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Design of a Bio-inspired Extensible Continuum Manipulator with Variable Stiffness

Journal of Bionic Engineering 2025年第1期22卷 181-194页

作者： Dongbao Sui Sikai Zhao Tianshuo Wang Yubin Liu Yanhe Zhu Jie Zhao State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150001China

This paper presents a continuum manipulator inspired by the anatomical characteristics of the elephant ***,the manipulator mimics the conoid profile of the elephant trunk,which helps to enhance its *** design features two concentric parts:inner pneumatically actuated bellows and an outer tendon-driven helical *** tendons control the omnidirectional bending of the manipulator,while the fusion of the pneumatic bellows with the tendon-driven spring results in an antagonistic actuation mechanism that provides the manipulator with variable stiffness and *** paper presents a new design for extensible manipulator and analyzes its stiffness and motion *** results are consistent with theoretical analysis,thereby demonstrating the validity of the theoretical approach and the versatile practical mechanical properties of the continuum *** impressive extensibility and variable stiffness of the manipulator were further demonstrated by performing a pin-hole assembly task.

关键词： Bioinspired robots Continuum robots Soft robotics Variable stiffness

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PMM-Net: Single-Stage Multi-Agent Trajectory Prediction with Patching-Based Embedding and Explicit Modal Modulation

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IEEE Robotics and Automation Letters 2025年第7期10卷 6664-6671页

作者： Huajian, Liu Wei, Dong Kunpeng, Fan Chao, Wang Yongzhuo, Gao Harbin Institute of Technology State Key Laboratory of Robotics and System China

Analyzing and forecasting trajectories of agents like pedestrians plays a pivotal role for embodied intelligent applications. The inherent indeterminacy of human behavior and complex social interaction among a rich variety of agents makes this task more challenging than common time-series forecasting. In this letter, we aim to explore a distinct formulation for multi-agent trajectory prediction framework. Specifically, we propose a patching-based temporal feature extraction module and a graph-based social feature extraction module, enabling effective feature extraction and cross-scenario generalization. Moreover, we reassess the role of social interaction and present a novel method based on explicit modality modulation to integrate temporal and social features, thereby constructing an efficient single-stage inference pipeline. Results on public benchmark datasets demonstrate the superior performance of our model compared with the state-of-the-art methods. The code is available at: https://***/TIB-K330/pmm-net. © 2016 IEEE.

关键词： Signal modulation

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Unifying Fixed Time and Prescribed Time Control for Strict-Feedback Nonlinear systems

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IEEE/CAA Journal of Automatica Sinica 2025年第2期12卷 347-355页

作者： Xiang Chen Yujuan Wang Yongduan Song the State Key Laboratory of Power Transmission Equipment & System Security and New Technology and School of Automation Chongqing University IEEE

This paper investigates the prescribed-time tracking control problem for a class of multi-input multi-output(MIMO)nonlinear strict-feedback systems subject to non-vanishing uncertainties. The inherent unmatched and non-vanishing uncertainties make the prescribed-time control problem become much more nontrivial. The solution to address the challenges mentioned above involves incorporating a prescribed-time filter, as opposed to a finite-time filter, and formulating a prescribed-time Lyapunov stability lemma(Lemma 5). The prescribed-time Lyapunov stability lemma is based on time axis shifting time-varying yet bounded gain, which establishes a novel link between the fixed-time and prescribed-time control method. This allows the restriction condition that the time-varying gain function must satisfy as imposed in most exist prescribed-time control works to be removed. Under the proposed control method, the desire trajectory is ensured to closely track the output of the system in prescribed time. The effectiveness of the theoretical results are verified through numerical simulation.

关键词： Prescribed-time control prescribed-time filter robust control state feedback strict-feedback systems

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DCM-based dynamic stable walking under terrain-induced time-varying disturbances for humanoid robots

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Science China(Technological Sciences) 2025年第4期68卷 105-117页

作者： Yan LUO Chao LIU Jianhua WU Zhenhua XIONG Han DING State Key Laboratory of Mechanical System and Vibration School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai200240China State Key Laboratory of Intelligent Manufacturing Equipment and Technology School of Mechanical Science and EngineeringHuazhong University of Science and TechnologyWuhan430074China

When humanoid robots attempt to walk on terrain such as shaking platforms,time-varying disturbances are introduced to the support *** abrupt changes of inclination angle can cause the robot to lose balance upon landing,presenting significant challenges for balance control *** address this issue,we propose a novel divergent component of motion(DCM)-based time-varying disturbance walking(DCM-TVDW)*** method allows the robot to walk on rugged surfaces and helps to maintain dynamic balance when subjected to large time-varying *** the DCM-TVDW control method,we first adjust the robot's center of mass and stride height to adapt to transitions between different terrain types via a variable height stabilization method,and hold these quantities constant as base *** then combine DCM with the N-step capturability *** combination allows for dynamic balance through multi-step adjustments from the initially unstable region,thereby extending the robots stability *** and experimental results demonstrate that the DCM-TVDW method enables the SJ-Bruce robot to traverse a dynamically shaking platform with an inclination angle of approximately 22°.

