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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Fu, Yili Li, Xu Dong, Xinyu Intelligent Robot Research Center Zhejiang Laboratory Hangzhou China Harbin Institute of Technology State Kay Laboratory of Robotics and System Heilongjiang Province Harbin China Harbin Institute of Technology Heilongjiang Province Harbin China

ISBN: (纸本)9798350320831

The bipedal wheel-legged robot with auxiliary legs studied in this paper has two motion modes, two wheels and four wheels, and can transform motion modes according to operation requirements. This paper focuses on how to realize motion mode transformation control under stable equilibrium. Firstly, kinematics analysis and dynamics modeling of the robot are carried out to complete the motion description and dynamics description of the robot in Cartesian space. Then the robot is simplified into a wheeled inverted pendulum model, and the driving wheel and other parts are decoupled to analyze its dynamic characteristics. In this paper, LQR controller will be used to ensure the robot is always in a balanced state, and then priority task space control (PTSC) based on quadratic programming (QP) will be adopted to track the robot trajectory. Finally, the smooth transformation of the robot under two motion modes of two wheels and four wheels is completed by experiments, which verifies the effectiveness of the control algorithm designed in this paper. © 2023 IEEE.

关键词： Quadratic programming

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Resilient Event-Triggered Model Predictive Control for Adaptive Cruise Control Under Sensor Attacks

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IEEE/CAA Journal of Automatica Sinica 2023年第3期10卷 807-809页

作者： Zhijian Hu Rong Su Kai Zhang Zeyuan Xu Renjie Ma School of Electrical and Electronic Engineering Nanyang Technological UniversitySingapore 639798Singapore Key Laboratory of Ultra-Precision Intelligent Instrumentation Ministry of Industry and Information Technologyand the Center of Ultra-Precision Optoelectronic Instrument EngineeringHarbin Institute of TechnologyHarbin 150001China Department of Control Science and Engineering Harbin Institute of TechnologyHarbin 150001China Department of Chemical and Biomolecular Engineering National University of SingaporeSingapore 117585Singapore State Key Laboratory of Robotics and Systems Harbin Institute of TechnologyHarbin 150001China IEEE

Dear Editor,This letter addresses the resilient model predictive control(MPC)problems for adaptive cruise control(ACC)systems under sensor *** the light of vulnerabilities of ACC systems to sensor attacks,an intrusion detection mechanism is proposed at the controller side to distinguish abnormal ***,the robust control gains are derived to design the terminal region constraint for MPC.

关键词： Trigger Event constraint

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Recent advances in cathodes for all-solid-state lithium-sulfur batteries

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Chinese Chemical Letters 2023年第7期34卷 58-69页

作者： Shengbo Yang Bo Wang Qiang Lv Nan Zhang Zekun Zhang Yutong Jing Jinbo Li Rui Chen Bochen Wu Pengfei Xu Dianlong Wang MIIT Key Laboratory of Critical Materials Technology for New Energy Conversion and Storage State Key Laboratory of Urban Water Resource and EnvironmentSchool of Chemistry and Chemical EngineeringHarbin Institute of TechnologyHarbin 150001China

Lithium-sulfur(Li-S)batteries have been regarded as the candidate for the next-generation energy storage system due to the high theoretical specific capacity(1675 m Ah/g), energy density(2600 Wh/kg)and the abundance of elemental sulfur, but the application of Li-S batteries is impeded by a series of problems. Recently, all-solid-state Li-S batteries(ASSLSBs) have drawn great attention because many drawbacks such as safety issues caused by metallic lithium anodes and organic liquid electrolytes can be overcome through the use of solid-state electrolytes(SEs). However, not only the problems brought by sulfur cathodes still exist, but more trouble arouses from the interfaces between SEs and cathodes, hampering the practical application of ASSLSBs. Therefore, in order to deal with the problems, enormous endeavors have been done on ASSLSB cathodes during the past few decades, including engineering of cathode active materials, cathode host materials, cathode binder materials and cathode structures. In this review, the electrochemical mechanism and existing problems of ASSLSBs are briefly introduced. Subsequently, the strategies for developing cathode materials and designing cathode structures are presented. Then there follows a brief discussion of SE problems and expectations, and finally, the challenges and perspectives of ASSLSBs are summarized.

关键词： All-solid-state Li-S battery Cathode active material Cathode host material Cathode structure Solid-state electrolyte

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A Comprehensive Derivation of Quintic Spline Interpolation and Its Applications to 3-D Collision-Free Trajectory Generation

A Comprehensive Derivation of Quintic Spline Interpolation a...

