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IEEE International Conference on Mechatronics and Automation

作者： Yili Fu Xu Li Xinyu Dong Intelligent Robot Research Center Zhejiang Laboratory Hangzhou China State Kay Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China Harbin Institute of Technology Harbin Heilongjiang Province China

The bipedal wheel-legged robot with auxiliary legs studied in this paper has two motion modes, two wheels and four wheels, and can transform motion modes according to operation requirements. This paper focuses on how to realize motion mode transformation control under stable equilibrium. Firstly, kinematics analysis and dynamics modeling of the robot are carried out to complete the motion description and dynamics description of the robot in Cartesian space. Then the robot is simplified into a wheeled inverted pendulum model, and the driving wheel and other parts are decoupled to analyze its dynamic characteristics. In this paper, LQR controller will be used to ensure the robot is always in a balanced state, and then priority task space control (PTSC) based on quadratic programming (QP) will be adopted to track the robot trajectory. Finally, the smooth transformation of the robot under two motion modes of two wheels and four wheels is completed by experiments, which verifies the effectiveness of the control algorithm designed in this paper.

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A Portable and Integrated Traveling-Wave Electroosmosis Microfluidic Pumping system Driven by Triboelectric Nanogenerator

SSRN

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SSRN 2024年

作者： Zhou, Jian Tao, Ye Liu, Weiyu Sun, Tie Wu, Fangyu Shi, Changrui Ren, Yukun State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin150001 China School of Electronics and Control Engineering Chang'an University Xi’an710064 China

The lab-on-a-chip system can simultaneously complete the preparation, reaction, separation, and detection of samples on a centi-scale platform by manipulating trace fluids. Traveling-wave electroosmosis (TWEO) technology, with the merit of electric signal-based flexible control over the fluid behavior, can achieve precise driving of fluids, which is an important requirement of the lab-on-a-chip system. However, the peripheral power equipment such as function generator required for TWEO limits the application in some occasions lacking power supply facilities, due to its large size and high cost. In this paper, we developed a brand-new portable and integrated TWEO microfluidic pumping system, wherein a front-end module of triboelectric nanogenerator (TENG) is in serial connection with the back-end microfluidic pumping chip, which greatly improves portability and reduces costs. The TENG can output a stable four consecutively 90°-phase-shifted alternating current voltage signals in a continuous rotational motion originated by its novel electrode structure. And the four-phase traveling potential waves are applied to four sets of electrode strips alternately distributed in the microchannel and thereby induce nonlinear electroosmotic slip on the electrode surface. Compared with traditional mechanical pumps, this system achieves stable pumping of electrolyte in the microchannel, but also realizes the almost instantaneous start, stop, and directional switching in response to a turn on, turn off, and turn in reverse of TENG, respectively. Finally, this system is integrated into a droplet microfluidic chip for the efficient fabrication of single emulsion droplets. This study presents a promising solution for the miniaturization, integration, and commercialization of lab-on-a-chip system. © 2024, The Authors. All rights reserved.

关键词： Lab-on-a-chip

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Design and analysis of a whole-body controller for a velocity controlled robot mobile manipulator

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Science China(Information Sciences) 2020年第7期63卷 98-112页

作者： Mantian LI Zeguo YANG Fusheng ZHA Xin WANG Pengfei WANG Ping LI Qinyuan REN Fei CHEN State Key Laboratory of Robotics and Systems Harbin Institute of Technology Shenzhen Academy of Aerospace Technology Key Laboratory of Industrial Control Technology Zhejiang University

Mobile manipulators, which are intrinsically redundant when the manipulator and mobile base are moving together, are known for their capabilities to carry out multiple tasks at the same time. This paper presents a whole-body control framework, inspired by legged bio-robots, for a velocity controlled non-holonomic mobile manipulator based on task priority. Control primitives, such as manipulability optimization, trajectory tracking of the end-effector and mobile base, and collision avoidance, are considered in the framework and arranged at different priorities. Lower priority tasks are projected into the null space of control tasks with higher priorities. As a result, lower level tasks are completed without affecting the performance of higher priority tasks. Several experiments are implemented to verify the effectiveness of the proposed controller. The proposed method is proved to be an effective way to solve the whole-body control problem of velocity controlled mobile manipulators.

