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2020 International Conference on Computers, Information Processing and Advanced Education, CIPAE 2020

作者： Kong, Minxiu Wang, Rundong Cheng, Yanchun Yang, Jubo School of Mechatronics Engineering Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9781450372022

With the increasing complexity of manufacturing process, the ability of a single robot is not enough for the current diversified production environment and tasks, so the research on multi-robot technology is increasingly important. This article selects the most widely used superposition cooperative dual robot as the object, studies a base-based calibration algorithm based on the space common target coordinate system, and then establishes the trajectory constraint relationship of the dual robot on this basis, which provides theoretical basis for teaching work. Finally, the correctness of the algorithm is verified by simulation software. © 2020 ACM.

关键词： Industrial robots

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Magnetoelectric Coupling Based on Protons in Ammonium Sulfate

arXiv

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arXiv 2024年

作者： Meng, Lei He, Chen Yen, Fei State Key Laboratory on Tunable Laser Technology Ministry of Industry and Information Technology Key Laboratory of Micro-Nano Optoelectronic Information System The School of Science Harbin Institute of Technology Shenzhen China University Town Guangdong Shenzhen518055 China

Most ferroelectric crystals have their own set of unique characteristics and ammonium sulfate (NH4)2SO4 is no exception. We report on two previously unidentified features in ammonium sulfate: 1) that there are at least two successive transitions instead of one occurring at the Curie temperature TC = 223 K according to dielectric constant measurements;and 2) pronounced step-like anomalies are found in the magnetic susceptibility χ(T) exactly at TC. To explain these results, we take into account that there exists a previously unidentified linear coupling between the magnetic and electric dipole moments of the NH4+ tetrahedra due to their rapid reorientations and distorted geometry, respectively. The magnetic moments are small, 0.0016 μB for every C3 reorientation which involve three protons (H+) undergoing orbital motion. Nevertheless, short-range correlations exist in the paraelectric phase because the magnetic moments are restricted to only point along 14 possible orientations due to the symmetry and periodic nature of the potential wells. At TC, C2 reorientations (involving four protons) are no longer energetically feasible so the reduction in the degrees of freedom to 8 further enhances the effect of the magnetic interactions. This triggers long-range ordering of the orbital moments in an antiferromagnetic configuration along the ab-plane, which via Dzyaloshinskii–Moriya interactions, end up canting slightly toward the c-axis direction. Since there exists two types of inequivalent NH4+ groups that reorient at different frequencies with temperature and do not have the same degree of distortion, the emerging polar phase is ferrielectric. This previously unidentified 'magnetoprotonic' effect can be further extended toward understanding the fundamental causes of the spontaneous polarization in many other ferroelectric crystals as well as provide the missing link toward understanding the enhanced functionalities of many hydrogen-based compounds and organic-inorganic hy

关键词： Sulfur compounds

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Design of a Novel Autonomous Docking system With a Supporting Robotic Fish

Design of a Novel Autonomous Docking System With a Supportin...

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2023 IEEE International Conference on Real-Time Computing and robotics, RCAR 2023

作者： Dong, Huijie Zhao, Chunyang Qiao, Tiezhu Wang, Jian Chen, Di Meng, Yan Yu, Junzhi Taiyuan University of Technology Key Laboratory of Advanced Transducers and Intelligent Control System Ministry of Education Taiyuan030024 China Chinese Academy of Sciences Laboratory of Cognitive and Decision Intelligence for Complex System Institute of Automation Beijing100190 China Peking University State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and Robotics College of Engineering Beijing100871 China Guangdong Ocean University College of Electronics and Information Engineering Zhanjiang524088 China

ISBN: (纸本)9798350327182

Underwater supporting robots serving as a relay of energy supplements and communication for other underwater equipment are promising for ocean exploration, development, and protection. This paper proposes a novel autonomous docking system centered on a designed supporting robotic fish named 'CourierFish'. Specifically, CourierFish is capable of docking with a surface dock station for supplying itself and docking with a seafloor platform for supporting equipment in the platform. A visual navigation scheme integrating LED and ArUco markers is presented for accurate localization. The control approach for docking motion is also illustrated. Simulations and aquatic experiments are performed to verify the feasibility of the proposed docking system. The obtained results lay a solid foundation for the construction of various underwater equipment and robot networks. © 2023 IEEE.

关键词： Fish

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Generalizing 6-DoF Grasp Detection via Domain Prior Knowledge

Generalizing 6-DoF Grasp Detection via Domain Prior Knowledg...

