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2023 IEEE International Conference on Unmanned systems, ICUS 2023

作者： Niu, Zhiwei Yang, Liying Huang, Zhaoxiong Jiang, Han School of Automation and Electrical Engineering Shenyang Ligong University Shenyang China 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

ISBN: (纸本)9798350316308

This paper studies the course adjustment problem of compound wing UAV in wind field environment. Course adjustment plays a key role in the flight of UAVs, which can ensure that UAVs maintain a stable course during flight, and achieve tasks such as precise attitude control and mode switching. For this reason, this paper proposes a heading adjustment method based on PID controller, which determines the expected yaw rate through the expected roll angle, so as to optimize the input of the attitude controller. Finally, the composite wing UAV is in the windward state before the mode switching. Experimental results show that the proposed method can achieve precise heading control in crosswind conditions, and the composite wing UAV can maintain attitude stability during heading adjustment, while effectively reducing the power output during the mode switching phase. © 2023 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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Active vibration control of the cantilever beam using a manipulator

Active vibration control of the cantilever beam using a mani...

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2021 IEEE International Conference on Real-Time Computing and robotics, RCAR 2021

作者： Jie, Pengyu Chen, Guangzeng Li, Ke Meng, Yuhao Ran, Jiangtao Lou, Yunjiang State Key Laboratory of Robotics and System Shenzhen518055 China

ISBN: (纸本)9781665436786

Vibration causes frequent deformations of the cantilever beams, which can easily destroy the beam structure if without protection. Active vibration control with feedback information of the cantilever is widely studied in previous works to suppress the vibrations of small deformations. But it is not applicable to the cantilever with large deformation and no feedbacks. Besides, they all require the cantilever to be observable but do nothing about unobservable cantilevers. In this paper, the vibration of a cantilever with large deformations is suppressed by using a 3-DOF manipulator. The structural dynamic model of the cantilever is established to estimate the deformation without external sensors installed on the cantilever. Based on the dynamic model, the vibration control strategy is proposed. Experiments on a developed cantilever and manipulator are conducted and validate the effectiveness of the proposed methods. The results show that the vibration bending moment of the cantilever beam can be effectively suppressed, thus the service life of the equipment can be effectively prolonged by active vibration control of the cantilever beam. © 2021 IEEE.

关键词： Cantilever beams

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Research on Supernumerary Robotic Limbs with Relatively Independent Operation Ability

Research on Supernumerary Robotic Limbs with Relatively Inde...

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International Conference on Guidance, Navigation and Control, ICGNC 2022

作者： Zhang, Xiaobo Liu, Jinguo State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China University of Chinese Academy of Sciences Beijing100049 China

ISBN: (纸本)9789811966125

This paper analyzes and summarizes the principles, advantages, and disadvantages of the current operation methods of supernumerary robotic limbs. There is a phenomenon of visual area switching in the existing operation methods, which reduces the operation efficiency. In response to this problem, this paper proposes a new and efficient operation method for supernumerary robotic limbs and it is called a relatively independent operation method. First, the concept of the relatively independent operation is defined. Secondly, four core factors for realizing this method are analyzed, namely, environment perception, human state perception and intention recognition, autonomous decision-making and planning, and anti-base disturbance. Thirdly, the hardware composition of the supernumerary robotic limb system with four abilities is expounded, and the corresponding software architecture is proposed. The functions and logical relationships of various algorithm modules in the top, middle, and bottom layers of the software architecture are described in detail, and the core algorithm, the autonomous decision-making motion control algorithm, is further analyzed. Finally, a prototype of the supernumerary robotic limb body is introduced. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Software architecture

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A Magnetically Actuated Diatom-Biohybrid Microrobot as a Drug Delivery Capsule 16th

A Magnetically Actuated Diatom-Biohybrid Microrobot as a Dru...

