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IEEE International Conference on robotics and Biomimetics

作者： Junyue Tang Tian Yang Xiren Chen Ziheng Liu Jiannan Li Zhiheng Zhang Junxiao Xiao Cheng Chi Shengyuan Jiang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin P. R. China Nanjing University of Aeronautics and Astronautics Chinese Academy of Sciences Institute of Geology and Geophysics Beijing P. R. China

ISBN: (纸本)9781665481106

Extraction and analysis of volatile substances in lunar regoilth is an important means to reveal the formation of the Earth-moon system and explore lunar resources. At present, volatile matter loss will be caused by shock vibration and pressure change of returned samples, so volatile matter needs to be prepared in situ on the lunar surface. In order to accurately measure the contents of volatile matter in lunar regoilth, it is necessary to collect samples with constant volume and quantity. In view of the above problems, this paper designed a sample manipulation device for quantitative detection, sample transfer and volatile preparation of lunar regoilth. The device carries 12 sample tubes through the gear disc to realize double station sample transfer. Seal requirements during sample reception and heating are achieved by lifting the rack. The test shows that the device can accurately measure the sample volume, the sample transfer time is 76.67s, and the thrust into the furnace is more than 150N, which meets the requirements of sample processing time and sealing. The device has a certain enlightening effect on the subsequent lunar exploration project.

关键词： Heating systems Vibrations Gears Volume measurement Furnaces Moon Switches

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Toward the smooth mesh climbing of a miniature robot using bioinspired soft and expandable claws

arXiv

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arXiv 2022年

作者： Wang, Hong Liu, Peng Ngoc, Phuoc Thanh Tran Li, Bing Li, Yao Sato, Hirotaka State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China The School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen518055 China School of Mechanical and Aerospace Engineering Nanyang Technological University Singapore Singapore

While most micro-robots face difficulty traveling on rugged and uneven terrain, beetles can walk smoothly on the complex substrate without slipping or getting stuck on the surface due to their stiffness-variable tarsi and expandable hooks on the tip of tarsi. In this study, we found that beetles actively bent and expanded their claws regularly to crawl freely on mesh surfaces. Inspired by the crawling mechanism of the beetles, we designed an 8-cm miniature climbing robot equipping artificial claws to open and bend in the same cyclic manner as natural beetles. The robot can climb freely with a controllable gait on the mesh surface, steep incline of the angle of 60°, and even transition surface. To our best knowledge, this is the first micro-scale robot that can climb both the mesh surface and cliffy incline. © 2022, CC BY.

关键词： Robots

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A Soft Robotic system Imitating the Multimodal Sensory Mechanism of Human Fingers for Intelligent Grasping and Recognition

SSRN

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SSRN 2024年

作者： Xu, Jinsui Xu, Boyi Zhan, Hao Xie, Zhijie Tian, Zhen Lu, Yifan Wang, Zheping Yue, Honghao Yang, Fei South China University of Technology China State Key Laboratory of Robotics and System School of Mechatronics Engineering Harbin Institute of Technology Harbin150001 China Wu Xianming School of Intelligent Engineering South China University of Technology Guangzhou510641 China College of Mechanical and Electrical Engineering Northeast Forestry University Harbin150042 China Science and Technology on Space Physics Laboratory China Academy of Launch Vehicle Technology Beijing100000 China

The sensory function is crucial for achieving precise feedback control and environmental interaction in soft robots. Therefore, the multimodal sensory capabilities that mimic human fingers have always been a research hotspot. This study proposes a design method for a soft robotic gripper that can emulate the multimodal perception mechanism of human fingers and achieve high-precision recognition of grasped objects using machine learning algorithms. In addition, a finger texture structure inspired by human fingerprints is designed using a negative pressure-induced buckling method to enhance the soft gripper's ability to perceive minute surface textures. Inspired by slow adapting (SA) receptors and fast adapting (FA) receptors of human fingers, this study designs a capacitive curvature sensor (CS) and a triboelectric texture sensor (TS) to detect the size, material, and texture of objects. Furthermore, a non-contact medium identification sensor (MIS), having a sensitivity of more than 1300 times higher compared to the traditional MISs, is fabricated using the principle of electromagnetic resonance. It is shown that by employing a deep learning-based multi-channel feature fusion network, the soft grasping system with multimodal sensing can achieve an object recognition accuracy of 98.43%. This work provides an innovative approach for the application of soft robots in various fields, such as logistics sorting and food safety. © 2024, The Authors. All rights reserved.

