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arXiv 2025年

作者： Liang, Junning Zheng, Haowen Zhang, Yuying Gao, Yongzhuo Dong, Wei Lyu, Ximin School of Intelligent Systems Engineering Sun Yat-sen University Guangzhou China State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China

Turbojet-powered VTOL UAVs have garnered increased attention in heavy-load transport and emergency services, due to their superior power density and thrust-to-weight ratio compared to existing electronic propulsion systems. The main challenge with jet-powered UAVs lies in the complexity of thrust vectoring mechanical systems, which aim to mitigate the slow dynamics of the turbojet. In this letter, we introduce a novel turbojet-powered UAV platform named Hex-Jet. Our concept integrates thrust vectoring and differential thrust for comprehensive attitude control. This approach notably simplifies the thrust vectoring mechanism. We utilize a predictor-based time delay control method based on the frequency domain model in our Hex-Jet controller design to mitigate the delay in roll attitude control caused by turbojet dynamics. Our comparative studies provide valuable insights for the UAV community, and flight tests on the scaled prototype demonstrate the successful implementation and verification of the proposed predictor-based time delay control technique. Copyright © 2025, The Authors. All rights reserved.

关键词： Unmanned aerial vehicles (UAV)

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Action recognition through fusion of sEMG and skeletal data in feature level

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Journal of Ambient Intelligence and Humanized Computing 2022年第9期13卷 4125-4134页

作者： Wang, Xinming Ding, Weili Bian, Shuangshuang Liu, Honghai Department of Automation Institute of Electrical Engineering Key Laboratory of Intelligent Rehabilitation and Neuromodulation of Hebei Province Yanshan University 438 West of Hebei Avenue Haigang District Qinhuangdao066004 China School of Mechanical Engineering and Automation State Key Laboratory of Robotics and Systems Harbin Institute of Technology Shenzhen Nanshan District Shenzhen518055 China

Human action can be recognized through a unimodal way. However, the information obtained from a single mode is limited due to the fact that a single mode contains only one type of physical attribute. Therefore, it is motivational to improve the accuracy of actions through fusion of two different complementary modality, which are the surface electromyography (sEMG) and the skeletal data. In this paper, we propose a general framework of fusion of sEMG signals and skeletal data. Firstly, vector of locally aggregated descriptor (VLAD) was extracted from sEMG sequences and skeletal sequences, respectively. Secondly, features obtained from sEMG and skeletal data are mapped through different weighted kernels using multiple kernel learning. Finally, the classification results are obtained through the model of multiple kernel learning. A dataset of 18 types of human actions is collected via KinectV2 and Thalmic Myo armband to verify our ideas. The experimental results show that the accuracy of human action recognition are improved by combining skeletal data with sEMG signals. © 2022, The Author(s), under exclusive licence to Springer-Verlag GmbH Germany, part of Springer Nature.

关键词： Musculoskeletal system

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Dynamical Modeling and Numerical Simulation of Water Discharge Process of Spherical Objects

Dynamical Modeling and Numerical Simulation of Water Dischar...

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IEEE International Conference on Mechatronics and Automation

作者： Lin Zhong Jiawei Dong Jiabin Liu Wei Wang Riyue Wu Shuqi Wang Tao Zhang State Key Laboratory of Precision Electronic Manufacturing Technology and Equipment Guangdong University of Technology Guangzhou China School of Electromechanical Engineering Guangdong University of Technology Guangzhou China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

The process of an object leaping out of the water is very similar to the jumping process of an aquatic animal during prey or avoid predators. The study of the process of an object leaping out of the water is beneficial to the design of robots jumping out of water. In this work, the free jump of a sphere out of the water is successfully simulated based on the Computational Fluid Dynamics (CFD) software Fluent, with User-Defined Functions to control the motion of the sphere, the volume of Fluid model, dynamic meshing, and Detached Eddy Simulation. The velocity of the sphere at the water-air interface and the height of the sphere leaping out from the water surface obtained from the numerical simulation are compared with experimental results. The maximum error between the experimental and the simulated results is 2.28% in the water-discharge velocity and 2.65% in the leaping height from the water surface. In addition, this paper model the dynamics of the sphere during the water discharge process. The paper also analyses the free deformation of water surface, the water film rupture process on the surface of the sphere, the variation of fluid drag on the sphere, and the variation of the fluid velocity field during the free ascent of the sphere after acquiring an initial velocity of 2.81 m/s.

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Human-like Walking of Biped Robot with Foot Rotation Using Passive Metatarsophalangeal Joint 12

Human-like Walking of Biped Robot with Foot Rotation Using P...