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Conference on Computer Vision and Pattern Recognition (CVPR)

作者： Haoxiang Ma Modi Shi Boyang Gao Di Huang State Key Laboratory of Software Development Environment Beihang University Beijing China School of Computer Science and Engineering Beihang University Beijing China School of Computer Science and Technology Harbin Institute of Technology Harbin China Geometry Robotics

ISBN: (数字)9798350353006

ISBN: (纸本)9798350353013

We focus on the generalization ability of the 6-DoF grasp detection method in this paper. While learning-based grasp detection methods can predict grasp poses for unseen ob-jects using the grasp distribution learned from the training set, they often exhibit a significant performance drop when encountering objects with diverse shapes and struc-tures. To enhance the grasp detection methods' general-ization ability, we incorporate domain prior knowledge of robotic grasping, enabling better adaptation to objects with significant shape and structure differences. More specifi-cally, we employ the physical constraint regularization during the training phase to guide the model towards predicting grasps that comply with the physical rule on grasping. For the unstable grasp poses predicted on novel objects, we design a contact-score joint optimization using the pro-jection contact map to refine these poses in cluttered sce-narios. Extensive experiments conducted on the GraspNet-1 billion benchmark demonstrate a substantial performance gain on the novel object set and the real-world grasping experiments also demonstrate the effectiveness of our gen-eralizing 6-DoF grasp detection method. Code is available at https://***/mahaoxiang822/Generalizing-Grasp.

关键词： Training Computer vision Shape Grasping Benchmark testing Predictive models Performance gain

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Characterization of plasma discharge channel in EDM using photography and spectroscopy 15

Characterization of plasma discharge channel in EDM using ph...

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15th CIRP Conference on Intelligent Computation in Manufacturing Engineering, CIRP ICME 2021

作者： Qin, Ling Liu, Chen Zhang, Ruixue Zhang, Ya-Ou Yang, Xiaodong Zhao, Wansheng State Key Laboratory of Mechanical System and Vibration China School of Mechanical Engineering Shanghai Jiao Tong University 800 Dongchuan Road Shanghai200240 China Department of Mechanical Engineering and Automation Harbin Institute of Technology Harbin150001 China

The plasma discharge channel of electrical discharge machining (EDM) brings a temperature of several thousands of degrees Celsius into the gap between the anode and cathode, resulting in the material removal by means of melting and evaporating. To investigate the characteristics of the plasma discharge channel, high-speed imaging technology is adopted to observe the dimension of the plasma. A spectrometer is used to calibrate the temperature of the plasma as well. Then the particle-in-cell with Monte Carlo collision (PIC-MCC) simulation is conducted to analyze the variation and distribution of the plasma and heat flux. The experimental results demonstrate that the discharge channels' morphology obtained is stable after a few microseconds of expansion after breakdown, and the diameter of discharge channel and the current density increases with the increase of discharge current. Besides, the emission intensity of plasma increases with the increase of electrical parameters. However, the temperature of plasma decreases after high current, which means debris particles make machining condition deteriorated. Finally, the simulation results demonstrate that despite the current density increases, the maximum heat flux at the center of electrode reduces rapidly with the expansion of the discharge channel. The distribution of heat flux upon electrode evolves towards "wider and flatter", leading to larger debris particles than exceptional size. © 2022 The Author(s).

关键词： High speed photography

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Force Distribution-Based Control Strategy of Landing Gear for the Unmanned Helicopter Landing on the Inclined Surface

Force Distribution-Based Control Strategy of Landing Gear fo...

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IEEE International Conference on robotics and Biomimetics

作者： Baolin Tian Haitao Yu Shihao Mao Yuxin Cui Zhen Yan Haibo Gao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China College of Electronic Information Engineering Beihang University and the Shanghai Academy of Spaceflight Technology Shanghai China

ISBN: (纸本)9781665481106

The unmanned helicopter plays an important role in the fields of cargo transportation and rescue missions. Due to the limitation of the traditional landing gear structure, the unmanned helicopter has more stringent requirements on the landing terrain. In order to improve the ability to land on the inclined surface for the unmanned helicopter, a novel control strategy of the landing gear based on contact force distribution algorithm is proposed. The overall of landing process includes the desired position tracking stage, the following stage and the attitude adjusting stage. By obtaining the desired acceleration according to the landing and attitude correcting curve of the fuselage, and calculating the desired force based on contact force distribution algorithm, the adaptive motion and trajectory tracking of the landing gear during the landing process has been realized. The simulation results have demonstrated the effectiveness of the strategy when the unmanned helicopter with the initial roll angle of -3 degrees and pitch angle of 3 degrees lands on the inclined surface of 7.07 degrees. In the future, the control strategy can provide a reference for the dynamic landing of the unmanned helicopter while at sea.

关键词： Sea surface Gears Trajectory tracking Simulation Helicopters Force Transportation

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In Situ Measurement of the Kinetic Friction of Si Nanowires on SiC Substrates in SEM with a Microprobe 11

In Situ Measurement of the Kinetic Friction of Si Nanowires ...

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11th IEEE Annual International Conference on CYBER technology in Automation, Control, and Intelligent systems, CYBER 2021

作者： Gao, Peng Zhou, Jie Zou, Tao Rong, Weibin State Key Laboratory of Robotics and Systems Harbin Institute of Technology HarbinHeilongjiang150080 China School of Electrical and Control Engineering Heilongjiang University of Science and Technology HarbinHeilongjiang150022 China

ISBN: (纸本)9781665425278

This research introduces a kinetic friction modeling and measurement method for silicon nanowires (NWs) and silicon carbide substrates. The NW was pushed to slide by the micro-force probe at a constant speed. Under the conditions of kinetic friction and deformation of the nanowires, the silicon nanowires are in equilibrium during the measurement. Under this condition, the value measured by the micro-force probe is the total kinetic friction force. The thermal insulation connector is used to isolate the heat conduction to the micro-force probe to avoid the influence of temperature rise on the measurement result. The Faraday cup was used to measure the surface current in the scanning electron microscope (SEM). The appropriate parameters of SEM were chosen according to the surface current to reduce the influence of the charging effect on the measurement results. The high sensitivity of the micro-force probe is used to ensure that there is no contact between the probe and the substrate, thereby avoiding the interference of the pre-load force. The entire experiment process was monitored in real-time to improve the stability of the measurement. The study in this paper found that the shear stress of silicon nanowires is 1.05 \pm 0.32\text{MPa}. © 2021 IEEE.

