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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

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

ISBN: (纸本)9798350325706

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. © 2023 IEEE.

关键词： Lunar exploration Repeated transfer Sample type sampler's docking sealing force

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Emerging biotechnologies for screening electromechanical signals of cardiomyocytes

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Aggregate 2024年第6期5卷 6-22页

作者： Si Tang Lingyu Sun Huiyao Shi Kaixuan Wang Jialin Shi Chanmin Su Yuanjin Zhao Lianqing Liu State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyangChina Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyangChina University of Chinese Academy of Sciences BeijingChina Department of Cardio-Thoracic Surgery Institute of Translational MedicineNanjing Drum Tower HospitalThe Affiliated Hospital of Nanjing University Medical SchoolNanjingChina State Key Laboratory of Bioelectronics School of Biological Science and Medical EngineeringSoutheast UniversityNanjingChina

Cardiac diseases threaten human health and burden the global healthcare ***(CMs)are considered the ideal model for studying the signal transduction and regulation of cardiac *** on the principle of the rhythmical beating process(excitation‒contraction coupling mechanism of CMs),investigating the mechanical and electrophysiological signals offered new hope for cardiac disease detection,prevention,and *** technological success has been achieved in electromechanical signal ***,most drug assessment platforms attach importance to high-throughput and dynamic monitoring of mechanical or electrical signals while overlooking the measuring principles and physiological significance of the *** this review,the development of biosensing platforms for CMs,sensing principles,key measured parameters,measurement accuracy,and limitations are ***,various approaches for the stimulation and measurement of CMs in vitro are discussed to further elucidate the response of these cells to external ***,disease modeling and drug screening are used as examples to intuitively demonstrate the contribution of in vitro CM measurement platforms to the biomedical field,thereby further illustrating the challenges and prospects of these sensing platforms.

关键词： biosensing platform cardiomyocyte electrical signal mechanical signal

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Evaluation of a Bionic Cable-driven Ankle Exoskeleton system for Human Walking Assistance 37

Evaluation of a Bionic Cable-driven Ankle Exoskeleton System...

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37th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2022

作者： Yin, Weihao Wang, Wei Ding, Jianquan Liu, Jingtai Zhang, Juanjuan Tianjin Key Laboratory of Intelligent Robotics Institute of Robotics and Automatic Information System Nankai University Tianjin300350 China

ISBN: (纸本)9781665465366

In order to further explore the performance of assistive exoskeleton, we tested and evaluated a bionic cable-driven ankle exoskeleton system for human walking assistance in this paper. A bionic ankle exoskeleton was used as an end-effector to provide many different patterns of assistance. Assistive forces were transmitted by a flexible Bowden cable which attached fewer moments of inertia to the wearer and minimized the impact of wearable devices on the wearer's natural movements. We preset the assistive torque trajectory according to biological ankle moment during walking and used a torque control method of proportional control with damping injection compensated by adaptive iterative learning to achieve high-performance torque control. We evaluated the kinematics and biological efforts of one subject with predefined assistance patterns. Assistance during walking on a treadmill reduced the metabolic cost by 10.34% compared with normal shoes. The root mean square (RMS) of the soleus muscle activity decreased by 52.2%, and ankle joint moment reduced by 40.4% with the same pattern. The experimental results show that the device is capable of improving walking economy. © 2022 IEEE.

关键词： Wearable technology

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Design and Evaluation of a Self-Aligning Knee Exoskeleton for Knee Extension Assistance during Walking 37

Design and Evaluation of a Self-Aligning Knee Exoskeleton fo...

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37th Youth Academic Annual Conference of Chinese Association of Automation, YAC 2022

作者： Liu, Zhaoyuan Yin, Weihao Han, Jianda Zhang, Juanjuan Institute of Robotics and Automatic Information System Nankai University Tianjin Key Laboratory of Intelligent Robotics Tianjin300350 China

ISBN: (纸本)9781665465366

Exoskeletons can help people with impaired knee extensor function by providing assistance. Previous studies have shown that adding passive degrees of freedom to the knee exoskeleton can help reduce unwanted load on the knee joint. However, the problem of achieving passive degrees of freedom with low-weight structures has not been resolved. We designed and built a self-aligning knee exoskeleton which weighs 1.76kg and uses a slider-rail structure to add a passive degrees of freedom in the kinematic chain. The device was actuated by an off board motor to apply knee extension assist torque during walking. A magnetic connection device was designed to quickly connect the thigh and calf segments of the exoskeleton. The exoskeleton was evaluated on a healthy subject walking uphill at 0°, 2°, 4° and 6° slope with a setup assistance profile. The results indicated a decrease in rectus femoris, vastus medialis and vastus lateralis activity under assistance. The root mean squared (RMS) of the vastus medialis muscle activity decreased 21%, 25%, 24%, and 33% in each of the four conditions. These preliminary results show that the device has the capability to explore more assistance strategies to improve gait rehabilitation. © 2022 IEEE.

