检索结果-内蒙古大学图书馆

Modelling and experimental investigation of micro-dimpled structures milling with spiral trajectory tool reciprocating motion

引用

Chinese Journal of Aeronautics 2025年第2期 581-600页

作者： Guangzhou WANG Linjie ZHAO Qi LIU Xiguang LI Yazhou SUN Mingjun CHEN School of Mechatronics Engineering Harbin Institute of Technology Centre for Precision Manufacturing DMEMUniversity of Strathclyde State Key Laboratory of Robotics and System Harbin Institute of Technology

To mill fine and well-defined micro-dimpled structures, a machining manner of spiral trajectory tool reciprocating motion, where the tool repeats the process of ‘feed milling±retract±cutting feed±feed milling again' along the spiral trajectory, was proposed. From the kinematics analysis, it is found that the machining quality of micro-dimpled structures is highly dependent on the machining trajectory using spiral trajectory tool reciprocating motion. To reveal this causation, simulation modelling and experimental studies were carried out. A simulation model was developed to quantitatively and qualitatively investigate the influence of the trajectory discretization strategies(constant-angle and constant-arc length) and parameters(discrete angle, discrete arc length, and pitch) on surface texture and residual height of micro-dimpled structures. Subsequently, microdimpled structures were milled under different trajectory discretization strategies and parameters with spiral trajectory tool reciprocating motion. A comprehensive comparison between the milled results and simulation analysis was made based on geometry accuracy, surface morphology and surface roughness of milled dimples. Meanwhile, the errors and factors affecting the above three aspects were analyzed. The results demonstrate both the feasibility of the established simulation model and the machining capability of this machining way in milling high-quality micro-dimpled structures. Spiral trajectory tool reciprocating motion provides a new machining way for milling micro-dimpled structures and micro-dimpled functional surfaces. And an appropriate machining trajectory can be generated based on the optimized trajectory parameters, thus contributing to the improvement of machining quality and efficiency.

关键词：

来源：评论

学校读者我要写书评

暂无评论

The long-acting walking control of a cockroach bio-bot for vision-aided pipeline navigation

The long-acting walking control of a cockroach bio-bot for v...

引用

Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

作者： Songsong Ma Shen Liu Songlin Yang Yuansheng Chen Yao Li Bing Li State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin P.R. China Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Harbin Institute of Technology Shenzhen P.R. China School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen P.R. China

Many small bionic crawling robots have been invented for search and rescue missions in narrow spaces. However, their locomotion capability is far from that of insects of the same size. Transforming a cockroach into a bio-bot has been a hot topic in the past decade. Herein, we modified this insect to perform surveillance work in dark confined environments. The synergistic electrical stimulation for turning control was proposed by alternating electrical stimulation of the cerci and antennae every 5 trials. The result showed that this method was able to control cockroaches turning steadily 117 times. An electronic backpack was designed, which was capable of transmitting images in real time, and a light emitting diode (LED) was installed on the backpack providing a light source for the camera. Thus, a vision-aided navigation system was formed for dark confined environments, e.g. pipelines. With a host computer software, the operator controlled the bio-bot to pass through a completely dark and closed pipeline. The electronic backpack and the host computer were connected via transmission control protocol (TCP), which allows the operator to manipulate the bio-robot remotely. This technology can be applied in pipeline surveillance in the future.

关键词：

来源：评论

学校读者我要写书评

暂无评论

4D printing of direct-driven deformable wheel with multiple programmable configurations

引用

International Journal of Extreme Manufacturing 2025年第03期 374-387页

作者： Huichun Tian Guanghao Chu Bin Zhou Dekai Zhou Jing Qiao Longqiu Li State Key Laboratory of Robotics and System Harbin Institute of Technology Zhengzhou Research Institute Harbin Institute of Technology Avic Shenyang Aircraft Corporation School of Materials Science and Engineering Harbin Institute of Technology

Conventional deformable wheel systems in robots and other mechatronic systems face significant challenges in achieving miniaturization, intelligence, and integration. To address these issues, we propose a novel integrated structural design method and four-dimensional printing strategy for deformable wheels capable of shaping among multiple programmable direct-driven deformation configurations. The load-bearing capacity of the printed wheel is strengthened by employing deformed components in various locations and actuated ***, a novel analytical design method is presented to determine the structure, actuation,and deformation parameters of each component under complex coupled deformation. Our findings reveal that the designed wheel can transform into three different configurations,exhibiting desired deformations of 12.5%in the radial direction and 19.6%in the axial direction. It also demonstrates robust deformation behavior and structural stability under multi-directional loads. By integrating a terrain sensing system, the designed wheel exhibits highly adaptive deformation capabilities on various terrains, showing great potential for exploring complex environments.