关键词： Silicon carbide

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PillarNet: Real-Time and High-Performance Pillar-based 3D Object Detection

arXiv

引用

arXiv 2022年

作者： Shi, Guangsheng Li, Ruifeng Ma, Chao State Key Laboratory of Robotics and System Harbin Institute of Technology China MoE Key Lab of Artificial Intelligence AI Institute Shanghai Jiao Tong University China

Real-time and high-performance 3D object detection is of critical importance for autonomous driving. Recent top-performing 3D object detectors mainly rely on point-based or 3D voxel-based convolutions, which are both computationally inefficient for onboard deployment. In contrast, pillar-based methods use solely 2D convolutions, which consume less computation resources, but they lag far behind their voxel-based counterparts in detection accuracy. In this paper, by examining the primary performance gap between pillar- and voxel-based detectors, we develop a real-time and high-performance pillar-based detector, dubbed PillarNet. The proposed PillarNet consists of a powerful encoder network for effective pillar feature learning, a neck network for spatial-semantic feature fusion and the commonly used detect head. Using only 2D convolutions, PillarNet is flexible to an optional pillar size and compatible with classical 2D CNN backbones, such as VGGNet and ResNet. Additionally, PillarNet benefits from our designed orientation-decoupled IoU regression loss along with the IoU-aware prediction branch. Extensive experimental results on the large-scale nuScenes Dataset and Waymo Open Dataset demonstrate that the proposed PillarNet performs well over state-of-the-art 3D detectors in terms of effectiveness and efficiency. Code is available at https://***/agent-sgs/PillarNet. © 2022, CC BY-SA.

关键词： Object detection

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Design and Analysis of a Drive and Perception Integration Manipulator for Spinal Surgery

Design and Analysis of a Drive and Perception Integration Ma...

引用

Mechatronics and robotics Engineering (ICMRE), International Conference on

作者： Lunan Wu Zhijiang Du Hongjian Yu Jiancheng Wang State Key Laboratory of Robotics and System Harbin Institute of Technology (HIT) Harbin China

ISBN: (数字)9781665414890

ISBN: (纸本)9781665430531

This paper presents the design of a hybrid manipulator for spinal surgery which has a feature of drive and perception integration. The parallel part of the robot which controls position and posture of the terminal is based on a two-level cross slide structure with an additional serial end effector for the axial feed. The series part which controls the feed of surgical tool is driven by a brushless motor through a leadscrew nut. The dexterity of robot is evaluated through calculating the position and posture condition number. The cross slide is driven by a synchronous belt and the corresponding driving force is measured by sensitive elements attached on the fixed structure of idler wheels. Meanwhile, driving force of the feeding structure is obtained with an improved micro force sensor. Finally, linearity of these sensors is measured to test the reliability of design.

关键词： Medical robotics Force Surgery Robot sensing systems Belts Sensors Robots

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Magnetic interactions based on proton orbital motion in CH3NH3PbI3 and CH3NH3PbBr3

arXiv

引用

arXiv 2024年

作者： Meng, Lei Zhao, Miao Miao Xu, Yi Yang Peng, Chu Xin Yang, Yang Xing, Tian Tian Ren, Peng Yen, Fei Department State Key Laboratory on Tunable Laser Technology Ministry of Industry and Information Technology Key Laboratory Micro-Nano Optoelectronic Information System The School of Science Harbin Institute of Technology Shenzhen. University Town Guangdong Shenzhen518055 China

The microscopic origin of the remarkable optoelectronic properties of one of the most studied contemporary materials remains unclear. Here, we identify the existence of magnetic interactions between intermolecular proton orbitals in CH3NH3PbI3 and CH3NH3PbBr3. In particular, a unique sharp drop and a pronounced step-up discontinuity in the magnetic susceptibility at the tetragonal-to-cubic phase transitions are identified in CH3NH3PbI3 and CH3NH3PbBr3, respectively. The magnetic interactions in the orthorhombic and tetragonal phases are dependent on thermal history and lattice orientation while nearly independent of the applied external magnetic field. In CH3NH3PbBr3, the CH3 and NH3+ components reorient in an uncorrelated fashion resulting the cubic phase to also exhibit magnetic anisotropy. Our findings provide a potential link connecting the highly light-absorbing CH3NH3+ and the exceptional properties of the charge carriers of the inorganic framework in hybrid perovskite solar cells. © 2024, CC BY-NC-ND.

关键词： Perovskite

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