关键词： mobile manipulator whole-body control velocity controlled task priority null-space projection

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Optical modulation of repaired damage site on fused silica produced by CO2 laser rapid ablation mitigation

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Chinese Physics B 2020年第5期29卷 288-296页

作者： Chao Tan Lin-Jie Zhao Ming-Jun Chen Jian Cheng Zhao-Yang Yin Qi Liu Hao Yang Wei Liao State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China Research Center of Laser Fusion China Academy of Engineering PhysicsMianyang 621900China

CO2 laser rapid ablation mitigation(RAM)of fused silica has been used in high-power laser systems owing to its advantages of high efficiency,and ease of implementing batch and automated *** order to study the effect of repaired morphology of RAM on laser modulation and to improve laser damage threshold of optics,an finite element method(FEM)mathematical model of 351 nm laser irradiating fused silica optics is developed based on Maxwell electromagnetic field equations,to explore the 3D near-field light intensity distribution inside optics with repaired site on its *** influences of the cone angle and the size of the repaired site on incident laser modulation are studied as *** results have shown that for the repaired site with a cone angle of 73.3°,the light intensity distribution has obvious three-dimensional *** relative light intensity on z-section has a circularly distribution,and the radius of the annular intensification zone increases with the decrease of *** the distribution of maximum relative light intensity on y-section is parabolical with the increase of *** the cone angle of the repaired site decreases,the effect of the repaired surface on light modulation becomes stronger,leading to a weak resistance to laser ***,the large size repaired site would also reduce the laser damage ***,a repaired site with a larger cone angle and smaller size is preferred in practical CO2 laser repairing of surface *** work will provide theoretical guidance for the design of repaired surface topography,as well as the improvement of RAM process.

关键词： fused silica laser repaired surface optical modulation finite element method(FEM)

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Learning effective pruning at initialization from iterative pruning

arXiv

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arXiv 2024年

作者： Liu, Shengkai Cheng, Yaofeng Zha, Fusheng Guo, Wei Sun, Lining Bing, Zhenshan Yang, Chenguang State Key Laboratory of Robotics and Systems Harbin Institute of Technology China Technical University of Munich Germany University of Liverpool United Kingdom

Pruning at initialization (PaI) reduces training costs by removing weights before training, which becomes increasingly crucial with the growing network size. However, current PaI methods still have a large accuracy gap with iterative pruning, especially at high sparsity levels. This raises an intriguing question: can we get inspiration from iterative pruning to improve the PaI performance? In the lottery ticket hypothesis, the iterative rewind pruning (IRP) finds subnetworks retroactively by rewinding the parameter to the original initialization in every pruning iteration, which means all the subnetworks are based on the initial state. Here, we hypothesise the surviving subnetworks are more important and bridge the initial feature and their surviving score as the PaI criterion. We employ an end-to-end neural network (AutoSparse) to learn this correlation, input the model’s initial features, output their score and then prune the lowest score parameters before training. To validate the accuracy and generalization of our method, we performed PaI across various models. Results show that our approach outperforms existing methods in high-sparsity settings. Notably, as the underlying logic of model pruning is consistent in different models, only one-time IRP on one model is needed (e.g., once IRP on ResNet-18/CIFAR-10, AutoS can be generalized to VGG-16/CIFAR-10, ResNet-18/TinyImageNet, et al.). As the first neural network-based PaI method, we conduct extensive experiments to validate the factors influencing this approach. These results reveal the learning tendencies of neural networks and provide new insights into our understanding and research of PaI from a practical perspective. Our code is available at: https://***/ChengYaofeng/***. © 2024, CC BY.

