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Splitter engineering through optimizing topological adiababtic passage

Frontiers of physics 2025年第1期20卷 145-163页

作者： Jia-Ning Zhang Jin-Lei Wu Cheng Lv Jiabao Yao Jie Song Yong-Yuan Jiang School of Physics Harbin Institute of TechnologyHarbin 150001China School of Physics Zhengzhou UniversityZhengzhou 450001China Collaborative Innovation Center of Extreme Optics Shanxi UniversityTaiyuan 030006China Key Laboratory of Micro-Nano Optoelectronic Information System Ministry of Industry and Information TechnologyHarbin 150001China Key Laboratory of Micro-Optics and Photonic Technology of Heilongjiang Province Harbin Institute of TechnologyHarbin 150001China

Topologically protected states are important in realizing robust optical behaviors that are quite insensitive to local defects or perturbations,which provide a promising solution for robust photonic ***,we propose to implement fast topological beam splitters and routers via the adiabatic passage of edge and interface states in the cross-linking configuration of Su-Schrieffer-Heeger(SSH)chains with interface *** channel state does not immerse into the band continuum during the adiabatic cycle,making the adiabatic restriction less stringent and the transport process more *** on the accelerated topological pumping,the beam splitters and routers exhibit improved robustness against losses of the system yet degraded resilience to fluctuation of coupling strengths and on-site energies compared with the conventional topological splitting and routing *** addition,we confirm that the model demonstrates good scalability when the system size is *** simulation results of topological beam splitting in coupled waveguide arrays are in good consistency with theoretical *** topological design provides a robust way to control photons,which may suggest further application of topological devices with unique properties and functionalities for integrated photonics.

关键词： topological effects in photonic systems Su-Schrieffer-Heeger topological photonics waveguides

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Magnetic Actuated Shape-memory Helical Microswimmers with Programmable Recovery Behaviors

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Journal of Bionic Engineering 2021年第4期18卷 799-811页

作者： Fu Zhao Weibin Rong Lefeng Wang Lining Sun State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150080China

Inspired by bacterial flagella in nature,magnetic helical microswimmer is an ideal model to perform complex task in a low Reynolds number *** Memory Polymers(SMPs)with desirable properties are considered as one of the most preferred options for the development of small-scale ***,fabricating and programming strategies are still ***,we report an approach to fabricate helical microswimmers based on thermoplastic SMP(polylactic acid).Melt-spun polylactic acid fibers containing magnetic particles were enwound to form helical *** shape recovery behaviors were programmed by annealing and *** forms of helical microswimmers(constant-helix-angle conical helix,constant-pitch conical helix,and straight helix)with controlled morphological parameters were *** obtained microswimmers showed 3D locomotion capability under rotating magnetic *** maximum swimming velocity of microswimmers was nearly six body lengths per second,and the near-wall swimming of conical helixes along their sharp end exhibited a smaller ***,we demonstrated programmed shape-switching processes(spring-like contraction and elongation,coiling and uncoiling)and self-repairing of the *** demonstrations of potential applications,tasks of mobile microstent,cargo delivery,and minimally invasive injection were carried *** multifunctional shape-memory microswimmers have immense potential in a variety of applications.

关键词： helical microrobot magnetic actuation Shape Memory Polymer(SMP) polylactic acid magnetic particles

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RGBD Navigation: A 2D navigation framework for visual SLAM with pose compensation

RGBD Navigation: A 2D navigation framework for visual SLAM w...

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2023 IEEE International Conference on Real-Time Computing and robotics, RCAR 2023

作者： Zhang, Teng Wang, Pengfei Zha, Fusheng Guo, Wei Li, Mantian Harbin Institute of Technology The State Key Laboratory of Robotics Harbin China

ISBN: (纸本)9798350327182

The breakthrough in SLAM(Simultaneous Localization and Mapping) technology has greatly driven the development of robot navigation. Currently, LiDAR navigation based on the development of LiDAR SLAM and ROS navigation stack is very mature. However, due to the inability of open-source vSLAM(visual Simultaneous Localization and Mapping) and VO(Visual Odometry) to establish dense maps suitable for navigation, poor adaptability of visual information to ROS navigation stack, and map positioning problems caused by sensor characteristics, the development of visual navigation faces difficulties. To address the above three issues, this work provides a framework called RGBD Navigation, which utilizes RGBD sensors to achieve vision-based navigation for robots. This framework establishes a dense point cloud map based on the pose information provided by vSLAM/VO, depth images and RGB images, and converts it into a 2D occupancy grid map. And, convert the depth image into two-dimensional laserscan information. Finally, establish a "map-to-odom"positioning node based on the pose provided by SLAM/VO to achieve robot positioning on the map. This framework solves the three main problems of visual sensor adaptation to the ROS Navigation stack, and achieves the establishment of a vision-based 2D navigation system. © 2023 IEEE.

