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IEEE International Conference on robotics and Biomimetics

作者： Zhaoyang Chen Fenglei Ni Kang Min Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

In this paper, we present a data-driven robust model predictive control (DD-RMPC) method for pose tracking of redundant manipulators. Firstly, a MPC-based trajectory tracking framework is established, in which the joint limits at three different levels (angle, velocity, and acceleration) are satisfied. Secondly, to deal with the system model's uncertainty, accelerate the error convergence speed, and reduce tracking errors, a novel data-driven RMPC is proposed, in which the system's input-output data are used to compensate for the conservatism of the system. Finally, the simulation results on a seven degrees of freedoms (DOFs) redundant manipulator show that DD-RMPC provides a faster error convergence rate and achieves smaller pose tracking errors than that of the comparison methods.

关键词： Jacobian matrices Uncertainty Trajectory tracking Simulation Biomimetics Predictive models Manipulators Data models Convergence Predictive control

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Reconstruction Method of Stator Magnetomotive Force of High-Speed Fault-Tolerant Permanent Magnet Synchronous Motor with Single Winding Independent Control Structure 27

Reconstruction Method of Stator Magnetomotive Force of High-...

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27th International Conference on Electrical Machines and systems, ICEMS 2024

作者： Gao, Zhibai Cao, Jiwei Zhong, Chengbao Liu, Jiaxi Song, Yuchen Li, Liyi Harbin Institute of Technology Department of Electrical Engineering Harbin China Guangdong Provincial Key Laboratory of High-Performance Servo System Zhuhai China

ISBN: (纸本)9784886864406

Aiming at the reliability problem of permanent magnet synchronous motor system, a reconstruction method of stator magnetomotive force based on independent winding control structure is established in this paper. For the problem of stator magnetomotive force reconstruction after fault, the mathematical derivation based on current is carried out in this paper, and the current control target of reconstructing stator magnetomotive is obtained. Through this method, the current of each phase of the motor with independent winding control structure can be quickly obtained by formula, and the motor system can run at the same power, torque and speed before and after the fault. Finally, the prototype model based on this method is established by finite element simulation, which proves the effectiveness of this method. © 2024 The institute of Electrical Engineers of Japan.

关键词： Permanent magnets

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Extrinsic Parameter Calibration and Dynamic Objects Coping Strategy for Multi-camera SLAM 3

Extrinsic Parameter Calibration and Dynamic Objects Coping S...

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3rd International Conference on Computer Science and Management technology, ICCSMT 2022

作者： Dong, Yunlong Guo, Wei Zha, Fusheng Wang, Pengfei Harbin Institute of Technology State Key Laboratory of Robotics and Systems Harbin150080 China

ISBN: (纸本)9798350320404

Perceiving the surrounding environment timely and accurately is very essential to improve the safety of mobile robots. To obtain rich information and increase the visual field of mobile robots, the development of multi-camera simultaneous localization and mapping (SLAM) system has become a hot research field. In the current research, multi-camera extrinsic parameter calibration and multi-camera dynamic SLAM are still challenging. Therefore, this paper proposes a dynamic environment-oriented multi-camera SLAM system. This system not only presents an accurate multi-camera extrinsic parameter calibration method but also can achieve accurate localization in the environment with dynamic objects. The effectiveness of the algorithm is verified through comprehensive experiments. © 2022 IEEE.

关键词： Mobile robots

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Investigation of thermal and solidification behaviors to predict dendrite microstructure formation during directed energy deposition of AlSi10Mg

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CIRP Journal of Manufacturing Science and technology 2025年 61卷 222-232页

作者： Tingyu Chang Enjie Dong Linjie Zhao Mingjun Chen Jian Cheng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 150001 China State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang University Hangzhou 310027 China

