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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Wang, Zhengyin Yang, Huaiguang Ding, Liang Lan, Qingning Gao, Haibo Terze, Zdravko Deng, Zongquan Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150001 China University of Zagreb Faculty of Mechanical Engineering and Naval Architecture Zagreb10000 Croatia

ISBN: (纸本)9798350325706

The planetary rover with active suspension can climb steeper slopes and cross bigger obstacles in a wheel-step motion mode, which enables the planetary rover to perform more complex exploration tasks. However, wheel-step motion requires coordinated movement of the suspension and the wheels: the suspension can determine the wheel's sinkage depth and translation speed. Matching up with the wheel rotation speed can actively construct the slip ratio. The forces exerted on the wheels by sand during this process are a key index for motion control. This poses new challenges to existing wheel-sand interaction models. In this paper, dynamic normal force tests are carried out. The dynamic variation of wheel normal force with slip ratio is investigated at different sinkage depths. It is found that the normal force exerted on the wheel increases firstly and then decreases with the slip ratio, and reaches the maximum value near s=0. The distributed stresses of the wheel were analysed by discrete element method (DEM) simulation, and the phenomenon of the distribution stress reconstruction of the wheel is found. Further, by analyzing the local particles in contact with the wheel, it is found that the particle movement direction and morphology vary with slip ratio. The analysis of the wheel's normal force and the granular material variation with slip ratio provides the basis for establishing a physics-based wheel-sand interaction model. © 2023 IEEE.

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Study on the characteristics of aerosol diffusiophoresis deposition on the outer surface of a vertical circular tube

International Journal of Advanced Nuclear Reactor Design and...

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International Journal of Advanced Nuclear Reactor Design and technology 2024年第3期6卷 212-221页

作者： Chen, Junyan Tian, Chao Cheng, Shisi Gu, Haifeng Ying, Dongchuan Zhai, Zian National Key Laboratory of Nuclear Reactor Technology Nuclear Power Institute of China Chengdu610213 China Nuclear Power Institute of China Chengdu610213 China Heilongjiang Provincial Key Laboratory of Nuclear Power System & Equipment Harbin Engineering University Harbin150006 China

The deposition behavior of aerosols due to diffusiophoresis directly influences the migration and deposition of radioactive materials following an accident. This is critical in analyzing source term migration and the precise evaluation of radiological consequences for personnel. Several aerosol deposition experiments were conducted under steam condensation conditions on the external surface of the cooling tube to investigate the diffusiophoresis deposition characteristics of particles in the containment vessel when the PCS system is activated. The experiments demonstrated that the diffusiophoresis deposition rate on the external surface of the cooling tube decreases with increasing steam density but increases with the rise in steam volume fraction. Theoretical analysis combined with data extraction techniques determined the aerosol concentration decay rate on the external surface of the cooling tube under the sole influence of diffusiophoresis. An improved diffusiophoresis deposition model incorporating suction effects was proposed based on relevant heat transfer studies involving non-condensable gases. The comparison of model results showed that the deviation between the improved model and experimental values is within ±10 %, outperforming the predictions of the original model. According to the improved model and experimental results, it was found that a 38 mm tube diameter is more susceptible to the accumulation of incondensable gases, and the suction effect has a more significant promoting influence on diffusiophoresis deposition compared to a 19 mm tube diameter. © 2025 Xi'an Jiaotong University

关键词： Steam

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Polarization-independent, high-NA edge detection with nonlocal metasurfaces

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Optics Letters 2025年第11期50卷 3517-3520页

作者： Liu, Yalong Li, Xiaoxin Shi, Bojian Jia, Qi Zhang, Yanxia Gao, Yanyu Gao, Wenya Sun, Fangkui Cao, Yongyin Feng, Rui Ding, Weiqiang Institute of Advanced Photonics School of Physics Harbin Institute of Technology Harbin150001 China Key Laboratory of Micro-Nano Optical-acoustic-electronic System of Ministry of Industry and Information Technology Harbin150001 China Collaborative Innovation Center of Extreme Optics Shanxi University Shanxi Taiyuan030006 China

