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Autonomous Formation Flight Control of Large-Sized Flapping-Wing Flying Robots Based on Leader–Follower Strategy

Journal of Bionic Engineering 2023年第6期20卷 2542-2558页

作者： Hui Xu Yuanpeng Wang Erzhen Pan Wenfu Xu Dong Xue School of Mechanical Engineering and Automation Harbin Instwitute of TechnologyShenzhen518055China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150000China School of Aeronautics Northwestern Polytechnical UniversityXi’an710072China

Birds in nature exhibit excellent long-distance flight capabilities through formation flight,which could reduce energy consumption and improve flight *** by the biological habits of birds,this paper proposes an autonomous formation flight control method for Large-sized Flapping-Wing Flying Robots(LFWFRs),which can enhance their search range and flight ***,the kinematics model for LFWFRs is ***,an autonomous flight controller based on this model is designed,which has multiple flight control modes,including attitude stabilization,course keeping,hovering,and so ***,a formation flight control method is proposed based on the leader–follower strategy and periodic characteristics of flapping-wing *** up and down fluctuation of the fuselage of each LFWFR during wing flapping is considered in the control algorithm to keep the relative distance,which overcomes the trajectory divergence caused by sensor delay and fuselage ***,typical formation flight modes are realized,including straight formation,circular formation,and switching ***,the outdoor formation flight experiment is carried out,and the proposed autonomous formation flight control method is verified in real environment.

关键词： Bionic Large-sized flapping-wing flying robot HIT-Phoenix Periodic flight characteristics Formation flight Leader follower strategy

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Data-Driven Robust Model Predictive Control for Pose Tracking of Redundant Manipulators

Data-Driven Robust Model Predictive Control for Pose Trackin...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Chen, Zhaoyang Ni, Fenglei Min, Kang Liu, Hong Harbin Institute of Technology State Key Laboratory of Robotics and System Heilongjiang Province Harbin150001 China

ISBN: (纸本)9781665481090

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. © 2024 IEEE.

关键词： Predictive control systems

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A trajectory-level robot skill learning method based on fuzzy systems

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Science China(Information Sciences) 2025年第5期68卷 38-52页

作者： Chao ZENG Zhen DENG Boyang TI Yongsheng GAO Department of Computer Science University of Liverpool School of Mechanical Engineering and Automation Fuzhou University State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences State Key Laboratory of Robotics and System Harbin Institute of Technology

Learning from demonstration(LfD) allows for the effective transfer of human manipulation skills to a robot by building a model that represents these skills based on a limited number of demonstrated ***,a skilllearning model that can comprehensively satisfy multiple requirements,such as computational complexity,modeling accuracy,trajectory smoothness,and robustness,is still ***,this work aims to provide such a model by employing fuzzy ***,we introduce an LfD model named Takagi-Sugeno-Kang fuzzy system-based movement primitives(TSKFMPs),which exploits the advantages of the fuzzy theory for effective robotic imitation learning of human *** work formulates the TSK fuzzy system and gradient descent(GD) as imitation learning models,leveraging recent advancements in GD-based optimization for fuzzy *** study takes a two-step strategy.(ⅰ) The input-output relationships of the model are established using TSK fuzzy systems based on demonstration *** this way,the skill is encoded by the model parameter in the latent space.(ⅱ) GD is used to optimize the model parameter to increase the modeling accuracy and trajectory *** further explain how learned trajectories are adapted to new task scenarios through local *** conduct multiple tests using an open dataset to validate our method,and the results demonstrate performance comparable with those of other ***,we implement it in a real-world case study.

关键词： robot skill learning movement primitives TSK fuzzy systems gradient descent robotics

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Flight control of a large-scale flapping-wing flying robotic bird:system development and flight experiment

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Chinese Journal of Aeronautics 2022年第2期35卷 235-249页

作者： Wenfu XU Erzhen PAN Juntao LIU Yihong LI Han YUAN School of Mechanical Engineering and Automation Harbin Institute of TechnologyShenzhen 518055China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

Large-scale flapping-wing flying robotic birds have huge application potential in outdoor tasks,such as military reconnaissance,environment exploring,disaster rescue and so *** this paper,a multiple modes flight control method and system are proposed for a large-scale robotic bird which has 2.3 m wingspan and 650 g *** from small flapping wing aerial vehicle,the mass of its wings cannot be neglected and the flapping frequency are much ***,the influence of transient aerodynamics instead of only mean value are considered in attitude estimation and controller ***,flight attitude and trajectory are highly coupled,and the robot has only three actuators----one for wings flapping and two for tail adjustment,it is very difficult to simultaneously control the attitude and ***,a fuzzy control strategy is addressed to determine the command of each actuator by considering the priority of attitude stabilization,trajectory tracking and the flight ***,the on-board controller is designed based on *** not only satisfies the strict restrictions on mass,size,power and space but also meets the autonomous,semi-autonomous and manual flight control ***,the developed control system was integrated to the robotic prototype,*** experiments under different environment conditions such as sunny and windy weather were completed to verify the control method and system.