The characteristics of local high-energy input and rapid cooling of L-DED result in uneven microstructure on the scale of the molten pool. This paper develops a coupled temperature and solid-liquid phase fields model, from which the cooling rate and morphology parameters could be calculated to predict the dendrites size and morphology throughout the entire molten pool. The single-track cladding experiment was carried out to verify the feasibility of the model, showing that the geometrical characteristic (i.e., width and depth of the modelled molten pool match closely with the experimental measurements. It is found that from the bonding zone to the top zone of the molten pool, the microstructure evolution trend from columnar dendrites to fine equiaxed dendrites could be accurately predicted with the decreasing morphology parameters and increasing cooling rate. The morphology parameter drops suddenly at about 0.3 mm away from the bottom boundary, indicating that the dendrite microstructure morphology would show a major change from columnar to equiaxial at this specific location. The dendrite microstructure obtained by the experiment also verified this transformation, and further proofed the DED aluminum alloy suffers from columnar to equiaxial transition in the region with morphology parameters greater than about 2 ×10 8 K∙s/m 2 . This work greatly reduces the time cost in evaluating the dendrites microstructure of DED cladding layers, which is necessary to control the microstructure and to improve properties of L-DED repaired layers.

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SoSpider:A bio-inspired multimodal untethered soft hexapod robot for planetary lava tube exploration

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Science China(Technological Sciences) 2023年第11期66卷 3090-3106页

作者： NIU LiZhou DING Liang ZHANG ShengJie YANG HuaiGuang GAO HaiBo DENG ZongQuan LIU GuangJun HOSSAIN Mokarram State Key Laboratory of Robotics and Systems Harbin Institute of TechnologyHarbin 150001China Department of Aerospace Engineering Ryerson UniversityToronto ON M5B 2K3Canada Zienkiewicz Institute for Modelling Data and AISwansea UniversitySwansea SA18ENUnited Kingdom

Soft robots have tremendous potential for applications in various fields,owing to their safety and flexibility embedded at the material *** robots,especially bio-inspired soft legged robots,have become one of the most active fields of current research in robotics thanks to their superior mobility and ability to face complex ***,it is arduous to establish a dynamic simulation model for soft robots,owing to their hyper-redundant degrees of freedom,hyper-elasticity,and nonlinearity of their soft *** this study,we designed,simulated,and fabricated a hexapod robot that achieves walking,crawling,pronking,and rolling with wheeled legs plus a soft body capable of shape change.A robot prototype was fabricated using 3D printing technology and soft silicone pneumatic ***,battery power,and control boards were integrated into the body of the robot for untethered *** have explored the capabilities of the robot in different conditions,especially in scenarios that simulate lunar and Martian environments,demonstrating the motion performance of the *** results have shown promising potentials of the developed robot for future applications in planetary lava tube *** experimental and simulation results also show good agreements that indicate the potential predictive roles of simulation tools for soft robot design,planning,and control.

关键词： multimodal soft robot pneumatic simulation planetary exploration

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Cobalt single-atom catalyst tailored ceramic membrane for selective removal of emerging organic contaminants

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Environmental Science and Ecotechnology 2024年第5期21卷 219-229页

作者： Jiaxuan Yang Jing Zhao Hesong Wang Yatao Liu Junwen Ding Tianyi Wang Jinlong Wang Han Zhang Langming Bai Heng Liang State Key Laboratory of Urban Water Resource and Environment School of EnvironmentHarbin Institute of TechnologyHarbin150090PR China Beijing Key Laboratory for Source Control Technology of Water Pollution College of Environmental Science and EngineeringBeijing Forestry UniversityBeijing100083PR China

