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arXiv 2021年

作者： Yang, Hao Chen, Mingjun Cheng, Jian Liu, Zhichao Zhao, Linjie Liu, Qi Tan, Chao Wang, Jian State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Research Center of Laser Fusion China Academy of Engineering Physics Mianyang621900 China

To enable an exploration of the initiation mechanism of nanosecond laser damage on a potassiumdihydrogen phosphate (KDP) surface, a defect-assisted energy deposition model is developed that involves light intensity enhancement and a sub-band gap energy level structure. The simulations provide an explanation on why the laser-induced damage threshold (LIDT) of the KDP crystal is two orders of magnitude lower than the theoretical value. The model is verified by use of the transient images that appear during the laser damage. In addition, the dimensions of the "dangerous" surface defects that are the most sensitive to the laser damage are proposed. This work enables clarification on the initial energy deposition (IED) and initiation mechanism of the nanosecond laser damage caused by the KDP surface defectson micro-nano scale. It is helpful in understanding the laser-matter interactions and to improve the processing technique for high quality optical components. Copyright © 2021, The Authors. All rights reserved.

关键词： Laser damage

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Collaborative turning and jumping control of a cyborg locust via sensory stimulation

Collaborative turning and jumping control of a cyborg locust...

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International Conference on Electrical, Control and Instrumentation Engineering (ICECIE)

作者： Peng Liu Songsong Ma Shen Liu Yao Li Bing Li School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen China State Key Laboratory of Robotics and Systems Harbin Institute of Technology Shenzhen China

ISBN: (纸本)9781665449670

In this study, we describe the first-ever demonstration of the turning and jumping control of locusts based on electrical stimulation, which can realize a cyborg jumper. In terms of perception, walking distance, speed, payload, maneuverability, and adaptability to complex environments, cyborgs can reveal unmatchable advantages to insect-scale artificial robots. Herein, live locusts (Locusta migratoria) were selected as the study platform. Antennae and cercus stimulations using electrical pulses were applied to elicit the insect to turn and jump. We examined both the turning angle and the angular velocity by tuning the stimulus amplitude or frequency. It is found the turning rate induced by antenna stimulation can be graded. Besides, the stimulation of the cercus at the distal abdomen triggered the jump reliably. Moreover, the directional jumping control of the locust was achieved by the collaboration of turning and jumping control. Such results provide the potential to establish a more precise and more efficient model to develop a direction-controllable cyborg jumper.

关键词： Legged locomotion Wireless communication Protocols Insects Collaboration Electrical stimulation Turning

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A Kind of Kinematics Modeling of 2 DOFs Notched Continuum Manipulator

A Kind of Kinematics Modeling of 2 DOFs Notched Continuum Ma...

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International Conference on Information Science and Control Engineering (ICISCE)

作者： Xiaolong Wang Zhiyuan Yan Haodong Wang Yongzhuo Gao Zhijiang Du State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

It’s difficult for traditional rigid manipulators to complete relevant operations in the single port laparoscopic. The notched continuum manipulator owns the features of flexibility and biocompatibility which can make it possible applied in the single port laparoscopic. A kinematics modeling similar to the constant-curvature approximations is proposed in this paper. It can be utilized to describe the mapping relationship between the length change value of two driven wires and the end position. This method simplifies the complexity of kinematic modeling. And it makes the control method of the continuum manipulator easier to achieve as well. The accuracy of the model has been verified by the prototype.

关键词： Laparoscopes Information science Control engineering Shape Wires Force feedback Prototypes

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Research on Structural Optimization Design and Trajectory Planning of Frog-inspired Robot

Research on Structural Optimization Design and Trajectory Pl...

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International Conference on Information Science and technology (ICIST)

作者： He Zhang Jizhuang Fan Bowen Yuan Gangfeng Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (数字)9781728155586

ISBN: (纸本)9781728155593

The marine environment is complex and dangerous, underwater robots instead of humans to explore the ocean have become an inevitable trend of future technological development. Frogs are explosive and flexible when they swim, these advantages provide important ideas for designing underwater robots. Based on the previous research results of our team, a new generation of frog inspired robot is designed in this paper. While optimizing structural performance, we add two degrees of freedom to the hip joint. The motion space of the hind limb is obtained through kinematics analysis, combining the observation data of wild frogs, the three-dimensional trajectory of the frog-inspired robot in each motion phase is fitted, and the acceleration planning is focused on the propulsion phase. Finally, the rationality of the trajectory planning and the reliability of the structure are verified through experiments.