关键词： Autonomous flight control Flapping-wing Free RTOS HIT-Phoenix Robotic bird

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High performance of Mg_(3)Bi_(1.5)Sb_(0.5) based materials for power generation:Revealing the counter-intuitive effect of tuning Bi content on the thermoelectric properties

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Journal of Magnesium and Alloys 2024年第11期12卷 4538-4546页

作者： Nuo Qu Yuke Zhu Jianbo Zhu Kuai Yu Fengkai Guo Zihang Liu Qian Zhang Wei Cai Jiehe Sui State Key Laboratory of Advanced Welding and Joining Harbin Institute of TechnologyHarbin 150001China School of Materials Science and Engineering Harbin Institute of TechnologyHarbin150001China Department of Materials Science and Engineering Harbin Institute of TechnologyShenzhen 518055China

Recently,Mg_(3)Sb_(2)-xBixalloys have attracted intensive attention,with the aim of maximizing the electrical transport performance via donor element doping,increasing the grain size,as well as electronic band structure ***,less attention has been paid to other significant factors,like how these intrinsic point defects and accompanied secondary phases influence thermoelectric *** this study,the microstructure and thermoelectric transport properties of Mg_(3.2)Sb_(0.5)Bi_(1.495-x)Te_(0.005)(x=0~0.2)compounds were systematically investigated,where tuning the Bi content shows the counter-intuitive impact on the thermoelectric *** was found that the Bipoor environment associated with Bi impurities facilitated the increment of cation vacancy formation energy and then increased the carrier concentration,leading to the enhancement of power ***,the reduction of Bi-rich second phase content weakened the carrier scattering by grain boundaries whereas high carrier mobility was ***,the bipolar thermal conductivity decreased obviously due to the increased majority carrier concentration to suppress the intrinsic *** synergistic optimization pushes the average ZT value(300-573 K)up to 0.95 in the Mg_(3.2)Sb_(0.5)Bi_(1.295)Te_(0.005)***,the calculated single-leg conversion efficiency is increased up to 9.7%with the hot-side temperature of 573 K,as the record-high value in this system.

关键词： Mg_(3)Sb_(2)-xBix alloys Nanoscale Bi-rich phase Bipolar thermal conductivity Thermoelectric performance

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Thermal analysis of lubricated three-dimensional contact bodies considering interface roughness

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Frontiers of Mechanical Engineering 2022年第2期17卷 177-191页

作者： Jiqiang WU Liqin WANG Zhen LI Peng LIU Chuanwei ZHANG MIIT Key Laboratory of Aerospace Bearing Technology and Equipment Harbin Institute of TechnologyHarbin 150001China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150080China

Surface roughness and thermal action are of remarkable importance in the lubrication performance of mechanical components,especially in extreme ***,available studies mainly focus on the full-film lubrication conditions without considering temperature rise and real 3D surface roughness due to the complexity of surface topography and temperature ***,studies on the interfacial thermal behaviors of 3D rough surface lubricated contact in an extended range of working conditions remain *** this paper,a deterministic mixed thermal elastohydrodynamic lubrication model considering real 3D surface roughness and thermal effects is *** this model,pressure and temperature are coupled with each other,the computation of elastic deformation is accelerated through the discrete convolution and fast Fourier transform method,the temperature field is calculated with the column sweeping technique,and the semi-system method is introduced to improve convergence and numerical stability under severe *** model is validated by comparing its results with available published numerical and experimental *** thermal behaviors of the contact interface are studied in a wide range of working *** influences of surface roughness and thermal effect on lubrication performance are *** results show that the proposed model can be used as a powerful analysis tool for lubrication performance and temperature prediction in various heavy-load,high-speed lubricated components over a wide range of lubrication conditions.

关键词： thermal elastohydrodynamic lubrication surface roughness effect thermal effect temperature characteristics severe conditions

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Learning physical characteristics like animals for legged robots

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National Science Review 2023年第5期10卷 22-37页

作者： Peng Xu Liang Ding Zhengyang Li Huaiguang Yang Zhikai Wang Haibo Gao Ruyi Zhou Yang Su Zongquan Deng Yanlong Huang Key Laboratory of Robotics and Systems Harbin Institute of Technology School of Computing University of Leeds

Physical characteristics of terrains,such as softness and friction,provide essential information for legged robots to avoid non-geometric obstacles,like mires and slippery stones,in the *** perception of such characteristics often relies on tactile perception and vision *** tactile perception is more accurate,it is limited to close-range us e;by contrast,establishing a supervised or self-supervised contactless prediction system using computer vision re quires adequate labeled data and lacks the ability to adapt to the dynamic *** this paper,we simulate the behavior of animals and propose an unsupervised learning framework for legged robots to learn the physical characteristics of terrains,which is the first report to manage it online,incrementally and with the ability to solve cognitive *** proposed scheme allows robots to interact with the environment and adjust their cognition in real time,therefore endowing robots with the adaptation *** and outdoor experiments on a hexapod robot are carried out to show that the robot can extract tactile and visual features of terrains to create cognitive networks independently;an associative layer between visual and tactile features is created during the robot's exploration;with the layer,the robot can autonomously generate a physical segmentation model of terrains and solve cognitive conflicts in an ever-changing environment,facilitating its safe navigation.

