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International Conference on Machine Learning and Cybernetics (ICMLC)

作者： Runmin Yang Rongni Yang Renjie Ma Yanzheng Zhu Peng Shi School of Control Science and Engineering Shandong University Jinan China State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China College of Electrical Engineering and Automation Shandong University of Science and Technology Qingdao China School of Electrical and Mechanical Engineering University of Adelaide Adelaide SA Australia

ISBN: (数字)9798331528041

ISBN: (纸本)9798331528058

This paper studies the stabilization problem of discrete-time two-dimensional (2-D) systems represented by Roesser based on available data. First of all, based on the pre-collected input-state data, the original system is transformed into a data-based form. Then a set is established to represent all systems capable of generating the given data, thereby indirectly stabilizing the original system by stabilizing all systems within this set. Next, by utilizing the S-procedure, sufficient conditions are established for the resultant closed-loop systems that incorporate a state feedback controller based on collected data. Finally, an example is given to demonstrate the effectiveness of the proposed approach.

关键词： Sufficient conditions state feedback Two-dimensional displays Transforms Machine learning Stability analysis Data models Numerical models Closed loop systems Numerical stability

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Robust-Tube Model Predictive Control for Piezoelectrically Actuated Fast Mechanical Switches for Hybrid Circuit Breakers

Robust-Tube Model Predictive Control for Piezoelectrically A...

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Artificial Intelligence and Automation Control (AIAC), International Conference on

作者： Yu Chai Chen Yang Huijuan Dong Jie Zhao Yuri A. W. Shardt Bingfeng Ju ZJU-Hangzhou Global Scientific and Technological Innovation Center Hangzhou China State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China Department of Automation Engineering Technical University of Ilmenau Ilmenau Germany School of Mechanical Engineering Zhejiang University Hangzhou China

ISBN: (数字)9798331529147

ISBN: (纸本)9798331529154

Safeguarding high voltage direct current (HVDC) systems against direct current faults is an inherently demanding task. A promising solution to tackle this challenge is the application of piezoelectrically actuated fast mechanical switches (PA-FMS). However, mechanical resonance and random vibrations in the travel curves of P A-FMS have a substantial impact on their control accuracy. To tackle this challenge, a robust-tube model predictive control (RTMPC) strategy is developed. RTMPC drives the disturbed system state into the minimal robustly positively invariant (mRPI) set centered on the target and ensures that constraints are satisfied. The error feedback gain is calculated using the proposed linear matrix inequality (LMI) based method to minimize the effect of disturbances on the trajectory. An efficient outer approximation method is used to compute the mRPI set. Simulation results show that the critically damped travel curves have been achieved, along with a reduction of the external disturbances by 98%.

关键词： Vibrations Uncertain systems Uncertainty Simulation Switches High-voltage techniques Predictive models Trajectory Approximation methods Predictive control

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Design of deployable bridge using multistable miura-ori structure for emergency rescue

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Automation in Construction 2025年 176卷

作者： Wang, Wei Li, Xu Yan, Peng Huang, Hailin Li, Bing School of Robotics and Advanced Manufacture Harbin Institute of Technology Shenzhen518052 China Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Shenzhen518052 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

Rapid deployment equipment is crucial in emergency rescue operations during natural disasters such as earthquakes and floods. However, traditional equipment often has limitations such as complex operations, long deployment times, and high manpower requirements. This paper designs a deployable bridge for post-disaster rescue, with its core component being a bistable Miura-ori unit. Bistable characteristics of the Miura-ori unit are shown. Then, finite element model (FEM) and prototype experiments are used to demonstrate the load-bearing capacity and bistable characteristics of the bistable Miura-ori unit. By arranging the bistable Miura-ori units, a deployable bridge with multistable characteristics is achieved, enabling rapid deployment with a single drive. The load-bearing and impact resistance capabilities of the bridge are also tested. This design significantly simplifies system complexity, reduces labor requirements, and ensures high load-bearing capacity and impact resistance, providing a new solution for emergency rescue. © 2025 Elsevier B.V.

