiang University Hangzhou China

ISBN: (纸本)9798331529147

Safeguarding high voltage direct current (HVDC) systems against direct current faults is an inherently demanding task. A promising solution to tackle this challenge is the application of piezoelectrically actuated fast mechanical switches (PA-FMS). However, mechanical resonance and random vibrations in the travel curves of P A-FMS have a substantial impact on their control accuracy. To tackle this challenge, a robust-tube model predictive control (RTMPC) strategy is developed. RTMPC drives the disturbed system state into the minimal robustly positively invariant (mRPI) set centered on the target and ensures that constraints are satisfied. The error feedback gain is calculated using the proposed linear matrix inequality (LMI) based method to minimize the effect of disturbances on the trajectory. An efficient outer approximation method is used to compute the mRPI set. Simulation results show that the critically damped travel curves have been achieved, along with a reduction of the external disturbances by 98%. © 2024 IEEE.

关键词： Predictive control systems

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Sensorless End-Effector Force Estimation of Multi-DOF Manipulators Using Semiparametric Joint Model and Generalized Momentum Observer

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IEEE Sensors Journal 2025年

作者： Xing, Hongjun Ding, Liang Xia, Kerui Chen, Jinbao Gao, Haibo Deng, Zongquan Nanjing University of Aeronautics and Astronautics National Key Laboratory of Aerospace Mechanism Nanjing210016 China Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150001 China International Institute for Research and Innovation Hefei230000 China

With end-effector force estimation, manipulators can safely interact with the environment or operators, eliminating the need for conventional wrist sensors that measure force and torque. This paper introduces a new approach to estimating the force exerted by the end-effector, utilizing a two-step method. The first step is to build an accurate semiparametric joint model. The joint model integrates a harmonic drive parametric model with a local Gaussian process regression (LGPR)-based learning model. A combined parametric model of the harmonic drive offers the analytical joint torque component, which is employed in the LGPR process to reconstruct the unmodeled portion. This reconstruction is based on the motor-side joint angle, the link-side joint angle, and the controlled motor current. Compared to the parametric or learning models alone, this semiparametric joint model considerably improves modeling precision. In the second step, an external force observer is developed by estimating joint torque. The force observer developed in this paper is based on generalized momentum. Multi-DOF manipulators benefit from this design because joint dynamics are separated from link dynamics, thereby reducing the complexity of dynamic modeling. In addition to joint torque sensors, a wrist force/torque sensor is utilized to compare the estimated joint torques and end-effector forces with the actual measured values. Experimental results obtained using a custom-built manipulator have demonstrated the advantages and effectiveness of this approach. © 2001-2012 IEEE.

关键词： Manipulators

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An Optimized-Punching Approach to Achieve Parabolic Shape by Simply Bending Flat Elastic Sheet—Fabricating Flexible and Precision Solar Parabolic Trough Concentrator

SSRN

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SSRN 2023年

作者： Li, Lifang Chen, He Zhang, Yanlong Li, Heng Wang, Juncai Guo, Pengzhen Liu, Rongqiang Laboratory for Space Environment and Physical Sciences Harbin Institute of Technology Harbin150001 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China National Key Laboratory of Science and Technology on Tunable Laser Harbin150001 China

Fabricating solar parabolic trough concentrators by bending flat elastic sheets into precise parabolic shapes is a simple and cost-effective approach. In this paper, we propose an optimized-punching approach that leverages elastic buckling to manufacture high-precision solar parabolic trough concentrators. Our approach involves punching optimized holes in the flat sheet to finely tailor its stiffness using an improved Particle Swarm Optimization-Genetic Algorithm. This allows us to produce a perfect parabolic shape by controlling the chord length with a position rod or cable. To validate our approach, we used interactive Finite Element Analysis and ray tracing software-LightTools, as well as sunlight concentrating experiments, and achieved a concentration ratio of up to 145.16. This concept enables easy fabrication and shipping of flat mirror elements to field sites, which can be assembled into parabolic trough concentrators, offering potentially attractive cost reductions and highly efficient solar energy solutions © 2023, The Authors. All rights reserved.

关键词： Cost reduction

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Multi-Robot Collaborative Identification and Trajectory Optimization for Fine Operation of Uncertain Objects

SSRN

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SSRN 2024年

作者： Cheng, Tianhong Xu, Wenfu Yan, Lei The School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen518055 China Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robots Shenzhen518055 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

Multi-robot systems offer many advantages over single robots such as flexible operation, high efficiency, and large payload, making it highly promising for applications in large equipment assembly, complex part manufacturing, and maintenance. However, uncertainties in the shape, size, mass, and inertia of manipulated objects, coupled with spatial constraints in multi-robot collaborative operations, pose significant challenges. To address the above issues, this paper proposes a multi-robot collaborative identification and trajectory optimization framework for fine operation of uncertain object. First, the compound multi-robot and object system is modelled. Then a power identification method is presented by introducing the motor model. Regarding the uncertainties related to manipulated objects, a novel momentum observer is designed, which enables the identification of physical properties of the object manipulated by the multi-robot system such as its mass, inertia, and the position of center of mass. Subsequently, for multi-robot collaborative operations, the paper explores collaborative trajectory optimization methods across various levels, including initial scene design, path allocation, and energy-efficient trajectory optimization. Several typical simulations and collaborative polishing experiment validate the effectiveness of the proposed method. © 2024, The Authors. All rights reserved.