Optical analog computing based on flat optical structures offers significant advantages in system miniaturization, loss reduction, and computational speed compared to traditional systems requiring complex optical configurations. However, existing metasurface schemes for analog image processing suffer from critical limitations, including polarization dependence, bandwidth constraints, and restricted numerical aperture (NA). In this work, we demonstrate a robust and easy-to-fabricate nonlocal dielectric metasurface, which can readily perform polarization-independent edge detection with extended bandwidth and high NA. The isotropic two-dimensional second-order differentiation operations under arbitrary polarization conditions, including unpolarized illumination, are realized by leveraging the magnetic dipole resonance (MD). This scheme enables real-time, high-quality edge detection, featuring a bandwidth of 48 nm centered at 1064 nm and a NA of up to 0.5. This work provides a novel, to the best of our knowledge, approach for achieving polarization-independent edge detection, paving the way for practical applications in optical computing and imaging systems. © 2025 Optica Publishing Group. All rights, including for text and data mining (TDM), Artificial Intelligence (AI) training, and similar technologies, are reserved.

关键词： Minicomputers

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A Novel Engine Safety state Assessment Model with Two-Layer Belief Rule Base Structure 11

A Novel Engine Safety State Assessment Model with Two-Layer ...

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11th IEEE International Conference on Behavioural and Social Computing, BESC 2024

作者： Miao, Shuo Deng, Qian Liu, Bingxin Lv, Yan Fang, Jiayue He, Wei Beijing institute of control and electronic technology Key Laboratory of Information System and Technology Beijing China Harbin Normal University Harbin China

ISBN: (纸本)9798331531904

Assessing the safety status of an engine is critical to the stable operation of electromechanical equipment. The belief rule base (BRB) model enables the integration of expert knowledge to assess the engine safety status, reduce the risk of accidents, and minimize major losses. However, when too many attributes are involved, the rapid growth in the number of rules not only increases the computational cost but also affects the model performance. For this reason, this study proposes a unique interval hierarchical BRB (IH-BRB) modeling approach for engine safety state assessment. The first layer utilizes the interval structure BRB as a classifier, effectively addressing the issue of exploding rule combinations. The second layer classifier employs multiple auxiliary BRBs to transform the multi-classification problem into a binary classification problem for each auxiliary BRB. This approach resolves the challenge of accurately evaluating interval BRB when data similarity is low. To complete the final safety state assessment, interpretability constraints are incorporated into the optimization process. This ensures that the optimized parameters align with expert knowledge and the actual situation. The efficacy of the model in engine safety state assessment is validated using the WD615 engine dataset. Comparison trials and experiments on other datasets further illustrate the advantages of the model in terms of assessment accuracy and interpretability. © 2024 IEEE.

关键词： Risk assessment

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Fe-N-C heterogeneous Fenton-like catalyst for the degradation of tetracycline:Fe-N coordination and mechanism studies

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Chinese Chemical Letters 2024年第9期35卷 309-314页

作者： Weichen Zhu Wei Zuo Pu Wang Wei Zhan Jun Zhang Lipin Li Yu Tian Hong Qi Rui Huang State Key Laboratory of Urban Water Resource and Environment(SKLUWRE) School of EnvironmentHarbin Institute of TechnologyHarbin 150090China Guangdong Yuehai Water Investment Co. Ltd.Shenzhen 518021China National Engineering Research Center of Urban Water Resources Co. Ltd.Harbin Institute of TechnologyHarbin 150090China

