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Temperature field characteristics of CF/PEEK thermoplastic composites formed by automated fiber placement using hot gas torch with slit structure nozzle

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Chinese Journal of Aeronautics 2024年第6期37卷 392-409页

作者： Ziang JIN Shouzheng SUN Sunil Chandrakant JOSHI Zhenyu HAN Hongya FU State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China School of Mechanical and Aerospace Engineering Nanyang Technological UniversitySingapore 639798Singapore

In-situ consolidation forming of high-performance thermoplastic composites by Automated Fiber Placement(AFP)is of significant interest in *** the laying process,the heating temperature has a great influence on the quality of the formed components.A threedimensional heat transfer finite element model of Carbon Fiber(CF)/Polyether Ether Ketone(PEEK)heated by Slit Structure Nozzle Hot Gas Torch(SSNHGT)assisted AFP is *** influence of gas flow rate,heat transfer distance,and laying speed on heating temperature is *** results show that the overall temperature increases and then decreases as the gas flow rate *** the increase in heat transfer distance and laying speed,the overall temperature ***,the gas flow rate has the greatest influence on the temperature of CF/PEEK being heated,followed by the laying speed and finally the heat transfer ***,the model can also be extended to other fiber-reinforced polymer composites formed by hot gas torch assisted AFP,which can guide the optimization of process parameters for subsequent heating temperature control.

关键词： Fiber reinforced plastics Thermoplastics Heating temperature Automated fiber placement CF/PEEK

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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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Numerical and experimental studies of hydrodynamics of flapping foils

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Journal of Hydrodynamics 2018年第2期30卷 258-266页

作者： Kai Zhou Jun-kao Liu Wei-shan Chen College of Mechanical and Electronic Engineering Shandong Agricultural University Taian 271018 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

The flapping foil based on bionics is a sort of simplified models which imitate the motion of wings or fins of fish or birds. In this paper, a universal kinematic model with three degrees of freedom is adopted and the motion parallel to the flow direction is considered. The force coefficients, the torque coefficient, and the flow field characteristics are extracted and analyzed. Then the propulsive efficiency is calculated. The influence of the motion parameters on the hydrodynamic performance of the bionic foil is studied. The results show that the motion parameters play important roles in the hydrodynamic performance of the flapping foil. To validate the reliability of the numerical method used in this paper, an experiment platform is designed and verification experiments are carried out. Through the comparison, it is found that the numerical results compare well with the experimental results, to show that the adopted numerical method is reliable. The results of this paper provide a theoretical reference for the design of underwater vehicles based on the flapping propulsion.

关键词： Biological fluid dynamics flapping foil hydrodynamic performance numerical simulation

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The inter-frame Feature Matching and Tracking of Binocular Vision Based on the ORB-PyrLK algorithm 36

The inter-frame Feature Matching and Tracking of Binocular V...

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第36届中国控制会议

作者： Zhanhai Yu Ke Wang Rifeng Li Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin Institute of Technology

ISBN: (纸本)9781538629185

The feature matching and tracking of binocular vision inter-frame images have been divided into three parts in this *** image feature extraction,an image binarization segmentation method based on HSV color space is used to extract the target in order to reduce the searching range of feature points and improve the matching *** feature matching,a modified ORB method combining KNN rough algorithm and RANSAC fine algorithm is applied to improve the matching accuracy of left-right frame *** to feature tracking which can be seen as the matching of front-rear frames,an inter-frame matching method based on ORB feature optical flow is proposed to realize the *** are shown in several experiments to demonstrate that the proposed algorithm can improve the accuracy and efficiency of left-right frame and front-rear frame image matching.

关键词： Binocular Vision Feature Matching ORB KNN RANSAC PyrLK Accuracy

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Least Squares Support Vector Machine Kalman Filter for Physiological Tremor Suppression in Minimally Invasive Surgical Robot

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Journal of Harbin Institute of Technology(New Series) 2020年第5期27卷 22-28页

作者： Jiandong Dai Zhijiang Du Zhiyuan Yan Yunlei Liang State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

This paper studies the physiological tremor filtering in minimally invasive surgical *** surgeon􀆳s physiological tremor of the hand can cause the vibration of the tip of the surgical instrument,which may reduce operative accuracy and limit the application of surgical *** at the vibration caused by physiological tremor of hand,we propose a Least Squares Support Vector Machine Kalman Filter(LSSVMKF),which can filter the tremor by estimating and modeling the tremor signal by Kalman filter and then superimposing it reversely in the control *** estimating and modeling the tremor signal,the filter uses the Least Squares Support Vector Machine(LS⁃SVM)to build the regression model of the constant parameters(Process Noise Covariance and Measurement Noise Covariance)of the traditional Kalman filter,which can dynamically adjust these parameters during the operation and improve the accuracy of Kalman *** simulation results show that the LSSVMKF can effectively filter out the tremor signal,thereby improving the accuracy of surgery.

