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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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Active Complaint Control for Smooth and Quick Connector Assembly

Active Complaint Control for Smooth and Quick Connector Asse...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Wu, Jun He, Yu Wang, He Wang, Qiyu Fan, Shaowei University of Electronic Science and Technology of China School of Mechanical and Electrical Engineering Chengdu611731 China Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150001 China

ISBN: (纸本)9798350325706

This paper presents an active complaint control for smooth and quick connector assembly. The application requirement of an end-effector with simultaneous connecters is firstly defined. Then, the hybrid impedance control provides the foundation for active search and passive assembly. After that, a resolution-variant Lissajous search is proposed for smooth motion and earlier connection. At last, simulations and experiments indicate that the proposed controller can guarantee smooth and quick search for connector assembly. © 2023 IEEE.

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Adaptive optimal output regulation: A parametric Lyapunov equation approach 5

Adaptive optimal output regulation: A parametric Lyapunov eq...

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5th International Conference on Control, robotics, and Intelligent system, CCRIS 2024

作者： ul Aabidin Lodhi, Zain Jiang, Huaiyuan Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin China National Key Laboratory of Complex System Control and Intelligent Agent Cooperation Harbin China

ISBN: (数字)9781510685871

ISBN: (纸本)9781510685864

This article delves into a data-driven approach for solving the adaptive optimal output regulation problem in continuous-time linear systems with uncertain dynamics. Employing a class of parametric Lyapunov equations in conjunction with a nominal system model, the initial stabilizing feedback gain is determined to initiate the iterative method. Then, by utilizing a policy-iteration-based technique, we design an optimal control policy to achieve precise output tracking and disturbance rejection. The prescribed convergence characteristics of the closed-loop system directly result from the properties embedded within the solution of the parametric Lyapunov equation. The applicability and performance of the proposed method are demonstrated through a numerical example involving an input-constrained double integrator system. © 2024 SPIE.

关键词： Continuous time systems

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WSC-Trans: A CNN-Transformer Structure-Based 3D Multi-Structural Automatic Segmentation Model for Temporal Bone CT

WSC-Trans: A CNN-Transformer Structure-Based 3D Multi-Struct...

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2024 IEEE International Conference on Bioinformatics and Biomedicine, BIBM 2024

作者： Hua, Xin Ma, Jixin Yu, Hongjian Du, Zhijiang Zheng, Fanjun Zhang, Chen Lu, Qiaohui Zhao, Hui Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China The 6th Medical Center Chinese Pla General Hospital Senior Department of Otolaryngology Head and Neck Surgery Beijing China

ISBN: (纸本)9798350386226

Cochlear implantation is the most effective treatment for severe deafness, which requires accurate localization of temporal bone anatomy. Preoperative CT image segmentation is an essential technique to determine the location of relevant tissues in the temporal bone. However, manual segmentation is usually time-consuming and suffers from low accuracy due to the complex and small structures of these tissues in temporal bone CT. To address this issue, we proposed a CNN-Transformer structure-based 3D multi-structured model for the automatic segmentation of fine and complex tissues such as the cochlea, facial nerve, ossicles, vestibule and semicircular canal in the temporal bone CT. Our model adopts a new Transformer deformation structure, which effectively utilizes the spatial attention mechanism to capture feature dependencies, and uses the channel attention mechanism to fuse different channel semantic representations to improve segmentation accuracy. Extensive experiments on a private temporal bone CT dataset show that our model achieves higher DSS and JSS scores, and lower HD95 and ASSD scores for all targets compared with other existing segmentation methods, demonstrating its superior performance. © 2024 IEEE.

关键词： Computerized tomography

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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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Research on the Performance of a Mooring Platform Under the Collision of Icebergs

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China Ocean Engineering 2025年第1期39卷 43-57页

作者： ZHANG Yan ZHANG Song-bao WANG Yi-tao ZHAO Wei-dong GUI Hong-bin School of Ocean Engineering Harbin Institute of TechnologyWeihaiWeihai 264209China China Ship Scientific Research Center(CSSRC) Wuxi 214082China College of Shipbuilding Engineering Harbin Engineering UniversityHarbin 150001China State Key Laboratory of Structural Analysis Optimization and CAE Software for Industrial EquipmentDalian University of TechnologyDalian 116024China

In the process of developing oil and gas resources in the Arctic,the impact of icebergs can pose a considerable threat to the structural safety of semi-submersible mooring platforms in ice *** the basis of the arbitrary Lagrangian Eulerian(ALE)algorithm,a numerical model for the interaction between an iceberg and a semi-submersible mooring platform is built in this ***,a mooring system with a link element is designed and *** ice material model for the target iceberg is built and validated.A numerical model for the interaction between an iceberg and a semi-submersible mooring platform is then built.A parametric study(cable angle,tension angle and number of cables)is carried out to study the performance of the mooring *** collision process between the semi-submersible mooring platform and the iceberg in the polar marine environment can be predicted by the present numerical model,and then the optimal mooring arrangement scheme can be *** research results in this work can provide a reference for the design of mooring systems.

