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Reconstruction Method of Stator Magnetomotive Force of High-Speed Fault-Tolerant Permanent Magnet Synchronous Motor with Single Winding Independent Control Structure 27

Reconstruction Method of Stator Magnetomotive Force of High-...

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27th International Conference on Electrical Machines and systems, ICEMS 2024

作者： Gao, Zhibai Cao, Jiwei Zhong, Chengbao Liu, Jiaxi Song, Yuchen Li, Liyi Harbin Institute of Technology Department of Electrical Engineering Harbin China Guangdong Provincial Key Laboratory of High-Performance Servo System Zhuhai China

ISBN: (纸本)9784886864406

Aiming at the reliability problem of permanent magnet synchronous motor system, a reconstruction method of stator magnetomotive force based on independent winding control structure is established in this paper. For the problem of stator magnetomotive force reconstruction after fault, the mathematical derivation based on current is carried out in this paper, and the current control target of reconstructing stator magnetomotive is obtained. Through this method, the current of each phase of the motor with independent winding control structure can be quickly obtained by formula, and the motor system can run at the same power, torque and speed before and after the fault. Finally, the prototype model based on this method is established by finite element simulation, which proves the effectiveness of this method. © 2024 The institute of Electrical Engineers of Japan.

关键词： Permanent magnets

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Data-Driven Robust Model Predictive Control for Pose Tracking of Redundant Manipulators

Data-Driven Robust Model Predictive Control for Pose Trackin...

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IEEE International Conference on robotics and Biomimetics

作者： Zhaoyang Chen Fenglei Ni Kang Min Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

In this paper, we present a data-driven robust model predictive control (DD-RMPC) method for pose tracking of redundant manipulators. Firstly, a MPC-based trajectory tracking framework is established, in which the joint limits at three different levels (angle, velocity, and acceleration) are satisfied. Secondly, to deal with the system model's uncertainty, accelerate the error convergence speed, and reduce tracking errors, a novel data-driven RMPC is proposed, in which the system's input-output data are used to compensate for the conservatism of the system. Finally, the simulation results on a seven degrees of freedoms (DOFs) redundant manipulator show that DD-RMPC provides a faster error convergence rate and achieves smaller pose tracking errors than that of the comparison methods.

关键词： Jacobian matrices Uncertainty Trajectory tracking Simulation Biomimetics Predictive models Manipulators Data models Convergence Predictive control

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Extrinsic Parameter Calibration and Dynamic Objects Coping Strategy for Multi-camera SLAM 3

Extrinsic Parameter Calibration and Dynamic Objects Coping S...

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3rd International Conference on Computer Science and Management technology, ICCSMT 2022

作者： Dong, Yunlong Guo, Wei Zha, Fusheng Wang, Pengfei Harbin Institute of Technology State Key Laboratory of Robotics and Systems Harbin150080 China

ISBN: (纸本)9798350320404

Perceiving the surrounding environment timely and accurately is very essential to improve the safety of mobile robots. To obtain rich information and increase the visual field of mobile robots, the development of multi-camera simultaneous localization and mapping (SLAM) system has become a hot research field. In the current research, multi-camera extrinsic parameter calibration and multi-camera dynamic SLAM are still challenging. Therefore, this paper proposes a dynamic environment-oriented multi-camera SLAM system. This system not only presents an accurate multi-camera extrinsic parameter calibration method but also can achieve accurate localization in the environment with dynamic objects. The effectiveness of the algorithm is verified through comprehensive experiments. © 2022 IEEE.

