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24th IFToMM China International Conference on Mechanism and Machine Science and Engineering, IFToMM CCMMS 2024

作者： Feng, Jian Li, Bo Yang, Hui Tao, Jianguo Deng, Zongquan Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao 066004 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China Laboratory of Test and Measurement Technology Tianjin Institute of Aerospace Mechanical and Electrical Equipment Tianjin 300301 China

ISBN: (纸本)9789819614660

The complex structural dynamics model of large-span truss beam structures and the flexibility issues brought about by large spans make the analysis of system dynamics and vibration control relatively challenging. The establishment of an equivalent dynamic model is a key technology for conducting semi-physical simulation experiment platform system dynamic model analysis. A large-span flexible truss beam structure is designed from three aspects: the cross-sectional shape, cross-sectional uniformity, and cross-sectional connecting rods. For the large-span flexible truss girder structure, based on the principle of energy equivalence, the relationship between the kinetic energy and strain energy of periodic structures and the kinetic energy and strain energy of the equivalent continuous beam is established. The equivalent mass and stiffness matrices are solved based on the principle of equivalence between strain energy and kinetic energy and the theory of continuum mechanics to establish the equivalent dynamic model. The correctness of the theoretical model was verified through theoretical analysis of natural vibration frequencies and modes, and compared with finite element simulation results. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Dynamic model Equivalent beam Vibration analysis

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Ultrahigh Energy Density and Rapid Response Dielectric Elastomer for Advanced Soft Robots

SSRN

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SSRN 2025年

作者： Du, Chengzhen Yan, Peinan Zou, Jiang Guo, Yutong Pang, Zimo Li, Sijia Chen, Yujie Fan, Qunfu Liu, Hezhou State Key Laboratory of Metal Matrix Composites School of Materials Science and Engineering Shanghai Jiao Tong University Shanghai200240 China Robotics Institute State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai200240 China National Engineering Research Center of Special Equipment and Power System for Ship and Marine Engineering Shanghai200030 China

Dielectric elastomer actuators (DEAs) require high energy density to simultaneously achieve high mechanical output while enabling compact and lightweight actuator design. However, the realization of high energy density is constrained by the high driving electric field and the significant hysteretic relaxation. Herein, we present a DE featuring a bimodal-network structure and multiple hydrogen bond interactions, which possesses outstanding properties, including a low Young's modulus, optimal dielectric properties, and low mechanical loss. The DE achieves a maximum actuation strain of 200% at a low driving electric field of 60 V μm-1 with a rapid response. Remarkably, it exhibits an output force of 0.95 N and an ultrahigh specific energy of 283 J kg-1, approximately 7 times that of natural muscle. A series of soft robots with different structures and functions are fabricated to showcase the immense potential of our DE in various applications. This work provides a novel strategy to fabricate high performance artificial muscles for soft robotics. © 2025, The Authors. All rights reserved.

关键词： Elastomers

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IMPROVING LATERAL SAFETY DISTANCE-BASED ON FEATURE DETECTION AND PRM FOR UNMANNED VEHICLE PATH PLANNING

IMPROVING LATERAL SAFETY DISTANCE-BASED ON FEATURE DETECTION...

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2022 International Conference on Computer, Artificial Intelligence, and Control Engineering, CAICE 2022

作者： Wang, Boqian Wang, Jianfeng Li, Wenxuan Liu, Yiqun Yang, Na Wang, Quanqing Yao, Xinyue School of Automotive Engineering Harbin Institute of Technology Shandong Weihai264209 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Weihai Guangtai Airport Equipment Co. Ltd. Weihai264200 China