关键词： Emergency services

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Bioinspired frog adaptive-mass quasi-zero stiffness vibration isolator

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International Journal of Mechanical Sciences 2025年 301卷

作者： Wentao Wu Tianci Jiang Guangdong Sui Xiaobiao Shan Chenghui Sun Xiyan Xie Chunyu Zhou State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China Institute of Ultra-precision Optoelectronic Instrument Engineering Harbin Institute of Technology Harbin 150001 China

This study proposes and systematically investigates a bioinspired frog vibration isolator (BFVI) featuring quasi-zero stiffness (QZS) characteristics and adaptive load capacity, aiming to address the degradation in vibration isolation performance commonly observed in traditional isolators under varying load conditions. A composite electromagnetic structure integrating horizontal and vertical configurations is constructed. The electromagnetic force model is derived using the filament method, and the influence of key geometric parameters—including structural rod length, initial angle, magnet dimensions, and current intensity—on the quasi-zero stiffness behavior is thoroughly analyzed. A nonlinear dynamic differential equation is established based on the Lagrange approach, and the harmonic balance method (HBM) is employed to reveal the transmission rate shift induced by mass variation. The effectiveness of adaptive current control in mitigating this shift is theoretically demonstrated. Furthermore, an active controller based on the nonlinear backstepping method is designed. Simulation results confirm adaptive current regulation effectively compensates for equilibrium deviation and performance loss caused by load fluctuations. Static experiments validate the QZS characteristics of the BFVI while time-varying load experiments confirm the controller's regulation capabilities and system response. Transmission rates under both fixed and adaptive current conditions are compared. Results show the system provides strong active regulation and effective low-frequency isolation under varying loads. This work offers new insights and strategies for integrating intelligent active control with bioinspired vibration isolation in complex engineering scenarios.

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CVFormer: Learning Circum-View Representation and Consistency for Vision-Based Occupancy Prediction via Transformers

CVFormer: Learning Circum-View Representation and Consistenc...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Zhengqi Bai Wenjun Shi Dongchen Zhu Hanlong Kang Guanghui Zhang Gang Ye Yang Xiao Lei Wang Xiaolin Zhang Bo Li Jiamao Li Bionic Vision System Laboratory State Key Laboratory of Transducer Technology Shanghai Institute of Microsystem and Information Technology Chinese Academy of Sciences Shanghai China University of Chinese Academy of Sciences Beijing China Lotus Robotics Ltd. Hangzhou China ShanghaiTech University Shanghai China

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

With the increasing demands for perception accuracy in autonomous driving, there is a growing focus on fine-grained 3D semantic occupancy prediction. Effectively representing detailed three-dimensional scenes has become a significant challenge in the development of this task. In this paper, we present a novel transformer-based framework named CVFormer, which leverages two-dimensional circum-views from the ego to excavate three-dimensional features of the surrounding environment. Circum-views provide a novel solution for effectively addressing the representation of dense and fine-grained scenes. Specifically, a multi-attention module CTMA is designed for fusing temporal features from circum-views to fully exploit the spatiotemporal correlations between frames and capture more comprehensive clues. Furthermore, a novel 2D projection constraint is established by observing objects from different perspective directions, and multiple 3D constraints based on object invariance and semantic consistency are also conducted for supervising the network, which enhances its performance of understanding the scene. Experimental results on nuScenes dataset demonstrate that the proposed CVFormer obviously outperforms existing methods for occupancy prediction.