关键词： humanoid robot dynamic balance control capturability time-varying disturbance

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Low-Light Enhancement Visual SLAM via Deep Deformable Power Curve Estimation

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IEEE Sensors Journal 2025年第10期25卷 17404-17412页

作者： Liu, Yanjie Wu, Heng Zhang, Weiwu Wang, Chao Wei, Yanlong Ren, Meixuan Harbin Institute of Technology State Key Laboratory of Robotics and System Department of Mechatronics Engineering Harbin150001 China

The unevenness and darkness of lighting in real environments are one of the main issues that affect the practical application of visual simultaneous localization and mapping (SLAM). To address this issue, we propose a visual SLAM algorithm based on low-light enhancement networks. First, we designed a lightweight low-light enhancement network based on deformable power curves, DPCE-Net, to adjust the pixels’ dynamic range of a low-light image. The curve is derived from power function, which considers the range, monotonicity, and differentiability of pixel values, and has a high dynamic range. DPCE-Net is trained and evaluated without reference images, effectively expanding the application scenarios of low-light enhancement. Then, combine the DPCE-Net with ORB-SLAM2 to construct a low-light enhancement SLAM (DPCE-SLAM). In the low-light image enhancement experiment, we compared with the state-of-the-art method, Enlighten-GAN, and Zero-DEC, achieving the good performance in structural similarity (SSIM), mean square error (mse), peak signal to noise ratio (PSNR), and natural image quality evaluator (NIQE) indicators. In state estimation evaluation, DPCE-SLAM can effectively increase the number of correctly matched feature points in dark environments, while also improving the robustness of state estimation. © 2001-2012 IEEE.

关键词： Gallium nitride

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Experimental demonstration of 220-GHz terahertz signals wireless transmission over 4.6 km

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Science China(Information Sciences) 2025年第1期68卷 386-388页

作者： Yi WEI Jianjun YU Mingxu WANG Xiongwei YANG Qiutong ZHANG Jingwen TAN Bing ZHANG Ying WU Yang HAN Peng TIAN Wen ZHOU Kaihui WANG Feng ZHAO State Key Laboratory of ASIC and System Key Laboratory for Information Science of Electromagnetic Waves (MoE)School of Information Science and Technology Fudan University School of Electronic Engineering Xi'an University of Posts and Telecommunications

The advancement of terahertz (THz) communication technology drives the evolution of wireless communication systems,offering novel pathways and technical means for the development of future 6G communication *** wireless communication systems are often constrained by bandwidth limitations of electronic devices in high frequency ***,THz communication technology leverages the characteristics of electromagnetic waves to transcend these limitations,enabling communication athigher frequencies and wider bandwidths.

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LSF-planner: a visual local planner for legged robots based on ground structure and feature information

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Autonomous Robots 2025年第2期49卷 1-17页

作者： Zhang, Teng Wang, Xiangji Zha, Fusheng Liu, Fucheng Harbin Institute of Technology The State Key Laboratory of Robotics and System Harbin150006 China Lanzhou University of Technology Lanzhou730050 China

Three-dimensional navigation of legged robots is crucial for field exploration and post-disaster rescue. Existing optimization-based local trajectory planners predominantly focus on obstacle avoidance, neglecting negative obstacles (e.g., pits) and varying ground features (e.g., different terrain types). Additionally, non-overlapping areas between the planned space in three-dimensional trajectory planning and the robot’s actual reachable space lead to decision-making issues between crossing and obstacle avoidance, making it challenging to differentiate between passable and hazardous areas, thus impacting navigation safety and stability. To address these limitations, we propose a novel visual local planner, LSF-Planner (Visual Local Planner for Legged Robots Based on Ground Structure and Feature Information). The LSF-Planner employs a multi-layer local perception map that integrates ground feature semantics, sensor range, and negative obstacles (e.g., voids detected by depth sensors) to construct a ground reliability representation. The Label2Grad method is introduced to convert this representation into gradient layers, incorporating a ground reliability penalty function into trajectory optimization. By incorporating constraints on the center of mass height and crossing angles, LSF-Planner effectively differentiates between traversable and hazardous areas. Experimental results show that LSF-Planner significantly outperforms existing methods in 3D trajectory planning, enhancing the navigation performance of legged robots in unstructured environments. © The Author(s), under exclusive licence to Springer Science+Business Media, LLC, part of Springer Nature 2025.