关键词： Mobile robots

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SoSpider:A bio-inspired multimodal untethered soft hexapod robot for planetary lava tube exploration

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Science China(Technological Sciences) 2023年第11期66卷 3090-3106页

作者： NIU LiZhou DING Liang ZHANG ShengJie YANG HuaiGuang GAO HaiBo DENG ZongQuan LIU GuangJun HOSSAIN Mokarram State Key Laboratory of Robotics and Systems Harbin Institute of TechnologyHarbin 150001China Department of Aerospace Engineering Ryerson UniversityToronto ON M5B 2K3Canada Zienkiewicz Institute for Modelling Data and AISwansea UniversitySwansea SA18ENUnited Kingdom

Soft robots have tremendous potential for applications in various fields,owing to their safety and flexibility embedded at the material *** robots,especially bio-inspired soft legged robots,have become one of the most active fields of current research in robotics thanks to their superior mobility and ability to face complex ***,it is arduous to establish a dynamic simulation model for soft robots,owing to their hyper-redundant degrees of freedom,hyper-elasticity,and nonlinearity of their soft *** this study,we designed,simulated,and fabricated a hexapod robot that achieves walking,crawling,pronking,and rolling with wheeled legs plus a soft body capable of shape change.A robot prototype was fabricated using 3D printing technology and soft silicone pneumatic ***,battery power,and control boards were integrated into the body of the robot for untethered *** have explored the capabilities of the robot in different conditions,especially in scenarios that simulate lunar and Martian environments,demonstrating the motion performance of the *** results have shown promising potentials of the developed robot for future applications in planetary lava tube *** experimental and simulation results also show good agreements that indicate the potential predictive roles of simulation tools for soft robot design,planning,and control.

关键词： multimodal soft robot pneumatic simulation planetary exploration

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Cobalt single-atom catalyst tailored ceramic membrane for selective removal of emerging organic contaminants

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Environmental Science and Ecotechnology 2024年第5期21卷 219-229页

作者： Jiaxuan Yang Jing Zhao Hesong Wang Yatao Liu Junwen Ding Tianyi Wang Jinlong Wang Han Zhang Langming Bai Heng Liang State Key Laboratory of Urban Water Resource and Environment School of EnvironmentHarbin Institute of TechnologyHarbin150090PR China Beijing Key Laboratory for Source Control Technology of Water Pollution College of Environmental Science and EngineeringBeijing Forestry UniversityBeijing100083PR China

Water reuse is an effective way to solve the issues of current wastewater increments and water resource ***,a promising method for water reuse,has the characteristics of low energy consumption,easy operation,and high adaptability to coupling with other water treatment ***,emerging organic contaminants(EOCs)in municipal wastewater cannot be effectively intercepted by ultrafiltration,which poses significant challenges to the effluent quality and sustainability of ultrafiltration ***,we develop a cobalt single-atom catalyst-tailored ceramic membrane(Co1-NCNT-CM)in conjunction with an activated peroxymonosulfate(PMS)system,achieving excellent EOCs degradation and anti-fouling *** interfacial reaction mechanism effectively mitigates membrane fouling through a repulsive interaction with natural organic *** generation of singlet oxygen at the Co-N3-C active sites through a catalytic pathway(PMS/PMS*/OH*/O*/OO*/1 O_(2))exhibits selective oxidation of phenols and sulfonamides,achieving>90%removal *** findings elucidate a multi-layered functional architecture within the Co1-NCNT-CM/PMS system,responsible for its superior performance in organic decontamination and membrane maintenance during secondary effluent *** highlights the power of integrating Co1-NCNT-CM/PMS systems in advanced wastewater treatment frameworks,specifically for targeted EOCs removal,heralding a new direction for sustainable water management.

关键词： Single-atom catalytic ceramic membrane Peroxymonosulfate activation Selective oxidation Interfacial response Multi-layer functional zones

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MM-LINS: a Multi-Map LiDAR-Inertial system for Over-Degenerate Environments

IEEE Transactions on Intelligent Vehicles

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IEEE Transactions on Intelligent Vehicles 2024年 1-11页

作者： Ma, Yongxin Xu, Jie Yuan, Shenghai Zhi, Tian Yu, Wenlu Zhou, Jun Xie, Lihua school of Mechanical Engineering Shandong University Jinan China State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China School of Electrical and Electronic Engineering Nanyang Technological University Singapore College of Mechanical and Electrical Engineering Nanjing University of Aeronautics and Astronautics Nanjing Jiangsu China