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2024 IEEE International Conference on Real-Time Computing and robotics, RCAR 2024

作者： Ma, Boyu Zhou, Chunyu Liu, Yang Niu, Baoshan Wen, Feiyang Liu, Sijiang Xie, Zongwu Harbin Institute of Technology State Key Laboratory of Robotics and Systems Harbin150080 China Tianjin University Key Laboratory of Modern Mechanisms and Equipment Design The State Ministry of Education Tianjin300354 China

ISBN: (纸本)9798350372601

For trajectory generation, quintic spline interpolation can ensure the zero velocities and accelerations of both the starting and ending points, presenting advantages not achievable by cubic spline interpolation. Due to the scarcity of quintic spline interpolation in existing research and applications, and considering its relatively intricate implementation process, this article presents a comprehensive derivation for its solution. Moreover, a three-dimensional (3-D) collision-free smooth trajectory scheme using quintic spline interpolation is proposed to generate collision-free and sufficiently smooth trajectories. Finally, two case studies are conducted to validate the effectiveness of quintic spline interpolation and the trajectory generation scheme in planning motion trajectories for robotic agents in a 3-D map with several obstacles. © 2024 IEEE.

关键词： Trajectories

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An Efficient and Robust Tightly Coupled Framework for Lidar-IMU Localization and Mapping

An Efficient and Robust Tightly Coupled Framework for Lidar-...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Zhai, Yanwu Fu, Yili Li, Xu Zhejiang Laboratory Intelligent Robot Research Center Hangzhou311100 China Harbin Institute of Technology State Key Laboratory of Robotics and System Heilongjiang Province Harbin150001 China

ISBN: (纸本)9798350325706

In this article, we propose a framework for tightly-coupled lidar inertial odometry, which can achieve highly accuracy in real-time ego-motion estimation and map building of the robot. The estimated motion from inertial measurement unit (IMU) preintegration de-skews point clouds. Then, an initialization method based on MAP estimation is used to align the Lidar frame with the world frame and provide reliable initial values for the system. In order to make the scan matching more accurate, we track the state of each frame, and transform the feature points to the reference frame to build a local map for matching with key frames. To ensure high performance in real-time, an efficient sliding window was used to optimize the keyframes we chose. After obtaining the optimized pose of the keyframe, we further optimize the pose of the normal frame by pose constraints. In addition, loop detection is integrated into our algorithm framework to eliminate accumulated errors, making our algorithm to obtain a globally consistent estimate. The experiment results demonstrate that our method can achieve high accuracy in a variety of indoor and outdoor environments even under fast motion conditions or with insufficient features. © 2023 IEEE.

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Improvement of multi-functional properties by fabricating micro-pillar arrays structures on zirconium alloy surface

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Science China(Technological Sciences) 2022年第6期65卷 1243-1252页

作者： WANG XiaoLiang WANG HaoYu LIU YongDa QI Min REN QuanYao XU Jie SHAN DeBin GUO Bin Key Laboratory of Micro-systems and Micro-structures Manufacturing of Ministry of Education Harbin Institute of TechnologyHarbin 150080China School of Materials Science and Engineering Harbin Institute of TechnologyHarbin 150001China Science and Technology on Reactor System Design Technology Laboratory Chengdu 610041China

Although using the microstructure of a surface to enhance specific functions has immense applicability in numerous fields,few studies have been conducted on the multi-functional properties of nuclear fuel elements in harsh *** this study,surfaces with zirconium alloy micro-pillar arrays were prepared using micro-milling and ultraviolet nanosecond laser technology,and their functional properties such as the wettability,structural stability,and corrosion resistance were *** was found that the geometric dimension of the micro-pillar arrays prepared using these two methods could meet the design requirements,but the micro-milling process had the best dimensional ***-nano multi-scale structures were obtained by laser ***,these multi-scale structures exhibited weak structural stability,and the nanostructures were easily *** contrast,the micro-pillar arrays manufactured using micro-milling were confirmed to have better structural stability and corrosion *** one hand,the area mass loss of the micro-milled structure was lower than that of a flat surface after experiencing high-pressure fluid scouring at 8 and 38 m/*** the other hand,the oxidation weight gain of the surface with the micro-milled structure was lower than that of a flat surface,and the oxide film was 22.5% thinner after 100 days of deionized water corrosion at 360℃ and 18.7 MPa.

关键词： zirconium alloy micro-pillar arrays wettability structural stability corrosion

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Insights into the electron transfer mechanisms of permanganate activation by carbon nanotube membrane for enhanced micropollutants degradation

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Frontiers of Environmental Science & Engineering 2023年第9期17卷 115-124页

作者： Xufang Wang Dongli Guo Jinna Zhang Yuan Yao Yanbiao Liu College of Environmental Science and Engineering Donghua UniversityShanghai 201620China State Key Laboratory of Urban Water Resource and Environment School of EnvironmentHarbin Institute of TechnologyHarbin 150090China MIIT Key Laboratory of Critical Materials Technology for New Energy Conversion and Storage School of Chemistry and Chemical EngineeringHarbin Institute of TechnologyHarbin 150080China Shanghai Institute of Pollution Control and Ecological Security Shanghai 200092China

