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IEEE International Conference on Mechatronics and Automation

作者： Kui Sun Kailun Chen State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

Space debris cleaning technology can not only save scarce orbit resources, but also protect satellites and space stations in orbit, which has important research significance. Combination of reliability and adaptability is the key for space debris cleaning devices to capture debris. A design scheme of flexible catch claw-type space debris capture mechanism based on constant torque spring deployment is proposed, which has the advantages of light weight, high capture reliability and high adaptability. The new flexible catching mechanism is mainly composed of a multi-finger flexible catching claw, a transmission device, and a locking device. In the multi-finger flexible catching claw, a constant torque spring is used as a passive drive deployment mechanism, and a carbon fiber rod is used as an actuator. The transmission device uses a ball screw to drive the link mechanism to move. The locking device provides a controllable deployment function at a predetermined position. This paper introduces the structure design of the capture mechanism and the research on synchronized deployment of the catch claws. Finally, the kinetic simulation results for evaluating the capture performance are given.

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A compact control system and a myoelectric control method for multi-DOFs prosthetic hand

A compact control system and a myoelectric control method fo...

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2019 IEEE International Conference on Real-Time Computing and robotics, RCAR 2019

作者： Yang, Bin Jiang, Li Hu, Jianhao Li, Chongyang Liu, Hong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilong Jiang China

ISBN: (纸本)9781728137261

This paper introduces a compact control system for multi-DOFs prosthetic hand. Based on the optimization of sensors configuration and hardware structure of the control system, the power consumption and volume can meet the needs of the actual using. In addition, a myoelectric control method based on the principle of finite state machine (FSM) is integrated in the control system. The proposed method enables amputees to select one of the given gestures directly, and grasp objects. As the control method requires less electromyography electrodes comparing to the traditional myoelectric control method based on EMG pattern recognition, it's available for a wider range of amputees with less active muscles. To assess the performance of the proposed method, the experiments of grasping random objects by non-amputee subjects has been conducted with the 6-DOFs HIT-V prosthetic hand, and an amputee volunteer used this prosthetic hand for one day to demonstrate viability. The non-amputee experimental results indicate that subjects can select gesture correctly among seven gestures and accomplish the designed grasping tasks with a success rate up to 96.67% within a shorter time just using two electrodes, and amputee proved viability of proposed method in daily life. © 2019 IEEE.

关键词： Electrodes

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Design and analysis of a variable-span and cambered span morphing wing for UAV

Design and analysis of a variable-span and cambered span mor...

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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Yang, Guang Guo, Hongwei Liu, Rongqiang Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin Heilongjiang Province China

ISBN: (纸本)9781728163215

The variable-span and cambered span morphing wing for unmanned aerial vehicle (UAV) can greatly improve its flight efficiency. In this work, a new extendable and bendable morphing wing with double driving is designed. The morphing skeleton of wing is composed of the basic unit module which is seven-bar mechanism in series. The rubber-filled corrugated sandwich corrugated skin is designed according to the requirement of morphing skeleton. The kinematics model of morphing skeleton that is composed of three modules in series is established, then the kinematics analysis of morphing skeleton is carried out, at last the expressions of the deformed position and driving angle are obtained. In the case of the same wing span, the influence of different rod length ratio on the maximum extension length of the morphing wing is analyzed, and the influence of different driving speed on the maximum bending angle under the same rod length ratio is compared and analyzed. © 2019 IEEE.

关键词： Wings

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An Approach for Multi-Objective Obstacle Avoidance Using Dynamic Occupancy Grid Map 17

An Approach for Multi-Objective Obstacle Avoidance Using Dyn...

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17th IEEE International Conference on Mechatronics and Automation, ICMA 2020

作者： Liu, Yanjie Chen, Jiao Bai, Xinyu Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin Heilongjiang Province China Sinopec International Business Co. Ltd. No. 22 North Chaoyang Gate Street Chaoyang District Beijing China

ISBN: (纸本)9781728164151

Path planning in dynamic environments is an important guarantee for mobile robots to complete navigation tasks safely. However, human motion is unpredictable, changing its speed or direction arbitrarily, and traditional dynamic obstacle avoidance strategies based on object detection require massive computing resources in the prediction step, which reduces the real time characteristics of the system. To address this question, we propose a dynamic obstacle avoidance framework. It defines the environment as a random dynamic system by using dynamic grid maps, and obtains the velocity of multiple objects with low delay under GPU parallel acceleration calculations. Naturally, we introduce the relative velocity into the artificial potential field function. By expanding the data structure of costmaps, the dynamic grid map is effectively connected with the local obstacle avoidance algorithm. Our approach reduces the detour time of the robot and improves the system security. © 2020 IEEE.