Fe-N-C materials have received increasing attention,due to its distinctive catalytic ***,the Fe-N coordination number dependence of catalytic ability and mechanism for H_(2)O_(2)activation remain ***,a series of Fe-N-C heterogeneous Fenton-like catalysts with different Fe-N coordination number were prepared for tetracycline *** results demonstrated that samples with Fe-N4 structure exhibited high *** excellent performance was mainly ascribed to the high adsorption capacity and the formation of superoxide radicals(•O_(2)^(−))catalyzed by Fe linked to pyridinic *** intermediates and degradation pathways of tetracycline degradation by Fe-N-C/H_(2)O_(2)system were analyzed by liquid chromatography coupled to tandem mass spectrometry(LC-MS/MS).Furthermore,we applied our Fe-N-C catalysts to treat simulated pharmaceutical wastewater with high tetracycline degradation capacity despite high concentrations of organic matter such as oxalic acid and various ionic *** work reveals the dependence of the activation H_(2)O_(2)on the Fe-N coordination environment and the degradation mechanism of these *** provides insights into the prospects for tuning the catalyst in practical applications.

关键词： H_(2)O_(2)activation Advanced oxidation process Superoxide radicals Degradation pathways EXAFS

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Aerospace Relay Health Status Assessment Method Based on SMOTE-Enhanced EBRB 11

Aerospace Relay Health Status Assessment Method Based on SMO...

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11th IEEE International Conference on Behavioural and Social Computing, BESC 2024

作者： Fang, Jiayue Mai, Jiahao Lv, Yan Miao, Shuo He, Wei Beijing institute of control and electronic technology Key laboratory of information system and technology Beijing China Harbin Normal University Harbin China

ISBN: (纸本)9798331531904

The aerospace relay, a complex and precise power transmission system integrating electromagnetic and mechanical elements, holds vital significance for spacecraft safety, rendering its operational condition crucial. Therefore, it is imperative to conduct assessments of the health status of aerospace relays. However, existing models for aerospace relays are beset with issues related to data uncertainty and lack of interpretability of evaluation outcomes. Existing models for aerospace relays grapple with issues surrounding data uncertainty and the uninterpretable nature of their evaluation results. The extended belief rule base (EBRB) is a modeling approach adept at addressing uncertainties, characterized by a lucid inference mechanism and inherently interpretable results. However, current research has overlooked the fact that, during actual operation of aerospace relays, external disturbances and internal influences can lead to an imbalance among health status categories, resulting in a tendency for minority samples to be disregarded during training and rendering accurate evaluations of all categories unattainable. Consequently, this paper proposes an EBRB-based method for assessing the health status of aerospace relays that incorporates Synthetic Minority Over-sampling Technique (SMOTE). Firstly, the sample dataset is balanced using SMOTE. Secondly, an EBRB model is constructed to process the data. Lastly, ensemble reasoning (ER) algorithm is employed for fusion inference. In the experiment, the data processed by this model demonstrated obvious advantages across all performance indicators, indicating the model's powerful efficacy in the health status assessment of aerospace relays. © 2024 IEEE.

关键词： aerospace relay EBRB ER health status assessment SMOTE

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A Novel FBG Shape Sensor Based on Mechanical Model for Continuum Manipulator

A Novel FBG Shape Sensor Based on Mechanical Model for Conti...

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International Conference on Autonomous Robots and Agents, ICARA

作者： Yuxin Zhang Wei Dong Zhiyuan Yan Yongzhuo Gao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (数字)9798350394245

ISBN: (纸本)9798350394252

Fiber Bragg Gratings (FBG) are used widely for that it is small and sensitive. It is suitable to insert a sensor based on FBGs to some narrow cavities. At the same time, a slender continuum structure requires tiny sensors inside it. A multi-node differential curvature measurement sensor of FBG fiber is designed in this paper to realize temperature compensation. Considering the friction among FBG, driving wires, and niti tube and external forces applied on the end, a mechanical model about the FBG sensor and the continuum manipulator is proposed. At last, a linear interpolation method is used in the curvature estimation. Under the condition that there is no end resistance and only the bending moment and friction along the outer surface of the continuum generated by the steel wire driven by the motor the absolute measurement error of the position of the end of the continuum is 1.9mm.

关键词： Temperature measurement Temperature sensors Optical fiber sensors Shape Shape measurement Wires Robot sensing systems

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JHT-EXO: A Soft Ankle Exosuit for Assisting Walking in Patients with Post-Stroke Foot Inversion

JHT-EXO: A Soft Ankle Exosuit for Assisting Walking in Patie...

