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2020 International Conference on Communications, Information system and Computer Engineering, CISCE 2020

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

ISBN: (纸本)9781728197616

The automatic path planning method of spray robot has always been a challenging problem, especially for the mixed-line production of various workpieces. This paper discusses the self-acquisition technology of spray path based on the point cloud model of furniture. The coordinate relationship between the coordinate system of the spraying system and the adaptive adjustment of the pose are discussed for the point cloud pose of the furniture. The furniture surface path planning based on point cloud slices and edge spraying based on edge extraction technology were studied to obtain the ordered path point sequence and posture of the spray gun. Through the robot spraying experiment on flat furniture and complex curved furniture, the reliability of the algorithm is verified from the aspects of algorithm efficiency and spraying effect. © 2020 IEEE.

关键词： Motion planning

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Magnetic Properties of NH4H2PO4 and KH2PO4: Emergence of Multiferroic Salts

arXiv

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arXiv 2024年

作者： Meng, Lei He, Chen Ji, Wei 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 University Town Guangdong Shenzhen518055 China Education Center of Experiments and Innovations Harbin Institute of Technology Shenzhen University Town Guangdong Shenzhen518055 China

We observe sharp step-down discontinuities in the magnetic susceptibility of NH4H2PO4 and NH4H2PO4-d60 (60% deuterated) along the a and c-axes occurring exactly at their antiferroelectric transition temperatures. For the case of KH2PO4, less pronounced discontinuities occur at the ferroelectric transition temperature. To explain this, we treat the acid protons as individual oscillators that generate current elements which translate to magnetic forces in near resonance with each other. With decreasing temperature, the resonant forces become more commensurate which amplifies a disproportionate drop off of two types of magnetic forces to eventually trigger the structural phase transitions. For the case of NH4H2PO4, the associated internal magnetic field appears to aid the NH4+ to order at higher temperature. At 49 K, a shoulder-like anomaly in both NH4H2PO4 and KH2PO4 is attributed to a possible onset of macroscopic quantum tunneling of protons. Our findings bring forth a new category of intrinsic multiferroic systems. © 2024, CC BY-NC-ND.

关键词： Temperature

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Nonlocal Huygens'meta-lens for high-qualityfactor spin-multiplexing imaging

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Light(Science & Applications) 2025年第3期14卷 695-702页

作者： Jin Yao Yubin Fan Yunhui Gao Rong Lin Zhihui Wang Mu Ku Chen Shumin Xiao Din Ping Tsai Department of Electrical Engineering City University of Hong KongKowloonHong Kong SARChina Centre for Biosystems Neuroscienceand NanotechnologyCity University of Hong KongKowloonHong Kong SARChina State Key Laboratory of Terahertz and Milimeter Waves City University of Hong KongKowloonHong Kong SARChina State Key Laboratory on Tunable Laser Technology Ministry of Industry and Information Technology Key Lab of Micro-Nano Optoelectronic Information SystemShenzhen Graduate SchoolHarbin Institute of TechnologyShenzhen 518055China Pengcheng Laboratory ShenzhenChina

Combining bright-feld and edge-enhanced imaging affords an effective avenue for extracting complex morphological information from objects,which is particularly beneficial for biological *** metalenses present promising candidates for achieving this ***,current multiplexing meta-lenses lack spectral modulation,and crosstalk between different wavelengths hampers the imaging quality,especilly for biological samples requiring precise wavelength ***,we experimentally demonstrate the nonlocal Huygens'meta-lens for high-quality-factor spin-multiplexing ***-bound states in the continuum(q-BlCs)are excited to provide a high quality factor of 90 and incident-angle *** generalized Kerker condition,driven by Fano-like interactions between q-BIC and in-plane Mie resonances,breaks the radiation symmetry,resulting in a transmission peak with a geometric phase for polarization-converted light,while unconverted light exhibits a transmission dip without a geometric *** polarization conversion efficiency of 65%is achieved,accompanied by a minimal unconverted value,surpassing the theoretical limit of traditional thin nonlocal *** these effects,the output polarization-converted state exhibits an efficient wavelengthselective focusing phase *** unconverted counterpart serves as an effective spatial frequency filter based on incident-angular dispersion,passing high-frequency edge ***-field imaging and edge detection are thus presented under two output spin *** work provides a versatile framework for nonlocal metasurfaces,boosting biomedical imaging and sensing applications.

关键词： nonlocal Huygensmeta lens biological imagingmultiplexing metalenses bright field imaging edge enhanced imaging high quality factor spin multiplexing imaging extracting complex morphological information biological samples spectral modulationand

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Adaptive Step Puncture Strategy Based on Online Identification of Tissue Shore Hardness

Adaptive Step Puncture Strategy Based on Online Identificati...