关键词：

来源：评论

学校读者我要写书评

暂无评论

A Combined Inverse Kinematics Algorithm Using FABRIK with Optimization

arXiv

引用

arXiv 2022年

作者： Xu, Zichun Li, Yuntao Yang, Xiaohang Zhao, Zhiyuan Zhao, Jingdong Liu, Hong The State Key Laboratory of Robotics and System Harbin Institute of Technology Heilongjiang Province Harbin150001 China

Forward and backward reaching inverse kinematics (FABRIK) is a heuristic inverse kinematics solver that is gradually applied to manipulators with the advantages of fast convergence and generating more realistic configurations. However, under the high error constraint, FABRIK exhibits unstable convergence behavior, which is unsatisfactory for the real-time motion planning of manipulators. In this paper, a novel inverse kinematics algorithm that combines FABRIK and the sequential quadratic programming (SQP) algorithm is presented, in which the joint angles deduced by FABRIK will be taken as the initial seed of the SQP algorithm to avoid getting stuck in local minima. The combined algorithm is evaluated with experiments, in which our algorithm can achieve higher success rates and faster solution times than FABRIK under the high error constraint. Furthermore, the combined algorithm can generate continuous trajectories for the UR5 and KUKA LBR IIWA 14 R820 manipulators in path tracking with no pose error and permitted position error of the end-effector. Copyright © 2022, The Authors. All rights reserved.

关键词： Inverse kinematics

来源：评论

学校读者我要写书评

暂无评论

Yowov2: A Real-Time Multi-Level Detection Framework for Spatio-Temporal Action Detection

SSRN

引用

SSRN 2023年

作者： Yang, Jianhua Wang, Ke Zhao, Lijun Dai, Kun Li, Ruifeng 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 Zhengzhou Research Institute Harbin Institute of Technology Zhengzhou450000 China

Designing a real-time framework for the spatio-temporal 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. © 2023, The Authors. All rights reserved.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Optimized Design of a Haptic Unit for Vibrotactile Amplitude Modulation

Optimized Design of a Haptic Unit for Vibrotactile Amplitude...

引用

2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Huang, Jingchen Fang, Yun Guo, Weichao Qiao, Zhijian Sheng, Xinjun School of Mechanical Engineering Meta Robotics Institute Shanghai Jiao Tong University State Key Laboratory of Mechanical System and Vibration Shanghai200240 China Hong Kong University of Science and Technology Department of Electronic and Computer Engineering Hong Kong Hong Kong

ISBN: (纸本)9781665481090

Communicating information to users is a crucial aspect of human-machine interaction. Vibrotactile feedback encodes information into spatiotemporal vibrations, enabling users to perceive tactile sensations. It offers advantages such as lightweight, wearability, and high stability, with broad applications in sensory substitution, virtual reality, education, and healthcare. However, existing haptic unit designs lack amplitude modulation capabilities, which limits their applications. This paper proposed an optimized design of the haptic unit from the perspective of vibration amplitude modulation. A modified elastic model was developed to describe the propagation and attenuation mechanisms of vibration in the skin. Based on the model, two types of hierarchical architectural design were proposed. The design incorporated various materials arranged in multiple layers to amplify or attenuate the vibration amplitude as it traveled through the structure. An experimental platform was built to evaluate the performance of the optimized design. © 2024 IEEE.

关键词： Virtual reality

来源：评论

学校读者我要写书评

暂无评论

Reliable and broad-range layer identification of Au-assisted exfoliated large area MoS_(2)and WS_(2)using reflection spectroscopic fingerprints

引用

Nano Research 2022年第9期15卷 8470-8478页

作者： Bo Zou Yu Zhou Yan Zhou Yanyan Wu Yang He Xiaonan Wang Jinfeng Yang Lianghui Zhang Yuxiang Chen Shi Zhou Huaixin Guo Huarui Sun School of Science and Ministry of Industry and Information Technology Key Laboratory of Micro-Nano Optoelectronic Information System Harbin Institute of Technology ShenzhenShenzhen 518055China Collaborative Innovation Center of Extreme OpticsShanxi UniversityTaiyuan 030006China State Key Laboratory of Superlattices and Microstructures Institute of SemiconductorsChinese Academy of SciencesBeijing 100083China University of Science and Technology of China Hefei 230026China Science and Technology on Monolithic Integrated Circuits and Modules Laboratory Nanjing Electronic Devices InstituteNanjing 210016China

The emerging Au-assisted exfoliation technique enables the production of a wealth of large-area and high-quality ultrathin two dimensional(2D)***,damage-free,and reliable determination of the layer number of such 2D films can greatly promote layer-dependent physical studies and device ***,an optical method has been developed for simple,high throughput,and accurate determination of the layer number for Au-assisted exfoliated MoS_(2)and WS_(2)films in a broad thickness *** method is based on quantitative analysis of layer-dependent white light reflection spectra(WLRS),revealing that the intensity of exciton-induced reflection peaks can be used as a clear indicator for identifying the layer *** simple yet robust method will facilitate fundamental studies on layer-dependent optical,electrical,and thermal properties and device applications of 2D *** technique can also be readily combined with photoluminescence(PL)and Raman spectroscopies to study other layer-dependent physical properties of 2D materials.