关键词： physiological tremor suppression minimally invasive surgical robot Kalman filter support vector machine

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Bionic Jumping of Humanoid Robot via Online Centroid Trajectory Optimization and High Dynamic Motion Controller

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Journal of Bionic Engineering 2024年第6期21卷 2759-2778页

作者： Xiangji Wang Wei Guo Zhicheng He Rongchao Li Fusheng Zha Lining Sun State Key Laboratory of Robotics and System Harbin Institute of Technology(HIT)Harbin150001China Faculty of Computing Harbin Institute of Technology(HIT)Harbin150001China

The dynamic motion capability of humanoid robots is a key indicator for evaluating their ***,as a typical dynamic motion,is of great significance for enhancing the robot’s flexibility and terrain adaptability in unstructured ***,achieving high-dynamic jumping control of humanoid robots has become a challenge due to the high degree of freedom and strongly coupled dynamic *** idea for this paper originated from the human response process to jumping commands,aiming to achieve online trajectory optimization and jumping motion control of humanoid ***,we employ nonlinear optimization in combination with the Single Rigid Body Model(SRBM)to generate a robot’s Center of Mass(CoM)trajectory that complies with physical constraints and minimizes the angular momentum of the ***,a Model Predictive Controller(MPC)is designed to track and control the CoM trajectory,obtaining the required contact forces at the robot’s ***,a Whole-Body Controller(WBC)is used to generate full-body joint motion trajectories and driving torques,based on the prioritized sequence of tasks designed for the jumping *** control framework proposed in this paper considers the dynamic characteristics of the robot’s jumping process,with a focus on improving the real-time performance of trajectory optimization and the robustness of *** and experimental results demonstrate that our robot successfully executed high jump motions,long jump motions and continuous jump motions under complex working conditions.

关键词： Humanoid robots Jumping motion control Centroid trajectory optimization Optimization and optimal control

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Factors governing heat affected zone during wire bonding

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Transactions of Nonferrous Metals Society of China 2009年第S02期19卷 490-494页

作者： SUN Li-ning LIU Yue-tao LIU Yan-jie State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150080China School of Mechanical Engineering Shandong University of TechnologyZibo 255049China

In the wire bonding process of microelectronic packaging,heat affect zone(HAZ)is an important factor governing the loop profile of *** height of loop is affected by the length of the *** governing the HAZ were *** investigate this relationship,experiments were done for various sizes of wire and free air ball(FAB).Electric flame-off(EFO)current, EFO time,EFO gap and recrystallization were also *** results show that as the size of FAB becomes larger,the length of HAZ *** the increase of EFO current and time,the length of HAZ becomes *** FAB forms at the same parameter the length of HAZ becomes shorter with the high temperature of recrystallization.

关键词： heat affected zone wire bonding electric flame off free air ball

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Time-delayed bilateral teleoperation using wave variable with prediction in three channel control architecture

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High Technology Letters 2013年第1期19卷 12-17页

作者：于振中 Yan Jihong Hui Jing Zhao Jie Ma Yonghu Key Laboratory of Advanced Process Control for Light Industry Ministry of Education Jiangnan University State Key Laboratory of Robotics and System Harbin Institute of Technology

This paper proposes a novel method for incorporating wave domain prediction in a three-channel(3CH)architecture,which is the optimal architecture from a transparency point of view,to overcome the poor transparency problem of using the wave variable method in a time-delay teleoperation system.A 3CH teleoperation control architecture is established by selecting parameters of the 4CH architecture sensibly for the system without force sensor in the master *** communication channel is divided into a two-port model by combining force and velocity information reasonably to extend the wave variable method to a 3CH *** the I/O signal of the two-port model is transformed into wave variable.A predictor is added to the wave domain of the master side to further improve the transparency of the system,and a regulator is designed to ensure the passivity of the *** results show that the proposed method can guarantee stability and improve the transparency of the teleoperation system with time-delay.

关键词： bilateral teleoperation three-channel wave variable wave domain prediction time-delay

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A novel method of combining computer vision, eye-tracking, EMG, and IMU to control dexterous prosthetic hand

A novel method of combining computer vision, eye-tracking, E...

引用

2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Shi, Chunyuan Qi, Le Yang, Dapeng Zhao, Jingdong Liu, Hong Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150081 China Artificial Intelligence Laboratory State Key Laboratory of Robotics and System Harbin150081 China

ISBN: (纸本)9781728163215

Due to poor robustness, instability, and the heavy burden of use, the traditional myoelectric control method is still powerless in the face of the control of the dexterous prosthetic hand. To solve this problem, a new method (CVEEI), that combines computer vision, eye tracking, electromyogram (EMG) and IMU was proposed in this paper. Firstly, through gazing (eye-tracking) in front of the screen, the grasping pattern of the objects can be fed back to the prosthetic hand controller;Then, the prosthetic hand can be controlled to transport the object to the position expected, on collaboration of both EMG and IMU. In this process, the grasping pattern of all objects can be recognized by computer vision in real-time. Importantly, through comparing the traditional EMG control method (co-contraction to switch) in the transport experiment of the objects, the superiority of this new method in operating the dexterous prosthetic hand was further verified (fast > 1s/single object) in this paper. © 2019 IEEE.

关键词： Eye tracking

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Design and Control of a Coupling Mechanism-Based Prosthetic Hand

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Journal of Shanghai Jiaotong university(Science) 2010年第5期15卷 571-577页

作者：王新庆刘伊威姜力杨大鹏李楠刘宏黄海 State Key Laboratory of Robotics and System Harbin Institute of Technology Institute of Robotics and Mechatronics German Aerospace Center Key Laboratory of Science and Technology for National Defence of Autonomous Underwater Vehicle Harbin Engineering University

A five-fingered,multi-sensory and biomimetic hand is *** cambered palm is specially designed by utilizing the knowledge of *** position of each finger is arranged according to human hand *** finger with three phalanges could fulfill flexion-extension movement *** the fingers are designed using coupling link *** location of the thumb is designed by maximizing interaction area between the thumb and other *** opposite thumb could grasp along a cone surface,while maintaining its *** hardware architecture is divided into control system and human-machine interaction *** mechanical parts,sensors and motion control systems are integrated in the hand *** addition,a skin-like glove is designed,which makes the hand more *** to our primary experimental results,the hand can accomplish several grasp modes by applying an intuitive surface electromyography control *** success rate of 10 modes is up to 90%.

关键词： prosthetic hand coupling mechanism electromyography control support vector machine (SVM)

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