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Design of three-dimensional imaging lidar optical system for large field of view scanning

Chinese Physics B 2022年第7期31卷 284-289页

作者： Qing-Yan Li Yu Zhang Shi-Yu Yan Bin Zhang Chun-Hui Wang National Key Laboratory of Tunable Laser Technology Harbin Institute of TechnologyHarbin 150001China Geling Institute of Artificial Intelligence and Robotics Shenzhen 518063China

Three-dimensional(3D)lidar has been widely used in various *** MEMS scanning system is one of its most important components,while the limitation of scanning angle is the main obstacle to improve the demerit for its application in various *** this paper,a folded large field of view scanning optical system is *** structure and parameters of the system are determined by theoretical derivation of ray *** optical design software Zemax is used to design the *** optimization,the final structure performs well in collimation and beam *** results show that the scan angle can be expanded from±5°to±26.5°,and finally the parallel light scanning is *** spot diagram at a distance of 100 mm from the exit surface shows that the maximum radius of the spot is 0.506 mm with a uniformly distributed *** maximum radius of the spot at 100 m is 19 cm,and the diffusion angle is less than 2 *** energy concentration in the spot range is greater than 90%with a high system energy concentration,and the parallelism is *** design overcomes the shortcoming of the small mechanical scanning angle of the MEMS lidar,and has good performance in collimation and beam *** provides a design method for large-scale application of MEMS lidar.

关键词： 3D lidar MEMS scanning system large field of view scanning Zemax

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Prototype Design and Efficiency Analysis of a Novel Robot Drive Based on 3K-H-V Topology

Prototype Design and Efficiency Analysis of a Novel Robot Dr...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Qi, Le Yang, Dapeng Cao, Baoshi Li, Zhiqi Gu, Yikun Xie, Zongwu Liu, Hong Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150080 China

ISBN: (纸本)9781665481090

Robot actuators directly affect the performance of robots, and robot drives directly affect the performance of robot actuators. With the development of robotics, robots have put higher requirements on robot drives, such as high stiffness, high accuracy, high loading, high efficiency, low backlash, compact size, and hollow structure. In order to meet the demand development of robot actuators, this research base proposes a new robot drive based on 3K-H-V topology using involute and cycloidal gear shapes, planetary cycloidal drive, from the perspective of drive topology and through the design idea of decoupling. In this study, the reduction ratio and the efficiency model of the 3K-H-V topology were analyzed, and a prototype planetary cycloidal actuator was designed. The feasibility of the drive is initially verified by experimentally concluding that the PCA has a hollow structure, compact size, and high torque density (69 Nm/kg). © 2022 IEEE.

关键词： Topology

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Hydrodynamics study of dolphin’s self-yaw motion realized by spanwise flexibility of caudal fin

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Journal of Ocean Engineering and Science 2022年第3期7卷 213-224页

作者： Zhihan Li Dan Xia Jiabo Cao Weishan Chen Xingsong Wang School of Mechanical Engineering Southeast UniversityNanjingJiangsu 211189China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150080China

The hydrodynamic performance of the virtual underwater vehicle under self-yaw is investigated numerically in this paper,we aim to explore the fluid laws behind this plane motion achieved by the bionic flexibility,especially the spanwise flexibility of the caudal *** kinematics of the chordwise flexible body and the spanwise flexible caudal fin are explored through dynamic mesh technology and user-defined functions(UDF).The 3-D Navier-Stokes equations are applied to simulate the viscid fluid surrounding the bionic *** study focuses on quantitative problems about the fluid dynamics behind the specific motion law,including speed of movement,energy loss and working *** current results show that the self-yaw can be composed of two motions,autonomous propulsion and active *** addition,the degree of the flexible caudal fin can produce different yaw *** chordwise phase differenceФis dominant in the propulsion function,while the spanwise phase differenceδhas a more noticeable effect on the steering *** pressure distribution on the surface of the dolphin and the wake vortex generated in the flow field reasonably reveal the evolution of *** properly turns out that the dolphin can combine the spanwise flexible caudal fin and the chordwise flexible body to achieve self-yaw motion.