关键词： Trajectory Planning Hip Robot kinematics Acceleration

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A New Pressure-adsorption Climbing Robot Realized through Ducted Fan

A New Pressure-adsorption Climbing Robot Realized through Du...

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Artificial Intelligence and Information systems (ICAIIS), 2020 IEEE International Conference on

作者： Weijin Huang Hongzhe Jin Mingda Ge Jie Zhao The State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (数字)9781728165905

ISBN: (纸本)9781728165912

As an important part of the mobile robot, the rod-climbing robot is mainly responsible for reliably carrying cleaning and maintenance equipment. It overcomes the effect of gravity and is attached to high-rise rods such as pipes, utility poles, lighting poles, cable stays of bridge and lightning rods of substation. The tasks such as cleaning, detection, maintenance, etc. can be conducted more safely, efficiently and economically compared with manual work. Though, there exist some types of rod-climbing robots with different mechanical structures, their structures are too heavy or control is too complicated. This paper presents a new pressure-adsorption climbing robot, which is realized through ducted fan. Compared with the existed rod-climbing robots, the presented one have the advantages of simplified structure, easy control, small volume, light weight and strong adaptability. The feasibility of the new designed robot is experimentally verified.

关键词： Adsorption Fans Climbing robots Gears Wheels

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A Biomimetic impedance controller for Robotic Hand Variable Stiffness Grasping

A Biomimetic impedance controller for Robotic Hand Variable ...

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IEEE International Conference on Mechatronics and Automation

作者： Bingchen Liu Li Jiang Shaowei Fan Chongyang Li State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

The accuracy of human hand grasp is due to many reasons, e.g. the feedbacks of force, temperature, pressure, and position, etc. It is impossible to mimic this complicated system for a robotic hand. Therefore, simplification of the robotic control system with relative accurate operations is necessary. In this study, a biomimetic impedance controller was utilized on a robotic hand, where the control parameters were based on a biomechanical model of the human hand. The relationship between the grasp force and surface electromyography (sEMG) was measured, and the impedance of the joint was calculated through a series of dynamic vibration tests subsequently. The effectiveness of the biomimetic impedance controller is verified through human operating the robotic hand reproducing a variety of grasping tasks.

关键词：

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Analysis and Comparison of the Displacement Amplifiers with a Generalized Mathematical Model 9

Analysis and Comparison of the Displacement Amplifiers with ...

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9th IEEE International Conference on Cyber technology in Automation, Control and Intelligent systems, CYBER 2019

作者： Chen, Fangxin Li, Hongwei He, Wenhui Li, Wangyang Dong, Wei State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781728107691

The bridge-type amplifier and the lever-type amplifier are the two frequently used displacement amplifiers in the precision engineering. However, to the knowledge of the authors, the analysis and the performance comparison between the two amplifiers was not frequently reported, which is instrumental in realizing and selecting the displacement amplifiers in the practice application. To this end, the two types mechanisms are analyzed and compared with a compliance matrix based model. Via the analysis and comparison, some interesting results which are significant for the amplifiers are founded: 1). The amplification ratio is related to the input displacement when the elastic load is applied;2) The limited amplification ratio phenomenon is observed in the bridge-type mechanism but also the lever-type one;3) The comparison of the flexure hinges design for the two amplifiers are presented;4) The load capacity of the two amplifiers are first analyzed and compared in this paper. Finally, the accuracy of the modeling is verified by FEA simulation studies. © 2019 IEEE.

关键词： Hinges

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Iterative learning Control of Trajectory Tracking of Robot Manipulator Based the SoC Platform Integrated Motor Drive and Motion Control

Iterative learning Control of Trajectory Tracking of Robot M...