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IEEE International Conference on robotics and Biomimetics

作者： Changle Li Chuanyou Yu Leifeng Zhang Guang Ban Yilun Fan Yubin Liu Jie Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology HeiLongJiang China

ISBN: (纸本)9781665405362

The accuracy of puncture has a significant impact on hr achy therapy. However, when the puncture needle enters the diseased tissue, there are complex forces between the needle body and soft tissue, resulting in the deflection of the puncture needle, which affects the puncture accuracy. In order to improve the positioning accuracy and ensure better treatment effect, an adaptive step puncture strategy based on force feedback was proposed in this paper. Firstly, according to the process of brachytherapy, the mechanism design and control system design of puncture end tool were carried out. Secondly, combined with the end tool, the data acquisition platform was designed, the data acquisition and analysis were completed, and an adaptive step puncture strategy was proposed according to the experimental data. Finally, the experimental verification was carried out by using layered silica gel in the built data acquisition platform. Experiments showed that the adaptive step puncture strategy proposed in this paper significantly improves the puncture accuracy compared with direct puncture.

关键词： Silicon compounds Data acquisition Force feedback Surgery Process control Needles Control systems

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A Sample Repetitive Manipulation Mechanism (SRMM) for Lunar Regolith In-Situ Analysis: Design and Validation

A Sample Repetitive Manipulation Mechanism (SRMM) for Lunar ...

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IEEE International Conference on robotics and Biomimetics

作者： Yi Liu Junyue Tang Yafang Liu Gongbo Ma Feng Sun Ye Li Shengyuan Jiang Shenyang University of Technology Shenyang P. R. China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin P. R. China Beijing Institute of Spacecraft System Engineering Beijing P. R. China Beijing P. R. China

To exactly detect the water ice of the South Pole of the moon, a lunar regolith in-situ analysis payload deploying a mass spectrometer is proposed for China future lunar exploration missions. In order to receive the lunar regolith sample from a robotic arm with a soil sampler and transfer it into a furnace for further analysis, a sample manipulation mechanism is required during the above work flow. To solve the problems of adapting the sampler’s docking accuracy, receiving and transferring two different types of lunar soil sample under times of in-situ analysis, etc., a sample repetitive manipulation mechanism (SRMM) is proposed in this paper. By using a floating adjustable docking components and a flexible hopper, two types of encapsulated regolith sample and bulk material sample can be received with minimal sample loss, respectively. In order to receive and transfer two types of samples multiple times, two sample receiving methods have been designed that can be repeatedly transferred. A worm and worm wheel combined with a ball screw is designed in SRMM. To verify the above mechanism design, validation experiments were conducted. It indicates that this novel SRMM can be deployed in the future mission after further environmental tests.

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RGB-D Grasp Detection via Depth Guided Learning with Cross-modal Attention

RGB-D Grasp Detection via Depth Guided Learning with Cross-m...

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IEEE International Conference on robotics and Automation (ICRA)

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

Planar grasp detection is one of the most fundamental tasks to robotic manipulation, and the recent progress of consumer-grade RGB-D sensors enables delivering more comprehensive features from both the texture and shape modalities. However, depth maps are generally of a relatively lower quality with much stronger noise compared to RGB images, making it challenging to acquire grasp depth and fuse multi-modal clues. To address the two issues, this paper proposes a novel learning based approach to RGB-D grasp detection, namely Depth Guided Cross-modal Attention Network (DGCAN). To better leverage the geometry information recorded in the depth channel, a complete 6-dimensional rectangle representation is adopted with the grasp depth dedicatedly considered in addition to those defined in the common 5-dimensional one. The prediction of the extra grasp depth substantially strengthens feature learning, thereby leading to more accurate results. Moreover, to reduce the negative impact caused by the discrepancy of data quality in two modalities, a Local Cross-modal Attention (LCA) module is designed, where the depth features are refined according to cross-modal relations and concatenated to the RGB ones for more sufficient fusion. Extensive simulation and physical evaluations are conducted and the experimental results highlight the superiority of the proposed approach.

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Fluid pumping by liquid metal droplet utilizing ac electric field

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Physical Review E 2022年第2期105卷 025102-025102页

作者： Chun-Lei Song Ye Tao Wei-Yu Liu Yi-Cheng Chen Rui Xue Tian-Yi Jiang Biao Li Hong-Yuan Jiang Yu-Kun Ren State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China School of Engineering and Applied Sciences and Department of Physics Harvard University Cambridge Massachusetts 02138 USA School of Electronics and Control Engineering Chang'an University Xi'an 710000 China School of Energy Science and Engineering Harbin Institute of Technology Harbin 150001 China School of Mechatronics Engineering Harbin Institute of Technology Harbin 150001 China

We report a unique phenomenon in which liquid metal droplets (LMDs) under a pure ac electric field pump fluid. Unlike the directional pumping that occurs upon reversing the electric field polarity under a dc signal, this phenomenon allows the direction of fluid motion to be switched by simply shifting the position of the LMD within the cylindrical chamber. The physical mechanism behind this phenomenon has been termed Marangoni flow, caused by nonlinear electrocapillary stress. Under the influence of a localized, asymmetric ac electric field, the polarizable surface of the position-offset LMD produces a net time-averaged interfacial tension gradient that scales with twice the field strength, and thus pumps fluid unidirectionally. However, the traditional linear RC circuit polarization model of the LMD/electrolyte interface fails to capture the correct pump-flow direction when the thickness of the LMD oxide skin is non-negligible compared to the Debye length. Therefore, we developed a physical description by treating the oxide layer as a distributed capacitance with variable thickness and connected with the electric double layer. The flow profile is visualized via microparticle imaging velocimetry, and excellent consistency is found with simulation results obtained from the proposed nonlinear model. Furthermore, we investigate the effects of relevant parameters on fluid pumping and discuss a special phenomenon that does not exist in dc control systems. To our knowledge, no previous work addresses LMDs in this manner and uses a zero-mean ac electric field to achieve stable, adjustable directional pumping of a low-conductivity solution.