关键词： Textures

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Surface accuracy analysis for hexagonal prism modular deployable antenna

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Guangxue Jingmi Gongcheng/Optics and Precision Engineering 2021年第12期29卷 2855-2867页

作者： Tian, Da-Ke Fan, Xiao-Dong Jin, Lu Liu, Rong-Qiang Zhang, Ke School of Mechanical Engineering Shenyang Jianzhu University Shenyang110168 China School of Civil Engineering Shenyang Jianzhu University Shenyang110168 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

A surface accuracy analysis model for the support structure of a hexagonal prism modular deployable antenna is proposed because of the large-scale, modular, and high-precision development trend of deployable antennas. The structural composition of the hexagonal modular deployable antenna is elaborated, and the topological rules of the hexagonal modular structure are analyzed. Based on the idea of equal envelope circles and the basic theory of robotics, two mathematical modeling methods of envelope circle, point-surface method and two-point method, are proposed, from which the mathematical model of the intersection point of the equal envelope circle and the mathematical model of the included angle of rib unit are established;the mathematical model for accuracy analysis of the shape surface of the support structure of a modular deployable antenna with a hexagonal prism is built. Finally, the model is verified using a combination of numerical simulations and experimental verifications. The simulation and experimental results show that the enveloping circle can closely fit on the spherical surface, and it is in good agreement with the spherical surface. In the numerical simulation model, the modules of the hexagonal prism are connected accurately. In the experiment, the absolute error of feature points is mainly distributed in 5 to 10 mm, the relative error is mainly concentrated in the range of 0.05% to 0.1%, and the absolute error of the rib unit angle is mostly distributed in the range of 0.05°to 0.1°. The deviation between the measured and the theoretical values is small, and the values are in good agreement. The proposed model can solve the spatial coordinates of all module connection points, which provides a theoretical basis for the analysis and research of the shape accuracy of multi-module deployable antennas. © 2021, Science Press. All right reserved.

关键词： Antennas

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Digital Modeling of Massage Techniques and Reproduction by Robotic Arms

arXiv

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arXiv 2024年

作者： Xu, Yuan Huang, Kui Guo, Weichao Du, Leyi The SJTU Paris Elite Institute of Technology Shanghai Jiao Tong University Shanghai200240 China The State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai200240 China Meta Robotics Institute Shanghai Jiao Tong University Shanghai200240 China School of Gongli Hospital Medical Technology University of Shanghai for Science and Technology China

This paper explores the digital modeling and robotic reproduction of traditional Chinese medicine (TCM) massage techniques. We adopt an adaptive admittance control algorithm to optimize force and position control, ensuring safety and comfort. The paper analyzes key TCM techniques from kinematic and dynamic perspectives, and designs robotic systems to reproduce these massage techniques. The results demonstrate that the robot successfully mimics the characteristics of TCM massage, providing a foundation for integrating traditional therapy with modern robotics and expanding assistive therapy applications. Copyright © 2024, The Authors. All rights reserved.

关键词： Digital elevation model

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Simultaneously Calibration of Multi Hand-Eye Robot system Based on Graph

arXiv

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arXiv 2023年

作者： Zhou, Zishun Ma, Liping Liu, Xilong Cao, Zhiqiang Yu, Junzhi The Institute of Automation Chinese Academy of Sciences Beijing100190 China The College of Electrical Engineering and Computer Science Australian National University Canberra2601 Australia The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China The School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100049 China The State Key Laboratory for Turbulence and Complex System Department of Advanced Manufacturing and Robotics BIC-ESAT College of Engineering Peking University Beijing100871 China

Precise calibration is the basis for the vision-guided robot system to achieve high-precision operations. systems with multiple eyes (cameras) and multiple hands (robots) are particularly sensitive to calibration errors, such as micro-assembly systems. Most existing methods focus on the calibration of a single unit of the whole system, such as poses between hand and eye, or between two hands. These methods can be used to determine the relative pose between each unit, but the serialized incremental calibration strategy cannot avoid the problem of error accumulation in a large-scale system. Instead of focusing on a single unit, this paper models the multi-eye and multi-hand system calibration problem as a graph and proposes a method based on the minimum spanning tree and graph optimization. This method can automatically plan the serialized optimal calibration strategy in accordance with the system settings to get coarse calibration results initially. Then, with these initial values, the closed-loop constraints are introduced to carry out global optimization. Simulation experiments demonstrate the performance of the proposed algorithm under different noises and various hand-eye configurations. In addition, experiments on real robot systems are presented to further verify the proposed method. © 2023, CC BY-SA.

关键词： Multipurpose robots

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Constant Direct Current Triboelectric Nanogenerator Based on Soft-Contact Mode for Self-Powered Cathodic Protection

SSRN

引用

SSRN 2022年

作者： Li, Ming Jiang, Tianyi Ren, Yukun Jiang, Hongyuan School of Mechatronics Engineering Harbin Institute of Technology West Da-zhi Street 92 Harbin150001 China State Key Laboratory of Robotics and System Harbin Institute of Technology West Da-zhi Street 92 Heilongjiang Harbin150001 China

Triboelectric nanogenerator (TENG) has been proved to be a promising technology for harvesting decentralized energy. However, the application fields of the traditional TENGs are limited by the high crest factor. Here a constant direct current TENG (CDC-TENG) with low crest factor is proposed by connecting three rotating TENGs with specific phase difference (Δ θ ) in parallel. Excellent wear resistance and humidity resistance are demonstrated owing to the soft-contact mode and 3D encapsulated design. For the CDC-TENG (3P6E), the crest factor surprisingly decreases to 1.05 while that of the TENGs without Δ θ is up to 1.31. Meanwhile, the current density up to 3021 μA·m -2 is achieved at the rotation speed of 500 r·min -1 . Then, owing to the excellent output of constant direct current (DC), a commercial timer is directly driven by the CDC-TENG without using capacitor. Finally, the CDC-TENG is used as the power source of cathodic protection (CP) system, which exhibits an excellent corrosion protection effect. In general, this work provides a meaningful template for TENGs to broaden the marine industrial applications of constant DC demand. © 2022, The Authors. All rights reserved.