Numerous reagents have been proposed as electron sacrificers to induce the decomposition of permanganate(KMnO_(4))by producing highly reactive Mn species for micropollutants ***,this strategy can lead to low KMnO_(4) utilization efficiency due to limitations associated with poor mass transport and high energy *** the present study,we rationally designed a catalytic carbon nanotube(CNT)membrane for KMnO_(4) activation toward enhanced degradation of *** proposed flow-through system outperformed conventional batch reactor owing to the improved mass transfer via *** optimal conditionals,a>70%removal(equivalent to an oxidation flux of 2.43 mmol/(h·m^(2)))of 80μmol/L sulfamethoxazole(SMX)solution can be achieved at single-pass *** experimental analysis and DFT studies verified that CNT could mediate direct electron transfer from organic molecules to KMnO_(4),resulting in a high utilization efficiency of KMnO_(4).Furthermore,the KMnO_(4)/CNT system had outstanding reusability and CNT could maintain a long-lasting reactivity,which served as a green strategy for the remediation of micropollutants in a sustainable *** study provides new insights into the electron transfer mechanisms and unveils the advantages of effective KMnO_(4) utilization in the KMnO_(4)/CNT system for environmental remediation.

关键词： KMnO_(4) Carbon nanotubes Non-radical pathway Electron transfer Water treatment

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6D Grasp Pose Detection in Cluttered Environment from a Single-view

6D Grasp Pose Detection in Cluttered Environment from a Sing...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Li, Enbo Fu, Yili Feng, Haibo Intelligent Robot Research Center Zhejiang Laboratory Hangzhou311100 China Harbin Institute of Technology State Key Laboratory of Robotics and System Heilongjiang Province Harbin150001 China

ISBN: (纸本)9798350325706

Robot grasping has always been a hot topic in the research field, but there are still a lot of problems to be solved. In this paper, we propose a general grasping method for the unknown objects in cluttered environment from a single-view. Our method is divided into three steps: sampling points selection, grasping pose sampling and grasping pose evaluation. Firstly, we generate a pixel-wise probability image based on the trained sampling affordance network from RGB images, and map the points with high probability to the 3D point cloud combined with the depth map. Then, we obtaine the candidate grasps by sampling on the proposal points, and finally we evaluate the candidate grasps through the trained grasp evaluation network. The network can capture the geometric structure represented by the point cloud information. The proposed method directly uses the original sensor data and can increases the sampling success rate. © 2023 IEEE.

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Improving the Reliability of Gaze Estimation through Cross-dataset Multi-Task Learning 4

Improving the Reliability of Gaze Estimation through Cross-d...

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4th International Conference on High Performance Big Data and Intelligent systems, HDIS 2022

作者： Zhang, Hanlin Wang, Xinming Ren, Weihong Noack, Bernd Rainer Liu, Honghai Harbin Institute of Technology State Key Laboratory of Robotics and System Shenzhen China

ISBN: (数字)9781665491440

ISBN: (纸本)9781665491440

In recent years, gaze estimation has been applied to numerous application scenarios, such as driver monitor systems and autism evaluation, to name a few. However, the current algorithms are based on an assumption: The users eyes are all open in the input images. In practice, this assumption does not always hold since people blink. Images with eyes closed will result in irregular gaze estimation results that will affect the safety of the vehicle driving and the reliability of the evaluation results. Here, we address the problem by leveraging cross-dataset training to train a multi-Task network capable of simultaneously estimating the eye gaze and the blink on the gaze estimation dataset and blink estimation dataset. We further compare our networks results with that of single-Task networks and evaluate our network in a simulated scenario. The experimental results demonstrate that our method is suitable for practical use and can improve the reliability of the gaze estimation results. © 2022 IEEE.

关键词： Reliability

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Whole-Body Constrained Learning for Legged Locomotion via Hierarchical Optimization

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IEEE robotics and Automation Letters 2025年第7期10卷 7460-7467页

作者： Wang, Haoyu Zhou, Ruyi Ding, Liang Liu, Tie Zhang, Zhelin Xu, Peng Gao, Haibo Deng, Zongquan Harbin Institute of Technology State Key Laboratory of Robotics and Systems Harbin 150001 China

Reinforcement learning (RL) has demonstrated impressive performance in legged locomotion over various challenging environments. However, due to the sim-to-real gap and lack of explainability, unconstrained RL policies deployed in the real world still suffer from inevitable safety issues, such as joint collisions, excessive torque, or foot slippage in low-friction environments. These problems limit its usage in missions with strict safety requirements, such as planetary exploration, nuclear facility inspection, and deep-sea operations. In this paper, we design a hierarchical optimization-based whole-body follower, which integrates both hard and soft constraints into RL framework to make the robot move with better safety guarantees. Leveraging the advantages of model-based control, our approach allows for the definition of various types of hard and soft constraints during training or deployment, which allows for policy fine-tuning and mitigates the challenges of sim-to-real transfer. Meanwhile, it preserves the robustness of RL when dealing with locomotion in complex unstructured environments. The trained policy with introduced constraints was deployed in a hexapod robot and tested in various outdoor environments, including snow-covered slopes and stairs, demonstrating the great traversability and safety of our approach. © 2016 IEEE.

关键词： Robots Safety Legged locomotion Training Foot Torque Adaptation models Stress Dynamics Robustness

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