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12th International Conference on CYBER technology in Automation, Control, and Intelligent systems, CYBER 2022

作者： Dai, Xiaolin Liu, Yixiang Liu, Xinyu Zang, Xizhe Song, Rui Li, Yibin School of Control Science and Engineering Shandong University Jinan250061 China Engineering Research Center of Intelligent Unmanned System Ministry of Education Jinan250061 China Jiangsu Automation Research Institute Lianyungang222000 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

In the process of walking, humans are accompanied by the important action of foot rotation. The foot rotates taking the heel and toe as the axis of rotation when landing on and leaving the ground, respectively. Although having high similarity to humans, many biped robots do not reproduce this important feature. This paper describes a method for adding foot rotation into biped robots using the passive metatarsophalangeal joint. Firstly, the biomechanics of human metatarsophalangeal joint during walking is analyzed. Then, the control strategy based on finite state machine for human-like biped walking with foot rotation is proposed for a simplified biped robot model that is composed of eight joints. Finally, the simulation results of the walking gait of the biped robot in MATLAB demonstrate the effectiveness of the control strategy. © 2022 IEEE.

关键词： Rotation

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Emerging material platforms for integrated microcavity photonics

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Science China(Physics,Mechanics & Astronomy) 2022年第10期65卷 10-28页

作者： Jin Liu Fang Bo Lin Chang Chun-Hua Dong Xin Ou Blake Regan Xiaoqin Shen Qinghai Song Baicheng Yao Wenfu Zhang Chang-Ling Zou Yun-Feng Xiao State Key Laboratory of Optoelectronic Materials and Technologies School of PhysicsSun Yat-sen UniversityGuangzhou 510000China MOE Key Laboratory of Weak-Light Nonlinear Photonics TEDA Institute of Applied Physics and School of PhysicsNankai UniversityTianjin 300071China State Key Laboratory of Advanced Optical Communications System and Networks School of ElectronicsPeking UniversityBeijing 100871China CAS Key Lab of Quantum Information University of Science and Technology of ChinaHefei 230026China State Key Laboratory of Functional Material for Informatics Shanghai Institute of Microsystem and Information TechnologyChinese Academy of SciencesShanghai 200050China School of Mathematical and Physical Sciences University of Technology SydneyUltimo 2007Australia School of Physical Science and Technology ShanghaiTech UniversityShanghai 201210China Ministry of Industry and Information Technology Key Lab of Micro-Nano Optoelectronic Information System Harbin Institute of TechnologyShenzhen 518055China Key Laboratory of Optical Fiber Sensing and Communications(Ministry of Education) University of Electronic Science and Technology of ChinaChengdu 611731China State Key Laboratory of Transient Optics and Photonics Xi’an Institute of Optics and Precision MechanicsChinese Academy of SciencesXi’an 710119China State Key Laboratory for Mesoscopic Physics and Frontiers Science Center for Nano-optoelectronics School of PhysicsPeking UniversityBeijing 100871China

Many breakthroughs in technologies are closely associated with the deep understanding and development of new material *** the main material used in microelectronics,Si also plays a leading role in the development of integrated *** indirect bandgap,absence ofχ(2)nonlinearity and the parasitic nonlinear absorptions at the telecom band of Si imposed technological bottlenecks for further improving the performances and expanding the functionalities of Si microcavities in which the circulating light intensity is dramatically *** past two decades have witnessed the burgeoning of the novel material platforms that are compatible with the complementary metal-oxide-semiconductor(COMS)*** particular,the unprecedented optical properties of the emerging materials in the thin film form have resulted in revolutionary progress in microcavity *** this review article,we summarize the recently developed material platforms for integrated photonics with the focus on chip-scale microcavity *** material characteristics,fabrication processes and device applications have been thoroughly discussed for the most widely used new material *** also discuss open challenges and opportunities in microcavity photonics,such as heterogeneous integrated devices,and provide an outlook for the future development of integrated microcavities.

关键词： microcavity integrated optics nonlinear optics

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Tunable Rectification of Diffusion-Wave Fields by Spatiotemporal Metamaterials

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Physical Review Letters 2022年第25期129卷 256601-256601页

作者： Jiaxin Li Zhanxiang Zhang Guoqiang Xu Haoran Sun Lizhou Dai Tianlong Li Cheng-Wei Qiu Department of Electrical and Computer Engineering National University of Singapore Singapore 117583 Singapore State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

The diffusion process is the basis of many branches of science and engineering, and generally obeys reciprocity between two ports of a linear time-invariant medium. Recent research on classical wave dynamics has explored the spatiotemporal modulation to exhibit preferred directions in photons and plasmons. Here we report a distinct rectification effect on diffusion-wave fields by modulating the conductivity and observe nonreciprocal transport of charges. We experimentally create a spatiotemporal diffusion metamaterial, in which a mode transition to zero frequency is realized. A direct current component thereby emerges, showcasing a biased effect on the charge diffusion when the incident fundamental frequency is a multiple of the system modulation frequency. These results may find applications spanning a plethora of diffusive fields in general.

关键词： Diffusion Metamaterials Bloch-Floquet theorem

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Combined Locomotion and Direction Control of Ferrofluidic Robots*

Combined Locomotion and Direction Control of Ferrofluidic Ro...

