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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Shi, Qiuyu Liu, Fajiang Wu, Xinyu Gao, Fei Southern University of Science and Technology Shenzhen518005 China Shenzhen Institute of Advanced Technology Guangdong Provincial Key Laboratory of Robotics and Intelligent System Chinese Academy of Sciences Shenzhen518055 China Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen518055 China

ISBN: (纸本)9781665481090

Magnetorheological (MR) rotary brakes leverage the magnetically controllable rheological properties of MR fluids to provide damping torque in lower limb assistance devices. This paper utilizes an optimization algorithm (Whale Optimization Algorithm (WOA)) to optimize the geometric dimension of the MR brake to enhance field-dependent brake torque. First, the mechanical design and optimization process of the MR brake were outlined. Then, the magnetic density of the MR fluid is evaluated using the ANSYS platform. With that, the WOA was exploited to optimize key design parameters across multiple iterations. According to the simulated results, the torque was improved from 17.39 Nm to 25.89 Nm, which increased by 48%. Finally, a prototype with the initial dimension was fabricated and preliminarily tested. © 2024 IEEE.

关键词： Shape optimization

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Design and Analysis of a Novel Weight Reduction system for Simulating Astronauts Walking in Low-Gravity Environment 8

Design and Analysis of a Novel Weight Reduction System for S...

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8th IEEE International Conference on Advanced robotics and Mechatronics, ICARM 2023

作者： Zhang, Jing Zhu, Jinliang Wang, Na Zhu, Aibin Wang, Xin Zhang, Zheng Xu, Haibo Institute of Robotics & Intelligent Systems Xi'An Jiaotong University Shaanxi Key Laboratory of Intelligent Robots Xi'an710049 China Rotor-Bearing System Key Laboratory of Education Ministry for Modern Design Xi'an710049 China School of Construction Machinery Chang'An University Xi'an710064 China

ISBN: (纸本)9798350300178

With the development of spaceflight, a strong demand for research on human activities in low-gravity or completely weightless environments in space has emerged. In this paper, a novel weight reduction system is designed to simulate astronauts walking in low-gravity environment. Based on the perfect static gravity balance, the system combines an active compensation strategy in which the wire tension mechanism drives the trunk support platform to assist people through wire-driven double parallelogram linkage. Passive balance is used to compensate partial weight of the body, and active control is used to achieve dynamic balance during the motion. In addition, static and dynamic balance control is used to evaluate the static and dynamic performance of the weight reduction system. The simulation results show that the system can significantly reduce the lower limb joint moments and ground reaction forces of the subjects, which verifies the feasibility of the system to simulate a low-gravity environment. © 2023 IEEE.

关键词： Manned space flight

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Side Scan Sonar Image Alignment for Complex Terrain

Side Scan Sonar Image Alignment for Complex Terrain

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IEEE International Conference on Unmanned systems (ICUS)

作者： Liheng Zhang Siquan Yu Lei Gao State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China

ISBN: (数字)9798350384185

ISBN: (纸本)9798350384192

Underwater object detection is a typical problem in underwater exploration, widely used in fields such as underwater archaeology, underwater rescue, and underwater facility maintenance. Due to the particularity of water media, underwater object detection has brought challenges compared to land object detection. In order to overcome the limitations of water media, sonar is a commonly used tool. Ships are equipped with side scan sonar (SSS) to conduct large-scale surveys of underwater topography. Object detection is achieved by observing terrain changes. With the development of machine learning technology, the use of autonomous underwater vehicles (AUVs) equipped with side scan sonar for autonomous underwater object detection has become a trend. Usually, training machine learning algorithms requires extensive training samples. For situations where the object shape is unknown in advance, general autonomous object detection methods are difficult to be effective. It needs to develop unsupervised object detection algorithms to solve this problem, and we attempt to apply image change detection algorithms to SSS images. Therefore, in this paper, we investigate the alignment problem of SSS images. Specifically, we adopt three alignment algorithms, including RANSAC, GLU-Net and UDIS++, for underwater object detection in SSS images. To verify the feasibility and timeliness of these algorithms, we conduct extensive experiments on common multi beam SSS images and synthetic aperture sonar images.

关键词： Training Surveys Autonomous underwater vehicles Machine learning algorithms Change detection algorithms Object detection Media Surfaces Synthetic aperture sonar Sonar detection

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Effect of flapping mode on aerodynamic characteristics of bat-like flapping-wing aerial vehicle

Effect of flapping mode on aerodynamic characteristics of ba...

