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International Conference on Mechanical Design, ICMD 2023

作者： Zhai, Guangqing Xiao, Hong Yang, Guang Guo, Hongwei Tao, Jianguo Liu, Rongqiang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

ISBN: (纸本)9789819709212

Firstly, based on Absolute Nodal Coordinate Formulation (ANCF), the generalized coordinates, generalized stiffness, and generalized mass matrices of the rigid and flexible components in the multi-output deployment mechanism are established. Considering the inconsistency in the dimensions of the system’s generalized coordinate matrix and the generalized coordinate matrix of each single-output deployment mechanism, a coordinate coordination matrix is introduced. Composing the rigid-flexible coupling dynamics model of the multi-output transient deployment mechanism in the global coordinate system using each single-output deployment mechanism. The dynamic model is solved using the Newmark and BFD quasi-Newton methods, incorporating the system constraint equation matrix based on the Lagrange multiplier method. The calculated results are compared with the ABAQUS-ADAMS unified simulation. The two dynamic response change trends are basically consistent, with slight differences in oscillation amplitude, but similar overall, which verifies the accuracy of the constructed dynamic model. Compared to the rotational speed and acceleration of various outputs of the ideal rigid body simulation, the rigid-flexible coupling mechanism produces continuous oscillations above and below the output curve of the ideal rigid body. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Dynamic models

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Channel Attention Network for Feature Fusion of Ultrasonic and IMU Signals in Cross-Subject Gait Recognition

Channel Attention Network for Feature Fusion of Ultrasonic a...

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2024 IEEE International Conference on systems, Man, and Cybernetics, SMC 2024

作者： Huang, Xujia Zhou, Zixiang Xu, Xinglong Wang, Zhiyong Harbin Institute of Technology State Key Laboratory of Robotics and System Shenzhen Shenzhen China

ISBN: (纸本)9781665410205

In traditional human-machine interface research, a single sensing mode is often adopted, focusing on individual human motion classification experiments. However, the performance often declines when applied across individuals. Ultrasonic and inertial sensing, as mainstream technologies in human-machine interfaces, can respectively detect the muscle states and limb information of the human body, offering potential complementary benefits. The fusion of ultrasonic(US) and Inertial Measurement Unit(IMU) is expected to significantly enhance the generalization ability of physiological signals in motion intention recognition. This paper presents a method that employs fusion of ultrasound and IMU signals, and designs a Convolutional Neural Network with Channel Attention Module (IU-CAM-CNN) for gait classification experiments. The experimental results demonstrate that by introducing channel attention modules, the model's ability to extract features from fused signals can be effectively enhanced, resulting in a classification accuracy of 90% for cross-individual movements. In contrast, traditional LDA and CNN networks achieve only 22% and 47% classification accuracy, respectively. This method provides an effective solution for cross-individual movement intention recognition. © 2024 IEEE.

关键词： Convolutional neural networks

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Experimental and modeling study of surface topography generation considering tool-workpiece vibration in high-precision turning

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Chinese Journal of Aeronautics 2023年第7期36卷 194-212页

作者： Xingying ZHOU Henan LIU Tianyu YU Ruiyang GUO Guangzhou WANG Yazhou SUN Mingjun CHEN State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China School of Mechatronics Engineering Harbin Institute of TechnologyHarbin 150001China

High-precision turning(HPT)is a main processing method for manufacturing rotary high-precision components,especially for metallic ***,the generated vibration between tool tip and workpiece during turning may seriously deteriorate the surface ***,exploring the effect of vibration on turning surface morphology and quality of copper parts using 3D surface topography regeneration model is crucial for predicting HPT *** developed model can update the machined surface topology in real *** this study,the effects of tool arc radius,feed rate,radial vibration,axial vibration and tangential vibration on the surface topography and surface roughness were *** results show that the effect of radial vibration on surface topography is greater than that of axial vibration and tangential *** radial vibration frequency is also *** vibration frequency changes,the surface topography profile presents three different types:the standard sinusoidal curve,the sinusoidal curve whose lowfrequency signal envelopes high-frequency signal,and the oscillation curve whose low-frequency signal superimposes high-frequency *** addition,HPT experiment was carried out to validate the developed *** surface roughness obtained in the experiment was Ra=53 nm,while the roughness obtained by the simulation was Ra=46 nm,achieving a prediction accuracy of 86.7%.Received 4 September 2022;revised 3 October 2022;accepted 17 October 2022.

