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检索条件"机构=State Key Laboratory of Robotics and System Robotics Institute"

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Topology Optimization of Constrained Layer Damping Treatment Plate Under Harmonic Excitations 1

引用

29th International Conference on Computational and Experimental Engineering and Sciences, ICCES 2023

作者： Chen, Rong Luo, Haitao State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110169 China Institute for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China University of Chinese Academy of Sciences Beijing101408 China

ISBN: (数字)9783031449475

ISBN: (纸本)9783031449468

The constrained layer damping (CLD) treatment is widely used to suppress the vibration and noise of thin-walled structures. However, the complete coverage of the constrained damping layer will increase the unnecessary additional mass, lead to material waste and can not effectively improve the damping performance of the composite structure. In this paper, the evolutionary topology optimization (ETO) method is used to investigate the optimal distribution of damping materials of CLD structures under harmonic excitation. The design objective is to minimize the vibration of the structure at the specified location by allocating a given amount of damping materials. The projection relationship between the design model and the finite element analysis (FEA) model is established. Based on a modified modal superposition method, the sensitivities of the objective function with respect to the design variables are obtained. The implicit smooth structure topology of constrained damping layer is determined by the level set function (LSF) constructed by node sensitivity. The analysis of the design model is replaced by the FEA model with various elemental volume fractions, which are determined by the auxiliary LSF. Numerical examples show the effectiveness and efficiency of the method. The research shows that the proposed method can not only make the objective function converge to the optimal value stably, but also obtain smooth and clear boundary. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.

关键词： Finite element method

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Design and Experiment of A Hybrid Wave Energy Harvester Based on Tapered Rollers 21

Design and Experiment of A Hybrid Wave Energy Harvester Base...

引用

21st International Conference on Micro and Nanotechnology for Power Generation and Energy Conversion Applications, PowerMEMS 2022

作者： Li, Yunfei Tang, Tianyi Fang, Yan Huang, Manjuan Hou, Cheng Liu, Huicong Sun, Lining State Key Laboratory of Robotics and System Harbin150001 China Soochow University School of Mechanical and Electric Engineering Jiangsu Provincial Key Laboratory of Advanced Robotics China

ISBN: (纸本)9781665493062

This paper presents a hybrid energy harvester based on tapered rollers with an electromagnetic generator (EMG) component and a triboelectric nanogenerator (TENG) component for ultra-low frequency wave energy harvesting. The chaotic pendulum is adjusted to adapt the wave excitation under different sea conditions, ensuring that the device achieves optimal output performance. At excitation frequency of 1Hz and the tilt angle of 60°, the open-circuit voltage peaks of 8.4 and 132 V can be achieved by the EMG and TENG, respectively, corresponding to the power outputs of 4.38 and 0.078 mW, respectively. It was demonstrated that the device can easily light up over 360 red light-emitting diodes. © 2022 IEEE.

关键词： Wave energy conversion

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Cooperative Path Planning of Multi-UUVs Area Coverage Based on Beetle Swarm Optimization 3rd

Cooperative Path Planning of Multi-UUVs Area Coverage Based...

引用

3rd International Conference on Autonomous Unmanned systems, ICAUS 2023

作者： Zhang, Maohuai Yang, Meimei Qiu, Shaoxiong Xu, Hongli Gu, Haitao Northeastern University Shenyang110819 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China

ISBN: (纸本)9789819710829

Multiple underwater unmanned vehicles(Multi-UUVs) area coverage collaborative path planning faces the problems of low collaborative control efficiency and frequent obstacle avoidance. To address these issues, we firstly decompose the map into several sub-regions based on the Boustrophedon algorithm, in which several suitable initial points and termination points can be selected for collaborative path planning, and connects multiple sub-regions effectively to realize area coverage. Secondly, we design the Beetle Swarm Optimization(BSO) algorithm to achieve cooperative path planning from initial point to termination point, while using the Artificial Potential Field(APF) method to achieve local obstacle avoidance. Finally the simulation results show that compared with the system unoptimized, the obstacle avoidance times of the system based on BSO are reduced by 38%, and the energy consumption is reduced by 3.15%. © Beijing HIWING Scientific and Technological Information institute 2024.

关键词： Motion planning

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Model-Free Feedback Control of a Hybrid-driven Soft Manipulator 30

Model-Free Feedback Control of a Hybrid-driven Soft Manipula...