关键词： Navigation systems

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Gecko-Like Dry Adhesive Surfaces and Their Applications: A Review

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Journal of Bionic Engineering 2021年第5期18卷 1011-1044页

作者： Wei Wang Yang Liu Zongwu Xie State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

Gecko has the ability to climb flexibly on various natural surfaces because of its fine layered adhesion system of foot,which has motivated researchers to carry out a lot of researches on *** progresses have been made in the gecko-like dry adhesive surfaces in the past 2 decades,such as the mechanical measurement of adhesive characteristics,the theoretical modeling of adhesive mechanism and the production of synthetic dry adhesive *** application researches have been carried out as *** paper focuses on the investigations made in recent years on the gecko-like dry adhesive surfaces,so as to lay the foundation for further research ***,the adhesion system of gecko’s foot and its excellent adhesive characteristics are reviewed,and the adhesive models describing the gecko adhesion are summarily reviewed according to the diff erent contact ***,some gecko-like dry adhesive surfaces with outstanding adhesive characteristics are ***,some application researches based on the gecko-like dry adhesive surfaces are ***,the full text is summarized and the problems to be solved on the gecko-like dry adhesive surfaces are prospected.

关键词： Gecko adhesion Gecko-like dry adhesive surfaces Climbing robot Robot gripper Medical adhesive tape

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A Legged Small Celestial Body Landing Mechanism:Landing Simulation and Experimental Test

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Space(Science & technology) 2023年第1期3卷 453-463页

作者： Zhijun Zhao Shuang Wu Jingdong Zhao Yaobing Wang Chuncheng Zhao Beijing Key Laboratory of Intelligent Space Robotic System Technology and Applications Beijing Institute of Spacecraft System EngineeringBeijing 100094China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150006China Department of Aerospace Science and Technology Polytechnic University of MilanMilan 20133Italy

Landing mechanism tends to rebound and turn over,and the stability time is long when landing on the small celestial *** landing performance in different conditions is necessary to be evaluated to guide the ***,landing performance evaluation is realized by *** factors affecting the landing performance including cardan element damping,foot anchors,retro-rocket thrust,landing slope angle,and landing attitude are analyzed.A microgravity platform is built to test the landing mechanism,and the consistency between the simulation and the experiment is *** the basis of simulation and experiment,some landing suggestions are proposed to improve the landing performance.

关键词： thrust mechanism landing

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A noncontact robot demonstration method with human supervision

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Science China(Technological Sciences) 2021年第11期64卷 2360-2372页

作者： ZHANG Qi XIE ZongWu LIU Yang State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

The widely used kinesthetic demonstration method of dragging robotic manipulators cannot obtain reliable information for autonomous robot manipulation because an additional external force rather than pure contact force will be reflected on the force sensor in end-constrained manipulation tasks. Therefore, a noncontact robot demonstration method with human supervision is proposed to avoid external influence. A human demonstrator sends motion commands by mouse and observes force data reflected in a monitor to protect the robotic manipulator. Simultaneously, the human demonstrator supervises the positionorientation relationship between the end-effector and the manipulated object. The wrench insertion task is adopted to illustrate the advantage of the proposed method. A contact model is established according to demonstration data acquired from the proposed demonstration method, and an orientation adjustment strategy is verified. The strategy verification experiment illustrates not only the effectiveness of the simplified contact model and corresponding strategy but also the advantage of the proposed demonstration method.

关键词： Robot demonstration contact model orientation adjustment

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Autonomous planning and control strategy for space manipulators with dynamics uncertainty based on learning from demonstrations

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Science China(Technological Sciences) 2021年第12期64卷 2662-2675页

作者： LI ChongYang LI ZhiQi JIANG ZaiNan CUI ShiPeng LIU Hong CAI HeGao State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

Autonomous planning is a significant development direction of the space manipulator,and learning from demonstrations(LfD)is a potential strategy for complex tasks in the ***,separating control from planning may cause large torque fluctuations and energy consumptions,even instability or danger in control of space manipulators,especially for the planning based on the human ***,we present an autonomous planning and control strategy for space manipulators based on LfD and focus on the dynamics uncertainty problem,a common problem of actual *** process can be divided into three stages:firstly,we reproduced the stochastic directed trajectory based on the Gaussian process-based LfD;secondly,we built the model of the stochastic dynamics of the actual manipulator with Gaussian process;thirdly,we designed an optimal controller based on the dynamics model to obtain the improved commanded torques and trajectory,and used the separation theorem to deal with stochastic characteristics during *** evaluated the strategy with locating pre-screwed bolts experiment by Tiangong-2 manipulator system on the *** result showed that,compared with other strategies,the strategy proposed in this paper could significantly reduce torque fluctuations and energy consumptions,and its precision can meet the task requirements.

