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Mechatronics and robotics Engineering (ICMRE), International Conference on

作者： Hualiang Liu Hong Xiao Guang Yang Hongwei Guo Rongqiang Liu Zongquan Deng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (数字)9798350394276

ISBN: (纸本)9798350394283

Firstly, this paper proposes two types of variable cross-section morphing for the aircraft fuselage: upper convex and below convex morphing. Secondly, an innovative design of a cellular multidimensional morphing linkage combining planar six-bar linkages and a 6-UPS parallel linkage is proposed. The DOF of the linkage is analyzed, and kinematic simulation analysis of the morphing linkage is carried out. Finally, a prototype of the morphing fuselage is developed, and through morphing capacity test, it is verified that the morphing fuselage can achieve reversible upper convex and below convex morphing, with maximum radial morphing rates of 11.9% and 11.4%, verifying the feasibility of the linkage design.

关键词： Couplings Mechatronics Simulation Prototypes Kinematics Aircraft Robots

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Helium Loss for Robust keypoints Detection with Convolutional Neural Networks

Helium Loss for Robust Keypoints Detection with Convolutiona...

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Automation, Control and robotics Engineering (CACRE), International Conference on

作者： Haode Huo Tianran Wang Linjie Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (数字)9798350350302

ISBN: (纸本)9798350350319

In this paper, a novel loss function for key point detection, named Helium Loss is proposed. All our experiments are based on Ultralytics' YOLOv8n-pose architecture. Initially, this paper analyze various existing loss functions, including L1 loss, L2 loss, and smooth L1 loss. There is a problem that current loss functions do not account for issues related to the quality of dataset annotations and unclear boundaries of targets. To address this challenge, this paper introduce a loss function that incorporates partial trust in annotated key points and utilizes Gaussian distribution to mitigate the impact of manual annotations.

关键词： Training Computer vision Annotations Computational modeling Pose estimation Computer architecture Gaussian distribution

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A Robotic system for Brachytherapy: Validation in Animal Experiments

A Robotic System for Brachytherapy: Validation in Animal Exp...

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IEEE International Conference on Control and robotics Engineering (ICCRE)

作者： Changle Li Leifeng Zhang Xuehe Zhang Gangfeng Liu Chong Yao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (数字)9798350372694

ISBN: (纸本)9798350372700

In this paper we proposed a brachytherapy robotic system. The system uses a 7-Dof robotic arm and a set of tools to complete puncture and seeds implantation. We designed end tools for puncture and seed implantation separately. A workflow based on this system has also been proposed. Finally, we used this system to conduct six animal experiments. The experimental results showed that the average error of seed implantation was 2.48mm, the minimum error is only 0.5mm, the maximum error reached 5.2mm.

关键词： Animals Manipulators Brachytherapy

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Large Fixture Calibration Method Based on Point Cloud Scanning for Robotic Drilling

Large Fixture Calibration Method Based on Point Cloud Scanni...

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Automation, Control and robotics Engineering (CACRE), International Conference on

作者： Yongzhuo Gao Haibo Gao Dexin Cheng Wei Dong the State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (数字)9798350350302

ISBN: (纸本)9798350350319

The rocket fuel tank requires the splicing of multiple sub-parts, which is difficult to be processed in an integrated manner. Among them, the short shell parts of the storage tank play a linking role and need to be drilled on the surface. Due to the large size of the tooling of the parts, there are problems such as large installation and positioning errors and low precision of robot automatic drilling. Therefore, a robot automatic hole making calibration method is proposed to solve the current problems. In order to achieve automated control, a large-scale robot automatic drilling system must have large-scale flexible tooling, control algorithms, human-computer interaction interfaces, execution units, and integrated tool rooms. It is essential to build effective calibration procedures as a foundation for this automation. The calibration plane is fitted, positioned, and calibrated using the point cloud scanning method. Subsequently, the hand-eye calibration method is employed to establish the relationship between the coordinate systems. Using this approach, the calibration process is ultimately finished, resulting in the successful implementation of automated drilling. The experimental findings demonstrate that, in the designated quadrant, the drilling rate of the robot can achieve 5 holes per minute. Furthermore, the average variance of the hole position is below 0.2mm, and the highest error is 0.5mm. These results align with the requirements of practical production.