关键词： Multipurpose robots

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Research on Low-Force Cutting Load Characteristics for Lunar Rock Simulant

Research on Low-Force Cutting Load Characteristics for Lunar...

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2021 International Conference on Computer Graphics, Artificial Intelligence, and Data Processing, ICCAID 2021

作者： Wang, Yizhuo Li, Peng Xu, Bo Liu, Junwei Mechanical Engineering College Beihua University Jilin132022 China Mechanical Engineering College Yanshan University Qinhuangdao066004 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

ISBN: (数字)9781510652170

ISBN: (纸本)9781510652163

In the whole lunar regolith drilling and sampling task, It is critical to make the operation of the drilling and sampling system efficient and reliable. In view of the high efficiency drilling requirements of lunar rock under low-force conditions, it is necessary to study the mechanical properties of an elemental blade and lunar rock. Firstly, a test platform is developed to test the low-force cutting load characteristics for the lunar rock simulant according to the requirements of the cutting load characteristics test function. Then, the linear cutting load and impact crushing load characteristics for the lunar rock simulant are tested and verified respectively. It is finally found that the cutting load of the lunar rock simulant can be reduced by increasing the cutting edge rake angle and side rake angle and improving the percussive frequency. This provides a certain reference for setting the operating parameters of lunar rock core drilling tools to achieve high performance drilling under low-force conditions. © 2022 SPIE.

关键词： Rocks

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Enhanced Light-Harvesting Efficiency and Adaptation: A Review on Visible-Light-Driven Micro/Nanomotors

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Research 2020年第1期2020卷 1116-1140页

作者： Dekai Zhou Rencheng Zhuang Xiaocong Chang Longqiu Li Key Laboratory of Microsystems and Microstructures Manufacturing Harbin Institute of TechnologyHarbinHeilongjiang 150001China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbinHeilongjiang 150001China

As visible light accounts for a larger proportion of solar energy and is harmless to living organisms,it has the potential to be the energy source of micro/nanomotors,which transform visible-light energy into mechanical motion,for different applications,especially in environmental ***,how to precisely control the motion of visible-light-driven micro/nanomotors(VLD-MNMs)and efficiently utilize the weak visible-light photon energy to acquire rapid motion are significant *** review summarizes the most critical aspects,involving photoactive materials,propulsion mechanisms,control methods,and applications of VLD-MNMs,and discusses strategies to systematically enhance the energyharvesting efficiency and *** first,the photoactive materials have been divided into inorganic and organic photoactive materials and comprehensively ***,different propulsion mechanisms of the current VLD-MNMs are presented to explain the improvement in the actuation force,speed,and environmental *** addition,considering the characteristics of easy control of VLD-MNMs,we summarized the direction,speed,and cluster control methods of VLD-MNMs for different application ***,the potential applications of VLD-MNMs,e.g.,in environmental remediation,micropumps,cargo delivery,and sensing in microscale,are ***,discussions and suggestions for future directions to enhance the energy-harvesting efficiency and adaptation of VLD-MNMs are provided.

关键词： visible harvesting utilize

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Convolutional neural network based on sparse graph attention mechanism for MRI super-resolution

arXiv

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arXiv 2023年

作者： Hua, Xin Du, Zhijiang Yu, Hongjian Ma, Jixin State Key Laboratory of Robotics Technology and Systems Harbin Institute of Technology Heilongjiang Harbin15000 China

Magnetic resonance imaging (MRI) is a valuable clinical tool for displaying anatomical structures and aiding in accurate diagnosis. Medical image super-resolution (SR) reconstruction using deep learning techniques can enhance lesion analysis and assist doctors in improving diagnostic efficiency and accuracy. However, existing deep learning-based SR methods predominantly rely on convolutional neural networks (CNNs), which inherently limit the expressive capabilities of these models and therefore make it challenging to discover potential relationships between different image features. To overcome this limitation, we propose an A-network that utilizes multiple convolution operator feature extraction modules (MCO) for extracting image features using multiple convolution operators. These extracted features are passed through multiple sets of cross-feature extraction modules (MSC) to highlight key features through inter-channel feature interactions, enabling subsequent feature learning. An attention-based sparse graph neural network module is incorporated to establish relationships between pixel features, learning which adjacent pixels have the greatest impact on determining the features to be filled. To evaluate our model's effectiveness, we conducted experiments using different models on data generated from multiple datasets with different degradation multiples, and the experimental results show that our method is a significant improvement over the current state-of-the-art methods. Copyright © 2023, The Authors. All rights reserved.

关键词： Magnetic resonance imaging

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