关键词： space manipulator optimal control dynamics uncertainty learning from demonstrations

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Integral Real-time Locomotion Mode Recognition Based on GA-CNN for Lower Limb Exoskeleton

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Journal of Bionic Engineering 2022年第5期19卷 1359-1373页

作者： Jiaqi Wang Dongmei Wu Yongzhuo Gao Xinrui Wang Xiaoqi Li Guoqiang Xu Wei Dong State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China Weapon Equipment Research Institute China South Industries Group CorporationBeijing 102202China

The wearable lower limb exoskeleton is a typical human-in-loop human–robot coupled system,which conducts natural and close cooperation with the human by recognizing human locomotion *** subject-specific training is the main challenge of the existing approaches,and most methods have the problem of insufficient *** paper proposes an integral subject-adaptive real-time Locomotion Mode Recognition(LMR)method based on GA-CNN for a lower limb exoskeleton *** LMR method is a combination of Convolutional Neural Networks(CNN)and Genetic Algorithm(GA)-based multi-sensor information *** improve network performance,the hyper-parameters are optimized by Bayesian *** exoskeleton prototype system with multi-type sensors and novel sensing-shoes is used to verify the proposed *** locomotion modes,which composed an integral locomotion system for the daily application of the exoskeleton,can be recognized by the proposed *** to a series of experiments,the recognizer shows strong comprehensive abilities including high accuracy,low delay,and sufficient adaption to different subjects.

关键词： Locomotion mode recognition Gait mode detection Lower limb exoskeleton Convolutional neural network Genetic algorithm Bionic design

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Speed Fluctuation Suppression of Current Scaling Errors Based on Improved Iterative Learning Control Method 26

Speed Fluctuation Suppression of Current Scaling Errors Base...

引用

26th International Conference on Electrical Machines and systems, ICEMS 2023

作者： Mu, Haoyi Yu, Guodong Li, Shaobin Zhu, Pengcheng Xu, Yongxiang School of Electrical Engineering and Automation Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9798350317589

In recent years, there has been a growing demand for high-precision speed control of permanent magnet synchronous motor (PMSM), drawing significant attention to the issue of inherent current measurement errors in drive control. This paper presents a novel approach to mitigate periodic speed fluctuations using an expert system-based iterative learning control (ILC) method. The proposed method employs an expert system to dynamically adjust the weight values of the memory factor during online updates. This ensures the calculated relaxation factor optimally suppresses speed fluctuations across all operating conditions. Furthermore, the stability and parameter tuning aspects are analyzed from the perspective of transfer functions, and the feasibility of the proposed method is demonstrated through simulation. © 2023 IEEE.

关键词： Errors

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Knowledge and data jointly driven aeroengine gas path performance assessment method

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Chinese Journal of Aeronautics 2024年第5期37卷 533-557页

作者： Zhe WANG Xuyun FU Rui ZHANG Zhengfeng BAI Xiangzhao XIA Wei JIANG Department of Mechanical Engineering Harbin Institute of TechnologyWeihai 264209China Weihai Key Laboratory of Intelligent Operation and Maintenance Harbin Institute of TechnologyWeihai 264209China Control System Design Laboratory AECC ShenYang Engine Research InstituteShenyang 110015China

Aeroengines,as the sole power source for aircraft,play a vital role in ensuring flight *** gas path,which represents the fundamental pathway for airflow within an aeroengine,directly impacts the aeroengine's performance,fuel efficiency,and ***,timely and accurate evaluation of gas path performance is of paramount *** paper proposes a knowledge and data jointly driven aeroengine gas path performance assessment method,combining Fingerprint and gas path parameter deviation ***,Fingerprint is used to correct gas path parameter deviation values,eliminating parameter shifts caused by non-component performance ***,coarse errors are removed using the Romanovsky criterion for short-term data divided by an equal-length overlapping sliding ***,an Ensemble Empirical Mode Decomposition and Non-Local Means(EEMD-NLM)filtering method is designed to“clean”data noise,completing the preprocessing for gas path parameter deviation ***,based on the characteristics of gas path parameter deviation values,a Dynamic Temporary Blended Network(DTBN)model is built to extract its temporal features,cascaded with Multi-Layer Perceptron(MLP),and combined with Fingerprint to construct a Dynamic Temporary Blended AutoEncoder(DTB-AutoEncoder).Eventually,by training this improved autoencoder,the aeroengine gas path multi-component performance assessment model is formed,which can sufficiently decouple the nonlinear mapping relationship between aeroengine gas path multi-component performance degradation and gas path parameter deviation values,thereby achieving the performance assessment of engine gas path *** practical application cases,the effectiveness of this model in assessing the aeroengine gas path multi-component performance is verified.

关键词： Performance assessment Aeroengine Fingerprint Gas path parameter deviation values Jointly drive

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