引用

30th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2024

作者： Fu, Xin Zhang, Daohui Li, Kai Chu, Yaqi Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang Institute of Automation Shenyang China University of Chinese Academy of Sciences Beijing China

ISBN: (纸本)9798350391916

Soft robots offer high compliance and flexibility, enhancing their human and environmental interaction capabilities. However, complex modeling and control hinder the adoption of soft robots. This paper presents a novel model-free control approach for a hybrid-driven soft manipulator. It utilizes a model-free control method to estimate the Jacobian matrix in real time via end position feedback of the soft manipulator. To mitigate operational noise, Huber's M-estimation technique is incorporated. Furthermore, an inner and outer loop motion controller is designed to effectively govern the soft manipulator and accelerate the pneumatic drive's response within the hybrid drive system. The proposed control approach is demonstrated through experiments. The results substantiate its capability to withstand external disturbances and environmental noise, enabling efficient soft manipulator control. © 2024 IEEE.

关键词： Jacobian matrices

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Research on Networked Communication in Multi-AUV Cluster systems 4

Research on Networked Communication in Multi-AUV Cluster Sys...

引用

4th International Conference on Electronic Information Engineering and Computer Communication, EIECC 2024

作者： Xu, Han Zheng, Rong Yang, Bo Gu, Haitao State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Shenyang China

ISBN: (纸本)9798331534622

With the continuous advancement of Autonomous underwater vehicles (AUV) technology, the capabilities of a single AUV are increasingly limited, making it difficult to meet demands of comprehensive mission execution. To address this challenge, this study adaptively modified three heavy-duty AUV to construct an autonomous underwater cluster system. A multidisciplinary optimization approach was employed to refine the design of the modified AUV platforms. By analysing the characteristics of the acoustic channel, Evologics acoustic modems were selected, and the communication system was subsequently optimized. Finally, lake trials were conducted to validate the networked communication functionality of the multi-AUV cluster system. The experimental results demonstrate that the system can effectively track the navigation trajectories of each AUV, confirming the correctness and effectiveness of the networked communication functions and protocols. © 2024 IEEE.

关键词： Autonomous vehicles

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Design and Analysis of a Wall-Climbing Robot with Continuum Structure 6

Design and Analysis of a Wall-Climbing Robot with Continuum ...

引用

6th International Symposium on robotics and Intelligent Manufacturing Technology, ISRIMT 2024

作者： Wang, Qianyi Wang, Hongguang Liu, Aihua Jing, Fengren Yuan, Bingbing Shenyang Institute of Automation Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang China University of Chinese Academy of Sciences Beijing China

ISBN: (纸本)9798331528942

Wall-climbing robots are widely used in tasks such as inspection. However, due to size constraints, conventional wall-climbing robots cannot have the ability to traverse narrow spaces while having the ability to span large distances. In this article, we presents a wall-climbing robot with continuum structure for detecting stress corrosion cracking in sealed canister within the spent fuel dry storage system. The robot employs a combination of three flexible tubes and DC motors to traverse both continuous and discontinuous walls, having the ability to traverse narrow spaces and span large distances within the spent fuel dry storage system. The forward and inverse kinematics of the robot are modelled assuming a constant curvature of the bending deformation. The simulation was carried out in Matlab and Adams, and the results showed that the top position and bending angle of the virtual backbone obtained from theory and simulation basically coincided with each other. © 2024 IEEE.

关键词： Stress corrosion cracking

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TGCN-P: A TCN-GCN Network With Weighted Graph Constructed by Pearson Correlation Coefficient for Human Motion Tracking

TGCN-P: A TCN-GCN Network With Weighted Graph Constructed by...

引用

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

作者： Li, Xiaoyu Wang, Jingnan Huang, Binhua Liu, Chengliang Liu, Yiwen Zhang, Yupo Yi, Zhengkun Wu, Xinyu Chinese Academy of Sciences Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Shenzhen518055 China Shenzhen Institute of Artificial Intelligence and Robotics for Society Siat Branch Shenzhen518055 China

ISBN: (纸本)9798350327182

Neural networks based on graph convolution are simple and effective network structures that have better performance in some fields compared to traditional convolutional networks. However, when graph convolution networks (GCN) are applied to other fields, how to transform data or features into graph edges is a challenge needed to be studied. In previous studies of non-Euclidean spatial data such as relationship studies, people achieve graph construction by indicating the connection or not of nodes with binary values. However, when graph network is applied to some multi-sensor data scenarios, especially human motion tracking tasks, binarization is obviously not the best solution for the weights of edges. In addition, relying on manual graph construction may ignore some cross-space sensor relationships, which makes the update information of nodes far away slower or unavailable. Therefore, we try to use Pearson correlation coefficient (PCC) as the estimation of node correlation, and construct a complete graph to enhance the connectivity of nodes, which achieve faster signal transmission at remote nodes. After combining it with the temporal convolutional network (TCN), we propose a new network structure TGCN-P. Experimentally, this approach is more effective compared to other baseline models. © 2023 IEEE.

