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IEEE International Conference on Mechatronics and Automation

作者： Yanjie Liu Jiao Chen Xinyu Bai State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China Sinopec International Business Co. Ltd. No. 22 North Chaoyang Gate Street Chaoyang District Beijing China

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

Path planning in dynamic environments is an important guarantee for mobile robots to complete navigation tasks safely. However, human motion is unpredictable, changing its speed or direction arbitrarily, and traditional dynamic obstacle avoidance strategies based on object detection require massive computing resources in the prediction step, which reduces the real time characteristics of the system. To address this question, we propose a dynamic obstacle avoidance framework. It defines the environment as a random dynamic system by using dynamic grid maps, and obtains the velocity of multiple objects with low delay under GPU parallel acceleration calculations. Naturally, we introduce the relative velocity into the artificial potential field function. By expanding the data structure of costmaps, the dynamic grid map is effectively connected with the local obstacle avoidance algorithm. Our approach reduces the detour time of the robot and improves the system security.

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Human-like Walking of a Biped Robot Actuated by Pneumatic Artificial Muscles and Springs*

Human-like Walking of a Biped Robot Actuated by Pneumatic Ar...

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IEEE International Conference on Automation Science and Engineering (CASE)

作者： Yixiang Liu Qing Bi Xizhe Zang Yibin Li School of Control Science and Engineering Shandong University Jinan China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Engineering Research Center of Intelligent Unmanned System Ministry of Education Jinan China Shandong Institute of Advanced Technology Chinese Academy of Sciences Jinan China

ISBN: (数字)9781728169040

ISBN: (纸本)9781728169057

Human walking gait is much more natural looking and energy efficient compared with biped robots. This paper presents a bio-inspired approach to realizing more human-like biped robotic walking. For this purpose, a biped robot actuated coordinately by pneumatic artificial muscles and springs is developed, capable of exploiting passive compliance of the mechanical system in locomotion. And a control scheme for human-like walking is designed based on finite state machine. Experiments show that the biped robot can walk stably on the treadmill even with some small obstacles. The realized gait has the important features of human walking, including heel strike and toe off, stretched knees, and variation in the height of the body's center of mass, which demonstrates the effectiveness of the proposed approach.

关键词： Conferences Automation Computer aided software engineering

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Single focused-beam acoustical tweezers: Trapping cells in 3‐D

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The Journal of the Acoustical Society of America 2023年第4_SUPPLEMENT期154卷 A263-A263页

作者： Zhixiong Gong Shiyu Li Zhichao Ma Key Lab. of Marine Intelligent Equipment and System State Key Lab. of Ocean Eng. School of Naval Architecture Ocean and Civil Eng. Shanghai Jiao Tong Univ. Dongchuan Rd. #800 Minhang District Shanghai 200240 China zhixiong.gong@*** Key Lab. of Marine Intelligent Equipment and System State Key Lab. of Ocean Eng. School of Naval Architecture Ocean and Civil Eng. Shanghai Jiao Tong Univ. Shanghai China Inst. of Medical Robotics School of Biomedical Eng. Shanghai Jiao Tong Univ. Shanghai China

Single focused beams have shown great potential in acoustofluidics and medical ultrasound because of their large pressure gradient and acoustic-thermal effect, such as acoustical tweezers and high-intensity focused ultrasound (HIFU) technique. However, the three-dimensional trapping of typical cells is still challenging since cells in water have a positive acoustic contrast factor and will be repulsive from the focus [Gong and Baudoin, Phys. Rev. Applied 18, 044033 (2022)]. In this work, to reverse this positive acoustic contrast factor into negative, we propose to use a cell-friendly medium (made of iodixanol with water) [Augustsson et al., Nat. Commun. 7, 11556 (2016)]. This enables a single focused beam to selectively trap and control cells in 3‐D, and more importantly, keeps the manipulated cells with good viability. This work will extend the applications of acoustical tweezers, which may be beneficial to single cell analysis, cellular phenotyping, precise assembly of different cells in tissue engineering, and controlled drug delivery.

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Static modeling of a cross-spring flexure pivot with variable cross-section

Static modeling of a cross-spring flexure pivot with variabl...