关键词： High-precision turning Machining vibration Modeling Surface roughness Surface topography

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The deleterious effects and potential therapeutic strategy of fluorene-9-bisphenol on circadian activity and liver diseases in zebrafish and mice

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Journal of Environmental Sciences 2024年第11期145卷 13-27页

作者： Shuhui Zhang Xiang Zuo Jialu Luan Huijuan Bai Zhenhua Fu Mingzhu Sun Xin Zhao Xizeng Feng College of Life Science State Key Laboratory of Medicinal Chemical BiologyThe Key Laboratory of Bioactive MaterialsMinistry of EducationNankai UniversityTianjin 300071China Institute of Robotics&Automatic Information System College of Artificial IntelligenceNankai UniversityTianjin 300071China

Increasing evidence indicates that disturbance of the clock genes,which leads to systemic endocrine perturbation,plays a crucial role in the pathogenesis of metabolic and liver ***-9-bisphenol(BHPF)is utilized in the manufacturing of plastic materials but its biological effects on liver homeostasis remain *** impacts and involved mechanisms of BHPF on the liver diseases,metabolism,and circadian clock were comprehensively studied by zebrafish andmouse *** therapeutic effect of melatonin(MT)was also *** and mousemodels with either acute exposure(0.5 and 1μmol/L,1-4 days post-fertilization)or chronic oral exposure(0.5 and 50 mg/(kg·2 days),30 days)were established with various BHPF ***,we identified a crucial role for estrogenic regulation in liver development and circadian locomotor rhythms damaged by BHPF in a zebrafish *** mice showed chaos in circadian activity through the imbalance of circadian clock component Brain and Muscle Aryl hydrocarbon receptor nuclear translocator-like 1 in the liver and *** liver sexual dimorphic alteration alongwith reduced growth hormone and estrogens played a critical role in damaged glucose metabolism,hepatic inflammation,and fibrosis induced by ***,sleep improvement by exogenous MT alleviated BHPF-related glucose metabolism and liver injury in *** proposed the pathogenesis of metabolic and liver disease resulting from BHPF and promising targeted therapy for livermetabolism disorders associated with endocrine perturbation *** results might play a warning role in the administration of endocrine-disrupting chemicals in everyday life and various industry applications.

关键词： Fluorene-9-bisphenol(BHPF) Melatonin Circadian activity Endocrine perturbation Liver diseases Female behavior Hepatic sexual dimorphism

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A novel method of water bath heating assisted small ball-end magnetorheological polishing for hemispherical shell resonators

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Chinese Journal of Aeronautics 2023年第12期36卷 451-460页

作者： Jinchuan TIAN Mingjun CHEN Jian CHENG Henan LIU State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China Center for Precision Engineering Harbin Institute of TechnologyHarbin 150001China

Hemispherical shell resonator(HSR)is the core component of hemispherical resonator *** is aφ-shaped small-bore complex component with minimum curvature radius less than 3 ***,traditional polishing methods are difficult to polish *** ball-end magnetorheological polishing method can polish the small components with complicated three-dimensional surface and obtain non-destructive ***,this method is suitable for polishing ***,the material removal rate of the ordinary small ball-end magnetorheological polishing is low,leading to long polishing time and low output of *** solve this problem,a water bath heating assisted small ball-end magnetorheological polishing method is proposed in this *** influence rule of processing parameters on the material removal rate is studied experimentally.A set of optimal processing parameters is obtained to maximize the material removal *** with the ordinary method,the material removal rate of the new method can be improved by 143%.Subsequently,an HSR is polished by the new *** results show that the polishing time can be reduced by 55%,and the polished surface roughness can reach 7.7 *** new method has the great potential to be used in actual production to improve the polishing efficiency of HSR.

