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Corrigendum to “Drill-soil penetration model and its application to lunar exploration” [Adv. Space Res. 70(11) (2022) 3436–3449]

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Advances in Space Research 2023年第8期71卷 3532-3532页

作者： Ye Tian Jiahang Zhang Weiwei Zhang Boyi Xu Zhangqing Duan School of Light Industry Harbin University of Commerce Harbin 150028 PR China The State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 PR China

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Practical fractional-order variable-gain super-twisting control with application to wafer stages of photolithography systems

arXiv

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arXiv 2021年

作者： Kuang, Zhian Sun, Liting Gao, Huijun Tomizuka, Masayoshi Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin150001 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Mechanical Control System Lab Mechanical Engineering Department University of California BerkeleyCA94720 United States

In this paper, a practical fractional-order variable-gain super-twisting algorithm (PFVSTA) is proposed to improve the tracking performance of wafer stages for semiconductor manufacturing. Based on the sliding mode control (SMC), the proposed PFVSTA enhances the tracking performance from three aspects: 1) alleviating the chattering phenomenon via super-twisting algorithm and a novel fractional-order sliding surface (FSS) design, 2) improving the dynamics of states on the sliding surface with fast response and small overshoots via the designed novel FSS and 3) compensating for disturbances via variable-gain control law. Based on practical conditions, this paper analyzes the stability of the controller and illustrates the theoretical principle to compensate for the uncertainties caused by accelerations. Moreover, numerical simulations prove the effectiveness of the proposed sliding surface and control scheme, and they are in agreement with the theoretical analysis. Finally, practice-based comparative experiments are conducted. The results show that the proposed PFVSTA can achieve much better tracking performance than the conventional methods from various perspectives. Copyright © 2021, The Authors. All rights reserved.

关键词： Sliding mode control

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An Improved Chimp Optimization Algorithm for Short-term Hydrothermal Scheduling

IAENG International Journal of Computer Science

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IAENG International Journal of Computer Science 2022年第3期49卷 666页

作者： Chen, Gonggui Wang, Shumin He, Yongsheng Shang, Wanfeng Long, Hongyu Key Laboratory of Industrial Internet of Things and Networked Control Ministry of Education Chongqing University of Posts and Telecommunications Chongqing400065 China Chongqing University of Posts and Telecommunications Chongqing400065 China State Grid Chongqing Electric Power Company Chongqing400015 China Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen Shenzhen518055 China Chongqing Key Laboratory of Complex Systems and Bionic Control Chongqing University of Posts and Telecommunications Chongqing400065 China

The short-term hydrothermal scheduling (STHS) is a complex non-linear, non-convex and high-dimensional mathematical optimization problem. Due to the fact that the original chimp optimization algorithm (ChOA) is likely to fall into local optimum and has the disadvantage of low population diversity, an improved chimp optimization algorithm (IChOA) is proposed to solve the STHS problem. Firstly, Logistic-Tent chaotic mapping is employed to initialize the population and increase the population diversity. Then a new nonlinear convergence factor is introduced to make the optimization search process more applicable to STHS problems. Next, particle swarm algorithm (PSO) and gravitational search algorithm (GSA) are combined to enhance the shortcoming and balance the global search ability and local exploration ability of ChOA. Moreover, Cauchy mutation and opposition-based learning strategy are supplemented as perturbation interference when the optimal position is not updated to improve the ability to leap out of the local optimum. Finally, a graded optimization strategy is adopted for the constraint handing of dynamic reservoir balance and thermal power balance. Three standard hydrothermal power systems are utilized to verify the practicability and validity of the proposed method. Results of simulations reveal that IChOA has significant competitive advantages in addressing the STHS problem. © 2022, IAENG International Journal of Computer Science. All Rights Reserved.

关键词： Particle swarm optimization (PSO)

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A Synthetic Framework for Evaluating and Designing an Anthropomorphic Prosthetic Hand

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Journal of Bionic Engineering 2018年第1期15卷 69-82页

作者： Li Jiang Yuan Liu Dapeng Yang Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China