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International Conference on Advanced robotics and Mechatronics (ICARM)

作者： Qinkai Chen Haozhe Feng Xinjian Fan Lining Sun Zhan Yang Hui Xie School of Mechanical and Electrical Engineering Soochow University Suzhou China State Key Laboratory of Robotics and Systems Harbin Institute of Technology Yikuang Harbin China

ISBN: (数字)9798350385724

ISBN: (纸本)9798350385731

As the characteristics of low invasiveness, good controllability and deformability, ferrofluid robots have enormous potential for technological applications in the medical field. With the volume of ferromagnetic fluid robots increases, a motion control strategy coupled with magnetic moment and gradient force is usually adopted which makes it impossible for the robot to perform complex movements and limits the application of the ferrofluid robot. By designing a control system that decouples magnetic torque and magnetic gradient force, joint control of the locomotion and direction of a ferrofluid robot has been achieved. The results indicate that the miniature ferrofluid robot (MFR) has achieved directional controllable trajectory motion and ultimately achieved autonomous path selection. These extended functions can further promote the medical application of micro robots in closed and complex environments such as human blood vessels.

关键词： Ferrofluid Targeted drug delivery Torque Three-dimensional displays Force Blood vessels Trajectory Motion control Robots Tumors

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Comprehensive Study of Plastic Deformation Mechanism of Polycrystalline Copper Using Crystal Plasticity Finite Element

SSRN

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SSRN 2024年

作者： Zhou, Xingying Zan, Shusong Zeng, Yifei Guo, Ruiyang Wang, Guangzhou Wang, Tingzhang Zhao, Linjie Chen, Mingjun State Key Laboratory of Robotics and System Harbin Institute of Technology Heilongjiang Harbin150001 China Machining and Condition Monitoring Group Faculty of Engineering University of Nottingham NG81BB United Kingdom

Graded polycrystalline copper materials have been expected in the field of scientific research and engineering in recent years because the core of the material has enough toughness and a sufficient surface strength. However, the plastic deformation mechanism, gradient grain generation mechanism and material strengthening principle of polycrystalline copper are still not well understood. Therefore, it is urgent to further analyze the plastic deformation of polycrystalline copper. In this study, the micron scale plastic deformation behavior of polycrystalline copper is simulated based on the crystal plasticity finite element method. The simulation analysis is carried out from the aspects of grain size, grain shape, crystal orientation type and quantity, loading mode and so on. The effects of the above parameters on the Mises stress nephogram and stress-strain curve of polycrystalline copper were analyzed. At the end of the article, the EBSD orientation distribution information of graded polycrystalline copper grains obtained in the cutting process is analyzed comprehensively and the formation mechanism of graded polycrystalline copper is explained by combining the simulation results. © 2024, The Authors. All rights reserved.

关键词： Crystal orientation

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Spatial Correspondence between Graph Neural Network-Segmented Images

arXiv

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arXiv 2023年

作者： Li, Qian Fu, Yunguan Yang, Qianye Du, Zhijiang Yu, Hongjian Hu, Yipeng Department of Medical Physics and Biomedical Engineering University College London London United Kingdom State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Graph neural networks (GNNs) have been proposed for medical image segmentation, by predicting anatomical structures represented by graphs of vertices and edges. One such type of graph is predefined with fixed size and connectivity to represent a reference of anatomical regions of interest, thus known as templates. This work explores the potentials in these GNNs with common topology for establishing spatial correspondence, implicitly maintained during segmenting two or more images. With an example application of registering local vertebral sub-regions found in CT images, our experimental results showed that the GNN-based segmentation is capable of accurate and reliable localization of the same interventionally interesting structures between images, not limited to the segmentation classes. The reported average target registration errors of 2.2±1.3 mm and 2.7±1.4 mm, for aligning holdout test images with a reference and for aligning two test images, respectively, were by a considerable margin lower than those from the tested non-learning and learning-based registration algorithms. Further ablation studies assess the contributions towards the registration performance, from individual components in the originally segmentation-purposed network and its training algorithm. The results highlight that the proposed segmentation-in-lieu-of-registration approach shares methodological similarities with existing registration methods, such as the use of displacement smoothness constraint and point distance minimization albeit on non-grid graphs, which interestingly yielded benefits for both segmentation and registration. We, therefore, conclude that the template-based GNN segmentation can effectively establish spatial correspondence in our application, without any other dedicated registration algorithms. © 2023, CC BY.

关键词： Computerized tomography

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A Helium Type Turbo-blasting Device (TBD) into a Penetrating Probe for Main-belt Comets Volatiles Exploration

A Helium Type Turbo-blasting Device (TBD) into a Penetrating...

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IEEE International Conference on robotics and Biomimetics

作者： Junyue Tang Zekun Ha Junxiao Xiao Cheng Chi Ziyun Yao He Liang Shengyuan Jiang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin P. R. China

ISBN: (纸本)9781665481106

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. Since mineral volatiles are normally covered underground, it is difficult to accurately detect its composition from remote observation. Herein, a subsurface penetrating probe integrated with non-contamination detonation is proposed to realize an in-situ exploration. Under the rapid turbo-blasting interaction, the surrounding rubble piles will be definitely blown away, leaving an artificial crater for later remote observation. A novel a helium type turbo-blasting device (TBD) is proposed and designed. The simulant rubble pile structure detonation experiments verified the detonation equivalent.

关键词： Comets Earth Satellites Belts Turning Ice Helium

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