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A Legged Small Celestial Body Landing Mechanism:Landing Simulation and Experimental Test

Space(Science & Technology) 2023年第1期3卷 453-463页

作者： Zhijun Zhao Shuang Wu Jingdong Zhao Yaobing Wang Chuncheng Zhao Beijing Key Laboratory of Intelligent Space Robotic System Technology and Applications Beijing Institute of Spacecraft System EngineeringBeijing 100094China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150006China Department of Aerospace Science and Technology Polytechnic University of MilanMilan 20133Italy

Landing mechanism tends to rebound and turn over,and the stability time is long when landing on the small celestial *** landing performance in different conditions is necessary to be evaluated to guide the ***,landing performance evaluation is realized by *** factors affecting the landing performance including cardan element damping,foot anchors,retro-rocket thrust,landing slope angle,and landing attitude are analyzed.A microgravity platform is built to test the landing mechanism,and the consistency between the simulation and the experiment is *** the basis of simulation and experiment,some landing suggestions are proposed to improve the landing performance.

关键词： thrust mechanism landing

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High accuracy target point classification through dark-field detection of large-aperture optics surface based on machine vision

High accuracy target point classification through dark-field...

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2024 Applied Optics and Photonics China: Optical Sensing, Imaging Technology, and Applications, AOPC 2024

作者： Zhou, Shicheng Yin, Zhaoyang Wang, Bei Zhao, Linjie Cheng, Jian Chen, Mingjun School of Mechatronics Engineering Harbin Institute of Technology Harbin150001 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

ISBN: (数字)9781510687820

ISBN: (纸本)9781510687813

Surface defects on optics seriously affect their service life in high-power laser system. To address this issue, repair technologies for large-aperture optics are extensively employed. However, the operation of high-power laser system generates a large number of optics requiring repair. Currently, microscopic inspection is widely used for target points classification due to its high accuracy, but it has limitations such as small field of view and low efficiency. Utilizing the OTSU algorithm and Convolutional Neural Networks (CNN), a dark-field classification model for optical surface target points has been developed. Upon conducting experiments with several network models, the ResNet model, a probability threshold of 0.998 were determined. In conclusion, the classification accuracy for defects was 99.18% and for contaminants was 90.34%. The outcomes show that target points on the surfaces of optics can be accurately classified using this method. © 2024 SPIE.

关键词： Machine vision

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Point-line RGB-D SLAM Algorithm Based on Multiple Back-projection Strategy 7

Point-line RGB-D SLAM Algorithm Based on Multiple Back-proje...

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7th International Conference on robotics, Control and Automation Engineering, RCAE 2024

作者： Sun, Xianshuai Wang, Yabiao Zhao, Yuming Li, Zhigang He, Zhen Wang, Xiaohui Shenyang Institute of Automation Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang China Key Laboratory of Marine Robotics Shenyang China University of Chinese Academy of Sciences Beijing China

ISBN: (纸本)9798350355642

To overcome the limitations of the application of the SLAM algorithm, which is based on point features under harsh conditions, this paper innovatively proposes a SLAM algorithm that is based on point and line feature fusion. The algorithm uses an RGB-D camera as an input sensor to extract feature points and feature lines simultaneously from the input RGB image. To fully exploit spatial line feature information and mitigate the impact of environmental noise, we propose a multiple back-projection strategy guided by a depth map to robustly recover spatial line information. Finally, the proposed algorithm is compared with the ORB-SLAM2 algorithm in the public dataset TUM RGB-D. The results show that the proposed algorithm significantly improves the accuracy of localization and mapping. © 2024 IEEE.

关键词： Mapping

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Vision-based docking system for an aromatic-hydrocarbon-inspired reconfigurable robot

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Science China(Technological Sciences) 2024年第6期67卷 1798-1816页

作者： XING FangYi XU Cheng LIU JinGuo XUE ZhiHui State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang110016China School of Automation and Electrical Engineering Shenyang Ligong UniversityShenyang110158China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang110169China University of Chinese Academy of Sciences Beijing100049China

Aromatic hydrocarbons generally refer to compounds containing benzene *** types of isomers can be formed by replacing hydrogen atoms on the benzene *** this paper,an aromatic-hydrocarbon-inspired modular robot(AHIMR)is *** robot can be reassembled into different configurations suitable for various task requirements.A vision-based docking system is designed for the *** system primarily consists of two stages:a remote guidance stage and a precise docking *** the remote guidance stage,an object module is identified using an illumination adaptive target recognition algorithm,and then the active module moves to the docking area through communication with *** the precise docking stage,the active module calculates the relative pose with the object module using a perspective-n-point method and dynamically adjusts its posture to *** this process,a Kalman filter is used to reduce target occlusion and jitter *** addition,the docking system feasibility is verified via several simulation *** module docking accuracy is controlled within 0.01 m,which meets the reconfiguration task requirements of the *** the AHIMR submodule docking experiment,the active module accurately moves to the expected position with a docking success rate of 95%.