关键词： Degrees of freedom (mechanics)

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Human-machine shared control:New avenue to dexterous prosthetic hand manipulation

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Science China(Technological Sciences) 2021年第4期64卷 767-773页

作者： YANG DaPeng LIU Hong State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150080China Artificial Intelligence Laboratory Harbin Institute of TechnologyHarbin 150080China

At present,albeit the dexterous hand prostheses of multiple degrees of freedom(DOFs)have become prosperous on the market,the user’s demand on intuitively operating these devices have not been well addressed so that their acceptance rate is relatively *** unintuitive control method and inadequate sensory feedback are frequently cited as the two barriers to the successful application of these dexterous ***,driven by the wave of artificial intelligence(AI),a series of shared control methods have emerged,in which"bodily function"(myoelectric control)and"artificial intelligence"(local autonomy,computer vision,etc.)are tightly integrated,and provided a new conceptual solution for the intuitive operation of dexterous *** this paper,the background and development trends of this type of methods are described in detail,and the potential development directions and the key technologies that need breakthroughs are *** practice,we instantiate this shared control strategy by proposing a new method combining simultaneous myoelectric control,multi-finger grasp autonomy,and augmented reality(AR)feedback *** method"divides"the human sophisticated reach-and-grasp task into several subtasks,and then"conquers"them by using different strategies from either human or machine *** is highly expected that the shared control methods with hybrid human-machine intelligence could address the control problem of dexterous prostheses.

关键词： robotic hand dexterous prostheses shared control computer vision deep learning

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On-Orbit Thermal Analysis of Ring Truss-Type Deployable Antenna 23rd

On-Orbit Thermal Analysis of Ring Truss-Type Deployable Ante...

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23rd IFToMM China International Conference on Mechanism and Machine Science and Engineering, IFToMM CCMMS 2022

作者： Zhang, Xiong Kang, Xi Huang, Hailin 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

ISBN: (纸本)9789811993978

As space antenna tends to be large-scale, deployable antenna is more and more widely used. As a key part of antenna structure, the antenna profile will be deformed due to uneven heating during on-orbit operation, which affects the service performance of the antenna. In this paper, the thermal effect mode of space environment on the on-orbit antenna is analyzed firstly, and the differential heat conduction equation is obtained by taking the profile as research object. Then, thermal simulation of the ring truss-type deployable antenna in the sun-synchronous orbit is carried out by using the NX-TMG software. The temperature characteristics of the antenna profile and the influence law of material parameters on the profile temperature during on-orbit operation are analyzed. It is concluded that temperature of antenna profile changes in one orbital period. The selection of low absorption rate and high density materials can reduce the profile temperature difference, which provides the reference for ring truss-type deployable antenna design. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Antennas

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G²VD Planner: Efficient Motion Planning With Grid-Based Generalized Voronoi Diagrams

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IEEE Transactions on Automation Science and Engineering 2024年 22卷 3743-3755页

作者： Jian Wen Xuebo Zhang Qingchen Bi Hui Liu Jing Yuan Yongchun Fang Institute of Robotics and Automatic Information System College of Artificial Intelligence and Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin China

In this paper, an efficient motion planning approach with grid-based generalized Voronoi diagrams (G2VD) is newly proposed for mobile robots. Different from existing approaches, the novelty of this work is twofold: 1) a new state lattice-based path searching approach is proposed, in which the search space is reduced to a novel Voronoi corridor to further improve the search efficiency; 2) an efficient quadratic programming-based path smoothing approach is presented, wherein the clearance to obstacles is considered to improve the path clearance of hard-constrained path smoothing approaches. We validate the efficiency and smoothness of our approach in various challenging simulation scenarios and outdoor environments. It is shown that the computational efficiency is improved by 17.1% in the path searching stage, and path smoothing with the proposed approach is 6.6 times faster than an advanced sparse-banded structure-based path smoothing approach and 53.3 times faster than the popular timed-elastic-band planner. A video showing outdoor navigation on our campus is available at https://***/iMXGthgvp58 . Note to Practitioners—This paper is motivated by the challenges of motion planning problems of mobile robots. An efficient motion planning approach called G2VD planner is proposed by combining path searching, path smoothing, and time-optimal velocity planning. Extensive simulation and experimental results show the effectiveness of the proposed motion planning approach. However, the prediction information of dynamic obstacles is not incorporated in the proposed motion planner, thus the motion planner may be a bit sluggish in response to dynamic obstacles. Furthermore, we plan to integrate the intention/trajectory prediction of pedestrians/vehicles into the proposed framework to enhance the foreseeability of the motion planner.