关键词： Drilling Point cloud compression Rockets Automation Service robots Robot kinematics Splicing

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Design and Testing of Bio-inspired Flexible Skin Variable Sweep and Flip Wing

Design and Testing of Bio-inspired Flexible Skin Variable Sw...

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Mechatronics and robotics Engineering (ICMRE), International Conference on

作者： Yue Bai Guang Yang Hong Xiao Hongwei Guo Rongqiang Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (数字)9798350394276

ISBN: (纸本)9798350394283

Fixed-wing aircraft cannot accommodate different flight conditions. Numerous studies have demonstrated the potential of Bio-inspired morphing wings as a viable solution to tackle this issue. In this paper, a Bio-inspired Flexible Skin Variable Sweep and Flip wing is proposed through the analysis of the deformation and structural forms of seagulls and albatrosses. The bio-inspired morphing wing consists of mechanisms, composite skins, and actuators, which can achieve a sweep angle of 20-70 degrees, a wingtip flip of ± 20 degrees, and a wing area change of $31.4 \%$. The aerodynamic performance and deformation capability of the wing at multiple sweep angles were analyzed. Finally, a prototype was developed, and effectiveness of the design were verified through deformation capability test.

关键词： Actuators Mechatronics Deformation Biomimetics Prototypes Aerodynamics Skin

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A Collision Detection Algorithm of Inspection Robot for Steam Generator Heat Transfer Tubes

A Collision Detection Algorithm of Inspection Robot for Stea...

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IEEE International Conference on Mechatronics and Automation

作者： Xuan Yu Biying Xu Jinghan Lin Kuan Zhang Jizhuang Fan Jie Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (数字)9798350388077

ISBN: (纸本)9798350388084

Ensuring the operational safety of inspection robot for steam generator heat transfer tubes necessitates continuous internal collision detection to prevent self-collision and external collision detection to avoid contact with the surrounding environment. However, current collision detection algorithms struggle to balance accuracy with computational efficiency and are not fully applicable to the unique conditions of a nuclear power plant. This paper introduces a novel collision detection algorithm specifically tailored for a crawler-type inspection robot for steam generator heat transfer tubes. By translating three-dimensional collision issues into two-dimensional intersection problems, the algorithm simplifies the complexity of collision detection while ensuring accuracy. Simulation results indicate that the algorithm achieves an average computation speed of 0.02 seconds per instance, which is sufficient to meet real-time planning requirements during autonomous operations. Furthermore, even in the presence of motion errors, the algorithm maintains a 100% safety rate, guaranteeing absolute safety of the robot's movement. These findings further validate the feasibility and practicality of the proposed algorithm for use within the nuclear power plant environment.

关键词： Accuracy Inspection Generators Real-time systems Safety Electron tubes Planning

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A Trajectory Planning Framework for Experimental Module Manipulator On-Orbit Servicing

A Trajectory Planning Framework for Experimental Module Mani...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Ma, Boyu Cao, Baoshi Liu, Yang Xie, Yuteng Yang, Xiaohang Wang, Wei Hu, Handong Zhou, Xiaokai Ji, Yiming Wang, Zhengpu Li, Mengfei Sun, Haoran Sun, Wandong Xie, Zongwu Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150080 China Northeast Agricultural University School of Resources and Environment Harbin150030 China

ISBN: (纸本)9798350325706

This article proposes a novel trajectory planning framework for the Experimental Module Manipulator (EMM) on-orbit servicing (OOS). For a start, the simulation system of the EMM based on Open Inventor is developed, and the trajectory planning technical route of the EMM for OOS missions is illustrated, including two main phases: large-scale transfer and small-scale approach. Before trajectory planning, the Gilbert-Johnson-Keerthi convex bounding boxes of the CSS and the EMM are modeled. Moreover, we present a Cartesian-space collision-free planning scheme. For the different task requirements in the above two phases, two corresponding collision-free trajectory planning schemes in joint space are proposed. Finally, simulations of the EMM supporting an astronaut extra-vehicular activity verify the effectiveness of our trajectory planning framework and all of the schemes presented in this article. © 2023 IEEE.