关键词： Electrokinetic flows Interfacial flows Surface tension effects Lagrangian particle tracking

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A Novel Variable Stiffness Actuator Based on a Rocker-Linked Epicyclic Gear Train

SSRN

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SSRN 2022年

作者： Li, Zhisen Xu, Peng Huang, Hailin Ning, Yinghao Li, Bing State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen518055 China Zhengzhou Electromechanical Engineering Research Institute Zhengzhou450015 China

This paper presents a novel variable stiffness actuator based on a rocker-linked epicyclic gear train (REGT-VSA). The stiffness adjustment principle of the actuator is to change the lever ratio of force by converting the differential motion of the planetary gear train into the linear motion of the elastic element. The unique design of the rocker-linked epicyclic gear train ensures the compactness of structure and the accuracy of transmission. The simultaneous relocations of the pivot and torsion spring permit a wide-range stiffness adjustment. By introducing a linear guide and a cam follower, the internal friction is reduced, and the energy efficiency is improved. A prototype and its trajectory tracking controller are developed to evaluate the performance of REGT-VSA. An exponential function is used to train the neuron proportion coefficient of the conventional single-neuron adaptive PID (proportional-integral-derivative) controller to compensate for the hysteresis of elastic elements, thus creating the dynamic single-neuron adaptive PID controller. The stiffness identification and trajectory tracking experiments under different conditions prove the feasibility of the actuator and the proposed algorithm. © 2022, The Authors. All rights reserved.

关键词： Proportional control systems

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An Adaptive Force Control Architecture with Fast-Response and Robustness in Uncertain Environment∗

An Adaptive Force Control Architecture with Fast-Response an...

引用

IEEE International Conference on robotics and Biomimetics

作者： Xin Shu Fenglei Ni Kang Min Yechao Liu Hong Liu The State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781665405362

One of the fundamental requirements for the success of a manipulation task is the capacity to handle the interaction between manipulator and environment. However, there are many uncertain factors during the interaction, such as the shape of objects, contact stiffness, and external interference. The performance of force control pursues fast-response and robustness, but it is not an effective solution to apply the traditional impedance control to track force in an uncertain environment. Herein, an adaptive force control architecture is proposed, which has the capability to compensate for environmental uncertainties. Simulations and experiments of tracking constant/variable desired force in constant/variable stiffness environment and on an unknown shape surface are carried out. The proposed approach is contrasted with some classic methods in the indexes of overshoot, transient response, tracking error, and robustness. The results comparison confirms that the proposed control law is superior in fast-response and robustness in uncertain environments.

关键词： Transient response Surface impedance Uncertainty Shape Force Interference Manipulators

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A Triboelectric Multifunctional Sensor Based on the Controlled Buckling Structure for Motion Monitoring and Bionic Tactile of Soft Robots

SSRN

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SSRN 2022年

作者： Xu, Jinsui Xie, Zhijie Yue, Honghao Lu, Yifan Yang, Fei State Key Laboratory of Robotics and System School of Mechatronics Engineering Harbin Institute of Technology Harbin150001 China College of mechanical and electrical engineering Northeast Forestry University Harbin150042 China

Soft robots have unlimited degrees of freedom, which limits the application of traditional sensors in the field of soft robots. Therefore, continuous motion monitoring and tactile feedback for soft robots have been challenging. To address this challenge, this paper proposes a multifunctional sensor by combining controlled buckling structure with triboelectric nanogenerator for the first time to detect and control grasping, realize two-dimensional (2D) planar motion, and achieve adaptive obstacle avoidance in soft robots. A 2D kirigami electrode is compressed and buckled into a stretchable three-dimensional (3D) structure by pre-stretching the substrate. The proposed soft grasping system sensor can detect the bending angle of a soft gripper to identify the size of a grasped object, achieving a detection accuracy of 91.67%. By alternately arranging the buckling electrodes to form a 2D spatial decoupling structure, the 2D motion sensor (2DMS) can detect the movement direction and real-time position of a robot with an accuracy rate of 83.33%. Using the compressible properties of the buckling 3D structure, the inchworm-like soft robot (I-LSR) tactile sensor can sense the surrounding environment, thereby realizing dynamic obstacle avoidance. The proposed novel multifunctional triboelectric sensor by combining the properties of controlled buckling structure provides a theoretical and experimental basis for high-precision motion detection and intelligent obstacle avoidance for soft robots. © 2022, The Authors. All rights reserved.

关键词： Buckling

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