关键词： Hemispherical shell resonator Magnetorheological fluid temperature Material removal rate Optimization Small ball-end magnetorheological polishing

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A Lower Limb Exosuit for Assisting Knee Joint in Rehabilitation During Walking 11

A Lower Limb Exosuit for Assisting Knee Joint in Rehabilitat...

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11th International Conference on Mechatronics and robotics Engineering, ICMRE 2025

作者： Huang, Yao Ju, Haotian Guo, Songhao Zheng, Tianjiao Zhao, Jie Zhu, Yanhe Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9798331509293

For knee rehabilitation patients, it is difficult to maintain balance while walking, and completing a normal gait cycle is challenging. Therefore, we propose a lower limb exosuit tailored for the knee rehabilitation patients to assist in normal walking, and experimentally evaluated the assistance effect of the lower limb exosuit. We mimic the mechanism of the skeletal muscles near the knee joint, by contracting and relaxing the length of the flexible Bowden cable between the thigh and calf, generating assistive torque on the knee joint periodically. We use Inertial Measurement Unit (IMU) to measure lower limb motion parameters, identify gait cycle states, and calculate corresponding plantar pressure and knee joint torque for each phase. We compared surface electromyography (sEMG) signals of three muscle groups (biceps femoris (BF), quadriceps femoris (QF), and gastrocnemius (G)) under conditions of wearing and not wearing the exosuit. The experimental results show that compared to not wearing the exosuit, the mean normalized sEMG signals of the three muscle groups decreased by 4.61 %, 2.41 %, and 3.97% respectively while wearing it, the peak values decreased by 11.60%, 25.69%, and 14.99% respectively, with the quadriceps femoris receiving the highest degree of assistance. © 2025 IEEE.

关键词： Neuromuscular rehabilitation

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Design and In Situ Additive Manufacturing of Multifunctional Structures

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Engineering 2023年第9期28卷 58-68页

作者： Yan Zhang Guangyu Zhang Jing Qiao Longqiu Li State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China School of Materials Science and Engineering Harbin Institute of TechnologyHarbin 150001China

Multifunctional structures(MFSs)integrate diverse functions to achieve superior ***,conventional design and manufacturing methods—which generally lack quality control and largely depend on complex equipment with multiple stations to achieve the integration of distinct materials and devices—are unable to satisfy the requirements of MFS applications in emerging industries such as aerospace *** by the concept of design for manufacturing,we adopt a layer regulation method with an established optimization model to design typical MFSs with load-bearing,electric,heat-conduction,and radiation-shielding functions.A high-temperature in situ additive manufacturing(AM)technology is developed to print various metallic wires or carbon fiber-reinforced high-meltingpoint polyetheretherketone(PEEK)*** is found that the MFS,despite its low mass,exceeds the stiffness of the PEEK substrate by 21.5%.The embedded electrics remain functional after the elastic deformation *** with those of the PEEK substrate,the equivalent thermal conductivity of the MFS beneath the central heat source area is enhanced by 568.0%,and the radiation shielding is improved by 27.9%.Moreover,a satellite prototype with diverse MFSs is rapidly constructed as an *** work provides a systematic approach for high-performance design and advanced manufacturing,which exhibits considerable prospects for both the function expansion and performance enhancement of industrial equipment.

关键词： Additive manufacturing Multifunctional structure Optimal design Satellite Polyetheretherketone

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Design of a linear-rotary ultrasonic motor for optical focusing inspired by the bionic motion principles of the earthworms

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International Journal of Smart and Nano Materials 2022年第2期13卷 346-365页

作者： Yingzhi Wang Jie Deng Shijing Zhang He Li Weishan Chen Yingxiang Liu State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbinHeilongjiang ProvinceChina

Multi-motor configuration of multi-DOF(degree of freedom)optical system is a major source of redundant structure,putting a limitation on the simple and miniaturized ***,a novel two-DOF ultrasonic motor(USM)is proposed to provide a feasible method of application in the lens autofocus of the optical *** proposed USM operates by one longitudinal mode and two orthogonal bending modes,which is inspired by the bionic motion principle of the *** frequency degeneration among the three working modes is per-formed,and the working principle of the USM is verified via the FEM simulation.A prototype of the two-DOF USM is fabricated,and its mechanical output characteristics are *** experimental results indicate that the prototype achieves the maximum rotary and linear speeds of 3319.6 rpm and 57.6 mm/s,***,we demonstrate the result of a simple focusing experiment using the prototype and obtain a series of clear pictures,which verifies the feasibility of application in the optical focusing system.