Water reuse is an effective way to solve the issues of current wastewater increments and water resource ***,a promising method for water reuse,has the characteristics of low energy consumption,easy operation,and high adaptability to coupling with other water treatment ***,emerging organic contaminants(EOCs)in municipal wastewater cannot be effectively intercepted by ultrafiltration,which poses significant challenges to the effluent quality and sustainability of ultrafiltration ***,we develop a cobalt single-atom catalyst-tailored ceramic membrane(Co1-NCNT-CM)in conjunction with an activated peroxymonosulfate(PMS)system,achieving excellent EOCs degradation and anti-fouling *** interfacial reaction mechanism effectively mitigates membrane fouling through a repulsive interaction with natural organic *** generation of singlet oxygen at the Co-N3-C active sites through a catalytic pathway(PMS/PMS*/OH*/O*/OO*/1 O_(2))exhibits selective oxidation of phenols and sulfonamides,achieving>90%removal *** findings elucidate a multi-layered functional architecture within the Co1-NCNT-CM/PMS system,responsible for its superior performance in organic decontamination and membrane maintenance during secondary effluent *** highlights the power of integrating Co1-NCNT-CM/PMS systems in advanced wastewater treatment frameworks,specifically for targeted EOCs removal,heralding a new direction for sustainable water management.

关键词： Single-atom catalytic ceramic membrane Peroxymonosulfate activation Selective oxidation Interfacial response Multi-layer functional zones

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Cooperative output regulation of heterogeneous directed multi-agent systems:a fully distributed model-free reinforcement learning framework

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Science China(Information Sciences) 2025年第2期68卷 170-185页

作者： Xiongtao SHI Yanjie LI Chenglong DU Huiping LI Chaoyang CHEN Weihua GUI Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics School of Mechanical Engineering and AutomationHarbin Institute of Technology (Shenzhen) School of Automation Central South University School of Marine Science and Technology Northwestern Polytechnical University School of Information and Electrical Engineering Hunan University of Science and Technology

In this paper, the cooperative output regulation(COR) problem of a class of unknown heterogeneous multi-agent systems(MASs) with directed graphs is studied via a model-free reinforcement learning(RL) based fully distributed eventtriggered control(ETC) strategy. First, we consider the scenario that the exosystem is accessible globally to all agents, an internal model-based augmented algebraic Riccati equation(AARE) is constructed, and its solution is learned by the proposed model-free RL algorithm via online input-output data. Further, for the scenario that the exosystem is accessible only to its adjacent followers, the distributed observers are designed for each agent to get the state of the exosystem, and an internal modelbased fully distributed adaptive ETC protocol is then synthesized to construct the corresponding AARE, and the feedback gain matrix is learned in a model-free fashion. The model-free RL-based control protocol proposed in this paper can not only remove the prior knowledge of agents' dynamics, but also release the dependence on global information by the adaptive event-triggered mechanism(ETM) and the new graph-based Lyapunov function. Finally, simulation results are illustrated to show the feasibility and effectiveness of the proposed control scheme.

关键词： model-free reinforcement learning unknown heterogeneous multi-agent systems fully distributed event-triggered control directed graph

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MM-LINS: a Multi-Map LiDAR-Inertial system for Over-Degenerate Environments

IEEE Transactions on Intelligent Vehicles

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IEEE Transactions on Intelligent Vehicles 2024年 1-11页

作者： Ma, Yongxin Xu, Jie Yuan, Shenghai Zhi, Tian Yu, Wenlu Zhou, Jun Xie, Lihua school of Mechanical Engineering Shandong University Jinan China State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China School of Electrical and Electronic Engineering Nanyang Technological University Singapore College of Mechanical and Electrical Engineering Nanjing University of Aeronautics and Astronautics Nanjing Jiangsu China

SLAM plays a crucial role in automation tasks, such as warehouse logistics, healthcare robotics, and restaurant delivery. These scenes come with various challenges, including navigating around crowds of people, dealing with flying plastic bags that can temporarily blind sensors, and addressing reduced LiDAR density caused by cooking smoke. Such scenarios can result in over-degeneracy, causing the map to drift. To address this issue, this paper presents a multi-map LiDAR-inertial system (MM-LINS) for the first time. The front-end employs an iterated error state Kalman filter for state estimation and introduces a reliable evaluation strategy for degeneracy detection. If over-degeneracy is detected, the active map will be stored into sleeping maps. Subsequently, the system continuously attempts to construct new maps using a dynamic initialization method to ensure successful initialization upon leaving the over-degeneracy. Regarding the back-end, the Scan Context descriptor is utilized to detect inter-map similarity. Upon successful recognition of a sleeping map that shares a common region with the active map, the overlapping trajectory region is utilized to constrain the positional transformation near the edge of the prior map. In response to this, a constraint-enhanced map fusion strategy is proposed to achieve high-precision positional and mapping results. Experiments have been conducted separately on both public datasets that exhibited over-degenerate conditions and in real-world environments. These tests demonstrated the effectiveness of MM-LINS in over-degeneracy environment. Our codes are open-sourced on Github. IEEE