The mimic of aesthetics, fianction, and rehabilitation application makes the prosthetic hand design an interdisciplinary, synthetic work. Prosthetic hands should be designed in a comprehensive consideration with a synthetic framework from multiple areas. In this case, a synthetic framework containing 12 anthropomorphism indexes is established and utilized to understand the human hand characteristic and quantifiably evaluate the anthropomorphism of a prosthetic hand. Our quantified evaluation results show that a Global Anthropomorphic Score （GAS） of the current commercial prosthetic hands is only 45.2%. The compliance, coupling speed ratio and configuration of the Degrees Of Freedom （DOF） are found to be the lowest three anthropomorphism evaluation indexes in all 12 indexes. In addition, a design priority is proposed based on the quantified evaluation results and contributes to a prosthetic hand design. Moreover, our correlation analysis results between each index and GAS show that, compared with the conventional evaluation index-grasp gesture, the rotation axis distribution index has a stronger distinguishing capability to the hand performance. Finally, a flowchart of prosthetic hand design was presented for a designer to design a prosthetic hand with a high anthropomorphism.

关键词： prosthetic hand anthropomorphism quantified evaluation bionic design mechanical implementation rehabilitation

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Locally guided multiple Bi-RRT∗ for fast path planning in narrow passages

Locally guided multiple Bi-RRT∗ for fast path planning in n...

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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Shu, Xin Ni, Fenglei Zhou, Zhou Liu, Yechao Liu, Hong Zou, Tian Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin Heilongjiang Province China Department of System Dynamics Foshan Guangdong Province China

ISBN: (纸本)9781728163215

关键词： Motion planning

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Modelling and experimental investigation of frequency splitting of hemispherical resonator with machining errors

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Chinese Journal of Aeronautics 2025年

作者： Chuanzhen MA Henan LIU Jian CHENG Mingjun CHEN State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China School of Mechatronics Engineering Harbin Institute of Technology Harbin 150001 China Zhengzhou Research Institute Harbin Institute of Technology Zhengzhou 450000 China

Hemispherical Resonator (HSR) is a typical high-performance component due to the complex coupling relationship between the machining errors and performance parameters. To understand the impact of machining errors on frequency splitting, the frequency splitting model that couples the multiple machining errors was developed to elucidate the mechanism of frequency splitting and reveal the effect of geometric error parameters on frequency splitting innovatively. In addition, a method for characterizing machining errors is established to describe the circumferential mass uniformity of the hemispherical shell. Furthermore, measurement experiments of HSRs were performed to verify the accuracy of the model, and the results showed that the predicted errors of the model were within 15%. Both theoretical and experimental results demonstrated that the direct cause of frequency splitting is the uneven circumferential mass of HSR. In particular, the radial concentricity has the most significant influence on frequency splitting, followed by the coaxiality and roundness. Within the error range of 0-0.5 μm, frequency splitting values change by 0.945 Hz, 0.098 Hz, and 0.039 Hz, respectively. Furthermore, the coupling effect of machining errors and surface quality on frequency splitting was discussed, which showed machining errors is the predominant factor contributing to frequency splitting. This work not only enhance the understanding of the mechanism of frequency splitting, but also provide theoretical guidance for the parameter optimization involved in high-performance manufacturing of HSR.

关键词： Hemispherical resonator Frequency splitting Mass nonuniformity Machining errors Surface quality

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Trackerless freehand ultrasound with sequence modelling and auxiliary transformation over past and future frames

arXiv

引用

arXiv 2022年

作者： Li, Qi Shen, Ziyi Li, Qian Barratt, Dean C. Dowrick, Thomas Clarkson, Matthew J. Vercauteren, Tom Hu, Yipeng Centre for Medical Image Computing Wellcome/EPSRC Centre for Interventional and Surgical Sciences Department of Medical Physics and Biomedical Engineering University College London London United Kingdom State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China School of Biomedical Engineering & Imaging Sciences King’s College London London United Kingdom

Three-dimensional (3D) freehand ultrasound (US) reconstruction without a tracker can be advantageous over its two-dimensional or tracked counterparts in many clinical applications. In this paper, we propose to estimate 3D spatial transformation between US frames from both past and future 2D images, using feed-forward and recurrent neural networks (RNNs). With the temporally available frames, a further multitask learning algorithm is proposed to utilise a large number of auxiliary transformation-predicting tasks between them. Using more than 40,000 US frames acquired from 228 scans on 38 forearms of 19 volunteers in a volunteer study, the hold-out test performance is quantified by frame prediction accuracy, volume reconstruction overlap, accumulated tracking error and final drift, based on ground-truth from an optical tracker. The results show the importance of modelling the temporal-spatially correlated input frames as well as output transformations, with further improvement owing to additional past and/or future frames. The best performing model was associated with predicting transformation between moderately-spaced frames, with an interval of less than ten frames at 20 frames per second (fps). Little benefit was observed by adding frames more than one second away from the predicted transformation, with or without LSTM-based RNNs. Interestingly, with the proposed approach, explicit within-sequence loss that encourages consistency in composing transformations or minimises accumulated error may no longer be required. The implementation code and volunteer data1 will be made publicly available ensuring reproducibility and further research. © 2022, CC BY.