关键词： Nanogenerators

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A Novel Hybrid Method for Fault Diagnosis of Industrial Equipment Based on Vibration Signals

A Novel Hybrid Method for Fault Diagnosis of Industrial Equi...

引用

Prognostics and system Health Management Conference (PHM-Qingdao)

作者： Sen Tao Kai Wang Peng Zeng Tianda Yu Hao Wu Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Beijing China Shenyang China Nuclear Power Institute of China Chengdu China State Key Laboratory of Power Transmission Equipment & System Security and New Technology Chongqing University Chongqing China

Industrial equipment reliability is a critical issue that smart manufacturing systems must address. Implementation of online fault diagnosis for industrial equipment is a promising technology that can improve equipment reliability. Vibration analysis is a popular technique for equipment condition monitoring. For the non-linear and non-stationary features of industrial vibration signals, a hybrid model based on wavelet transform (WT), support vector machine (SVM), and grey wolf optimization algorithm (GWO) is proposed. The time-frequency domain features of fault signals are extracted by wavelet transform to solve the non-linearity of signals, and the obtained feature vectors are input into SVM for classification. Aiming at the problem of setting penalty coefficient and kernel function parameters, GWO is introduced to seek hyperparameters by using the hunting principle of wolves. In the experimental part, firstly, the comparison of the GWO-WT-SVM, GWO-SVM and SVM models was carried out. Secondly, Comparison with classical classification algorithms is made. Apparently, the GWO-WT-SVM model achieves higher accuracy than other models in bearing fault diagnosis.

关键词：

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Design, Analysis, and Experiment of a Coupled-Adaptive Underactuated Prosthetic Handbased on Linkage Mechanisms

SSRN

引用

SSRN 2022年

作者： Fan, Shaowei Dai, Jinghui Zhang, Ning Zhang, Ting Cheng, Ming Liu, Bingchen Jiang, Li State Key Laboratory of Robotics and System Harbin Institute of Technology Heilongjiang Harbin150080 China National Research Center for Rehabilitation Technical Aids Beijing100176 China College of Mechanical and Electrical Engineering Soochow University Jiangsu Suzhou215021 China

To reproduce the characteristics of human hand motion, this paper proposes a novel four-degree-of-freedom prosthetic hand that combines the advantages of coupled motion and self-adaptive motion. A coupled-adaptive underactuated finger was developed using a cross-coupled four-link mechanism and an adaptive five-link mechanism. The finger can perform both power and precision grasping excellently. Based on the seesaw mechanism, a differential mechanism among the middle finger, ring finger, and little finger was developed to further reduce the size and weight of the prosthetic hand. To avoid the ejection phenomenon, the stability of the finger is systematically analyzed in this paper using the grasp-state space analysis technique. The stability analysis results indicate that ejection does not occur in the entire workspace of the proposed finger. The grasping experiments indicate that the proposed prosthetic hand possesses excellent stability and adaptability. © 2022, The Authors. All rights reserved.

关键词： Prosthetics

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XNORAM: An Efficient Computing-in-Memory Architecture for Binary Convolutional Neural Networks with Flexible Dataflow Mapping

XNORAM: An Efficient Computing-in-Memory Architecture for Bi...

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2020 IEEE International Conference on Artificial Intelligence Circuits and systems, AICAS 2020

作者： Liu, Shiwei Zhu, Haozhe Chen, Chixiao Zhang, Lihua Richard Shi, C.-J. State Key Laboratory of ASIC and System China Shanghai Engineering Research Center for AI and Robotics Fudan University Shanghai China Jihua Laboratory Foshan China University of Washington SeattleWA United States

ISBN: (纸本)9781728149226

In this paper, an energy-efficient computing-inmemory architecture for binary convolutional neural networks, called XNORAM, is proposed. The XNORAM employs 6T feature cells and 10T weight cells to form one XNORAM column. Multiplexed XNOR operations are embedded in each column. To address the data reuse in convolutional neural networks, flexible dataflow mapping is supported on XNORAM to minimize the external data access. To verify the architecture, we design a 4-KB XNORAM prototype in 65nm CMOS technology. It achieves a throughput of 18. 5GOPs at 100-MHz clock rate and 1.0-V power supply. XNOR-AlexNet is performed on the design achieving 39.86 TOPS/W and 4.63 GOPS/KB utilization with only 1.3% accuracy loss comparing to the original XNOR-Net result on GPUs. © 2020 IEEE.

关键词： Mapping

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