关键词： legged robot unsupervised learning environmental perception cognitive learning

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Research on Multisensor Fusion state Estimation of Automatic Navigation Vehicle Based on RNN Model 13th

Research on Multisensor Fusion State Estimation of Automatic...

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13th International Conference on Frontier Computing, FC 2023

作者： Zhang, Liyuan Cui, Zhiquan Wang, Honggang Harbin Institute of Technology Shandong Weihai264209 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

ISBN: (纸本)9789819992980

Multi sensor fusion state estimation of autonomous navigation vehicle based on RNN model. Multi sensor fusion is a process of combining information from different sensors to estimate a single value. In this paper, we propose a recursive neural network (RNN) model to estimate the state of multiple sensors. This method uses RNN architecture with two hidden layers and one output layer to combine sensor data. The input data is first divided into a sequence and then input into the RNN model to predict the output. We use three types of sensors: IMU, LIDAR and GPS. First, the RNN model is trained using three sensors for the navigation system. Then, we use this trained model to estimate the current position using only one sensor data. Finally, we combine the data of all three sensors to obtain the final estimated position of the vehicle at any given time step. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd 2024.

关键词： Neural network models

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Research on Size Calibration Algorithm of Dark-field Flaw on Optics Surface Based on Convolutional Neural Network

Research on Size Calibration Algorithm of Dark-field Flaw on...

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2024 Applied Optics and Photonics China: Optical Sensing, Imaging technology, and Applications, AOPC 2024

作者： Wang, Bei Yin, Zhaoyang Zhou, Shicheng Zhao, Linjie Chen, Mingjun Cheng, Jian School of Mechatronics Engineering Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and System Harbin Institute of Technology 150001 China

ISBN: (数字)9781510687820

ISBN: (纸本)9781510687813

Optics in high-power solid-state laser devices will be damaged and adhere to contaminates on the surface during manufacturing and operation, which reduces the service life. To facilitate the positioning and recognition of the flaw (damage and contaminates) in the process of automatic repair, the dark-field flaw size calibration algorithm was studied. In this paper, a flaw size calibration model based on convolutional neural network was established. The size, exposure time, and loss function of damage and contaminate were optimized respectively. The training parameter of the damage regression model is determined to be size of less than 500μm, 30ms of exposure time and SmoothL1 loss function, and the parameter of contaminate is 0-100μm, 20ms of exposure and SmoothL1 loss function. After data balancing, the calibration precision was improved. To improve the calibration consistency of the full-size segment, a comprehensive size calibration strategy is proposed. The CNN regression algorithm is used for small size, and the pixel-level calibration algorithm is used for large size. Compared with the single regression calibration algorithm, the relative error and absolute error of the calibration results of small damage ( © 2024 SPIE.

关键词： Solid state lasers

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A Rigid-Soft Pneumatic Wrist with Fixed Rotation Axes and Active Jamming Variable Stiffness Mechanisms 16th

A Rigid-Soft Pneumatic Wrist with Fixed Rotation Axes and Ac...

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

作者： Ding, Kehan Jiang, Li Zhen, Ruichen State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9789819964888

The wrist can greatly enhance the manipulative performance of dexterous hands. In addition, due to the flexibility of soft materials, the soft wrist has obvious advantages in environmental adaptability and safety. However, existing soft wrists often have small motion curvatures and cannot modulate stiffness. Inspired by the human wrist, we proposed a rigid-soft pneumatic wrist design with fixed axes, realizing variable stiffness through jamming mechanisms. The wrist is composed of two rotatory joints in series to achieve pronation/supination and flexion/extension motions. Each joint is driven by two opposite-mounted actuators, resulting in active bidirectional movement. The pre-stretched mounting of pneumatic actuators eliminates the stiffness torque effects. Both joints have independent jamming stiffening mechanisms controlled by air pressure and require no additional power source, which makes the stiffness control more flexible. Experimental results demonstrated that the maximum output torques of the two joints reached 1.18 Nm and 1.40 Nm, and the jamming mechanism increased the stiffness of the joints by 55.3% and 67.2% in the practical test, respectively. The proposed rigid-soft wrist provides a feasible solution for enhancing the manipulative ability of soft dexterous hands. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Pneumatic actuators

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