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IEEE International Conference on robotics and Biomimetics

作者： Haotian Ju Zihang Guan Songhao Guo Zedong Liu Qinghua Zhang Tianjiao Zheng Jie Zhao Yanhe Zhu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

Stroke often leads to foot inversion, seriously affecting the patients' walking ability. In this paper, a lightweight, soft exosuit, JHT-EXO, is proposed for correcting foot inversion to help patients' gait rehabilitation. JHT-EXO mainly consists of two cable driving modules, two foot feedback modules, and a control module, with a total weight of no more than 2.5 kg. The cable driving module can pre-tighten the cable with a designed constant torque spring to prevent the cable from falling off. When the motor is not energized, it can still assist the person in stabilizing the walking gait and reducing power consumption. Customized foot pressure sensors recognize human gait, and IMUs on the feet measure the ankle angle used by the controller to change the output force of the exosuit. The constant torque spring was calibrated and tested, and the experimental results showed that the average output force of the constant torque spring was 20.0 N, with a maximum error of 5.6% compared to the theoretically calculated results. The ground walking test of the exosuit was performed by three subjects in three conditions: wearing the exosuit powered up, wearing the exosuit unpowered, and not wearing the exosuit. The test results showed that JHT-EXO could effectively reduce the ankle inversion angle by $22.11^\circ$ compared to not wearing the exosuit. JHT-EXO is feasible in preventing foot drop and stabilizing flip, and its high mobility and portability show potential for gait rehabilitation of foot inversion patients.

关键词： Legged locomotion Ankle Pressure sensors Torque Force Stroke (medical condition) Pressure measurement Springs Robots Foot

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Helium Loss for Robust keypoints Detection with Convolutional Neural Networks

Helium Loss for Robust Keypoints Detection with Convolutiona...

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Automation, Control and robotics Engineering (CACRE), International Conference on

作者： Haode Huo Tianran Wang Linjie Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (数字)9798350350302

ISBN: (纸本)9798350350319

In this paper, a novel loss function for key point detection, named Helium Loss is proposed. All our experiments are based on Ultralytics' YOLOv8n-pose architecture. Initially, this paper analyze various existing loss functions, including L1 loss, L2 loss, and smooth L1 loss. There is a problem that current loss functions do not account for issues related to the quality of dataset annotations and unclear boundaries of targets. To address this challenge, this paper introduce a loss function that incorporates partial trust in annotated key points and utilizes Gaussian distribution to mitigate the impact of manual annotations.

关键词： Training Computer vision Annotations Computational modeling Pose estimation Computer architecture Gaussian distribution

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Motion Planning for Steam Generator Tube Sheet Quadruped Maintenance Robot

Motion Planning for Steam Generator Tube Sheet Quadruped Mai...

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IEEE International Conference on Mechatronics and Automation

作者： Biying Xu Xuehe Zhang Xuan Yu Hegao Cai Kuan Zhang Jie Zhao Jizhuang Fan State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (数字)9798350388077

ISBN: (纸本)9798350388084

The steam generator tube sheet quadruped maintenance robot is a novel mobile robot designed for the inspection of steam generator heat transfer tubes. This paper presents a motion planning method for this type of robot. The trajectory of the robot's base is planned through kinematic solutions search. Additionally, a foothold motion evaluation system is established using the Technique for Order of Preference by Similarity to Ideal Solution algorithm to plan the movement of foothold points. For a given motion path, our proposed method divides the path into multiple straight-line segments, and then performs separate planning for turning foothold points and straight-line foothold points. The experiments demonstrate that the proposed algorithm is adaptable to steam generator tube sheets and performs well in environments with obstacles since the algorithm proposed has a planning success rate of 100% for the tube sheet robot. The experiments validate the effectiveness and feasibility of the proposed method.

关键词： Robot motion Turning Generators Electron tubes Planning Maintenance Trajectory

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