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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Qi, Le Yang, Dapeng Cao, Baoshi Li, Zhiqi Gu, Yikun Xie, Zongwu Liu, Hong Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150080 China

ISBN: (纸本)9781665481090

Robot actuators directly affect the performance of robots, and robot drives directly affect the performance of robot actuators. With the development of robotics, robots have put higher requirements on robot drives, such as high stiffness, high accuracy, high loading, high efficiency, low backlash, compact size, and hollow structure. In order to meet the demand development of robot actuators, this research base proposes a new robot drive based on 3K-H-V topology using involute and cycloidal gear shapes, planetary cycloidal drive, from the perspective of drive topology and through the design idea of decoupling. In this study, the reduction ratio and the efficiency model of the 3K-H-V topology were analyzed, and a prototype planetary cycloidal actuator was designed. The feasibility of the drive is initially verified by experimentally concluding that the PCA has a hollow structure, compact size, and high torque density (69 Nm/kg). © 2022 IEEE.

关键词： Topology

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Optimization method for operation configuration of space manipulator for on-orbit assembly 24

Optimization method for operation configuration of space man...

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4th International Conference on Control and Intelligent robotics, ICCIR 2024

作者： Li, Mengfei Liu, Yang Feng, Weichao Cao, Baoshi Xie, Zongwu Xie, Yuteng Li, Chongyang Guo, Chuangqiang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China School of Resources and Environment Northeast Agricultural University Harbin150006 China Agile Robots Beijing Beijing100192 China

ISBN: (纸本)9798400709937

Aiming at the insertion requirements of large space structures during the on-orbit assembly process, a redundant manipulator operation configuration selection method using joint angle variation as a performance evaluation index is proposed, which achieves operation configuration optimization among multiple sets of inverse solutions. At the same time, the risk of collision during installation is reduced. Firstly, the joint angle parameterization method is used to solve all feasible solutions of the redundant manipulator. Then, trapezoidal velocity planning is employed to analyse the operation configuration after the end effector of the manipulator moves a certain distance in different directions of the coordinate system, and the joint weight coefficient is introduced to calculate the weighted value of the angle variation. Finally, select the operation configuration corresponding to the minimum weighted value as the initial configuration for the manipulator. The calculation results show that this method can select an effective solution that satisfies the posture constraints from multiple sets of inverse solutions, giving full play to the redundant characteristics of the SSRMS-type manipulator and ensuring the safety and reliability of the on-orbit assembly process. © 2024 Copyright held by the owner/author(s).

关键词： Inverse kinematics

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3D-DEM Simulation and Post-Process Method of Wheel-Terrain Interaction for Planetary Rovers 11

3D-DEM Simulation and Post-Process Method of Wheel-Terrain I...

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11th Asia-Pacific Regional Conference of the International Society for Terrain-Vehicle systems, ISTVS 2022

作者： Lan, Qingning Wang, Zhengyin Yang, Huaiguang Ding, Liang Gao, Haibo State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

ISBN: (纸本)9781942112532

Understanding the physical essence of wheel-terrain interaction is critical to establish the terramechanics model. The discrete element method (DEM) can be used to simulate a series of wheel-terrain interaction quickly and efficiently, which can be convenient to analyze the physical information of the interaction. This paper simulates the interaction of slipping wheel running on soil simulant using 3D-DEM. The information of particles and wheel is obtained from the wheel-terrain interaction. The consequent velocity and stress field of soil simulant is obtained by smoothening the velocity of discrete soil particles and contact interaction force between particles. A method to calculate the fraction field of soil simulant in the particle bed with boundary is proposed to obtain the consequent fraction field distribution. The simulation results are consistent with experimental results. This study can provide instructions for the establishment of physical terramechanics model. Copyright © 2022 by the International Society for Terrain-Vehicle systems. All rights reserved.

关键词： Landforms

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LQR-based Ground Resonance Suppression of Helicopter with Adaptive Landing Gear

LQR-based Ground Resonance Suppression of Helicopter with Ad...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Yan, Zhen Yu, Haitao Xia, Jifeng Tian, Baolin Gao, Haibo State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

ISBN: (纸本)9781665481090

Ground resonance (GR) is a potentially destructive mechanical instability involving the coupling of the regressive rotor mode to the fuselage motion. Vibration can be disastrous if measures are not taken in time to mitigate vibrations. This paper presents a study on the use of adaptive landing gear to eliminate GR in helicopters. A GR model considering adaptive landing gear is established, and the dynamic characteristics of the system are analyzed. In this paper, the Linear Quadratic Regulator (LQR) controller is applied to suppress the GR. The setting of the weighting matrix coefficients directly determines the effect of the control system. Therefore, a design method of LQR weighting matrix based on multi-objective genetic algorithm is proposed, which enables the control system to meet multiple performance indicators concurrently. Numerical simulations of GR suppression were performed for the rotor speed range where GR is most likely to occur. The results show that even if the rotor system is not equipped with any dampers, the suppression of helicopter GR can be achieved by using the control strategy proposed in this paper to control the adaptive landing gear. Therefore, the application of adaptive leg landing gear to helicopters can provide some ideas to eliminate GR. © 2022 IEEE.