关键词： HTTP

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Microstructure and Mechanical Properties of Graphene Reinforced K418 Superalloy by Selective Laser Melting

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Acta Metallurgica Sinica(English Letters) 2022年第9期35卷 1477-1493页

作者： Yongxin Lu Fan Luo Zhen Chen Jian Cao Kai Song Lei Zhao Xueli Xu Hongduo Wang Wenya Li School of Material Science and Engineering Xi’an Shiyou UniversityXi’an710065China State Key Laboratory of Advanced Welding and Joining Harbin Institute of TechnologyHarbin150001China School of Materials Science and Engineering Northwestern Polytechnical UniversityXi’an710072China State Key Laboratory of Manufacturing System Engineering Xi’an Jiaotong UniversityXi’an710049China School of Materials Science and Engineering Tianjin UniversityTianjin300350China Xi’an Key Laboratory of High Performance Oil and Gas Field Materials Xi’an Shiyou UniversityXi’an710065China

In order to obtain the superalloy with excellent properties, graphene reinforced K418 nickel base superalloy(GNPs/K418 composite) was prepared by selective laser melting technique in this study. Through systematically comparing and analyzing the microstructure and mechanical property of K418 superalloy and GNPs/K418 composite, it is found that the percentage of small-diameter grain(≤ 15 μm) increased from 84% to 90%, and the max strength of grain orientation(<001>) reduce from 5.76 to 4.17 due to the addition of GNPs. And GNPs can also improve the height and the full width at the half peak of the strong diffraction peak of GNPs/K418 composite. Besides, GNPs/K418 composite is a kind of sandwiched structure, which is consist of GNPs, carbides, and K418 matrix. Therefore, the hardness of the GNPs/K418 composite is 4.1% and 6.9% higher than that of the K418 matrix in the transverse and vertical direction, respectively. The room temperature tensile strength of the GNPs/K418 composite is 9% higher than that of the K418 matrix. And the 600℃ and 900℃ tensile strengths of the GNPs/K418 composite are 7.6% and 10.4% higher than that of the K418 matrix, respectively. It is inferred that the effect of graphene on K418 matrix strengthening is mainly fine grain strengthening and Orowan strengthening. However, the elongation rate of the composite material is reduced, which is attributed to crack sprouting at the interface between the matrix and GNPs under high stress.

关键词： Graphene K418 nickel base superalloy Selective laser melting Tensile properties

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Discovering Syntactic Interaction Clues for Human-Object Interaction Detection

Discovering Syntactic Interaction Clues for Human-Object Int...

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Conference on Computer Vision and Pattern Recognition (CVPR)

作者： Jinguo Luo Weihong Ren Weibo Jiang Xi'ai Chen Qiang Wang Zhi Han Honghai Liu Harbin Institute of Technology Shenzhen State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang University

ISBN: (数字)9798350353006

ISBN: (纸本)9798350353013

Recently, Vision-Language Model (VLM) has greatly ad-vanced the Human-Object Interaction (HOI) detection. The existing VLM-based HOI detectors typically adopt a hand-crafted template (e.g., a photo of a person [action] a/an [object]) to acquire text knowledge through the VLM text encoder. However, such approaches, only encoding the action-specific text prompts in vocabulary level, may suffer from learning ambiguity without exploring the fine-grained clues from the perspective of interaction context. In this paper, we propose a novel method to discover Syntactic Interaction Clues for HOI detection (SICHOI) by using VLM. Specifically, we first investigate what are the essen-tial elements for an interaction context, and then establish a syntactic interaction bank from three levels: spatial relationship, action-oriented posture and situational condition. Further, to align visual features with the syntactic interaction bank, we adopt a multi-view extractor to jointly aggre-gate visual features from instance, interaction, and image levels accordingly. In addition, we also introduce a dual cross-attention decoder to perform context propagation be-tween text knowledge and visual features, thereby enhancing the HOI detection. Experimental results demonstrate that our proposed method achieves state-of-the-art performance on HICO-DET and V-COCO.

关键词： Visualization Vocabulary Computer vision Aggregates Detectors Syntactics Feature extraction

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Enhanced High-Temperature Energy Storage Properties of BOPP Capacitor Films by Coating Heterostructural Ceramics Layers

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IET Nanodielectrics 2025年第1期8卷

作者： Xing, Zhaoliang Gong, Bize Yin, Tianyuan Guo, Shaowei Yang, Bo Zhang, Tiandong Hao, Jianhong State Key Laboratory of Alternate Electrical Power System with Renewable Energy Sources North China Electric Power University Beijing China State Key Laboratory of Advanced Power Transmission Technology China Electric Power Research Institute Beijing China Key Laboratory of Engineering Dielectrics and Its Application Ministry of Education Harbin University of Science and Technology Harbin China School of Electrical and Electronic Engineering Harbin University of Science and Technology Harbin China