ISBN: (纸本)9781510655942

Most of the existing path-planning algorithms do not consider lateral safe distance requirements in practical applications. Hence, in this study, a new path point selection algorithm is proposed for path planning. The algorithm first used the Harris and Line Segment Detector(LSD) algorithms to detect and obtain the corner and edge information of obstacles. A vertical line was provided to the edge of the surrounding obstacles along each corner successively. In this process, the narrow impassable area in the map was filtered and removed by setting a safety threshold, and the foot of the vertical coordinates were simultaneously obtained. The corresponding midpoint coordinates were solved by using the corner coordinates and the foot of the corresponding perpendicular coordinates. The midpoint coordinates were used as candidate points to generate path points. These candidate points are screened and relaxed using the Probabilistic Roadmaps(PRM) algorithm to obtain the series of path points required. Finally, the path was planned according to these path points and smoothed using the Quadratic polynomial interpolation method(QPMI). Through simulation experiments, the method proposed in this study can solve a unique path without randomness under given conditions, and the probability of a collision in practical applications was reduced. © 2022 SPIE.

关键词： Motion planning

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FlexDelta: A flexure-based fully decoupled parallel xyz positioning stage with long stroke

arXiv

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arXiv 2023年

作者： Zhang, Qianjun Dong, Wei Xu, Qingsong Goteea, Bimal J. Gao, Yongzhuo State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150000 China Department of Electromechanical Engineering Faculty of Science and Technology University of Macau Macau999078 China

Decoupled parallel xyz positioning stages with large stroke have been desired in high-speed and precise positioning fields. However, currently such stages are either short in stroke or unqualified in parasitic motion and coupling rate. This paper proposes a novel flexure-based decoupled parallel xyz positioning stage (FlexDelta) and conducts its conceptual design, modeling, and experimental study. Firstly, the working principle of FlexDelta is introduced, followed by its mechanism design with flexure. Secondly, the stiffness model of flexure is established via matrix-based Castigliano’s second theorem, and the influence of its lateral stiffness on the stiffness model of FlexDelta is comprehensively investigated and then optimally designed. Finally, experimental study was carried out based on the prototype fabricated. The results reveal that the positioning stage features centimeter-stroke in three axes, with coupling rate less than 0.53%, parasitic motion less than 1.72 mrad over full range. And its natural frequencies are 20.8 Hz, 20.8 Hz, and 22.4 Hz for x, y, and z axis respectively. Multi-axis path tracking tests were also carried out, which validates its dynamic performance with micrometer error. Copyright © 2023, The Authors. All rights reserved.

关键词： Stiffness

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A Collision Avoidance Path Planning Method for 7-DOF Space Manipulator*

A Collision Avoidance Path Planning Method for 7-DOF Space M...

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IEEE International Conference on robotics and Biomimetics

作者： Xu Han Guocai Yang Minghe Jin Qi Wang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilong Jiang China Department of the Aerospace Systems Department Military Representative Office of the Equipment Changchun China

This paper proposes a collision avoidance path planning approach for redundant robotic arms based on the RRT algorithm. The study focuses on a 7-DOF robotic arm with an SSRMS configuration. The method involves improved RRT-based path planning in configuration space (C-space) and collision detection in Cartesian space. The results of collision detection are employed to guide the path planning process. Emulating the SSRMS configuration robotic arm, a kinematic model is established. By enhancing the RRT algorithm with the following points: probabilistic sampling towards the target configuration, guided exploration near existing tree nodes, parent node reassignment for new nodes, and the adoption of a bidirectional searching tree, the randomness of sampling is reduced and the planning process is accelerated. By continuously mapping points on the surface of the arm to both the base coordinate system and the self-collision coordinate system, collision detection and self-collision detection are performed in the Cartesian space using a combination of surface equations and projection methods. Finally, a series of simulation experiments were conducted to analyze the impact of various parameters, different obstacles and different methods on the planning process. This validation confirmed the feasibility and effectiveness of the approach.

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Effect of filament winding process parameters on interlaminar performance for CF/PP thermoplastic composite 4

Effect of filament winding process parameters on interlamina...