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IEEE International Conference on robotics and Biomimetics

作者： Bosong Duan Tianyou Mao Kening Gong Chuangqiang Guo Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781665481106

In this paper, three reciprocating flapping modes of bats are analyzed and studied. According to the flapping structure of bat-like flapping-wing aerial vehicle(FAV), the structural modes corresponding to the three reciprocating flapping modes are established, that is, the symmetric flapping mode(S), the asymmetric flapping mode with the upward flapping angle greater than the downward flapping angle(UR) and the asymmetric flapping mode with the downward flapping angle greater than the upward flapping angle(U). The influence of the three flapping modes on the structural strength is verified by theoretical calculation. The fluid-structure interaction simulation(FSI) is used to verify the influence of three flapping modes on aerodynamic characteristics. Finally, the advantages and disadvantages of three patting methods are compared and analyzed, it is concluded that under the same motion and flow field conditions, the pitching moment and thrust of UR are the smallest, and the lift is the largest, which is suitable for slow and stable flight; U has the largest thrust and pitching moment, and the smallest lift, which is conducive to rapid flight; The pitching moment, thrust and lift of S are moderate, and the performance is balanced, which is suitable for conventional flight. This study is helpful for the structural design of bat-like FAV.

关键词： Biomimetics Aerodynamics Stability analysis Structural engineering Robots

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Speed Fluctuation Suppression of Current Scaling Errors Based on Improved Iterative Learning Control Method

Speed Fluctuation Suppression of Current Scaling Errors Base...

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International Conference on Electrical Machines and systems (ICEMS)

作者： Haoyi Mu Guodong Yu Shaobin Li Pengcheng Zhu Yongxiang Xu School of Electrical Engineering and Automation Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and System Harbin China

In recent years, there has been a growing demand for high-precision speed control of permanent magnet synchronous motor (PMSM), drawing significant attention to the issue of inherent current measurement errors in drive control. This paper presents a novel approach to mitigate periodic speed fluctuations using an expert system-based iterative learning control (ILC) method. The proposed method employs an expert system to dynamically adjust the weight values of the memory factor during online updates. This ensures the calculated relaxation factor optimally suppresses speed fluctuations across all operating conditions. Furthermore, the stability and parameter tuning aspects are analyzed from the perspective of transfer functions, and the feasibility of the proposed method is demonstrated through simulation.

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Practical Nonlinear Model Predictive Control for Piezoelectric Actuators Based on an Echo state Network

Practical Nonlinear Model Predictive Control for Piezoelectr...

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Chinese Control Conference (CCC)

作者： Fei Zhao Yinan Wu Huawang Liu Institute of Robotics and Automatic Information System College of Artificial Intelligence Nankai University Tianjin China Tianjin Key Laboratory of Intelligent Robotics Tianjin China

The piezoelectric actuator (PEA) is widely used to realize high precise motion of the micro-systems. However, the inherent nonlinear property such as hysteresis, creep, thermal drift and vibration impairs the overall performance and leads to the system instability. In this paper, a practical nonlinear model predictive control (PNMPC) approach based on an echo state network is proposed for the displacement tracking of PEAs. The proposed method has the advantage of omitting the common building process of an inversion model for hysteresis compensation, which avoids the problem of model inversion and the inversion imprecision. Specifically, an echo state network (ESN) is adopted to model the nonlinear dynamics of the PEA system. On this basis, the PNMPC method is designed via utilizing the linearized ESN model, which reduces the computational complexity of the optimization problem caused by nonlinear model predictive control. Finally, the tracking performance of the proposed controller is verified through experimental results.

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A novel design of force-feedback master manipulator for remote ultrasound scanning

A novel design of force-feedback master manipulator for remo...

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IEEE International Conference on robotics and Biomimetics

作者： ChangLe Li ChenTao Zhang Chuan You Yu LeiFeng Zhang GangFeng Liu Jie Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology HeiLongJiang China

ISBN: (纸本)9781665481106

This paper presents a novel six-degree-of-freedom force feedback master manipulator for remote ultrasound scanning. Firstly, a new configuration based on a planar five-link mechanism is proposed, taking into account the practical needs of medical ultrasound scanning. This configuration has two operating modes and can provide three degrees of force feedback. Secondly, a hybrid force/position master-slave control system based on the kinetic model force feedback method is built, which can realize incremental master-slave control, variable proportional control, force feedback, and other functions. Finally, the positional accuracy, gravity balance effect, and force feedback performance of this master manipulator are verified through experiments. Experiments show that the average position error of this novel force feedback master manipulator is 1.18 mm, the average attitude error expressed in terms of Euler angles is 0.83°, and the maximum feedback force that can be provided is 12.1 N, which satisfies the requirements of ultrasonic scanning.

关键词： Ultrasonic imaging Tracking Proportional control Machine vision Force feedback Manipulators Main-secondary

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Measuring Method and Experiments of Knee Joint Moment of Assisted Exoskeleton Based on Neural Network 8

Measuring Method and Experiments of Knee Joint Moment of Ass...