关键词： Optical radar

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Synthesized colonoscopy dataset from high-fidelity virtual colon with abnormal simulation

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Computers in Biology and Medicine 2025年 186卷 109672-109672页

作者： He, Dongdong Liu, Ziteng Yin, Xunhai Liu, Hao Gao, Wenpeng Fu, Yili School of Life Science and Technology Harbin Institute of Technology Harbin150080 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Department of Gastroenterology The First Affiliated Hospital of Harbin Medical University Harbin150001 China

With the advent of the deep learning-based colonoscopy system, the need for a vast amount of high-quality colonoscopy image datasets for training is crucial. However, the generalization ability of deep learning models is challenged by the limited availability of colonoscopy images due to regulatory restrictions and privacy concerns. In this paper, we propose a method for rendering high-fidelity 3D colon models and synthesizing diversified colonoscopy images with abnormalities such as polyps, bleeding, and ulcers, which can be used to train deep learning models. The geometric model of the colon is derived from CT images. We employed dedicated surface mesh deformation to mimic the shapes of polyps and ulcers and applied texture mapping techniques to generate realistic, lifelike appearances. The generated polyp models were then attached to the inner surface of the colon model, while the ulcers were created directly on the inner surface of the colon model. To realistically model blood behavior, we developed a simulation of the blood diffusion process on the colon's inner surface and colored vertices in the traversed region to reflect blood flow. Ultimately, we generated a comprehensive dataset comprising high-fidelity rendered colonoscopy images with the abnormalities. To validate the effectiveness of the synthesized colonoscopy dataset, we trained state-of-the-art deep learning models on it and other publicly available datasets and assessed the performance of these models in abnormal classification, detection, and segmentation. Notably, the models trained on the synthesized dataset exhibit an enhanced performance in the aforementioned tasks, as evident from the results. © 2025 Elsevier Ltd

关键词： Digital elevation model

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Smoke Attention Based Laparoscopic Image Desmoking Network with Hybrid Guided Embedding

Smoke Attention Based Laparoscopic Image Desmoking Network w...

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IEEE International Conference on robotics and Biomimetics

作者： Ziteng Liu Wenpeng Gao Jiahua Zhu Bainan Liu Yili Fu School of Life Science and Technology Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

Surgical smoke can obscure the surgeon's line of sight during the laparoscopic procedure, potentially posing risk to the patients. Robot assisted-minimally invasive surgery (MIS) also faces such a challenge, which also hinders its autonomous operation. This paper proposes a desmoking method for laparoscopic surgery smoke removal. As the surgical smoke is hetergeneous, a two-stage network is developed to estimate the smoke distribution and reconstruct the corresponding smoke-free scene with the hybrid embedding guidance, including the estimated smoke mask and the initial image. The network is designed following the concept of the atmospheric scattering model, which makes the network more explainable. To qualitatively and quantitatively evaluate the proposed method, a synthetic laparoscopic dataset is generated and a real laparoscopic dataset is obtained. Experimental results show that the Peak Signal to Noise Ratio (PSNR) of the proposed method is 1.9% higher than that of the DehazeFormer, while the run-time is shorter more than 40.9%. The proposed method is comparable to or even outperforms the state-of-the-arts in desmoking quality and computation cost.

关键词： Laparoscopes Training PSNR Minimally invasive surgery Atmospheric modeling Scattering Real-time systems Robots Videos Testing

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