关键词： Self-yaw dolphin Spanwise flexibility Caudal fin Numerical simulation Hydrodynamic performance

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Research on reactor power prediction of nuclear power plant based on multivariate optimization GRU model

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International Journal of Advanced Nuclear Reactor Design and technology 2024年第2期6卷 78-89页

作者： Tan, Canyi Wang, Bo Li, Jiangkuan Chen, Jie Liang, Biao Zheng, Shangcai Han, Rui Tian, Ruifeng Tan, Sichao College of Nuclear Science and Technology Harbin Engineering University Harbin150001 China Heilongjiang Provincial Key Laboratory of Nuclear Power System & Equipment Harbin Engineering University Harbin150001 China Nuclear Power Institute of China Chengdu610213 China

In the operation of nuclear power plants, the accurate prediction of power change trends is crucial for ensuring safety and stability. In this work, a ML-GRU-RS method, based on model-agnostic meta-learning (MAML), gate recurrent unit (GRU), and random search optimization, is proposed for the long-term prediction of key parameters of nuclear power plants. This method combines the fast adaptability of MAML, the time series data processing capability of GRU, and the optimization efficiency of random search to achieve high-precision predictions under varying power conditions. The results demonstrate that this method can effectively predict the future trends of key parameters in nuclear power plants. The ability of operators to anticipate these trends has been significantly enhanced, contributing to the overall safety of the nuclear power plants. © 2024 Xi'an Jiaotong University

关键词： Prediction models

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Flapping-Wing Robot Achieves Multi-Domain Locomotion Using Transformable Wheel Mechanism

Flapping-Wing Robot Achieves Multi-Domain Locomotion Using T...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Chai, Xiangxiao Wang, Shihua Pan, Erzhen Xu, Wenfu Shenzhen518055 China Key University Laboratory of Mechanism & Machine Theory and Intelligent Unmanned Systems of Guangdong Shenzhen518055 China Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150001 China

ISBN: (纸本)9781665481090

The difficulty of moving from aquatic to aerial environment is one of the major challenges limiting the development of trans-medium multi-domain locomotion vehicles. In this paper, the concept of the transformable wheel, a feature commonly found in autonomous land vehicles (AL V s), is introduced into the design. Additionally, a flapping-wing robot equipped with multi-domain locomotion capability, which can not only realize aerial flight and surface navigation on water, but also ascend from water to land for subsequent takeoff is presented. The paper first introduces the system design of the robot and proposes the corresponding multi-domain locomotion strategy. Subsequently, the design of the transformable wheel mechanism is described in detail and the force analysis for the water-exit is conducted. The feasibility of the proposed strategy is experimentally validated, confirming the prototype's multi-domain locomotion performance finally. This research explores the feasibility of introducing the transformable wheel mechanism into trans-medium multi-domain vehicle platforms and provides a design example. © 2024 IEEE.

关键词： Machine design

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Tool geometry design and microstructure fabrication by micro flat-end milling on soft-brittle LiF surface

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Journal of Manufacturing Processes 2025年 149卷 868-877页

作者： Lei, Hongqin Zhang, Zixiao Chen, Liang Guo, Yanqiu Cheng, Jian Zhao, Linjie Chen, Mingjun Yang, Dinghuai Chen, Guang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China School of Mechatronics Engineering Harbin Institute of Technology Harbin 150001 China

The LiF crystal with the three-layer step microstructure is vital in the laser-driven quasi-isentropic compression experiment. However, due to the high chemical activity and easy deliquescence of soft-brittle LiF crystals, brittle fracture can easily occur during the microstructure preparation achieved by the micro-milling technology. Therefore, it is essential to determine the optimal tool geometry and preferred processing parameters to achieve an ultra-smooth surface. A finite element (FE) model of the tool geometry optimization for LiF crystals is constructed based on dimensional analysis and the stress-strain curve obtained by nanoindentation tests. Micro-slot and microstructure preparation experiments are conducted to verify the cutting performance of the manufactured cutters with optimal geometry. It is found that the optimal negative rake/relief angles of side- and bottom edges are determined to be −35°/9° and − 25°/20° for tool I from the perspectives of the tensile stress, cutting force, and tool surface stress (σ1), respectively. For tool II, optimal negative rake/relief angles of the side- and bottom edges are −60°/15° and − 55°/20°, respectively. The σ1 of tool II is 110.3 MPa, which is 0.74 times and 0.95 times that of tool I (149 MPa) and the CBN tool (116.1 MPa), respectively, indicating that tool II has the most substantial wear resistance under the same processing parameters. Besides, compared with other tool structures, the cutting force and tensile stress are the smallest when using the tool II. The small stress can make the milling process stable, and the vibration and impact generated by the tool are smaller, which helps to make the micro-milled surface smooth. Therefore, the average surface roughness processed by tool II is 0.70 times and 0.47 times that of the CBN tool and tool I, respectively, further illustrating the best cutting performance of tool II. Furthermore, for tool II, the optimal spindle speed and feed per tooth are 40,000 r/min a