关键词： ALE algorithm semi-submersible platform iceberg collision mooring system

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Dynamical Modeling and Numerical Simulation of Water Discharge Process of Spherical Objects 20

Dynamical Modeling and Numerical Simulation of Water Dischar...

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

作者： Zhong, Lin Dong, Jiawei Liu, Jiabin Wang, Wei Wu, Riyue Wang, Shuqi Zhang, Tao Guangdong University of Technology State Key Laboratory of Precision Electronic Manufacturing Technology and Equipment Guangzhou China Guangdong University of Technology School of Electromechanical Engineering Guangzhou China Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9798350320831

The process of an object leaping out of the water is very similar to the jumping process of an aquatic animal during prey or avoid predators. The study of the process of an object leaping out of the water is beneficial to the design of robots jumping out of water. In this work, the free jump of a sphere out of the water is successfully simulated based on the Computational Fluid Dynamics (CFD) software Fluent, with User-Defined Functions to control the motion of the sphere, the volume of Fluid model, dynamic meshing, and Detached Eddy Simulation. The velocity of the sphere at the water-air interface and the height of the sphere leaping out from the water surface obtained from the numerical simulation are compared with experimental results. The maximum error between the experimental and the simulated results is 2.28% in the water-discharge velocity and 2.65% in the leaping height from the water surface. In addition, this paper model the dynamics of the sphere during the water discharge process. The paper also analyses the free deformation of water surface, the water film rupture process on the surface of the sphere, the variation of fluid drag on the sphere, and the variation of the fluid velocity field during the free ascent of the sphere after acquiring an initial velocity of 2.81 m/s. © 2023 IEEE.

关键词： Computer software

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MRI Super-Resolution via Hybrid Information Enhancement Network based on Multi-Attention and Adaptive Convolution

MRI Super-Resolution via Hybrid Information Enhancement Netw...

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2024 IEEE International Conference on Bioinformatics and Biomedicine, BIBM 2024

作者： Ma, Jixin Yu, Hongjian Du, Zhijiang Hua, Xin Li, Zibo Zhao, Hui Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China The 6th Medical Center Chinese Pla General Hospital Senior Department of Otolaryngology Head and Neck Surgery Beijing China

ISBN: (纸本)9798350386226

Deep learning-based super-resolution (SR) reconstruction is a critical approach which is used to generate high-resolution images from corresponding low-resolution images. However, the CNN-based methods are ineffective in capturing global information, whereas the Transformer-based methods have limited ability to model long-range dependencies caused by window self-attention. Besides, it is a challenging task to recover lost high-frequency information from downsampled images. In this paper, a Hybrid Information Enhanced Network (HIEN) is proposed for MRI super-resolution task. Specifically, we propose a Spatial-Channel Hybrid Attention (SCHA) to enhance specific semantics representation by combining spatial and channel self-attention together. To recover more high-frequency components, we propose a Dynamic High-Frequency Pass Filter (DHPF) to preserve high-frequency information adaptively in pixel-wise. The results of our extensive experiments indicate that HIEN outperforms other state-of-the-art methods. © 2024 IEEE.

关键词： Image reconstruction

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A Collision Avoidance Path Planning Method for 7-DOF Space Manipulator

A Collision Avoidance Path Planning Method for 7-DOF Space M...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Han, Xu Yang, Guocai Jin, Minghe Wang, Qi Harbin Institute of Technology State Key Laboratory of Robotics and System Heilong Jiang Harbin China Military Representative Office of the Equipment Department of the Aerospace Systems Department Changchun China

ISBN: (纸本)9798350325706

This paper proposes a collision avoidance path planning approach for redundant robotic arms based on the RRT algorithm. The study focuses on a 7-DOF robotic arm with an SSRMS configuration. The method involves improved RRT-based path planning in configuration space (C-space) and collision detection in Cartesian space. The results of collision detection are employed to guide the path planning process. Emulating the SSRMS configuration robotic arm, a kinematic model is established. By enhancing the RRT algorithm with the following points: probabilistic sampling towards the target configuration, guided exploration near existing tree nodes, parent node reassignment for new nodes, and the adoption of a bidirectional searching tree, the randomness of sampling is reduced and the planning process is accelerated. By continuously mapping points on the surface of the arm to both the base coordinate system and the self-collision coordinate system, collision detection and self-collision detection are performed in the Cartesian space using a combination of surface equations and projection methods. Finally, a series of simulation experiments were conducted to analyze the impact of various parameters, different obstacles and different methods on the planning process. This validation confirmed the feasibility and effectiveness of the approach. © 2023 IEEE.

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