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16th International Conference on Intelligent robotics and Applications, ICIRA 2023

作者： Li, Mengyue Jiao, Niandong Wang, Xiaodong Liu, Lianqing State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110016 China University of Chinese Academy of Sciences Beijing100049 China

ISBN: (纸本)9789819964796

Targeted drug delivery is a strategy to efficiently deliver drugs to a specific target area and has broad application prospects in the treatment of cancer, inflammatory diseases, and neurological diseases. Currently, biohybrid microrobots have been developed as drug-carrying systems and have great potential in the field of drug delivery. However, the efficient carrying and delivery of drugs is still an urgent problem to be solved in the design of drug delivery systems. Here, we fabricated a Thalassiosira weissflogii-based biohybrid microrobot as a drug delivery capsule for targeted therapy. Diatom frustules with complete cavities were obtained through a simple and economical preparation method. The drugs were encapsulated into the cavity of the diatom frustules by means of vacuum loading, so that they had good drug-loading properties. The magnetic engine is loaded onto the surface of frustules by electrostatic adsorption, so that they can achieve flexible and controllable movement under the action of an external rotating magnetic field, which is expected to achieve targeted drug delivery. The prepared diatom microrobots have great application potential for drug delivery platforms. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Targeted drug delivery

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Influence of Autonomous Sailboat Dual-Wing Sail Interaction on Lift Coefficients

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Journal of Ocean University of China 2022年第3期21卷 656-668页

作者： SUN Zhaoyang HU Feng YU Jiancheng ZHAO Wentao ZHANG Aiqun 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 Shenyang Institute of Automation(Guangzhou) Chinese Academy of SciencesGuangzhou511458China

To analyze the influence of the chord length ratio and angle of attack on lift coefficients and explore the interaction mechanism between the two,we established a calculation model of the pressure distribution coefficient on the airfoil surface and lift coefficient of a dual-wing sail on the basis of the vortex panel *** fluid dynamics was used in auxiliary calculation and *** revealed a reciprocal interference between the front-wing and rear-wing *** total lift coefficient of the dual-sail increased with an increase in the front sail chord *** lift coefficient of the rear sail decreased with an increase in the front sail chord length or angle of *** front sail wake affected the pressure distribution on the upper and lower surfaces of the rear sail leading edge.

关键词： autonomous sailboat dual-sail rigid wing sail lift coefficients vortex panel method

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AEROENGINE remaining life prediction based on grey similarity multiscale matching 20

AEROENGINE remaining life prediction based on grey similarit...

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20th International Conference on Condition Monitoring and Asset Management, CM 2024

作者： Sun, Shilong Huang, Haodong Ding, Jian Lu, Wenjie Wang, Dong School of Mechanical Engineering and Automation Harbin Institute of Technology Guangdong Shenzhen518055 China Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Shanghai Jiao Tong University Shanghai200240 China State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai200240 China

ISBN: (纸本)9780903132848

In this paper, we address the challenge of predicting the remaining useful life (RUL) of aero-engines, which are critical components of aircraft that operate under increasingly extreme conditions as engine performance enhances. Ensuring the safety and reliability of these engines is paramount. To this end, we introduce a novel RUL prediction methodology that leverages grey similarity multiscale matching. This approach employs the robust capabilities of Long Short-Term Memory (LSTM) networks for processing time-series data. Specifically, an LSTM Stacked AutoEncoder (L-SAE) is designed to extract pivotal operational features of the engine, thereby delineating its degradation trajectory. Furthermore, the grey correlation analysis is utilized to assess the similarity between these degradation trajectories, which is complemented by a multi-time scale sliding window technique for enhanced similarity matching. Subsequently, kernel density estimation is applied to gauge the uncertainty associated with the prediction outcomes. The efficacy and superiority of our proposed method are demonstrated through the validation of the experiment study. Comparative analysis reveals that our method outperforms existing techniques in key evaluation metrics, underscoring its potential applicability to large-scale datasets. This validation not only confirms the method’s effectiveness but also its advantage in predicting the RUL of aero-engines with greater accuracy and reliability. © 2024 20th International Conference on Condition Monitoring and Asset Management, CM 2024. All rights reserved.

关键词： Long short-term memory

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Inverse Kinematics of a Reconfigurable Space Manipulator Based on the Closed-Loop Algorithm

Inverse Kinematics of a Reconfigurable Space Manipulator Bas...