关键词： Emergency services

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Mechanism of material removal and chip formation of alumina dispersion strengthened copper in micro-milling

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Frontiers of Mechanical Engineering 2025年第1期20卷 27-43页

作者： Chang LIU Chunya WU Xiguang LI Bo HOU Jiahao WU Ruijiang SUN Mingjun CHEN School of Mechatronics Engineering Harbin Institute of TechnologyHarbin 150001China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

Alumina dispersion-strengthened copper (ADSC), as a representative particle-reinforced metal matrix composite (PRMMC), exhibits superior wear resistance and high strength. However, challenges arise in their processability because of the non-uniform material properties of biphasic materials. In particular, limited research has been conducted on the reinforcement mechanism and behavior of particles during material cutting deformation of PRMMC with nanoscale particles. In this study, a cutting simulation model for ADSC was established, separating the nanoscale reinforcement particles from the matrix. This model was utilized to analyze the interactions among particles, matrix, and tool during the cutting process, providing insights into chip formation and fracture. Particles with high strength and hardness are more prone to storing stress concentrations, anchoring themselves at grain boundaries to resist grain fibration, thereby influencing the stress distribution in the cutting deformation zone. Stress concentration around the particles leads to the formation of discontinuous chips, indicating that ADSC with high-volume fractions of particle (VFP) exhibits low cutting continuity, which is consistent with the results of cutting experiments. The tool tip that is in contact with particles experiences stress concentration, thereby accelerating tool wear. Cutting ADSC with 1.1% VFP results in tool blunting, which increases the radius of cutting edge from 0.5 to 1.9 μm, accompanied with remarkable coating delamination and wear. Simulation results indicate that the minimum uncut chip thickness increases from 0.04 to 0.07 μm as VFP increases from 0.3% to 1.1%. In conjunction with scratch experiments, MUCT increases with the augmentation of VFP. Computational analysis of the specific cutting force indicates that particles contribute to the material’s size effect. The results of this study provide theoretical guidance for practical engineering machining of ADSC, indicating its g

关键词： alumina dispersion-strengthened copper particle-reinforced metal matrix composites material removal mechanism micro-milling chip formation minimum uncut chip thickness

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A novel rotor dynamic balancing method based on blade tip clearance measurement without the once per revolution sensor

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Chinese Journal of Aeronautics 2025年第2期38卷 445-458页

作者： Weibo LI Weimin WANG Shuai ZHANG Jiale WANG Yulong LIN Tianqing LI Key Lab of Engine Health Monitoring-Control and Networking of Ministry of Education Beijing University of Chemical TechnologyBeijing 100029China State Key Laboratory of High-end Compressor and System Technology Beijing University of Chemical TechnologyBeijing 100029China

The existence of the aeroengine casing,limited monitoring points,and multi-fault characteristics make obtaining the rotor’s vibration transmission characteristics challenging,resulting in difficulties accurately identifying the rotor *** paper utilizes a high-frequency composite sensor to monitor the engine’s blade tip clearance(BTC)and extracts unbalanced information from BTC signals for rotor dynamic balancing,while avoiding the need for the once per revolution(OPR)***,the vibration characteristics of the rotor-blade system under multi-fault conditions are ***,based on BTC measurement,a none OPR method and an unbalance identification method are proposed,in which the radial vibration of the blade tip in the BTC signals at different speeds is extracted and operated in the time domain to obtain the rotor unbalanced vibration,the signal is reconstructed,and cross-correlation analysis is used to accurately identify the magnitude and phase of the unbalanced ***,a rotor test bench is utilized for experimental *** results reveal that the dynamic balancing method based on the BTC signal can more precisely identify the rotor unbalance than the traditional rotor dynamic balancing *** application of this technique will effectively improve engine health management and fault prediction.

关键词： Aeroengine Rotor unbalance Composite sensor None once per revolution Blade tip clearance Dynamic balancing

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A numerical method for predicting bursting strength of composite rocket motor case considering filament winding process-induced stress

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Chinese Journal of Aeronautics 2025年第2期38卷 505-518页

作者： Jiqiu LIANG Fei ZHAO Dan WU Anxin DING Hubei Key Laboratory of Advanced Aerospace Propulsion Technology Wuhan 430040China System Design Institute of Hubei Aerospace Technology Academy Wuhan 430040China School of Materials Science and Engineering Wuhan University of TechnologyWuhan 430070China State Key Laboratory of Advanced Technology for Materials Synthesis and Processing Wuhan University of TechnologyWuhan 430070China

A numerical method to predict the bursting strength of filament wound composite rocket motor case is proposed *** method can evaluate the longitudinal stress evolution of each composite layer as impregnated filaments with fiber tension are wound layer by layer,and consider the effects of accumulated stress and deformation during filament winding on the bursting strength of composite ***∅520 mm composite cases as a case study,the filament-winding-process-induced stress and deformation as well as progressive damage behavior are numerically predicted,followed by a comparison with experimental *** numerical results show that the predicted bursting pressures for composite cases manufactured on the mandrels with and without a flexible component are 14.20 MPa and 21.40 MPa,*** values exhibit slight deviation from the measured pressures of 13.50 MPa and 21.57 ***,the predicted damage locations,situated respectively in the dome and cylinder,agree well with the experimental *** observations indicate that use of flexible component reduces the load-bearing capacity of the ***,it validates the reliability and accuracy of the proposed numerical method in predicting the bursting strength of composite cases.

关键词： Composite case Fiber tension Bursting strengt hProgressive damage analysis Filament winding

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