关键词： Experimental Module Manipulator (EMM) extra-vehicular activity (EVA) on-orbit servicing (OOS) Trajectory planning

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Human-machine shared control:New avenue to dexterous prosthetic hand manipulation

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Science China(Technological Sciences) 2021年第4期64卷 767-773页

作者： YANG DaPeng LIU Hong State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150080China Artificial Intelligence Laboratory Harbin Institute of TechnologyHarbin 150080China

At present,albeit the dexterous hand prostheses of multiple degrees of freedom(DOFs)have become prosperous on the market,the user’s demand on intuitively operating these devices have not been well addressed so that their acceptance rate is relatively *** unintuitive control method and inadequate sensory feedback are frequently cited as the two barriers to the successful application of these dexterous ***,driven by the wave of artificial intelligence(AI),a series of shared control methods have emerged,in which"bodily function"(myoelectric control)and"artificial intelligence"(local autonomy,computer vision,etc.)are tightly integrated,and provided a new conceptual solution for the intuitive operation of dexterous *** this paper,the background and development trends of this type of methods are described in detail,and the potential development directions and the key technologies that need breakthroughs are *** practice,we instantiate this shared control strategy by proposing a new method combining simultaneous myoelectric control,multi-finger grasp autonomy,and augmented reality(AR)feedback *** method"divides"the human sophisticated reach-and-grasp task into several subtasks,and then"conquers"them by using different strategies from either human or machine *** is highly expected that the shared control methods with hybrid human-machine intelligence could address the control problem of dexterous prostheses.

关键词： robotic hand dexterous prostheses shared control computer vision deep learning

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Welding splash and arc noise reduction imaging model based on computationally efficient pairwise response serving welding process library

Welding splash and arc noise reduction imaging model based o...

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作者： Qin, Zhonghao Wang, Ke Li, Ruifeng State Key Laboratory of Robotics and System Harbin Institute of Technology 92 Xidazhi Street Harbin150006 China

In the process of vision-assisted robot automatic welding, splash and arc noise will interfere with the useful information in the image, which has a serious impact on the subsequent vision-based weld seam recognition and tracking algorithm. Although various methods have been proposed to achieve noise reduction, those are implemented from a perspective of image processing or intelligent algorithm. In this paper, we propose a pairwise response noise reduction model (PRNM) from the imaging perspective of seam tracking camera, which provides an image processing-free method to suppress welding splash and arc. Inverse response law and the loss function is established and solved by using singular value decomposition, and then the irradiance of reference scene is restored. A tone mapping approach is proposed based on the advantages of full-range compression and joint estimator, followed by mapping the obtained irradiance distribution to a high dynamic range (HDR) image. The grayscale correspondences of two reference images and the HDR image are reflected in the form of a two-dimensional lookup table (LUT). For welding noise characteristics, an alignment strategy is proposed to further correct the LUT to form a PRNM, which responds to all pairwise inputs with high computational efficiency. A batch of PRNMs have potential to form imaging solutions serving a welding process library. Experimental results reveal that the proposed model has a good effect in noise reduction, and the real-time performance is suitable for weld seam tracking. © 2022, The Author(s), under exclusive licence to Springer-Verlag GmbH Germany, part of Springer Nature.

关键词： Noise abatement

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Optimization of Energy Storage for a Miniature Water Jumping Robot 1

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16th International Conference on Intelligent robotics and Applications, ICIRA 2023

作者： Zhang, Shihao Zhang, Xin Yan, Jihong State Key Laboratory of Robotics and System Harbin Institute of Technology Heilongjiang Harbin150001 China Laboratory for Space Environment and Physical Sciences Harbin Institute of Technology Heilongjiang Harbin150001 China

ISBN: (数字)9789819964987

ISBN: (纸本)9789819964970

The water-jumping robot’s energy storage size is the key to improving the jumping performance. Materials with high energy density and large deformability are chosen as robotic energy storage elements, and the storage energy size of water jumping robots can be increased. We design an energy storage mechanism with latex and carbon composite fiber with large deformability and high energy density. The carbon composite fiber deformation was solved the by differential iteration method, and we developed its deformation-force-energy storage model. The energy storage size is increased by optimizing the energy storage elements’ dimensional parameters and their installation location. We designed a water jumping robot based on the optimized energy storage mechanism. The optimized robot prototype is manufactured with a weight of 95 g, and the length, width, and height of the robot are 260 mm, 150 mm, and 100 mm, respectively. It has the ability to take off from the water. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Iterative methods

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