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2018 International Symposium on Flexible Automation, ISFA 2018

作者： Chen, Yi Yang, Miao Wu, Dongmei Du, Zhijiang Dong, Wei State key laboratory of robotics and system Harbin Institute of Technology Harbin150080 China

A cross-spring flexure pivot with variable cross-section is studied in this paper, with the purpose of overcoming the disadvantages of the conventional cross-spring flexure pivot with uniform cross-section, such as axis drift and low axial stiffness. The work started with deducing the load-displacement relationship of a variable cross-section spring leaf by using the improved Awart’s beam constrained model. Then, a mechanical model of the proposed flexure pivot was established. The effectiveness of the deformation model is verified by finite element analysis. Finally, the proposed flexure pivot is compared with a conventional one, and the results show that the flexure pivot with variable cross-section has a higher rotational accuracy and a higher axial support stiffness. Copyright © 2018 by ISFA

关键词： Stiffness

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Development of a percussive ultrasonic drill driver 15

Development of a percussive ultrasonic drill driver

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15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Quan, Qiquan Bulading, Aimaiti Zhao, Zhijun Bai, Deen Tang, Dewei Deng, Zongquan State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

ISBN: (纸本)9781538660720

Compared with the conventional drill driven by magnetic motors, percussive ultrasonic drill (PUD) shows advantages of small size, low power, low axial load, and lubrication free, making it available for the extraterrestrial rock sampling, especially for the minor planet with a weak gravitational field. The influence of the environment, load and aging of the components cause the resonance frequency of the PUD to drift, which causes the drilling efficiency of the PUD decreases drastically. During the PUD drilling rocks, the load imposed on the transducer is fickle. Though, the conventional frequency tracking control which tracking frequency by locking fixed phase does not perform well for the PUD. This paper presents a novel driving approach for the PUD, including the working principle of the PUD and a detailed design approach for the PUD driver. A driving circuit and a control algorithm were developed successfully. The experimental results show that the driver can drive the PUD effectively and make the drill work stably near the resonant frequency under different conditions. © 2018 IEEE.

关键词： Drills

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Design and test of ceramic knife-edge seal for in-situ heating system of extracting volatile matter from lunar soil

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Advances in Space Research 2025年

作者： Yinchao Wang Yuanling Sun Jianbo Zhou Bowei Wang Junyue Tang Zixiao Lu Huazhi Chen Bo Wang Xiaobo Su Shengyuan Jiang School of Mechatronics and Engineering Shenyang Aerospace University Shenyang 110136 China Key Laboratory of Rapid Development & Manufacturing Technology for Aircraft (Shenyang Aerospace University) Ministry of Education Shenyang 110136 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China Nanometer Intelligent Sensor Lab National Center for Nanoscience and Technology Beijing 100190 China China Academy of Space Technology Beijing 100190 China Sichuan boffins robotic and robotizatian Co. LTD Chengdu 610052 China

In the pursuit of accurate lunar soil volatile exploration, in-situ deep space sampling analysis offers unparalleled preservation of sample integrity. A critical challenge lies in ensuring a secure sealing environment. This paper introduces an innovative sealing method utilising a ceramic blade to compress a non-metallic seal. Initially, following a comprehensive multidimensional evaluation of sealing configurations, the ceramic knife-edge compression non-metallic sealing ring solution was determined to be optimal. This approach involves positioning the sealing ring within a grooved cylindrical heating furnace body, where radial compression is achieved through an annular ceramic knife-edge interface, thereby ensuring hermetic integrity. Subsequently, a sealing leakage model grounded in Roth theory was developed to elucidate micro-leakage mechanisms. ANSYS simulation software was utilised to investigate the influence of blade tip radius and temperature, revealing correlations with average stress and contact width, as well as the impact of temperature extremes on sealing efficacy. These findings provided the theoretical underpinning for subsequent ground tests. A dedicated test platform was established, adhering to the industry standard QJ3089A-2018, to evaluate the sealing performance of various seal and blade tip radius combinations under diverse conditions. Results indicated that, under a force of 500N, PTFE seals compressed by an R0.5mm blade and PVMQ seals compressed by an R0.6mm blade achieved leakage rates on the order of 10 -8 Pa·m 3 ·s -1 , aligning with theoretical predictions and demonstrating repeatable sealing capability. This study presents a novel and reliable sealing solution for the precise exploration of lunar soil volatiles, offering a technical breakthrough and robust sealing strategy for future deep space missions.