关键词： Au-assisted exfoliation MoS_(2)and WS_(2) layer identification white light reflection spectra excitonic peaks

来源：评论

学校读者我要写书评

暂无评论

Learning to Identify Footholds from Geometric Characteristics for a Six-legged Robot over Rugged Terrain

引用

Journal of Bionic Engineering 2020年第3期17卷 512-522页

作者： Jie Chen Chong Liu Haibin Zhao Yanhe Zhu Jie Zhao School of Mechanical Engineering and Automation Northeastern UniversityShenyang 110819China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

Foothold identification is a key ability for legged robots that allows generating terrain adaptive behaviors(e.g.,gait and control parameters)and thereby improving mobility in complex *** this end,this paper addresses the issue of foothold characterization and identification over rugged terrain,from the terrain geometry point of *** a terrain region that might be a potential foothold of a robotic leg,the characteristic features are extracted as two first-order partial derivatives and two curvature parameters of a quadric regression surface at this *** features are able to give an intuitive and,more importantly,accurate characterization towards the specific geometry of the ground *** this basis,a supervised learning technique,Support Vector Machine(SVM),is employed,seeking to Ieam a foothold identification policy from human expert *** a result,an SVM classifier is leamt using the extracted features and human-demonstrated labels,which is able to identify whether or not a certain ground location is suited as a safe foot support for a robotic *** is shown that over 90%identification rate can be achieved with the proposed ***,preliminary experiment is implemented with a six-legged robot to demonstrate the effectiveness of the proposed approach.

关键词： six-legged robot foothold characterization foothold identification geometric characteristics support vector machine

来源：评论

学校读者我要写书评

暂无评论

PCF-Grasp: Converting Point Completion to Geometry Feature to Enhance 6-DoF Grasp

arXiv

引用

arXiv 2025年

作者： Cheng, Yaofeng Zha, Fusheng Guo, Wei Wang, Pengfei Zeng, Chao Sun, Lining Yang, Chenguang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Lanzhou University of Technology China Department of Computer Science University of Liverpool LiverpoolL69 3BX United Kingdom

The 6-Degree of Freedom (DoF) grasp method based on point clouds has shown significant potential in enabling robots to grasp target objects. However, most existing methods are based on the point clouds (2.5D points) generated from single-view depth images. These point clouds only have one surface side of the object providing incomplete geometry information, which mislead the grasping algorithm to judge the shape of the target object, resulting in low grasping accuracy. Humans can accurately grasp objects from a single view by leveraging their geometry experience to estimate object shapes. Inspired by humans, we propose a novel 6-DoF grasping framework that converts the point completion results as object shape features to train the 6-DoF grasp network. Here, point completion can generate approximate complete points from the 2.5D points similar to the human geometry experience, and converting it as shape features is the way to utilize it to improve grasp efficiency. Furthermore, due to the gap between the network generation and actual execution, we integrate a score filter into our framework to select more executable grasp proposals for the real robot. This enables our method to maintain a high grasp quality in any camera viewpoint. Extensive experiments demonstrate that utilizing complete point features enables the generation of significantly more accurate grasp proposals and the inclusion of a score filter greatly enhances the credibility of real-world robot grasping. Our method achieves a 17.8% success rate higher than the state-of-the-art method in real-world experiments. Code and videos are available at https://***/ChengYaofeng/PCF-Grasp. Copyright © 2025, The Authors. All rights reserved.

关键词： Geometry

来源：评论

学校读者我要写书评

暂无评论

Reinforcement Learning for Dynamic Task Execution: A Robotic Arm for Playing Table Tennis

Reinforcement Learning for Dynamic Task Execution: A Robotic...

引用

IEEE International Conference on robotics and Biomimetics

作者： Zida Zhao Haodong Huang Shilong Sun Jing Jin Wenjie Lu School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen China Harbin Institute of Technology Shenzhen State Key Laboratory of Robotics and Systems (HIT) Suzhou Research Institute of HIT

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

Dynamic tasks like table tennis pose a significant challenge for robots, although relatively easy for humans to learn. These tasks require precise control of rapid movements and timing in situations where the estimation of the flying ball and the robot's state is imprecise. Traditional model-based control methods struggle to accurately model and adapt to these dynamic changes, leading to difficulties and challenges in practical applications. To address this issue, a table tennis hitting method for a robotic arm based on reinforcement learning (RL) is proposed in this paper. Firstly, a simulation model of a robotic arm with eight degrees of freedom for playing table tennis was constructed. Secondly, a simple and effective reward function was designed to accomplish the task of hitting the table tennis ball with the robotic arm. Finally, two sets of experiments involving single and random ball launches were designed. Experimental results demonstrate that the proposed method enables the robotic arm to accurately hit the table tennis ball, showcasing the potential of RL in dynamic tasks.

关键词： Adaptation models Sports equipment Filtering Estimation Reinforcement learning Manipulators Robustness Timing PD control Sports

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：