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Micro and Nanotechnology for Power Generation and Energy Conversion Applications (PowerMEMS)

作者： Tianyi Tang Yunfei Li Heng Zhao Lining Sun Huicong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin CHINA School of Mechanical and Electrical Engineering Jiangsu Provincial Key Laboratory of Advanced Robotics Soochow University Suzhou CHINA

ISBN: (数字)9798350380200

ISBN: (纸本)9798350380217

This paper presents an ultra-low-frequency and high-power wave energy harvester (WEH). It utilizes a vertical pendulum structure to achieve motion response to ultra-low-frequency wave excitation and then converts the mechanical energy of the pendulum into high-frequency and high-power electrical energy output through the MagBoost Mechanism. The design of WEH ensures stable output even under excitation conditions below 1 Hz. At the excitation frequency of 1.4 Hz and resistance load of $20 \Omega$, the maximum power output can reach 1.16 W with a power density of $0.54 \mathrm{~mW} / \mathrm{cm}^{3}$. The high energy density allows stable power supplementation for ocean observation buoy within a limited volume, thereby enabling long-term, unattended operation of the buoy in remote offshore areas.

关键词： Resistance Power system measurements Density measurement Oceans Frequency conversion Sensor systems Sensors Mechanical energy Wave energy conversion Power generation

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TMPU: A Framework for Terrain Traversability Mapping and Planning in Uneven and Unstructured Environments

TMPU: A Framework for Terrain Traversability Mapping and Pla...

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第42届中国控制会议

作者： Qingchen Bi Xuebo Zhang Shiyong Zhang Zhangchao Pan Runhua Wang Institute of Robotics and Automatic Information System Tianjin Key Laboratory of Intelligent Robotics Nankai University

In this paper, we propose an autonomous navigation framework(TMPU) for ground mobile robots in uneven and unstructured environments. The novelty of this framework is twofold: 1) The terrain traversability mapping module is proposed to build a low-resolution 2D(Two-Dimensional) occupancy map by plane analysis based on plane slope and terrain roughness. 2)A multi-resolution motion planning framework is proposed to obtain a high-resolution traversable corridor by A* low-resolution search. Then an improved global planning H-lattice planning is performed on the traversable corridor. Furthermore, extensive experiments are conducted to demonstrate the feasibility and safety of the proposed autonomous navigation framework. All test results show that the computing time consumption is reduced by up to 97.1%, compared with an advanced 3D navigation framework.(Supplemented video link: https://***/rvYoyR3imEk)

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Improved Adaptive Controller Design Scheme to Attenuate the Noise Amplification Effect of Differentials∗

Improved Adaptive Controller Design Scheme to Attenuate the ...

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2022 IEEE International Conference on Real-Time Computing and robotics, RCAR 2022

作者： Fa, Zhi Fan, Yongchun Wu, Yinan Liu, Chunhuan Institute of Robotics and Automatic Information System College of Artificial Intelligence Nankai University Tianjin China Nankai University Tianjin Key Laboratory of Intelligent Robotics Tianjin China

ISBN: (数字)9781665469838

ISBN: (纸本)9781665469838

Adaptive control is widely used in nonlinear systems, and is under active research. Although the conventional adaptive control guarantees the asymptotic stability, it may yield limited performance in real experiments due to many factors, such as noise and hardware limitations. In this paper, a proportional-integral adaptive controller with a proportional-integral-derivative update law is proposed to attenuate the effect of measurement noise and improve the performance of the closed-loop system. Two more improvements, dividing differential signals into two smoother signals and facilitating additional estimations to weight different components of the same signal, are used in addition to the proportional-integral-derivative-Type update law. The stability is proved theoretically and the performance is verified by simulation tests. © 2022 IEEE.

关键词： Asymptotic stability

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Modal frequency identification using the predictor subspace approach for a space solar power station 2

Modal frequency identification using the predictor subspace ...

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2023 2nd International Conference on Aerospace and Control Engineering, ICoACE 2023

作者： Ni, Zhiyu Wu, Rui Wu, Chenchen College of Aerospace Engineering Shenyang Aerospace University Shenyang110136 China State Key Laboratory of Robotics Chinese Academy of Sciences Shenyang Institute of Automation Shenyang110016 China

The system's modal frequency parameters are determined by using a technique known as predictor-based subspace identification (PBSID), which is based on the dynamic properties of space solar power stations' huge size and low frequency. First, the dynamic equation for the space solar power station with an Abacus configuration's attitude-vibration coupling is developed. Additionally, the PBSID approach is used to build the relevant parameter matrix, and singular value decomposition (SVD) is chosen to evaluate the system's structural frequency parameters. The right input signals are created via numerical simulation, and the best sensor placement technique yields the associated vibration response signals. The computing results then demonstrate that the modal frequency characteristics of the space solar power station may be successfully identified by the PBSID method, which is based on SVD. Additionally, the findings demonstrate the superior noise immunity capabilities of the PBSID algorithm when compared to the standard modal parameter identification approaches. © Published under licence by IOP Publishing Ltd.