关键词： Mobile robots

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A Bipolar Myoelectric Sensor-Enabled Human-Machine Interface Based On Spinal Module Activations

A Bipolar Myoelectric Sensor-Enabled Human-Machine Interface...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Chunzhi Yi Feng Jiang Guangming Lu Chifu Yang Zhen Ding Jianfei Zhu Jie Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China School of Computer Science and Technology Harbin Institute of Technology Harbin Heilongjiang China Pengcheng Laboratory Shenzhen Guangdong China Nanjing Jinling Hospital Clinical School Medical College Nanjing University Nanjing Jiangsu China AI Research Institute Harbin Institute of Technology Shenzhen Guangdong China

The surface electromyography (sEMG) signal-based human-machine interface (HMI) has been widely used for various scenarios of physical human-robot interaction. However, current HMIs based on bipolar myoelectric sensors are hindered by the limitations of global sEMG features, which are prone to variability and delay. In this letter, we define a HMI that takes advantage of the underlying neural information of spinal module activations from bipolar sEMG signals, inspired by recent findings of neural codes. Firstly, the spinal module activations are identified by the spiking trains of the muscle synergies extracted from bipolar sEMG signals. Secondly, we extract the information encoded in both firing rates and spike timings of the spinal module activation in a population coding manner, which follows the information encoding principle of neurons. Thirdly, we map the series of spinal module activations into gait phases, locomotion modes, joint moment and human identity in order to experimentally reveal the physiological information contained in the spinal module activations. The contained information and the benefit of our design are demonstrated and experimentally explained by the presented results and comparisons with the traditionally used global sEMG features. The proposed bipolar myoelectric sensor-enabled human-machine interface could contribute to various scenarios of physical human-robot interaction.

关键词： Sociology Neurons Human-robot interaction Sensor phenomena and characterization Muscles Robot sensing systems Encoding

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Adaptive-LIO: Enhancing Robustness and Precision through Environmental Adaptation in LiDAR Inertial Odometry

arXiv

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arXiv 2025年

作者： Zhao, Chengwei Hu, Kun Xu, Jie Zhao, Lijun Han, Baiwen Wu, Kaidi Tian, Maoshan Yuan, Shenghai The State Key Laboratory of Robotics and Systems Harbin Institute of Technology HeiLongJiang Harbin150001 China Hangzhou Qisheng Intelligent Techology Co. Ltd. 4083 Jianshe Fourth Road Zhejiang Hangzhou311217 China The School of Mechatronic Engineering China University of Mining and Technology JiangSu Xuzhou221116 China The School of Mechanical and Electrical Engineering University of Electronic Science And Technology Sichuan Chengdu611731 China The School of Electrical and Electronic Engineering Nanyang Technological University 50 Nanyang Avenue 639798 Singapore

The emerging Internet of Things (IoT) applications, such as driverless cars, have a growing demand for high-precision positioning and navigation. Nowadays, LiDAR inertial odometry becomes increasingly prevalent in robotics and autonomous driving. However, many current SLAM systems lack sufficient adaptability to various scenarios. Challenges include decreased point cloud accuracy with longer frame intervals under the constant velocity assumption, coupling of erroneous IMU information when IMU saturation occurs, and decreased localization accuracy due to the use of fixed-resolution maps during indoor-outdoor scene transitions. To address these issues, we propose a loosely coupled adaptive LiDAR-Inertial-Odometry named Adaptive-LIO, which incorporates adaptive segmentation to enhance mapping accuracy, adapts motion modality through IMU saturation and fault detection, and adjusts map resolution adaptively using multi-resolution voxel maps based on the distance from the LiDAR center. Our proposed method has been tested in various challenging scenarios, demonstrating the effectiveness of the improvements we introduce. The code is open-source on GitHub: Adaptive-LIO. © 2025, CC BY.

关键词： SLAM robotics

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Design and 3D Printing of Lower Limb Prosthetic Socket *

Design and 3D Printing of Lower Limb Prosthetic Socket *

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IEEE International Conference on Cyborg and Bionic systems (CBS)

作者： Sheng Li Bin Xie Ye Chen Xinyu Wu Guoxin Fang Yan Zhang Fei Gao Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen China Shien-Ming Wu School of Intelligent Engineering South China University of Technology Guangzhou China Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong China State Key Laboratory of Powder Metallurgy Central South University Changsha Hunan China

ISBN: (数字)9798350388039

ISBN: (纸本)9798350388046

The prosthetic socket is a crucial interface connecting the residual limb to the prosthetic device, significantly affecting force transmission and wearer comfort. This work presents a comprehensive framework for design, simulation, and fabrication of the prosthetic socket. A 3D model of the residual limb, including the skeleton model and skin contour, is reconstructed from CT scan data. Using this model, the prosthetic socket and liner are designed based on biomechanical principles. The interaction force between the residual limb and the prosthetic socket and liner is simulated via finite element analysis (FEA) when the body weight of a below-knee amputee exerts on the prosthetic socket. Finally, the prosthetic socket and residual limb are fabricated using additive manufacturing (AM) technology, and a soft prosthetic liner is made of ethylene-vinyl-acetate (EVA) polymer. Clinical trials on a below-knee amputee were conducted to preliminarily test the prosthetic socket’s performance.