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8th IEEE International Conference on Advanced robotics and Mechatronics, ICARM 2023

作者： Jia, Yue Dang, Diyang Mao, Han Zhu, Aibin Wang, Xin Wang, Na Zhang, Zheng Xu, Haibo Institute of Robotics & Intelligent Systems Xi'An Jiaotong University Shaanxi Key Laboratory of Intelligent Robots Xi'an710049 China Key Laboratory of Education Ministry for Modern Design and Rotor-Bearing System Xi'an710049 China School of Construction Machinery Chang'An University Xi'an710064 China

ISBN: (纸本)9798350300178

The research on the knee joint moment measurement method is of great significance for the moment control and efficiency measurement of the assisted exoskeleton. For most of the existing measuring methods are not suitable when wearing the assisted exoskeleton, knee joint moment measuring methods of assisted exoskeleton system based on Back-propagation (BP) neural network and Long short term memory (LSTM) neural network is proposed, in which surface EMG to joint moment mapping model is created. The estimation of knee moment at different load levels is realized. The experiment of human walking with a natural gait is verified. The root mean square error of the prediction is less than 17%, and the correlation coefficient is above 0.95. © 2023 IEEE.

关键词： Long short-term memory

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FT-TF: A 4D Long-Term Flight Trajectory Prediction Method Based on Transformer

FT-TF: A 4D Long-Term Flight Trajectory Prediction Method Ba...

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Chinese Control Conference (CCC)

作者： Shijin Luo Minghui Zhao Zhenjie Zhao Lun Li Shiyong Zhang Xuebo Zhang Tianjin Key Laboratory of Intelligent Robotics Institute of Robotics and Automatic Information System College of Artificial Intelligence Nankai University Nankai University Tianjin China

The accurate prediction of target aircraft trajectory in the process of air combat can significantly improve the ability of aircraft to gain air superiority. Most of the trajectory prediction methods currently applied in air combat are based on traditional time-series prediction algorithms such as LSTM with short prediction steps, which can not realize the demand for long-term prediction in air combat. To address the issue, a novel prediction method FT-TF is proposed in this paper. FT-TF is a multi-step 4D flight trajectory prediction method based on Transformer applied to further improve the accuracy and practicality of trajectory prediction problems. FT-TF uses the first 30 steps of aircraft historical trajectory data as input and the last 30 steps as output. Flight trajectory data sets of aircraft in air combat are used in the experiment to make the trained model closer to the real air combat scene. The experimental results show that the proposed FT-TF can achieve higher prediction accuracy than LSTM and BP neural network. Related Transformer variants of the algorithm are also added to the experiment for comparison, the results demonstrate that the proposed method achieves the smallest prediction error.

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Autonomous inverse encoding guides 4D nanoprinting for highly programmable shape morphing

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International Journal of Extreme Manufacturing 2025年第3期7卷 467-482页

作者： Shuaiqi Ren Zhiang Zhang Ruokun He Jiahao Fan Guangming Wang Hesheng Wang Bing Han Yong-Lai Zhang Zhuo-Chen Ma Department of Automation Shanghai Jiao Tong UniversityShanghai 200240People’s Republic of China Institute of Medical Robotics School of Biomedical EngineeringShanghai Jiao Tong UniversityShanghai 200240People’s Republic of China State Key Laboratory of Integrated Optoelectronics College of Electronic Science and EngineeringJilin UniversityChangchun 130012People’s Republic of China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240People’s Republic of China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai 200240People’s Republic of China Department of Engineering University of CambridgeCambridge CB21PZUnited Kingdom

Highly programmable shape morphing of 4D-printed micro/nanostructures is urgently desired for applications in robotics and intelligent ***,due to the lack of autonomous holistic strategies throughout the target shape input,optimal material distribution generation,and fabrication program output,4D nanoprinting that permits arbitrary shape morphing remains a challenging task for manual *** this study,we report an autonomous inverse encoding strategy to decipher the genetic code for material property distributions that can guide the encoded modeling toward arbitrarily pre-programmed 4D shape *** tuning the laser power of each voxel at the nanoscale,the genetic code can be spatially programmed and controllable shape morphing can be realized through the inverse encoding *** this strategy,the 4D-printed structures can be designed and accurately shift to the target morphing of arbitrarily hand-drawn lines under ***,as a proof-of-concept,a flexible fiber micromanipulator that can approach the target region through pre-programmed shape morphing is autonomously inversely encoded according to the localized spatial *** strategy may contribute to the modeling and arbitrary shape morphing of micro/nanostructures fabricated via 4D nanoprinting,leading to cutting-edge applications in microfluidics,micro-robotics,minimally invasive robotic surgery,and tissue engineering.

关键词： femtosecond laser fabrication 4D printing two-photon polymerization autonomous inverse encoding stimuli-responsive materials

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