关键词： Cutting performance Flat-end milling LiF crystals Microstructure fabrication Tool geometry

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Fully integrated wearable control system for micro/nanorobot navigation

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International Journal of Extreme Manufacturing 2025年第3期7卷 505-517页

作者： Zhanxiang Zhang Lin Wang Fengqi Jiang Shimin Yu Fengtong Ji Tianhao Sun He Zhang Yanhe Zhu Hao Chang Tianlong Li Jie Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001People’s Republic of China Harbin Institute of Technology Suzhou Research Institute Suzhou 215104People’s Republic of China Department of General Surgery Heilongjiang Provincial HospitalHarbin 150001People’s Republic of China College of Engineering Ocean University of ChinaQingdao 266100People’s Republic of China Gurdon Institute University of CambridgeCambridgeCB21QNUnited Kingdom Department of Physiology Development and NeuroscienceUniversity of CambridgeCambridge CB23DYUnited Kingdom Department of Thoracic Surgery The First Affiliated Hospital of Harbin Medical UniversityHarbin 150001People’s Republic of China

Micro/nanorobots have exhibited excellent application potential in the biomedical field,such as drug delivery,minimally invasive surgery,and ***,in order to achieve practical application,it is essential for swimming micro/nanorobots to navigate towards specific targets or adjust their speed and morphology in complete *** navigation of swimming micro/nanorobots with temporal and spatial precision is critical for fulfilling the demand of ***,we introduced a fully integrated wearable control system for micro/nanorobots navigation and manipulation,which is composed of a multifunctional sensor array,an artificial intelligence(AI)planner,and a magnetic field *** sensor array could perceive real-time changes in gestures,wrist rotation,and acoustic *** planner based on machine learning offers adaptive path planning in response to dynamically changing signals to generate magnetic fields for the on-demand manipulation of micro/*** a novel,feasible control strategy was validated in the biological experiment in which cancer cells were targeted and killed by photothermal therapy using micro/nanorobots and integrated control *** wearable control system could play a crucial role in future intelligent medical applications and could be easily reconfigured toward other medical robots’control.

关键词： micro/nanorobot wearable control system machine learning targeted delivery

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Hierarchical Trajectory Optimization for Humanoid Robot Jumping Motion 16th

Hierarchical Trajectory Optimization for Humanoid Robot Jump...

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

作者： Sun, Junbao Liu, Haopeng Li, Xu Feng, Haibo Fu, Yili Zhang, Songyuan Intelligent Robot Research Center Zhejiang Laboratory Hangzhou311100 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

ISBN: (纸本)9789819964796

In order to make the robot have high dynamic motion ability, this paper uses the trajectory optimization method to plan the jumping motion trajectory of the humanoid robot quickly and effectively, and carries out the jumping motion experiment on the HIT-HU humanoid robot platform. In order to improve the solving speed of trajectory optimization problem, simplified centroid dynamics model and single rigid body model are established. Differential dynamic programming (DDP) based on the combination of the centroid dynamic model and the whole body joint kinematic model is used to solve the hopping trajectory optimization problem with high accuracy, and the external penalty function method is used to deal with the relevant constraints. In order to overcome the problem that the solver is sensitive to the initial point selection, a hierarchical trajectory optimization framework is proposed. The framework uses the direct collocation method based on the single rigid body model. The trajectory of the simplified model is used as the initial trajectory guess, and the differential dynamic programming method is introduced to solve the optimal trajectory of the whole joint. The differential dynamic programming algorithm using the direct method of warm start is about twice as fast as the method of manually given initial trajectory. The simulation and experimental verification of the vertical jump trajectories generated by the algorithm on the humanoid robot HIT-HU show that the jump trajectories generated by the algorithm can be effectively transformed into the motion trajectories of humanoid robots, and can be effectively executed on the physical prototype. This further verifies the effectiveness of the algorithm and plays an important role in practical application. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Anthropomorphic robots