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IEEE International Conference on Mechatronics and Automation

作者： Zhiyuan Zhao Xiaohang Yang Zichun Xu Yuntao Li Zhonglai Tian Jingdong Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

This paper investigates a reconfigurable space manipulator’s inverse kinematics (IK) with two lockable passive telescopic links (LPTLs). Depending on these LPTLs’ locking state, the manipulator includes free-space and reconfiguration operation modes. Firstly, we introduce a new ball joint-based solution for the reconfigurable operation mode. Then, we propose an IK simplified method capable of significantly reducing the computational load of the complex inverse differential kinematic (IDK) equations corresponding to the two operation modes. Next, to solve the resulting simplified IDK equations efficiently, we present an IK solution method based on the closed-loop algorithm. This method is developed to resolve the redundancy at the velocity level and can generate highly accurate and smooth trajectory IK solutions that satisfy the joint limit constraints. Finally, we design two typical case studies corresponding to working scenarios of the manipulator during two operation modes. Their simulation results validate the proposed methods’ effectiveness.

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Polarization Image Demosaicking with Directional Cubic Residual Interpolation 13

Polarization Image Demosaicking with Directional Cubic Resid...

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13th IEEE International Conference on CYBER Technology in Automation, Control, and Intelligent systems, CYBER 2023

作者： Su, Yiming Lu, Yang Liu, Jiawei Zhang, Zhen Tian, Jiandong State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China University of Chinese Academy of Sciences Beijing100049 China

ISBN: (纸本)9798350315196

This paper proposes a rapid and efficient demosaicking algorithm specifically for the polarization filter array to effectively address the issue of polarization image demosaicking. Our method utilizes directional cubic filters and edge-aware weights to obtain a well-refined guide image that helps us turn the mosaicked image into full-resolution polarization images through residual interpolation. Experimental findings illustrate that our proposed method performs so well against existing monochrome and chromatic polarization filter array demosaicking methods. © 2023 IEEE.

关键词： Interpolation

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Optimization Design and Research on the Isolation Structure of Wheel-Leg Composite Robot

Optimization Design and Research on the Isolation Structure ...

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2023 IEEE International Conference on Unmanned systems, ICUS 2023

作者： Shao, Peiyao Wang, Ting Shao, Shiliang Ma, Guochen Guan, Facai Zhang, Yongsheng Shenyang Aerospace Xinguang Group Co. Ltd Shenyang China 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

ISBN: (纸本)9798350316308

In order to improve the comprehensive vibration reduction performance of the wheel-leg composite robot vibration reduction system and improve the smoothness of its operation, a new type of integrated leg structure wheel-leg composite robot was designed. Dynamic models of parallel and series vibration reduction systems containing two vibration isolation devices were established, and a simulink simulation model was established with road excitation as input. The changes in the vertical acceleration of the robot center of mass, the dynamic deflection of the robot system, and the dynamic load index of the rubber at the bottom of the robot between the two vibration isolation systems and the original vibration isolation system were investigated. The results showed that compared to the original vibration isolation system, The series vibration isolation system can enhance the comprehensive isolation system, verifying the rationality of the design of the isolation system for this wheel-leg composite robot. © 2023 IEEE.

关键词： Wheels

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Research on a curling-like amphibious robot for ground and underwater torch relay of Beijing 2022 Winter Olympics

Research on a curling-like amphibious robot for ground and u...

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2022 International Symposium on robotics, Artificial Intelligence, and Information Engineering, RAIIE 2022

作者： Lu, Yang Tang, Yuangui Liu, Xingyu Wang, Fuli State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institute of Robotics and Intelligent Manufacturing Innovation Chinese Academy of Sciences Shenyang110169 China Guangdong Institute of Intelligent Unmanned System Guangzhou511458 China

ISBN: (纸本)9781510660137

An innovative curling-like amphibious robot was developed for the 2022 Beijing Winter Olympics ground and underwater torch relay. The shape design of imitation curling was applied to the robot in response to the theme of Winter Olympics. The amphibious robot had ground mode and water mode. In ground mode omnidirectional wheels drove the robot to rotate and move forward. The method of constant angular velocity rotation superimposed forward motion overcame ground slip. The nonlinear control of the system was improved by applying this actuation method when the robot slipped. In water mode the X-layout horizontal thrusters and vertical thrusters were applied to sail and hover. The position, depth, attitude and heading of the robot were precisely controlled when the amphibious robot dived into water for torch docking, which was realized through DVL, heading and attitude reference system. The multiple PD controllers with large control damping and phase margin were employed for the robot's control algorithm, so the control system was not diverge when the torch was collided or squeezed. Ultimately, the first underwater torch relay between robots in Olympic history was completed at the Beijing 2022 Winter Olympics. © 2022 SPIE.

关键词： Robots

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