关键词： Ultrasonic motor bondedtype two-DOF motions optical focusing bionic motion

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Investigation on laser annealing mechanism of fused silica optics polished by CO2 lasers based on fictive temperature distribution 8

Investigation on laser annealing mechanism of fused silica o...

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Advanced Laser Processing and Manufacturing VIII 2024

作者： Zhang, Tianhao Zhao, Linjie Chen, Mingjun Cheng, Jian Yin, Zhaoyang Li, Tianyuan State Key Laboratory of Robotics and System Harbin Institute of Technology Heilongjiang Harbin150001 China

ISBN: (数字)9781510681972

ISBN: (纸本)9781510681965

CO2 laser polishing process can significantly improve the surface quality and the laser-induced damage threshold (LIDT) of fused silica optics. However, due to the thermal history of the laser polishing process, the increment of the fictive temperature inside the modification layer would cause densification and residual stress, which critically affect the surface accuracy and the service life of fused silica optics. In this work, a 3D multi-physical coupling model including temperature, fluid flow and fictive temperature was established. Based on the fictive temperature distribution of the fused silica polished by CO2 lasers, the mechanism of laser annealing on the modified layer was revealed. The annealing results of fused silica were defined as three states including incomplete annealing, perfect annealing and over annealing. Based on the simulation results, the fictive temperature inside the modified layer was completely reduced with no increment of modified layer depth under the perfect annealing state. Additionally, the residual stress and the fictive temperature after the laser annealing were characterized by the Raman spectrum. The fictive temperature was reduced by 16.8 % and the residual stress was effectively reduced. This work can provide theoretical and experimental guidance for the control of surface modification and residual stress of fused silica optics polished by CO2 lasers. © 2024 SPIE.

关键词： Fused silica

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Design of a Novel Macro-Micro Integrated Brain Surgery Robot Based on Modular Parallel Mechanisms

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Chinese Journal of Mechanical Engineering 2024年第5期37卷 349-364页

作者： Hao Zheng Chenbo Liang Feng Gao Chenkun Qi Bingze He Renqiang Liu Longhai Chen State Key Laboratory of Mechanical System and Vibration School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai 200030China Institute of Medical Robotics Shanghai Jiao Tong UniversityShanghai 200030China

The advancement and development of medical surgical robots have provided new technological support for brain surgery and neurosurgical procedures,improving the reliability of highly complex and precise *** turn,this urges the design and development of novel surgical robots to possess higher precision,stability,and enhanced motion *** response to this practical demand,this paper introduces a macro-micro integrated medical brain surgery robot system based on the concept of modular PMs(parallel mechanisms),which have a total of 13 active DOFs(degrees of freedom).This system divides the motion process of brain surgery into a large-scale macro-motion space and a small-scale high-precision motion space for design and planning *** introduction of the design concept that combines multiple modular parallel sub-mechanisms has brought a significant level of decoupling characteristics to the mechanism itself.A comprehensive introduction and analysis of the surgical robot are provided,covering aspects such as design,kinematics,motion planning,and performance *** address the pose allocation and coordination of motion between the macro platform and the micro platform,a pose allocation algorithm based on the decoupling and non-decoupling characteristics in various dimensions of the macro-micro platform is *** designed measurement experiments have demonstrated that the repeatability in positioning accuracy of the macro and micro platform reaches the level of micron and submicron *** experiments of motion control and simulated brain electrode implantation validate the excellent performance and stability of the entire surgical robot *** research contributes innovative insights to the development of medical surgical robot systems,particularly in the domain of mechanism design.

关键词： Medical surgical robot Macro-micro integrated system Modular parallel mechanism High-precision robot

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