关键词： Training Solid modeling Three-dimensional displays Correlation Semantics Transformers Robot sensing systems

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Mitigating the Strength-Ductility Inversion in Nano-B4c/Al Composites by Constructing Heterogeneous Structure

SSRN

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SSRN 2023年

作者： Han, Bingzhuo Jiang, Longtao Han, Huimin Zhang, Runwei Du, Shanqi Luo, Tian Gong, Deng Xue, Wei Chao, Zhenlong Chen, Guoqin School of Materials Science and Engineering Harbin Institute of Technology No 92 West Dazhi Street Harbin150001 China State Key Laboratory of Advanced Welding and Joining Harbin Institute of Technology No 92 West Dazhi Street Harbin China Aero-Engine Control System Institute Aero Engine Corporation of China Wuxi214063 China

Heterogeneous nano-B4C/Al composites with soft and hard zones (SZs and HZs) were fabricated through a new approach combining segmented ball milling with pressure infiltration. It indicated that with the increase of step Ⅰ ball milling time, the width of SZs reduced. The heterogeneous composite with an SZ width of ~2.71 μm (Hetero-2μm) exhibited a 161 % increase in elongation compared to the homogeneous composite, with almost no decrease in ultimate tensile strength. Due to the mechanical incompatibility between the SZs and HZs, geometrically necessary dislocations (GND) accumulated near the interface. However, the length of GND pile-ups was finite, resulting in the presence of non-interface-affacted zones (NIAZ), which was harmful to the strength. The high strength of Hetero-2μm was attributed to the reduction of NIAZ width. Furthermore, the uniform distribution of plastic strain and some external toughening mechanisms, such as crack proliferation and deflection, were believed to be the reason for the ductility enhancement. © 2023, The Authors. All rights reserved.

关键词： Ball milling

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SpringExo, a spring-based exoskeleton for providing knee assistance: Design, Characterization and Feasibility Study

SpringExo, a spring-based exoskeleton for providing knee ass...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Dongbao Sui Biing-Chwen Chang Rand Hidayah Yanhe Zhu Sunil K. Agrawal State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Columbia University New York NY USA

This paper presents the design and preliminary evaluation of a portable spring-based knee exoskeleton, the SpringExo, which is designed to provide assistance to the leg while minimizing interference with the natural leg movement. Traditional rigid exoskeletons are unable to accurately align with a user’s anatomical joints. In addition, the user’s natural motion pattern is likely to change due to the constraints of the rigid exoskeleton. Though some textile-based soft exosuits and cable-driven soft exoskeletons have been developed to achieve better alignment with human’s biological joints, forces applied by the cables have to be sustained by human skeleton and joints. SpringExo, in comparison, uses a coil spring which the user wears around the thigh and shank, and does not require alignment with the joints. The spring stores energy and provides minimal interference during elastic deformation. A key feature of the SpringExo is that the springs store energy during the flexion phase and release this energy to assist the knee extension in the extension phase. We conducted human subjects study to verify its biomechanical and physiological effects on the user during stair ascent. Results from a six-subject study showed that the device did not interfere with the natural joint angles and assisted knee extension during stair ascent. However, further redesign and optimization are needed on the actuation system to offset SpringExo’s drawback of hindering knee flexion.

关键词： Knee Legged locomotion Exoskeletons Thigh Interference Stairs Skeleton

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Design and Development of a Rapidly Deployable Low-Cost Tensegrity In-Pipe Robot

Design and Development of a Rapidly Deployable Low-Cost Tens...