关键词： Multiobjective optimization

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The controller architecture of dexterous hand with switchable coupling mechanism

The controller architecture of dexterous hand with switchabl...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Liu, Ziqi Jiang, Li Li, Wangyang Cheng, Ming Wu, Xiaoqiao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150008 China

ISBN: (纸本)9781665481090

This work investigates the design of the sensor system and control system for the coupled adaptive multi-fingered dexterous hand with actively switchable modalities. Considering the specific mechanical structure characteristics of the dexterous hand, a master-slave distributed control system design approach is adopted to integrate the sensor system and control system inside the finger, which completes the mechatronic integration of the whole hand. It can realize the modularity at the finger level and simplify the system complexity. This paper also introduces a fuzzy adaptive PID control method and develops the control strategy in active switchable mode. The experimental results show that the controller architecture can adapt to the changes in the institutional characteristics of the system when the finger switches between coupled and coupled adaptive states. It can complete the high-precision tracking of the target trajectory, achieve accurate position control, and have superior real-time performance. © 2022 IEEE.

关键词： Controllers

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An overview on mobile manipulator in nuclear applications∗

An overview on mobile manipulator in nuclear applications∗

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2022 IEEE International Conference on Real-Time Computing and robotics, RCAR 2022

作者： Ou, Yue Xu, Biying Cai, Hegao Zhao, Jie Fan, Jizhuang Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150001 China

ISBN: (数字)9781665469838

ISBN: (纸本)9781665469838

Nuclear power is worldwide popular and keeps rapidly growing, but manual operation in nuclear facilities is challenging by safety and workload issues. Mobile manipulators are ideal to replace human works in nuclear applications. This article reviews the development of mobile manipulators in nuclear applications over time. Then, we summarize three tasks for robots in nuclear applications and corresponding requirements, followed by an overview of the design of selected specific models. Based on the existing design, we propose the challenges for future mobile manipulators in nuclear applications. © 2022 IEEE.

关键词： Manipulators

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Terrain Classification Using Mars Raw Images Based on Deep Learning Algorithms with Application to Wheeled Planetary Rovers 11

Terrain Classification Using Mars Raw Images Based on Deep L...

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11th Asia-Pacific Regional Conference of the International Society for Terrain-Vehicle systems, ISTVS 2022

作者： Guo, Junlong Zhang, Xingyang Dong, Yunpeng Xue, Zhao Huang, Bo State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

ISBN: (纸本)9781942112532

Scene information plays a crucial role in motion control, attitude perception, and path planning for wheeled planetary rovers (WPRs). Terrain recognition is the fundamental component of scene recognition. Due to the rich information, visual sensors are usually used in terrain classification. However, teleoperation delay prevents WPRs from using visual information efficiently. End-to-end learning method of deep learning (DL) that does not need complex image preprocessing was proposed to deal with this issue. This paper first built a terrain dataset (consists of loose sand, bedrock, small rock, large rock, and outcrop) using real Mars images to directly support You Only Look Once (YOLOv5) to test its performance on terrain classification. Because the capability of end-to-end training scheme is positively correlated with dataset, the performance of YOLOv5 can be significantly improved by exploiting orders of magnitude more data. The best combination of hyperparameters and models was achieved by slightly tuning YOLOv5, and data augmentation was also applied to optimize its accuracy. Furthermore, its performance was compared with two other end-to-end network architectures. Deep learning algorithms can be used in the future planetary exploration missions, such as WPRs autonomy improvement, traversability analysis, and avoiding getting trapped. Copyright © 2022 by the International Society for Terrain-Vehicle systems. All rights reserved.

关键词： Convolutional neural networks

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An adjustable time slice process scheduling algorithm based on feature similarity clustering 4

An adjustable time slice process scheduling algorithm based ...

