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Three-line structured light vision system for non-cooperative satellites in proximity operations

Chinese Journal of Aeronautics 2020年第5期33卷 1494-1504页

作者： Yang LIU Zongwu XIE Hong LIU State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150000China

Adapter ring is a commonly used component in non-cooperative satellites,which has high strength and is suitable to be recognized and grasped by the space *** proximity operations,this circle feature may be occluded by the robot arm or limited field of ***,the captured images may be underexposed when there is not enough *** address these problems,this paper presents a structured light vision system with three line lasers and a monocular *** lasers project lines onto the surface of the satellite,and six break points are formed along both sides of the adapter ring.A closed-form solution for real-time pose estimation is given using these break ***,a virtual structured light platform is constructed to simulate synthetic images of the target *** with the predefined camera parameters and relative positions,the proposed method is demonstrated to be more effective,especially at a close ***,a physical space verification system is set up to prove the effectiveness and robustness of our method under different light *** results indicate that it is a practical and effective method for the pose measurement of on-orbit tasks.

关键词： Adapter ring Line detection Non-cooperative target Pose measurement Space robot Structured light

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Torque Ripple Suppression Under Open-Circuit Fault for DTPPMSM Considering Back EMF Harmonics

Torque Ripple Suppression Under Open-Circuit Fault for DTPPM...

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International Conference on Applied Superconductivity and Electromagnetic Devices, ASEMD

作者： Chengsi Liu Jibin Zou State Key Laboratory of Robotics and System Harbin Institute of Technology HIT Harbin China

This paper analyzed the impact of phase back electromotive force (back EMF) harmonics on torque of dual three phase permanent magnet synchronous motor (DTPPMSM) from the view of electromagnetic power, and proposed a torque ripple suppression fault-tolerant method for open-circuit fault of DTPPMSM. The proposed method can consider the phase back EMF harmonics, thus achieveing both minimum torque ripple and maximum average torque. The proposed method is verified by both finite element analysis (FEA) and prototype experiment.

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Experimental Study on Frog-inspired Swimming Robot Based on Articulated Pneumatic Soft Actuator

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Journal of Bionic Engineering 2020年第2期17卷 270-280页

作者： Jizhuang Fan Shuqi Wang Qingguo Yu Yanhe Zhu State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

This paper presents a frog-inspired swimming robot based on articulated pneumatic soft *** realize the miniaturization of the robot and enhance its environmental adaptability,combined with the advantages and characteristics of soft materials,an articulated pneumatic soft actuator is designed based on analysis of a frog's propulsion characteristics.A structural model is established to analyse the mechanical properties of the soft *** the goal of making full use of the driving torque of the actuator and enhancing the propulsion efficiency of the robot,the motion trajectories of each joint of the robot are *** on the trajectory planning,the control strategy of the soft actuator is determined to realize the frog-like swimming of the *** torso size after assembly is 0.175 m×0.100 m×0.060 m,which realizes the miniaturization of the frog-inspired *** the movement of the robot,the torso moves stably and flexibly,and can realize continuous linear and turning *** rationality of the structure and trajectory planning are verified by prototype experiments.

关键词： bionic robotic frog articulated pneumatic soft actuator trajectory planning prototype experiment

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The Application of Acceleration-Level Quaternion Interpolation in the Visual-Servoing Process 13

The Application of Acceleration-Level Quaternion Interpolati...

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13th International Conference on Computer and Automation Engineering, ICCAE 2021

作者： Zhao, Xiaoyu Liu, Yang Xie, Zongwu Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9780738132204

Visual servoing process is widely applied in robot control. In the visual servoing process, an interpolation of the robot end pose is necessary. In the interpolation, quaternion suffers a lot for the discontinuity in trajectory velocity and acceleration. In this paper, we propose an acceleration-level continuous interpolation method and apply it to visual servoing process. In the method, we make up use of the conversion between different rotation descriptors and achieve a smooth enough trajectory. Simulations and experiments are carried out to validate the method and the results show considerable performance. © 2021 IEEE.

关键词： Visual servoing

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Cam-Driven Frequency Up-Conversion Mechanism For Kinetic Energy Harvesting

Cam-Driven Frequency Up-Conversion Mechanism For Kinetic Ene...