关键词： Limbs Solid modeling Sockets Biological system modeling Force Three-dimensional printing Skin Data models Finite element analysis Prosthetics

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Fast sheath-driven electrothermal artificial muscles with high power densities

Research Square

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Research Square 2021年

作者： Hu, Xinghao Jia, Jingjing Wang, Yingming Tang, Xintian Fang, Shaoli Wang, Yilun Wang, Jian Baughman, Ray Ding, Jian-Ning The University of Texas Dallas United States Institute of Intelligent Flexible Mechatronics Jiangsu University China State Key Laboratory of Robotics and System Harbin Institute of Technology China Jiangsu University China

Electrothermal carbon nanotube (CNT) yarn muscles can provide large strokes during heating-cooling cycles. However, the slow cooling rate of thermal muscles limit their applications, since large diameter prior-art thermal muscles cannot be rapidly cycled. We here report an ultrafast thermally powered sheath-driven yarn muscle that uses a hybrid CNT sheath and an inexpensive polymer core. Our coiled muscle contracts 14.3% at 1 Hz and 7.3% at 8 Hz in air when powered by a square-wave electrical voltage input. The 70-mm-diameter actuated muscle cools in air to 16℃ from 150℃ within 0.5 s, compared with 6 s for a 65-mm-diameter sheath-run muscle that uses an electrothermally heated CNT core and 9 s for a 78-mm-diameter muscle that uses the sheath material for the entire muscle. An average power density of 12 kW/kg was obtained for a sheath-driven muscle, which is 42 times that for human skeletal muscle. This high performance results since the heating that drives fast actuation cycles is largely restricted to the muscle sheath, and this sheath is in direct contact with ambient temperature air. © 2021, CC BY.

关键词： Carbon nanotubes

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An Improved Crack Detection Method Based on Pyramid Split Attention 3

An Improved Crack Detection Method Based on Pyramid Split At...

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3rd International Academic Exchange Conference on Science and technology Innovation, IAECST 2021

作者： Du, Zexu Zhang, Guoliang Wu, Peng Zhang, Xiangquan Wang, Weizhou Wang, Zhiyuan Global Energy Interconnection Research Institute Co. Ltd Artificial Intelligence on Electric Power System State Grid Corporation Joint Laboratory Beijing102209 China State Grid Gansu Electric Power Company Lanzhou China Ministry of Industry and Information Technology Key Laboratory of Advanced Marine Communication and Information Technology Harbin150001 China

ISBN: (纸本)9781665402675

A small leak will sink a great ship. The existence of various cracks poses a huge threat to the quality and safety of engineering construction. For manual inspection of cracks, various complex cracks have high false detections or missed detections. Therefore, we proposed a crack detection algorithm based on attention mechanism to automatically locate cracks to improve the safety of the engineering construction. By improving the CSP layer in the backbone of YOLOv5, it introduces an attention mechanism called pyramid split attention (PSA) to focus on the importance of different channels to make the network better learn the crack features. In addition, during the testing process, we use TTA to synthesize the network detection performances at different scales to get the final detection results more accurately. Finally, the F1 score of our network reached a high level on the RDDC2020 dataset. © 2021 IEEE.

关键词： Object detection

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Fast Detection of Multi-Direction Remote Sensing Ship Object Based on Scale Space Pyramid

Fast Detection of Multi-Direction Remote Sensing Ship Object...

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International Conference on Mobile Ad-hoc and Sensor Networks, MSN

作者： Ziying Song Li Wang Guoxin Zhang Caiyan Jia Jiangfeng Bi Haiyue Wei Yongchao Xia Chao Zhang Lijun Zhao School of Computer and Information Technology Beijing Jiaotong University Beijing China School of Vehicle and Mobility Tsinghua University Beijing China State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China School of Information Science and Engineering Hebei University of Science and Technology Shijiazhuang China

Ships in remote sensing images are usually arranged in arbitrary direction, small in size, and densely arranged. As a result, existing object detection algorithms cannot detect ships quickly and accurately. In order to solve the above problems, a lightweight object detection network for fast detection of ships is proposed. The network is composed of backbone network, four-scale fusion network and rotation branch. First, a lightweight network unit S-LeanNet is designed and used to build a low-computing and accurate backbone network. Then, a four-scale feature fusion module is designed to generate a four-scale feature pyramid, which contains more features such as ship shape and texture, and at the same time is conducive to the detection of small ships. Finally, a novel rotation branch module is designed, using balance L1 loss function and R-NMS for post-processing, to realize the precise positioning and regression of the rotating bounding box in one step. Experimental results show that the detection precision of our method in the DOT A remote sensing data set is compared with the latest SCRDet detection method, the precision is increased by 1.1%, and the operating speed is increased by 8 times, which can meet the fast detection requirements of ships.

关键词： Sea surface Shape Object detection US Department of Transportation Feature extraction Sensors Marine vehicles

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