关键词： modular robot reconfiguration aromatic hydrocarbon autonomous docking visual identification

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Recent Developments in Metallic Degradable Micromotors for Biomedical and Environmental Remediation Applications

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Nano-Micro Letters 2024年第3期16卷 1-35页

作者： Sourav Dutta Seungmin Noh Roger Sanchis Gual Xiangzhong Chen Salvador Pané Bradley J.Nelson Hongsoo Choi Department of Robotics and Mechatronics Engineering Daegu Gyeongbuk Institute of Science and Technology(DGIST)Daegu 42988Republic of Korea DGIST‑ETH Microrobotics Research Center DGISTDaegu 42988Republic of Korea Multi‑Scale Robotics Lab Institute of Robotics and Intelligent SystemsETH Zurich8092 ZurichSwitzerland Institute of Optoelectronics State Key Laboratory of Photovoltaic Science and TechnologyShanghai Frontiers Science Research Base of Intelligent Optoelectronics and PerceptionFudan UniversityShanghai 200433People’s Republic of China

Synthetic micromotor has gained substantial attention in biomedicine and environmental ***-based degradable micromotor composed of magnesium(Mg),zinc(Zn),and iron(Fe)have promise due to their nontoxic fuel-free propulsion,favorable biocompatibility,and safe excretion of degradation products Recent advances in degradable metallic micromotor have shown their fast movement in complex biological media,efficient cargo delivery and favorable biocompatibility.A noteworthy number of degradable metal-based micromotors employ bubble propulsion,utilizing water as fuel to generate hydrogen *** novel feature has projected degradable metallic micromotors for active in vivo drug delivery *** addition,understanding the degradation mechanism of these micromotors is also a key parameter for their design and *** propulsion efficiency and life span govern the overall performance of a degradable metallic *** we review the design and recent advancements of metallic degradable ***,we describe the controlled degradation,efficient in vivo drug delivery,and built-in acid neutralization capabilities of degradable micromotors with versatile biomedical ***,we discuss micromotors’efficacy in detecting and destroying environmental ***,we address the limitations and future research directions of degradable metallic micromotors.

关键词： Magnesium Zinc Iron Biodegradable microrobot Biomedical Environmental

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RGBD Navigation: A 2D navigation framework for visual SLAM with pose compensation

RGBD Navigation: A 2D navigation framework for visual SLAM w...

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

作者： Zhang, Teng Wang, Pengfei Zha, Fusheng Guo, Wei Li, Mantian Harbin Institute of Technology The State Key Laboratory of Robotics Harbin China

ISBN: (纸本)9798350327182

The breakthrough in SLAM(Simultaneous Localization and Mapping) technology has greatly driven the development of robot navigation. Currently, LiDAR navigation based on the development of LiDAR SLAM and ROS navigation stack is very mature. However, due to the inability of open-source vSLAM(visual Simultaneous Localization and Mapping) and VO(Visual Odometry) to establish dense maps suitable for navigation, poor adaptability of visual information to ROS navigation stack, and map positioning problems caused by sensor characteristics, the development of visual navigation faces difficulties. To address the above three issues, this work provides a framework called RGBD Navigation, which utilizes RGBD sensors to achieve vision-based navigation for robots. This framework establishes a dense point cloud map based on the pose information provided by vSLAM/VO, depth images and RGB images, and converts it into a 2D occupancy grid map. And, convert the depth image into two-dimensional laserscan information. Finally, establish a "map-to-odom"positioning node based on the pose provided by SLAM/VO to achieve robot positioning on the map. This framework solves the three main problems of visual sensor adaptation to the ROS Navigation stack, and achieves the establishment of a vision-based 2D navigation system. © 2023 IEEE.

关键词： Navigation systems

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An Untethered Bionic Soft Robotic Vehicle With Magnetic Actuation and Control for Multi-Scenario Applications

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IEEE robotics and Automation Letters 2025年第6期10卷 5289-5296页

作者： Yang, Wenguang Qiao, Zezheng Gao, Zhizheng Yu, Haibo Yantai University School of Electromechanical and Automotive Engineering Yantai264005 China Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang Institute of Automation Shenyang110016 China

In this study, a bionic soft robotic vehicle is designed with overall dimensions of 22.7 mm in length and 22 mm in width and weighs just 1.69 g. The robotic vehicle can realize precise motion control through a rotating magnetic field generated by Helmholtz coils. In the rotating magnetic field environment, by changing the parameters of the input current waveform, the vehicle can perform a variety of modes of motion, such as forward, backward, steering, and more. Furthermore, the robotic vehicle exhibits excellent motion performance. It is capable of moving stably on a variety of surfaces, including glass, wooden board, frosted board, and sandy soil, and can even successfully climb over obstacles as high as 30°. In particular, it can climb over a 20° barrier at 11.87 mm/s when loaded with three times its own weight (5 g). At the functional level, the robotic vehicle showcases its capabilities in obstacle clearance, path planning, and detection, underscoring its potential for performing complex tasks. © 2016 IEEE.