关键词： Convolution

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Channel Attention Network for Feature Fusion of Ultrasonic and IMU Signals in Cross-Subject Gait Recognition

Channel Attention Network for Feature Fusion of Ultrasonic a...

引用

IEEE International Conference on systems, Man and Cybernetics

作者： Xujia Huang Zixiang Zhou Xinglong Xu Zhiyong Wang State Key Laboratory of Robotics and System Harbin Institute of Technology Shenzhen Shenzhen China

ISBN: (数字)9781665410205

ISBN: (纸本)9781665410212

In traditional human-machine interface research, a single sensing mode is often adopted, focusing on individual human motion classification experiments. However, the performance often declines when applied across individuals. Ultrasonic and inertial sensing, as mainstream technologies in human-machine interfaces, can respectively detect the muscle states and limb information of the human body, offering potential complementary benefits. The fusion of ultrasonic(US) and Inertial Measurement Unit(IMU) is expected to significantly enhance the generalization ability of physiological signals in motion intention recognition. This paper presents a method that employs fusion of ultrasound and IMU signals, and designs a Convolutional Neural Network with Channel Attention Module (IU-CAM-CNN) for gait classification experiments. The experimental results demonstrate that by introducing channel attention modules, the model's ability to extract features from fused signals can be effectively enhanced, resulting in a classification accuracy of 90% for cross-individual movements. In contrast, traditional LDA and CNN networks achieve only 22% and 47% classification accuracy, respectively. This method provides an effective solution for cross-individual movement intention recognition.

关键词： Ultrasonic imaging Accuracy Ultrasonic variables measurement Human-machine systems Feature extraction Physiology Acoustics Robustness Sensors Convolutional neural networks

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Crosstalk-Free Dual-Mode Tactile Skin Based on 3D-Constrained Electric Field and Isolated Porous Iontronic Dielectric

Crosstalk-Free Dual-Mode Tactile Skin Based on 3D-Constraine...

引用

2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Zhao, Yanchao Guo, Weichao Sheng, Xinjun School of Mechanical Engineering Shanghai Jiao Tong University State Key Laboratory of Mechanical System and Vibration Shanghai200240 China Meta Robotics Institute Shanghai Jiao Tong University Shanghai200240 China

ISBN: (纸本)9781665481090

Proximity-pressure dual-mode capacitive sensor is a novel sensing form to simultaneously detect distance and pressure information through a single device. In recent years, much effort has been devoted to improve its performance. However, it still suffers from robustness issues such as crosstalk and noise in practical applications. Electromagnetic coupling crosstalk caused by the outward electric fields as well as the response from unexpected directions also limit its distributed or array arrangements. In this regard, this paper proposes 3D-shielding structure as well as isolated iontronic dielectric designs to reduce the effects of electromagnetic/mechanical crosstalk. Through simulations and experiments, we demonstrate the effectiveness of the proposed design and optimise the structural parameters. The finally obtained sensing skin has an excellent crosstalk rejection ratio (15.68 dB, approximately three times improvement) while maintaining high response sensitivity. © 2024 IEEE.

关键词： Crosstalk

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An Efficient Planner for Dual-Arm Massage Robots in Constrained state

An Efficient Planner for Dual-Arm Massage Robots in Constrai...

引用

2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Xu, Yuan Wang, Wenxiao Zhou, Lechuan Guo, Weichao Sheng, Xinjun Shanghai Jiao Tong University State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai200240 China Shanghai Jiao Tong University Meta Robotics Institute Shanghai200240 China

ISBN: (纸本)9781665481090

Dual-arm massage robots necessitate reaching the massage pose along an optimal collision-free path in constrained state, where traditional path planning methods often exhibit inefficiency. This paper proposes a sampling-based planning algorithm that integrates lazy evaluation, transition testing, and bidirectional Rapidly-exploring Random Tree to reduce computational load, enhance planning efficiency, and improve the planner's ability to effectively explore the state space, avoid local minima, and converge to high-quality solutions. Comparative experiments conducted on a simulation platform across multiple algorithms have demonstrated the efficacy of the proposed planner, achieving a 95 % planning success rate within 1 second. The paths generated by the algorithm exhibit superior quality and enhanced consistency. In summary, the proposed algorithm is capable of producing asymptotically optimal, collision-free paths for a dual-arm massage robot. © 2024 IEEE.

关键词： Robot programming

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