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4th International Conference on Graphene and Novel Nanomaterials, GNN 2022

作者： Chang, C. Geng, H.B. Feng, Y. Han, Z.Y. Sun, S.Z. State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Inner Mongolia Aerospace Honggang Machinery Corporation Limited Hohhot010020 China Wuhu Robot Technology Research Institute Harbin Institute of Technology Wuhu241000 China

This paper focuses on the in-situ consolidation process of thermoplastic composites by winding, aiming to explore the influence of key process parameters on samples' quality. During the consolidation of thermoplastic composites, they need to go through resin melting-bonding-consolidation process, in which each parameter affects the interlaminar bond strength. Through preliminary simulation and experiments, the process parameters were selected. In this paper, wound NOL ring samples made of carbon fiber reinforced polypropylene thermoplastic composite prepregs were obtained with a hot gas assisted filament winding equipment. The influence rule of winding temperature, winding tension and winding speed on the interlaminar shear strength were analyzed based on response surface methodology. Through the analysis, in the range of the experiments winding tension and temperature had more effect on the shear strength while speed's influence was small. With the increase of tension and temperature, the interlaminar shear strength increased, but after reaching a certain value, the laminar shear strength decreased instead. © Published under licence by IOP Publishing Ltd.

关键词： Filament winding

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WSC-Trans: A CNN-Transformer Structure-Based 3D Multi-Structural Automatic Segmentation Model for Temporal Bone CT

WSC-Trans: A CNN-Transformer Structure-Based 3D Multi-Struct...

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IEEE International Conference on Bioinformatics and Biomedicine (BIBM)

作者： Xin Hua Jixin Ma Hongjian Yu Zhijiang Du Fanjun Zheng Chen Zhang Qiaohui Lu Hui Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Senior Department of Otolaryngology Head and Neck Surgery The 6th Medical Center of Chinese PLA General Hospital Beijing China

ISBN: (数字)9798350386226

ISBN: (纸本)9798350386233

Cochlear implantation is the most effective treatment for severe deafness, which requires accurate localization of temporal bone anatomy. Preoperative CT image segmentation is an essential technique to determine the location of relevant tissues in the temporal bone. However, manual segmentation is usually time-consuming and suffers from low accuracy due to the complex and small structures of these tissues in temporal bone CT. To address this issue, we proposed a CNN-Transformer structure-based 3D multi-structured model for the automatic segmentation of fine and complex tissues such as the cochlea, facial nerve, ossicles, vestibule and semicircular canal in the temporal bone CT. Our model adopts a new Transformer deformation structure, which effectively utilizes the spatial attention mechanism to capture feature dependencies, and uses the channel attention mechanism to fuse different channel semantic representations to improve segmentation accuracy. Extensive experiments on a private temporal bone CT dataset show that our model achieves higher DSS and JSS scores, and lower HD95 and ASSD scores for all targets compared with other existing segmentation methods, demonstrating its superior performance.

关键词： Image segmentation Solid modeling Irrigation Three-dimensional displays Accuracy Attention mechanisms Computed tomography Ear Bones Transformers

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Flapping-Wing Robot Achieves Multi-Domain Locomotion Using Transformable Wheel Mechanism

Flapping-Wing Robot Achieves Multi-Domain Locomotion Using T...

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IEEE International Conference on robotics and Biomimetics

作者： Xiangxiao Chai Shihua Wang Erzhen Pan Wenfu Xu School of Mechanical Engineering and Automation Harbin Institute of Technology (Shenzhen) Shenzhen China Key University Laboratory of Mechanism & Machine Theory and Intelligent Unmanned Systems of Guangdong Shenzhen China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

The difficulty of moving from aquatic to aerial environment is one of the major challenges limiting the development of trans-medium multi-domain locomotion vehicles. In this paper, the concept of the transformable wheel, a feature commonly found in autonomous land vehicles (AL V s), is introduced into the design. Additionally, a flapping-wing robot equipped with multi-domain locomotion capability, which can not only realize aerial flight and surface navigation on water, but also ascend from water to land for subsequent takeoff is presented. The paper first introduces the system design of the robot and proposes the corresponding multi-domain locomotion strategy. Subsequently, the design of the transformable wheel mechanism is described in detail and the force analysis for the water-exit is conducted. The feasibility of the proposed strategy is experimentally validated, confirming the prototype's multi-domain locomotion performance finally. This research explores the feasibility of introducing the transformable wheel mechanism into trans-medium multi-domain vehicle platforms and provides a design example.