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Walking of biped robot with variable stiffness at the ankle joint

Walking of biped robot with variable stiffness at the ankle ...

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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Bi, Qing Liu, Yixiang Zang, Xizhe Song, Rui Wang, Haibin Li, Weimin Chinese Academy of Sciences Shandong Institute of Advanced Technology Jinan250001 China Shandong University School of Control Science and Engineering Jinan250061 China Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150080 China

ISBN: (纸本)9781728163215

Achieving versatile and efficient walking on biped robots is an important research objective. The impact between the foot and the ground has significant effects on the walking stability of biped robots. Research on human walking indicates that the joints in human lower limbs show different stiffness values in different phases of walking. Inspired by humans, this paper presents the realization of biped robot walking with variable stiffness at the ankle joint. A walking control scheme which combines PD control and variable impedance control is designed for the biped robot. Results of dynamic walking simulation verified that variable stiffness at the ankle joint could contribute to the improvement of walking stability and energy efficiency. © 2019 IEEE.

关键词： Energy efficiency

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Optimal reaction control for the flexible base redundant manipulator system

Optimal reaction control for the flexible base redundant man...

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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Zhang, Yaowen Liu, Yechao Xie, Zongwu Moallem, Mehrdad Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin Heilongjiang Province150006 China School of Mechatronic Systems Engineering Simon Fraser University VancouverBCV3T 0A3 Canada

ISBN: (纸本)9781728163215

The null space of the Jacobian for the redundant manipulators can be utilized to reach dual control goals and optimal effects. For the flexible base redundant manipulator system, the reaction force from the motion of the manipulator should be carefully handled while the end effector is tracking a desired trajectory. Different optimal goals are discussed, including the minimization of base deflection force/torque and base energy dissipation path. Considering the base reaction dynamic, the reaction force/torque is treated as the input of the base and the deflection energy is treated as the output, an integrated optimal goal is built and solved based on the LQR control to get an optimal feedback for the closed-loop dynamics. We discuss the different optimal goals and implement trough the redefined acceleration. We test the different control laws on the three- link manipulators which mounted on a three-DoF flexible base. Simulation results demonstrate that optimal goal in LQR form can be advantageous in terms of flexible base manipulator. © 2019 IEEE.

关键词： Redundant manipulators

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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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IEEE International Conference on robotics and Biomimetics

作者： Xin Shu Fenglei Ni Zhou Zhou Yechao Liu Hong Liu Tian Zou The State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Department of system dynamics KUKA JV(Shunde) Foshan China

Rapidly-exploring Random Tree Star (RRT * ) and its variants can provide a collision-free and asymptotic optimal solution for many path planning problems. However, it is inefficient for many RRT * based variants to rapidly find one initial solution in a clustered environment with narrow passages, since consuming high memory as well as time, due to a large number of iterations in sampling critical nodes. To overcome this problem, the paper proposes the Locally Guided Multiple Bi-RRT * (LGM-BRRT * ) method, which can provide a fast solution by incorporating an improved bridge-test and a novel search strategy based on local guidance. It ensures an accelerated success rate and more efficient memory utilization compared with Bidirectional RRT * (BRRT * ), and it is easy for implementation as well. It was verified on different types of scenarios in terms of efficiency and success rate. The results demonstrated that LGM-BRRT * is beneficial for fast path planning in a clustered environment with narrow passages.

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Corrigendum to ‘A method for investigating aerodynamic load models of piezoaeroelastic energy harvester’ [Journal of Sound and Vibration 502 (2021) 116084]

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Journal of Sound and Vibration 2021年 508卷

作者： Haigang Tian Xiaobiao Shan Han Cao Rujun Song Tao Xie State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China School of Mechanical Engineering Shandong University of Technology Zibo 255049 China

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