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4th International Conference on Artificial Intelligence and Electromechanical Automation, AIEA 2023

作者： Xiao, Gong Liang, Ding State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China China Software Testing Center Beijing100000 China

ISBN: (纸本)9781510666412

In order to improve the efficiency of the operating system scheduler, this paper proposes an adjustable time slice process scheduling algorithm ATSPS (Adjustable Time Slice Process Scheduling) based on feature similarity clustering, which can reduce the cost of the operating system process scheduling time, reduce the process turnaround time, and improve the process execution efficiency. ATSPS forms different process clusters by clustering the characteristics of process burst time, time slice, weight, and context switching times. It uses the same specification time slice for each type of process cluster. Through queue scheduling adjustment, it accelerates the execution efficiency of computationally intensive processes, reduces the number of contexts switching times caused by the expiration of time slice, and saves scheduling time. The scheduling process of robot grabbing program in the operating system is simulated by MATLAB, and the ready queue, blocking queue and execution queue of the operating system are simulated. The robot grabbing program is simulated, including visual process, force control process and posture process. ATSPS is compared with five classical scheduling algorithms. The experimental results show that on the scheduling criteria of three CPU scheduling algorithms, namely, waiting time, turnaround time and context switching times, ATSPS algorithm reduces the time cost of process scheduling, realizes the real-time scheduling of operating system process, and provides guarantee for the real-time control of robot. © 2023 SPIE.

关键词： Scheduling algorithms

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Design of three-dimensional imaging lidar optical system for large field of view scanning

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Chinese Physics B 2022年第7期31卷 284-289页

作者： Qing-Yan Li Yu Zhang Shi-Yu Yan Bin Zhang Chun-Hui Wang National Key Laboratory of Tunable Laser Technology Harbin Institute of TechnologyHarbin 150001China Geling Institute of Artificial Intelligence and Robotics Shenzhen 518063China

Three-dimensional(3D)lidar has been widely used in various *** MEMS scanning system is one of its most important components,while the limitation of scanning angle is the main obstacle to improve the demerit for its application in various *** this paper,a folded large field of view scanning optical system is *** structure and parameters of the system are determined by theoretical derivation of ray *** optical design software Zemax is used to design the *** optimization,the final structure performs well in collimation and beam *** results show that the scan angle can be expanded from±5°to±26.5°,and finally the parallel light scanning is *** spot diagram at a distance of 100 mm from the exit surface shows that the maximum radius of the spot is 0.506 mm with a uniformly distributed *** maximum radius of the spot at 100 m is 19 cm,and the diffusion angle is less than 2 *** energy concentration in the spot range is greater than 90%with a high system energy concentration,and the parallelism is *** design overcomes the shortcoming of the small mechanical scanning angle of the MEMS lidar,and has good performance in collimation and beam *** provides a design method for large-scale application of MEMS lidar.

关键词： 3D lidar MEMS scanning system large field of view scanning Zemax

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Synergistic regulation of temperature resistance and thermal insulation performance of zirconia-based ceramic fibers

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Rare Metals 2023年第12期42卷 4189-4200页

作者： Yong-Shuai Xie Ying Peng Zhe-Zhe Deng Ze Zhu Yuan Cheng De-Hua Ma Lu-Yi Zhu Xing-Hong Zhang State Key Laboratory of Crystal Materials School of Crystal MaterialsShandong UniversityJinan 250100China National Key Laboratory of Science and Technology on Advanced Composites in Special Environments Harbin Institute of TechnologyHarbin 150001China

ZrO_(2) fiber is a promising high-temperature resistant and heat-insulating fiber ***,the decrease in mechanical properties caused by grain growth at high temperatures seriously affects its *** to achieve the synergy of its temperature resistance and the thermal insulation performance is still the focus of the current *** this work,we started with doping inequivalent elements and studied the phase composition,temperature resistance,and thermal insulation properties of Y_(2)O_(3)-ZrO_(2) ceramic fibers by adjusting the Y/Zr molar *** results showed that Y_(2)O_(3) could enter the crystal lattice of ZrO_(2) and form a solid *** the increase in Y_(2)O_(3) content,the structure of fibers changed from a tetragonal phase to a cubic phase,and the configurational entropy of the system *** larger configuration entropy in the sample could produce a robust steric hindrance effect,inhibiting grain *** heat treatment at 1300℃,the grain size of Y_(2)Zr_(2)O_(7)(Y5Z5)fibers was only 61.8%that of Y_(0.1)Zr_(0.9)O_(1.95)(Y1Z9)*** smaller grain size made the Y5Z5 fibers still have excellent flexibility and deformation recovery performance after heat treatment at 1300℃and could still return to the original state after 85%compression or folded in *** addition,due to the larger configurational entropy,the mean free path of phonon scattering was shortened,thereby improving the thermal insulation performance of the *** short,this work achieves the synergistic effect of temperature resistance and thermal insulation properties of zirconia-based fiber materials only through simple inequivalent element doping.

关键词： Ceramics fiber ZrO_(2) Y_(2)O_(3) Thermal insulation Temperature resistance

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