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Micro and Nanotechnology for Power Generation and Energy Conversion Applications (PowerMEMS)

作者： Heng Zhao Tianyi Tang Yunfei Li Mingqi Mei Huicong Liu School of Mechanical and Electrical Engineering Jiangsu Provincial Key Laboratory of Advanced Robotics Soochow University Suzhou CHINA State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin CHINA

ISBN: (数字)9798350380200

ISBN: (纸本)9798350380217

This paper proposes an ocean wave energy harvester (WEH) with a cam-driven frequency up-conversion mechanism. It utilizes a planar pendulum structure to achieve motion response to ultra-low-frequency wave excitation and then converts the mechanical energy of the pendulum into high-frequency and high-power electrical energy output through the cam-driven frequency upconversion mechanism. WEH’s superior design enables high-power output even under excitation below 1 Hz. At the excitation frequency of 0.75 Hz and resistance load of $20 \Omega$, the maximum power output can reach 461.4 mW. Due to its high output power, the WEH can be integrated into the ocean observation buoy to power the sensors, thereby enabling long-term, unattended operation of the buoy in remote offshore areas.

关键词： Temperature sensors Resistance Ocean waves Frequency conversion Sensor systems Sensors Power systems Wave energy conversion Power generation Ocean temperature

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A Wave Energy Harvester With Vertical Pendulum And Mag-Boost Mechanism

A Wave Energy Harvester With Vertical Pendulum And Mag-Boost...

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Micro and Nanotechnology for Power Generation and Energy Conversion Applications (PowerMEMS)

作者： Tianyi Tang Yunfei Li Heng Zhao Lining Sun Huicong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin CHINA School of Mechanical and Electrical Engineering Jiangsu Provincial Key Laboratory of Advanced Robotics Soochow University Suzhou CHINA

ISBN: (数字)9798350380200

ISBN: (纸本)9798350380217

This paper presents an ultra-low-frequency and high-power wave energy harvester (WEH). It utilizes a vertical pendulum structure to achieve motion response to ultra-low-frequency wave excitation and then converts the mechanical energy of the pendulum into high-frequency and high-power electrical energy output through the MagBoost Mechanism. The design of WEH ensures stable output even under excitation conditions below 1 Hz. At the excitation frequency of 1.4 Hz and resistance load of $20 \Omega$, the maximum power output can reach 1.16 W with a power density of $0.54 \mathrm{~mW} / \mathrm{cm}^{3}$. The high energy density allows stable power supplementation for ocean observation buoy within a limited volume, thereby enabling long-term, unattended operation of the buoy in remote offshore areas.

关键词： Resistance Power system measurements Density measurement Oceans Frequency conversion Sensor systems Sensors Mechanical energy Wave energy conversion Power generation

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Augmented Reality Based Navigation system for Endoscopic Transnasal Optic Canal Decompression

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Journal of Shanghai Jiaotong university(Science) 2025年第1期30卷 34-42页

作者： FU Hang XU Jiangchang LI Yinwei ZHOU Huifang CHEN Xiaojun Institute of Biomedical Manufacturing and Life Quality Engineering State Key Laboratory System and VibrationSchool of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai 200240China Department of Ophthalmology Shanghai Ninth People's HospitalShanghai Jiao Tong University School of MedicineShanghai 200011China Institute of Medical Robotics Shanghai Jiao Tong UniversityShanghai 200240China Shanghai Key Laboratory of Orbital Diseases and Ocular Oncology Shanghai 200011China

Endoscopic transnasal optic nerve decompression surgery plays a crucial role in minimal invasive treatment of complex traumatic optic ***,a major challenge faced during the procedure is the inability to visualize the optic nerve *** address this issue,an endoscopic image-based augmented reality surgical navigation system is developed in this *** system aims to virtually fuse the optic nerve onto the endoscopic images,assisting surgeons in determining the optic nerve’s position and reducing surgical ***,a calibration algorithm based on a checkerboard grid of immobile points is proposed,building upon existing calibration ***,to tackle accuracy issues associated with augmented reality technology,an optical navigation and visual fusion compensation algorithm is proposed to improve the intraoperative tracking *** evaluate the system’s performance,model experiments were meticulously designed and *** results confirm the accuracy and stability of the proposed system,with an average tracking error of(0.99±0.46)*** outcome demonstrates the effectiveness of the proposed algorithm in improving the augmented reality surgical navigation system’s ***,the system successfully displays hidden optic nerves and other deep tissues,thus showcasing the promising potential for future applications in orbital and maxillofacial surgery.