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IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Yixiang Liu Xiaolin Dai Kai Guo Jiang Wu Rui Song Jie Zhao Yibin Li School of Control Science and Engineering Shandong University Jinan China State Key Laboratory of Mechanical Transmissions Chongqing University Chongqing China Zhejiang Key Laboratory of Intelligent Operation and Maintenance Robot Hangzhou Shenhao Technology Co. Ltd Hangzhou China Engineering Research Center of Intelligent Unmanned System of Ministry of Education School of Control Science and Engineering Shandong University Jinan China School of Mechanical Engineering Shandong University Jinan China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Existing in-pipe robots have insufficient adaptability when dealing with accidents in unfamiliar pipe environments. Developing a pipe robot that can be designed and manufactured quickly is one solution. The tensegrity structure is a self-stressing spatial structure formed by the interaction of rigid members and flexible cables, which has the advantages of simple structure, good flexibility, deformability, and impact resistance. Inspired by this structure, we design a novel worm-like tensegrity robot for different pipe environments, which can be manufactured rapidly at low cost. Firstly, a robotic module based on the tensegrity structure is designed inspired by the motion patterns of worm-like organisms. Then, the design process of the module is presented based on the mathematical analysis of the deformation. Finally, a prototype of the tensegrity robot is developed using simple and low-cost parts in less than an hour. To test the motion performance, load performance, and inspection capability of the tensegrity robot, we designed a series of experiments on horizontal pipes, vertical pipes, elbows, and steel pipes. Experimental results show that the worm-like tensegrity robot is simple in structure, easy to manufacture, low in cost, and good in performance.

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Bionic knee joint structure and motion analysis of a lower extremity exoskeleton 4

Bionic knee joint structure and motion analysis of a lower e...

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4th International Conference on robotics and Automation Sciences, ICRAS 2020

作者： Xiao, Yongfei Ji, Xiangjing Wu, Hao Zhai, Xinpeng Fu, Xiaochun Zhao, Jie Institute of Automation Qilu University of Technology Shandong Academic of Science Shandong Provincial Key Laboratory of Robot and Manufacturing Automation Technology Jinan China Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9781728198576

In order to solve the problem of poor human-machine compliance of wearable lower extremity exoskeleton robots, a modified lower extremity exoskeleton with a four-bar mechanism in the knee joint is proposed and analyzed. The advantages of the four-bar mechanism relative to the traditional two-bar hinge structure are explained by analyzing the physiological characteristics of the human knee joint. In addition, the kinematics of traditional and modified lower extremity exoskeletons are compared. The constraint relationship and motion equations of instantaneous rotating center of the four-bar linkage knee joint are derived. Finally, gait simulations are performed on the two lower extremity exoskeleton models to obtain the position and angle information of the joints. The influence of the four-bar mechanism of bionic knee joint on the lower extremity exoskeleton is described. The simulation results show that the modified lower extremity exoskeleton not only improves the biomimetic performance of knee joint, but also conforms to the characteristics of human gait. © 2020 IEEE.

关键词： Kinematics

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航空发动机机匣修复用AlSi10Mg激光金属沉积:显微硬度、磨损和腐蚀行为

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表面工程与再制造 2024年第2期24卷 53-53页

作者： Enjie Dong Tingyu Chang Linjie Zhao Yunhao Xing Jiaxuan Chen Mingjun Chen Junwen Lu Jian Cheng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 150001 China State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang University Hangzhou 310027 China Aircraft Repair & Overhaul Plant/Sichuan Province Engineering Technology Research Center of General Aircraft Maintenance Civil Aviation Flight University of China Guanghan 618307 China

基于激光金属沉积(Laser Metal Deposition,LMD)的再制造利用了增材制造的灵活性,为修复或再制造高价值工程零部件提供了一种极具吸引力和性价比的手段。本工作在航空发动机机匣用铸造铝合金板表面熔覆AlSi10Mg合金,当激光功率P=1800 W... 详细信息

基于激光金属沉积(Laser Metal Deposition,LMD)的再制造利用了增材制造的灵活性,为修复或再制造高价值工程零部件提供了一种极具吸引力和性价比的手段。本工作在航空发动机机匣用铸造铝合金板表面熔覆AlSi10Mg合金,当激光功率P=1800 W、送粉速率f=1.6 g/min、扫描速度v=8 mm/s时,获得了孔隙率仅为0.19%的AlSi10Mg修复层。

关键词：铸造铝合金增材制造送粉速率显微硬度激光金属沉积扫描速度激光功率修复层

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