关键词： Ultrasonics

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Controlled Propulsion of Asymmetric Janus Microdimer Swimmers under Rotating Magnetic Fields

Controlled Propulsion of Asymmetric Janus Microdimer Swimmer...

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IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Shimin Yu Tianlong Li Shaopeng Wu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Harbin Institute of Technology Harbin China

ISBN: (数字)9781728151694

ISBN: (纸本)9781728151700

Untethered micro-/nanorobots at low Reynolds numbers present significant potential in biomedical applications as result of their enhanced power, remote actuation, and versatility. Herein, a highly efficient asymmetric Janus microdimer swimmer propelled by a rotating uniform magnetic field was investigated experimentally. The asymmetric microdimers can achieve speed of 98 μm·s -1 at 20 Hz and 5 mT. Besides, the controllable and flexible motility performance of microdimer motors can be easily obtained by adjusting the magnetic field. Such an asymmetric Janus microdimer swimmer is highly promising in a variety of realistic micro-/nanoscale scenarios.

关键词： Industrial electronics Navigation Conferences Propulsion Nanoscale devices Trajectory Magnetic fields

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Enhanced Light-Harvesting Efficiency and Adaptation: A Review on Visible-Light-Driven Micro/Nanomotors

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研究（英文） 2020年第3期 116-140页

作者： Dekai Zhou Rencheng Zhuang Xiaocong Chang Longqiu Li Key Laboratory of Microsystems and Microstructures Manufacturing Harbin Institute of Technology Harbin Heilongjiang 150001 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 150001 China

As visible light accounts for a larger proportion of solar energy and is harmless to living organisms,it has the potential to be the energy source of micro/nanomotors,which transform visible-light energy into mechanical motion,for different applications,especially in environmental ***,how to precisely control the motion of visible-light-driven micro/nanomotors (VLD-MNMs) and efficiently utilize the weak visible-light photon energy to acquire rapid motion are significant *** review summarizes the most critical aspects,involving photoactive materials,propulsion mechanisms,control methods,and applications of VLD-MNMs,and discusses strategies to systematically enhance the energyharvesting efficiency and *** first,the photoactive materials have been divided into inorganic and organic photoactive materials and comprehensively ***,different propulsion mechanisms of the current VLD-MNMs are presented to explain the improvement in the actuation force,speed,and environmental *** addition,considering the characteristics of easy control of VLD-MNMs,we summarized the direction,speed,and cluster control methods of VLD-MNMs for different application ***,the potential applications of VLD-MNMs,e.g.,in environmental remediation,micropumps,cargo delivery,and sensing in microscale,are ***,discussions and suggestions for future directions to enhance the energy-harvesting efficiency and adaptation of VLD-MNMs are provided.

关键词：

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Locomotion Stability Analysis of Lower Extremity Augmentation Device

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Journal of Bionic Engineering 2019年第1期16卷 99-114页

作者： Likun Wang Chaofeng Chen Wei Dong Zhijiang Du Yi Shen Guangyu Zhao State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China School of Astronautics Harbin Institute of TechnologyHarbin 150001China Weapon Equipment Research Institute China Ordnance Industries GroupBeijing 102202China

Stability is of great significance in the theoretical framework of biped ***-time control and walking patterns planning are on the premise that the robot works in the stable *** this paper,we address the crucial issue of the locomotion stability based on the modified Poincare return map and the hybrid *** akin to the traditional stability criteria,i.e.,the Zero Moment Point(ZMP)and the Center of Mass(CoM),the modified Poincare return map is more appropriate for both dynamic walking arid non-periodic ***,a novel high-level reinforcement learning methodology,so-called active PI2 CMA-ES,is proposed in this paper to plan the exoskeleton *** proposed learning methodology demonstrates that the locomotion of the exoskeleton is asymptotically stable according to the modified Poincare return map ***,the proposed learning methodology is tested by the Lower Extremity Augmentation Device(LEAD)and its effectiveness is verified by the experiments.

关键词： biped locomotion dynamic walking Dynamic Movement Primitives (DMP),stability exoskeleton bioinspiration

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