关键词： Smoothing methods Planning Robots Search problems Mobile robots Safety Heuristic algorithms

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RAM-NAS: Resource-aware Multiobjective Neural Architecture Search Method for Robot Vision Tasks

RAM-NAS: Resource-aware Multiobjective Neural Architecture S...

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

作者： Shouren Mao Minghao Qin Wei Dong Huajian Liu Yongzhuo Gao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Neural architecture search (NAS) has shown great promise in automatically designing lightweight models. However, conventional approaches are insufficient in training the supernet and pay little attention to actual robot hardware resources. To meet such challenges, we propose RAM-NAS, a resource-aware multi-objective NAS method that focuses on improving the supernet pretrain and resource-awareness on robot hardware devices. We introduce the concept of subnets mutual distillation, which refers to mutually distilling all subnets sampled by the sandwich rule. Additionally, we utilize the Decoupled Knowledge Distillation (DKD) loss to enhance logits distillation performance. To expedite the search process with consideration for hardware resources, we used data from three types of robotic edge hardware to train Latency Surrogate predictors. These predictors facilitated the estimation of hardware inference latency during the search phase, enabling a unified multi-objective evolutionary search to balance model accuracy and latency trade-offs. Our discovered model family, RAM-NAS models, can achieve top-1 accuracy ranging from 76.7% to 81.4% on ImageNet. In addition, the resource-aware multi-objective NAS we employ significantly reduces the model’s inference latency on edge hardware for robots. We conducted experiments on downstream tasks to verify the scalability of our methods. The inference time for detection and segmentation is reduced on all three hardware types compared to MobileNetv3-based methods. Our work fills the gap in NAS for robot hardware resource-aware.

关键词： Training Accuracy Image edge detection Scalability Robot vision systems Predictive models Hardware Neural architecture search Robots Testing

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Research on High Reliability and Redundancy Design Method of Risk-driven Transformer Internal Inspection Robot 2

Research on High Reliability and Redundancy Design Method of...

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2nd International Conference on robotics, Artificial Intelligence and Intelligent Control, RAIIC 2023

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

ISBN: (纸本)9798350328004

Aiming at the demand for intelligent operation and maintenance of large-scale oil-immersed power transformers with high reliability tasks, the research on risk-driven design methods for power transformer internal inspection robots was carried out. From the perspective of operation and maintenance safety, we reduce the risks of robot operation and put forward a risk-driven robot system-wide high reliability and redundancy design method, which includes the robot structure design, control strategy, backup design and other dimensions. The research results of the article provide reliable theoretical support for the safe, reliable and intelligent operation and maintenance of power transformers, in the areas of robot space vector arrangement propulsion, omni-directional environment sensing vision, high reliability robot control strategy, and redundancy and hot backup system design. The research results of the article provide reliable theoretical support for safe and reliable intelligent operation and maintenance of power transformers. © 2023 IEEE.

关键词： Inspection

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A Novel FBG Shape Sensor Based on Mechanical Model for Continuum Manipulator

A Novel FBG Shape Sensor Based on Mechanical Model for Conti...

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International Conference on Autonomous Robots and Agents, ICARA

作者： Yuxin Zhang Wei Dong Zhiyuan Yan Yongzhuo Gao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (数字)9798350394245

ISBN: (纸本)9798350394252

Fiber Bragg Gratings (FBG) are used widely for that it is small and sensitive. It is suitable to insert a sensor based on FBGs to some narrow cavities. At the same time, a slender continuum structure requires tiny sensors inside it. A multi-node differential curvature measurement sensor of FBG fiber is designed in this paper to realize temperature compensation. Considering the friction among FBG, driving wires, and niti tube and external forces applied on the end, a mechanical model about the FBG sensor and the continuum manipulator is proposed. At last, a linear interpolation method is used in the curvature estimation. Under the condition that there is no end resistance and only the bending moment and friction along the outer surface of the continuum generated by the steel wire driven by the motor the absolute measurement error of the position of the end of the continuum is 1.9mm.

关键词： Temperature measurement Temperature sensors Optical fiber sensors Shape Shape measurement Wires Robot sensing systems

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