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Research on Multi-sensor Fusion Localization of Wheel-Legged Robots in Dynamic Scenarios 7

Research on Multi-sensor Fusion Localization of Wheel-Legged...

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7th International Conference on Automation, Control and Robots, ICACR 2023

作者： Li, Xu Fu, Yili Cheng, Zuolun Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150001 China Zhejiang Laboratory Intelligent Robot Research Center Hangzhou311100 China

ISBN: (纸本)9798350302882

With the rapid development of human beings in motion control and localization perception, intelligent mobile robots are widely used in various scenarios, such as industrial production, medical care, logistics and distribution. Among them, wheel-legged robots have both the high mobility of wheeled robots and the high adaptability of legged robots, which can not only move fast on platform terrain, but also adapt to rugged and complex ground with the multiple degrees of freedom of their legs. Wheel-legged robots face the following main problems in high-precision robust localization in multiple scenarios: there are a lot of dynamic factors in daily indoor and outdoor scenarios, such as vehicles, pedestrians, etc., which require specific processing of dynamic environment in the visual front-end part to improve the effect of visual factor constraints;as ground mobile robots, the localization framework of visual inertial fusion (VIO) will show scale degeneration phenomenon, resulting in long-distance localization accuracy decline. In addition, as a two wheeled inverted pendulum robot, the ground constraint form will undergo corresponding changes. Aiming at the above problems, this paper takes the hydraulic-driven wheel-legged robot as the object and proposes a multi-sensor fusion localization method in dynamic scenarios. © 2023 IEEE.

关键词： Degrees of freedom (mechanics)

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Image Enhancement via Associated Perturbation Removal and Texture Reconstruction Learning

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IEEE/CAA Journal of Automatica Sinica 2024年第11期11卷 2253-2269页

作者： Kui Jiang Ruoxi Wang Yi Xiao Junjun Jiang Xin Xu Tao Lu IEEE the School of Computer Science and Technology Harbin Institute of Technology Zhengzhou Research Institute Harbin Institute of Technology the School of Artificial Intelligence Jianghan University the School of Geodesy and Geomatics Wuhan University the Hubei Province Key Laboratory of Intelligent Information Processing and Real-Time Industrial System Wuhan University of Science and Technology the School of Computer Science and Engineering and also with the Hubei Province Key Laboratory of Intelligent Robot Wuhan Institute of Technology

Degradation under challenging conditions such as rain, haze, and low light not only diminishes content visibility, but also results in additional degradation side effects, including detail occlusion and color distortion. However, current technologies have barely explored the correlation between perturbation removal and background restoration, consequently struggling to generate high-naturalness content in challenging scenarios. In this paper, we rethink the image enhancement task from the perspective of joint optimization: Perturbation removal and texture reconstruction. To this end, we advise an efficient yet effective image enhancement model, termed the perturbation-guided texture reconstruction network(PerTeRNet). It contains two subnetworks designed for the perturbation elimination and texture reconstruction tasks, respectively. To facilitate texture recovery,we develop a novel perturbation-guided texture enhancement module(PerTEM) to connect these two tasks, where informative background features are extracted from the input with the guidance of predicted perturbation priors. To alleviate the learning burden and computational cost, we suggest performing perturbation removal in a sub-space and exploiting super-resolution to infer high-frequency background details. Our PerTeRNet has demonstrated significant superiority over typical methods in both quantitative and qualitative measures, as evidenced by extensive experimental results on popular image enhancement and joint detection tasks. The source code is available at https://***/kuijiang94/PerTeRNet.

关键词： Association learning attention mechanism image enhancement perturbation modeling

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