关键词： Singular value decomposition

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Constrained Visual Servoing for Capturing Adapter Rings on Tumbling Satellites with a Free-Floating Robot

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IEEE Transactions on Aerospace and Electronic systems 2024年第3期61卷 6026-6040页

作者： Zhang, Dezhi Yang, Guocai Ji, Junhong Fan, Shaowei Jin, Minghe Liu, Hong Harbin Institute of Technology State Key Laboratory of Robotics and Systems Harbin150008 China

This paper proposes a constrained visual servoing method for the safe and reliable capture of noncooperative, tumbling satellites using a free-floating space robot. The adapter ring serves as both the capture interface and the visual feature. However, during the close-range fine servoing phase, only a limited portion of the adapter ring is visible within the hand-eye camera's field of view due to its large size, leading to reduced servoing accuracy. To address this issue, a three-line structured light system is introduced in this phase to augment visual features and complement the long-range guidance provided by the monocular camera. This scheme enables visual servoing from long to close range. Moreover, the target's tumbling motion, the ring's geometric properties and the coupled dynamics between the manipulator and the base pose significant challenges to the reliability and safety of the servoing process. To mitigate these issues, a set of constraints is formulated, including hard constraints to ensure that visual features remain within the camera's field of view and to avoid obstacles, as well as soft constraints to maintain continuous communication with the ground station and minimize impact forces at the moment of capture. To manage these constraints and regulate the system in real time, a motion planner employing nonlinear model predictive control is developed, supported by differential models of visual features. Furthermore, a lowlevel joint controller based on quadratic programming ensures accurate tracking of planned trajectories while adhering to torque limits. Simulation results validate the effectiveness of the proposed method. © 1965-2011 IEEE.

关键词： Quadratic programming

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An Aerial Non-contact Detection system For Quayside Crane Using A Hexacopter

An Aerial Non-contact Detection System For Quayside Crane Us...

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

作者： Zhang, Yehui Wang, Zhaoying Dong, Wei Shanghai Jiao Tong University State Key Laboratory of Mechanical System and Vibration Shanghai200240 China Shanghai Jiao Tong University Robotics Institute School of Mechanical Engineering Shanghai200240 China

ISBN: (纸本)9798350327182

In recent years, aerial robots have been widely used and developed in high-altitude defect detection in academia and business. To solve the detection problem of beams at quayside cranes, reduce the cost of staffing in the traditional manual detection process and improve detection safety, a non-contact detection system using a hexacopter is designed. This article analyzes the task requirements of flaw detection for quayside cranes and the workflow. The Unmanned Aerial Vehicle (UAV) system is equipped with a non-contact detective transmitter, a non-contact detective imaging plate and other task detection equipment to detect the crack of quayside crane beams. The system is based on multi-sensor modules. Besides, the system is designed as light as possible to increase the flight endurance of the UAV. On this basis, the system takes the UAV as the carrier and carries the detection equipment to the location which needs detection. At the same time, people on the ground can control the non-contact detective transmitter and imaging plate to move to the defect area through remote radio control, then can obtain the internal crack. The reliability and effectiveness of the whole system are verified by performing an actual detection experiment with a crane model. © 2023 IEEE.

关键词： Antennas

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Automated Adherent Cell Injection Method Based on Double-Micropipettes Operation 42

Automated Adherent Cell Injection Method Based on Double-Mic...

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42nd Chinese Control Conference, CCC 2023

作者： Chu, Zhaotong Cai, Linxuan Cui, MaoSheng Wang, Zuqi Zhang, Yidi Li, Minghui Zhao, Qili Sun, Mingzhu Zhao, Xin Liu, Yaowei Institute of Robotics and Automatic Information System Nankai University The Tianjin Key Laboratory of Intelligent Robotics Tianjin300071 China Tianjin Academy of Agriculture Science Tianjin300112 China Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University Shenzhen518083 China

ISBN: (纸本)9789887581543

Microinjection of adherent cells is a technique of inserting glass pipette into adherent cells and injecting few exogenous substances into adherent cells, which is widely used in the field of cell biology. Researchers in this field usually inject adherent cells manually, however, the microinjection operation is complicated, which requires a lot of energy and takes a lot of time. The existing automated microinjection method only uses one injection micropipette to inject, compared with the manual injection method, the microinjection process is consistent not optimized, and the injection efficiency cannot be greatly improved. In this paper, an automated adherent cell injection method based on double-micropipettes operation is proposed. Firstly, the adherent cell injection process based on double-micropipettes operation is designed. Secondly, this paper solves the key technologies of automated injection of adherent cells based on double-micropipettes operation were introduced, including adherent cell detection, injection path planning and double-micropipettes operation. Finally, the experiment of adherent cell microinjection based on double-micropipettes operation, the operation of two micropipettes was carried out. The experimental results show that the success rate of injection can reach 60% and the injection speed of this method can reach 35 cells/minute, which is 75% higher than that of manual injection with single pipette (20 cells/minute) and 40% higher than that of automated adherent cell injection with single pipette (25 cells/minute). © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Motion planning

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Numerical simulation of laser transmission welding of PEEK and CF-PEEK composite pipe fittings 8

Numerical simulation of laser transmission welding of PEEK a...