关键词： Legged locomotion Torque Limiting Navigation Propellers Roads Wheels Prototypes Motors system analysis and design

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MRI Super-Resolution via Hybrid Information Enhancement Network based on Multi-Attention and Adaptive Convolution

MRI Super-Resolution via Hybrid Information Enhancement Netw...

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IEEE International Conference on Bioinformatics and Biomedicine (BIBM)

作者： Jixin Ma Hongjian Yu Zhijiang Du Xin Hua Zibo Li Hui Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Senior Department of Otolaryngology Head and Neck Surgery The 6th Medical Center of Chinese PLA General Hospital Beijing China

ISBN: (数字)9798350386226

ISBN: (纸本)9798350386233

Deep learning-based super-resolution (SR) reconstruction is a critical approach which is used to generate high-resolution images from corresponding low-resolution images. However, the CNN-based methods are ineffective in capturing global information, whereas the Transformer-based methods have limited ability to model long-range dependencies caused by window self-attention. Besides, it is a challenging task to recover lost high-frequency information from downsampled images. In this paper, a Hybrid Information Enhanced Network (HIEN) is proposed for MRI super-resolution task. Specifically, we propose a Spatial-Channel Hybrid Attention (SCHA) to enhance specific semantics representation by combining spatial and channel self-attention together. To recover more high-frequency components, we propose a Dynamic High-Frequency Pass Filter (DHPF) to preserve high-frequency information adaptively in pixel-wise. The results of our extensive experiments indicate that HIEN outperforms other state-of-the-art methods.

关键词： Convolution Magnetic resonance imaging Magnetic separation Superresolution Semantics Magnetic resonance Transformers Information filters Image reconstruction Biomedical imaging

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Optical modulation of repaired damage site on fused silica produced by CO2 laser rapid ablation mitigation

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Chinese Physics B 2020年第5期29卷 288-296页

作者： Chao Tan Lin-Jie Zhao Ming-Jun Chen Jian Cheng Zhao-Yang Yin Qi Liu Hao Yang Wei Liao State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China Research Center of Laser Fusion China Academy of Engineering PhysicsMianyang 621900China

CO2 laser rapid ablation mitigation(RAM)of fused silica has been used in high-power laser systems owing to its advantages of high efficiency,and ease of implementing batch and automated *** order to study the effect of repaired morphology of RAM on laser modulation and to improve laser damage threshold of optics,an finite element method(FEM)mathematical model of 351 nm laser irradiating fused silica optics is developed based on Maxwell electromagnetic field equations,to explore the 3D near-field light intensity distribution inside optics with repaired site on its *** influences of the cone angle and the size of the repaired site on incident laser modulation are studied as *** results have shown that for the repaired site with a cone angle of 73.3°,the light intensity distribution has obvious three-dimensional *** relative light intensity on z-section has a circularly distribution,and the radius of the annular intensification zone increases with the decrease of *** the distribution of maximum relative light intensity on y-section is parabolical with the increase of *** the cone angle of the repaired site decreases,the effect of the repaired surface on light modulation becomes stronger,leading to a weak resistance to laser ***,the large size repaired site would also reduce the laser damage ***,a repaired site with a larger cone angle and smaller size is preferred in practical CO2 laser repairing of surface *** work will provide theoretical guidance for the design of repaired surface topography,as well as the improvement of RAM process.

关键词： fused silica laser repaired surface optical modulation finite element method(FEM)

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