关键词： Motion planning

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Decoding Wrist and Hand Movement Using a Synergy-Driven, Variable Stiffness Musculoskeletal Model Under Different Loads

Decoding Wrist and Hand Movement Using a Synergy-Driven, Var...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Zhao, Jiamin Yu, Yang Sheng, Xinjun Zhu, Xiangyang Shanghai Jiao Tong University State Key Laboratory of Mechanical System and Vibration Shanghai200240 China Shanghai Jiao Tong University State Key Laboratory of Mechanical System and Vibration Meta Robotics Institute Shanghai200240 China

ISBN: (纸本)9781665481090

Myoelectric interfaces, which translate electromyography (EMG) signals into motor intentions, are extensively utilized in prosthetic control due to their intuitive nature. However, current methodologies extremely suffer from performance degradation under non-stationary EMG signals. Varying loads significantly alter muscle activation patterns, with variations in loading weights being a significant factor affecting performance. Conventional EMG-driven musculoskeletal models (MMs) demonstrate robustness across different loads but often neglect the influence of changes in muscle co-contraction levels induced by increased loads. To address this issue, we proposed an improved MM that integrated variable muscle and joint stiffnesses with synergy-based muscle activations into the muscle contraction dynamics. This model adapted to alterations in muscle co-contraction levels under diverse loads, allowing for robust estimation of hand and wrist movements without requiring additional training for different loads. Both offline and online experiments were conducted. The outcomes demonstrated that the proposed model significantly improved robustness and estimation accuracy compared to traditional envelopedriven and constant stiffness MMs. It maintained stable performance across different loads with training conducted solely under zero-load conditions, thereby reducing the training burden. This study presents a novel approach to enhance the reliability of EMG-based human-machine interfaces. © 2024 IEEE.

关键词： Electromyography

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A Programmable Inchworm-Inspired Soft Robot Powered by a Rotating Magnetic Field

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Journal of Bionic Engineering 2023年第2期20卷 506-514页

作者： Honglin Shen Shuxiang Cai Zhen Wang Zheng Yuan Haibo Yu Wenguang Yang School of Electromechanical and Automotive Engineering Yantai UniversityYantai264005China State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang110016China

With the growing demand for miniaturized workspaces,the demand for microrobots has been increasing in robotics *** to traditional rigid robots,soft robots have better robustness and *** a flexible structure,soft robots can undergo large deformations and achieve a variety of motion *** are working to design and fabricate flexible robots based on biomimetic principles,using magnetic fields for cable-free *** this study,we propose an inchworm-shaped soft robot driven by a magnetic ***,a robot is designed and fabricated and force analysis is ***,factors affecting the soft robot’s motion speed are examined,including the spacing between the magnets and the strength and frequency of the magnetic *** this basis,the motion characteristics of the robot in different shapes are explored,and its motion modes such as climbing are experimentally *** results show that the motion of the robot can be controlled in a two-dimensional plane,and its movement speed can be controlled by adjusting the strength of the magnetic field and other *** proposed soft robot is expected to find extensive applications in various fields.

关键词： Soft robot Bio-inspired soft robot Magnetic actuation

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Optical properties of La_(2)O_(3) and HfO_(2) for radiative cooling via multiscale simulations

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Chinese Physics B 2024年第12期33卷 430-441页

作者： Lihao Wang Wanglin Yang Zhongyang Wang Hongchao Li Hao Gong Jingyi Pan Tongxiang Fan Xiao Zhou State Key Laboratory of Metal Matrix Composites School of Materials Science and EngineeringShanghai Jiao Tong UniversityShanghai 200240China Institute of Medical Robotics Shanghai Jiao Tong UniversityShanghai 200240China

Radiative cooling materials have gained prominence as a zero-energy solution for mitigating global ***,a comprehensive understanding of the atomic-scale optical properties and macroscopic optical performance of radiative cooling materials remains elusive,limiting insight into the underlying physics of their optical response and cooling ***_(2)O_(3)and HfO_(2),which represent rare earth and third/fourth subgroup inorganic oxides,respectively,show promise for radiative cooling *** this study,we used multiscale simulations to investigate the optical properties of La_(2)O_(3)and HfO_(2)across a broad ***-principles calculations revealed their dielectric functions and intrinsic refractive indices,and the results indicated that the slightly smaller bandgap of La_(2)O_(3)compared to HfO_(2)induces a higher refractive index in the solar ***,three-phonon scattering was found to provide more accurate infrared optical properties than two-phonon scattering,which enhanced the emissivity in the sky *** Carlo simulations were also used to determine the macroscopic optical properties of La_(2)O_(3)and HfO_(2)*** on the simulated results,we identified that the particle size and particle volume fraction play a dominant role in the optical *** findings underscore the potential of La_(2)O_(3)and HfO_(2)nanocomposites for environment-friendly cooling and offer a new approach for high-throughput screening of optical materials through multiscale simulations.

关键词： radiative cooling optical properties of La_(2)O_(3) and HfO_(2) first-principles calculations Monte Carlo simulations

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