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8th International Conference on Electrical, Mechanical and Computer Engineering, ICEMCE 2024

作者： Huang, Mingqiang Luo, Haitao Li, Yuxin Li, Yanbin Shenyang University of Technology School of Mechanical Engineering Liaoning Shenyang China Shenyang Institute of Automation Chinese Academy of Sciences State Key Laboratory of Robotics Liaoning Shenyang China

ISBN: (纸本)9798331506230

In order to realize the erection of large structural bodies in space for on-orbit construction, we are looking for the mechanical property parameters in line with the large structural unit body in space. Now based on finite element software for PEEK and CF-PEEK laser transmission welding numerical simulation, study the welding process temperature field, stress field and welding deformation distribution law, after the pre-experiment, from the point of view of numerical simulation of heat transfer to analyze the laser power, spot diameter on the overall impact of the pipe fittings to verify the correctness of the experiment as a whole. The surface of the upper layer of modified transparent PEEK material has no ablation damage, and the average fracture load of the joint in tensile test is 3585 N. The microscopic scale analysis of the three groups of welded pipe fittings is carried out by light microscope scanning, and it is proved that the two materials on the surface of weld fusion area are well fused by the observation of weld morphology with different magnification, and the weld width under the light microscope is compared with that in the simulation to validate the accuracy of the weld model. © 2024 IEEE.

关键词： Tensile testing

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Designing Unpowered Shoulder Complex Exoskeleton via Contralateral Drive for Self-rehabilitation of Post-stroke Hemiparesis

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Journal of Bionic Engineering 2023年第3期20卷 992-1007页

作者： Ning Li Tie Yang Yang Yang Wenyuan Chen Peng Yu Chuang Zhang Ning Xi Ying Zhao Wenxue Wang State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang110169China University of Chinese Academy of Sciences Beijing100049China Emerging Technologies Institute Department of Industrial and Manufacturing Systems EngineeringUniversity of Hong KongPokfulamHong Kong999077China Department of General Surgery Shengjing Hospital of China Medical UniversityShenyang110004China

Rehabilitation using exoskeleton robots can effectively remediate dysfunction and restore post-stroke survivors’ physical ability. However, low kinematic compatibility and poor self-participation of post-stroke patients in rehabilitation restrict the outcomes of exoskeleton-based therapy. The study presents an Unpowered Shoulder Complex Exoskeleton (USCE), consisting of Shoulder Girdle Mechanism (SGM), Ball-and-Socket Joint Mechanism (BSM), Gravity Compensating Mechanism (GCM) and Adjustable Alignment Design (AAD), to achieve self-rehabilitation of shoulder via energy transfer from the healthy upper limb to the affected counterpart of post-stroke hemiplegic patients. The SGM and AAD are designed to improve the kinematic compatibility by compensating for displacements of the glenohumeral joint with the adaptable size of USCE for different wearers. The BSM and GCM can transfer the body movement and energy from the healthy half of the body to the affected side without external energy input and enhance the self-participation with sick posture correction. The experimental results show that the USCE can provide high kinematic compatibility with 90.9% movement similarity between human and exoskeleton. Meanwhile, the motion ability of a post-stroke patient’s affected limb can be increased through energy transfer. It is expected that USCE can improve outcomes of home-based self-rehabilitation.

关键词： Unpowered exoskeleton Health-paralysis combination Energy transfer Self-rehabilitation Shoulder mechanism design

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A Novel Two-Branch Convolutional Neural Network for EEG Decoding of Motor Imagery

A Novel Two-Branch Convolutional Neural Network for EEG Deco...

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2023 China Automation Congress, CAC 2023

作者： Yang, Guangyu Liu, Jinguo Shenyang Institute of Automation State Key Laboratory of Robotics Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Beijing China

ISBN: (纸本)9798350303759

In recent years, deep learning has been applied to the classification of motor imagery EEG, which can decode and classify EEG signals end-to-end. However, compared with picture datasets, EEG datasets are relative small and difficult to adapt to deeper networks. To solve this problem, we propose a shallow two-branch convolutional neural network (TBCNNet) to decode EEG information. More EEG information can be obtained by fusing the spatio-temporal features extracted from each single branch. Thus, the accuracy of EEG decoding can be improved without increasing the depth of the network. We tested this method on the BCI Competition IV-2a dataset, and the average decoding accuracy reached 86.59%, the average kappa value reached 0.82, and the average Fl-score reached 0.86. The results show that the proposed method can effectively improve the performance of motor imagery decoding. © 2023 IEEE.

关键词： Convolutional neural networks

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