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The 10th International Conference on Power Electronics, Machines and Drives (PEMD 2020)

作者： Y. Sun M. Yang Y. Chen Q. Ni D. Xu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

With the development of SoC technology, the integration of FPGA+ARM has become the development direction of SoC. For the characteristics of integrated multi-axis motion control and motor drive, this paper selects Xilinx ZYNQ-7020 system-onchip (SOC) with integrated dual-core ARM CPU and FPGA as the hardware platform control chip, an arm core motor drive algorithm. Another ARM core completes the interactive function and motion control, and the FPGA to complete the multi-axis hardware current loop and improve the system bandwidth. The iterative learning control (ILC) technology is widely used in robots to reduce the trajectory error of robots performing repetitive tasks. Using P-type iterative learning ILC combined with feedback control , which can compensate for nonrepeating disturbance. Finally, analysis of experimental results shows that iterative learning control combined with feedback control can significantly improve tracking accuracy.

关键词： iterative methods manipulators field programmable gate arrays motion control feedback tracking motor drives system-on-chip control engineering computing iterative learning control machine control

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Enhanced Light-Harvesting Efficiency and Adaptation: A Review on Visible-Light-Driven Micro/Nanomotors

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研究（英文） 2020年第3期 116-140页

作者： Dekai Zhou Rencheng Zhuang Xiaocong Chang Longqiu Li Key Laboratory of Microsystems and Microstructures Manufacturing Harbin Institute of Technology Harbin Heilongjiang 150001 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 150001 China

As visible light accounts for a larger proportion of solar energy and is harmless to living organisms,it has the potential to be the energy source of micro/nanomotors,which transform visible-light energy into mechanical motion,for different applications,especially in environmental ***,how to precisely control the motion of visible-light-driven micro/nanomotors (VLD-MNMs) and efficiently utilize the weak visible-light photon energy to acquire rapid motion are significant *** review summarizes the most critical aspects,involving photoactive materials,propulsion mechanisms,control methods,and applications of VLD-MNMs,and discusses strategies to systematically enhance the energyharvesting efficiency and *** first,the photoactive materials have been divided into inorganic and organic photoactive materials and comprehensively ***,different propulsion mechanisms of the current VLD-MNMs are presented to explain the improvement in the actuation force,speed,and environmental *** addition,considering the characteristics of easy control of VLD-MNMs,we summarized the direction,speed,and cluster control methods of VLD-MNMs for different application ***,the potential applications of VLD-MNMs,e.g.,in environmental remediation,micropumps,cargo delivery,and sensing in microscale,are ***,discussions and suggestions for future directions to enhance the energy-harvesting efficiency and adaptation of VLD-MNMs are provided.

关键词：

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Practical fractional-order variable-gain super-twisting control with application to wafer stages of photolithography systems

arXiv

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arXiv 2021年

作者： Kuang, Zhian Sun, Liting Gao, Huijun Tomizuka, Masayoshi Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin150001 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Mechanical Control System Lab Mechanical Engineering Department University of California BerkeleyCA94720 United States

In this paper, a practical fractional-order variable-gain super-twisting algorithm (PFVSTA) is proposed to improve the tracking performance of wafer stages for semiconductor manufacturing. Based on the sliding mode control (SMC), the proposed PFVSTA enhances the tracking performance from three aspects: 1) alleviating the chattering phenomenon via super-twisting algorithm and a novel fractional-order sliding surface (FSS) design, 2) improving the dynamics of states on the sliding surface with fast response and small overshoots via the designed novel FSS and 3) compensating for disturbances via variable-gain control law. Based on practical conditions, this paper analyzes the stability of the controller and illustrates the theoretical principle to compensate for the uncertainties caused by accelerations. Moreover, numerical simulations prove the effectiveness of the proposed sliding surface and control scheme, and they are in agreement with the theoretical analysis. Finally, practice-based comparative experiments are conducted. The results show that the proposed PFVSTA can achieve much better tracking performance than the conventional methods from various perspectives. Copyright © 2021, The Authors. All rights reserved.

关键词： Sliding mode control

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