关键词： optic nerve decompression endoscopy augmented reality surgical navigation

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Optimized Design of a Haptic Unit for Vibrotactile Amplitude Modulation

Optimized Design of a Haptic Unit for Vibrotactile Amplitude...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Huang, Jingchen Fang, Yun Guo, Weichao Qiao, Zhijian Sheng, Xinjun School of Mechanical Engineering Meta Robotics Institute Shanghai Jiao Tong University State Key Laboratory of Mechanical System and Vibration Shanghai200240 China Hong Kong University of Science and Technology Department of Electronic and Computer Engineering Hong Kong Hong Kong

ISBN: (纸本)9781665481090

Communicating information to users is a crucial aspect of human-machine interaction. Vibrotactile feedback encodes information into spatiotemporal vibrations, enabling users to perceive tactile sensations. It offers advantages such as lightweight, wearability, and high stability, with broad applications in sensory substitution, virtual reality, education, and healthcare. However, existing haptic unit designs lack amplitude modulation capabilities, which limits their applications. This paper proposed an optimized design of the haptic unit from the perspective of vibration amplitude modulation. A modified elastic model was developed to describe the propagation and attenuation mechanisms of vibration in the skin. Based on the model, two types of hierarchical architectural design were proposed. The design incorporated various materials arranged in multiple layers to amplify or attenuate the vibration amplitude as it traveled through the structure. An experimental platform was built to evaluate the performance of the optimized design. © 2024 IEEE.

关键词： Virtual reality

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Bio-robotics research for non-invasive myoelectric neural interfaces for upper-limb prosthetic control:a 10-year perspective review

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国家科学评论（英文版） 2023年第5期10卷 32-52页

作者： Ning Jiang Chen Chen Jiayuan He Jianjun Meng Lizhi Pan Shiyong Su Xiangyang Zhu National Clinical Research Center for Geriatrics West China Hospitaland Med-X Center for ManufacturingSichuan UniversityChengdu 610041China State Key Laboratory of Mechanical System and Vibration and Institute of RoboticsShanghai Jiao Tong UniversityShanghai 200240China Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education School of Mechanical EngineeringTianjin UniversityTianjin 300350China Institute of Neuroscience Université Catholique LouvainBrussel B-1348Belgium

A decade ago,a group of researchers from academia and industry identified a dichotomy between the industrial and academic state-of-the-art in upper-limb prosthesis control,a widely used bio-robotics *** proposed that four key technical challenges,if addressed,could bridge this gap and translate academic research into clinically and commercially viable *** challenges are unintuitive control schemes,lack of sensory feedback,poor robustness and single sensor ***,we provide a perspective review on the research effort that occurred in the last decade,aiming at addressing these *** addition,we discuss three research areas essential to the recent development in upper-limb prosthetic control research but were not envisioned in the review 10 years ago:deep learning methods,surface electromyogram decomposition and open-source *** conclude the review,we provide an outlook into the near future of the research and development in upper-limb prosthetic control and beyond.

关键词： electromyography prosthetic control sensory feedback EMG decomposition robustness deep learning

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Dynamic Object Removal of Static 3D Point-Cloud Map Building in Casualty Collection Point

Dynamic Object Removal of Static 3D Point-Cloud Map Building...

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International Conference on Control, Automation, robotics and Vision (ICARCV)

作者： Haidong Wang Wanlei Li Yijie Dai Xiaogang Xiong Yunjiang Lou State Key Laboratory of Robotics and System School of Mechanical Engineering and Automation Harbin Institute of Technology ShenZhen Shenzhen China

ISBN: (数字)9798331518493

ISBN: (纸本)9798331518509

Understanding the environment is crucial for the autonomous navigation of vehicles. Accurately identifying and removing dynamic objects that cause occlusions and noisy pose issues is crucial to the task. The casualty collection point (CCP) is a designated location for treating casualties during disasters. These sites are commonly located in open fields to ensure that the injured receive timely and appropriate care. Therefore, the construction of a 3D map in CCP may encounter additional challenges. In this paper, we introduces a novel algorithm that integrates a learning-based multi-object detection network with a Kalman Filter tracking framework to remove dynamic object traces from the 3D map building, particularly in CCP scenarios, and it redirects attention on the velocity attribute of dynamic objects at the object-level scale. Additionally, we contribute a new dataset specifically designed for the CCP scenario. Comparative experiments conducted on the SemanticKITTI dataset and CCP dataset show that our proposed method achieves the state-of-the-art performance in removing traces of dynamic objects on 3D Map. Dataset is available at https://***/haidongwang96/ccp_dataset.

关键词： Point cloud compression Three-dimensional displays Simultaneous localization and mapping Heuristic algorithms Buildings Object detection Kalman filters Object recognition Noise measurement Vehicle dynamics

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