Biaxially oriented polypropylene (BOPP), the dielectric material of choice for polymer film capacitors, is widely used in advanced electronic devices and power grids, among other applications. However, the nonlinear growth of the conduction loss at high temperatures leads to a rapid deterioration of its energy storage performance, which seriously hinders the development trend of miniaturisation and high integration of power systems. In this study, inorganic nanolayers with heterogeneous structure were grown on the surface of BOPP films by magnetron sputtering using high dielectric constant BaZrTiO3 and wide bandgap Al2O3 ceramic targets. Experimental and theoretical analyses show that the use of wide bandgap Al2O3 as the heterojunction outer layer can effectively impede carrier injection and transport, leading to a significant reduction in the leakage current density of the composite film, effectively enhancing the high temperature energy storage performance of the composite films. The synergistic enhancement of the inorganic heterojunction structure on the dielectric properties and insulating strength of the polymer film is attributed to the ability of the Al2O3/BaZrTiO3/BOPP/BaZrTiO3/Al2O3 (O-B-P-B-O) composite films to exhibit a discharge energy density of 2.49 J/cm3 and a charge/discharge efficiency of 77.6% at 125°C and 500 MV/m. © 2025 The Author(s). IET Nanodielectrics published by John Wiley & Sons Ltd on behalf of The Institution of Engineering and technology.

关键词： Nanocomposite films

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Extrinsic Parameter Calibration and Dynamic Objects Coping Strategy for Multi-camera SLAM

Extrinsic Parameter Calibration and Dynamic Objects Coping S...

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Computer Science and Management technology (ICCSMT), International Conference on

作者： Yunlong Dong Wei Guo Fusheng Zha Pengfei Wang State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China

Perceiving the surrounding environment timely and accurately is very essential to improve the safety of mobile robots. To obtain rich information and increase the visual field of mobile robots, the development of multi-camera simultaneous localization and mapping (SLAM) system has become a hot research field. In the current research, multi-camera extrinsic parameter calibration and multi-camera dynamic SLAM are still challenging. Therefore, this paper proposes a dynamic environment-oriented multi-camera SLAM system. This system not only presents an accurate multi-camera extrinsic parameter calibration method but also can achieve accurate localization in the environment with dynamic objects. The effectiveness of the algorithm is verified through comprehensive experiments.

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MQADet: A Plug-and-Play Paradigm for Enhancing Open-Vocabulary Object Detection via Multimodal Question Answering

arXiv

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arXiv 2025年

作者： Li, Caixiong Zhao, Xiongwei Zhang, Jinhang Zhang, Xing Sun, Qihao Wu, Zhou School of Computer and Information Science Qinghai Institute of Technology China School of Information Science and Technology Harbin Institute of Technology Shen Zhen China The State Key Laboratory of Robotics and System Harbin Institute of Technology China School of Computer Science and Technology Qinghai University China Eryuan Digital Technology Co. Ltd. China

Open-vocabulary detection (OVD) is a challenging task to detect and classify objects from an unrestricted set of categories, including those unseen during training. Existing open-vocabulary detectors are limited by complex visual-textual misalignment and long-tailed category imbalances, leading to suboptimal performance in challenging scenarios. To address these limitations, we introduce MQADet, a universal paradigm for enhancing existing open-vocabulary detectors by leveraging the cross-modal reasoning capabilities of multimodal large language models (MLLMs). MQADet functions as a plug-and-play solution that integrates seamlessly with pre-trained object detectors without substantial additional training costs. Specifically, we design a novel three-stage Multimodal Question Answering (MQA) pipeline to guide the MLLMs to precisely localize complex textual and visual targets while effectively enhancing the focus of existing object detectors on relevant objects. To validate our approach, we present a new benchmark for evaluating our paradigm on four challenging open-vocabulary datasets, employing three state-of-the-art object detectors as baselines. Experimental results demonstrate that our proposed paradigm significantly improves the performance of existing detectors, particularly in unseen complex categories, across diverse and challenging scenarios. To facilitate future research, we will publicly release our code. © 2025, CC BY.

关键词： Object detection

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