SLAM plays a crucial role in automation tasks, such as warehouse logistics, healthcare robotics, and restaurant delivery. These scenes come with various challenges, including navigating around crowds of people, dealing with flying plastic bags that can temporarily blind sensors, and addressing reduced LiDAR density caused by cooking smoke. Such scenarios can result in over-degeneracy, causing the map to drift. To address this issue, this paper presents a multi-map LiDAR-inertial system (MM-LINS) for the first time. The front-end employs an iterated error state Kalman filter for state estimation and introduces a reliable evaluation strategy for degeneracy detection. If over-degeneracy is detected, the active map will be stored into sleeping maps. Subsequently, the system continuously attempts to construct new maps using a dynamic initialization method to ensure successful initialization upon leaving the over-degeneracy. Regarding the back-end, the Scan Context descriptor is utilized to detect inter-map similarity. Upon successful recognition of a sleeping map that shares a common region with the active map, the overlapping trajectory region is utilized to constrain the positional transformation near the edge of the prior map. In response to this, a constraint-enhanced map fusion strategy is proposed to achieve high-precision positional and mapping results. Experiments have been conducted separately on both public datasets that exhibited over-degenerate conditions and in real-world environments. These tests demonstrated the effectiveness of MM-LINS in over-degeneracy environment. Our codes are open-sourced on Github. IEEE

关键词： Optical radar

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Cooperative output regulation of heterogeneous directed multi-agent systems:a fully distributed model-free reinforcement learning framework

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Science China(Information Sciences) 2025年第2期68卷 170-185页

作者： Xiongtao SHI Yanjie LI Chenglong DU Huiping LI Chaoyang CHEN Weihua GUI Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics School of Mechanical Engineering and AutomationHarbin Institute of Technology (Shenzhen) School of Automation Central South University School of Marine Science and Technology Northwestern Polytechnical University School of Information and Electrical Engineering Hunan University of Science and Technology

In this paper, the cooperative output regulation(COR) problem of a class of unknown heterogeneous multi-agent systems(MASs) with directed graphs is studied via a model-free reinforcement learning(RL) based fully distributed eventtriggered control(ETC) strategy. First, we consider the scenario that the exosystem is accessible globally to all agents, an internal model-based augmented algebraic Riccati equation(AARE) is constructed, and its solution is learned by the proposed model-free RL algorithm via online input-output data. Further, for the scenario that the exosystem is accessible only to its adjacent followers, the distributed observers are designed for each agent to get the state of the exosystem, and an internal modelbased fully distributed adaptive ETC protocol is then synthesized to construct the corresponding AARE, and the feedback gain matrix is learned in a model-free fashion. The model-free RL-based control protocol proposed in this paper can not only remove the prior knowledge of agents' dynamics, but also release the dependence on global information by the adaptive event-triggered mechanism(ETM) and the new graph-based Lyapunov function. Finally, simulation results are illustrated to show the feasibility and effectiveness of the proposed control scheme.

关键词： model-free reinforcement learning unknown heterogeneous multi-agent systems fully distributed event-triggered control directed graph

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Constrained Visual Servoing for Capturing Adapter Rings on Tumbling Satellites with a Free-Floating Robot

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IEEE Transactions on Aerospace and Electronic systems 2024年第3期61卷 6026-6040页

作者： Zhang, Dezhi Yang, Guocai Ji, Junhong Fan, Shaowei Jin, Minghe Liu, Hong Harbin Institute of Technology State Key Laboratory of Robotics and Systems Harbin150008 China

This paper proposes a constrained visual servoing method for the safe and reliable capture of noncooperative, tumbling satellites using a free-floating space robot. The adapter ring serves as both the capture interface and the visual feature. However, during the close-range fine servoing phase, only a limited portion of the adapter ring is visible within the hand-eye camera's field of view due to its large size, leading to reduced servoing accuracy. To address this issue, a three-line structured light system is introduced in this phase to augment visual features and complement the long-range guidance provided by the monocular camera. This scheme enables visual servoing from long to close range. Moreover, the target's tumbling motion, the ring's geometric properties and the coupled dynamics between the manipulator and the base pose significant challenges to the reliability and safety of the servoing process. To mitigate these issues, a set of constraints is formulated, including hard constraints to ensure that visual features remain within the camera's field of view and to avoid obstacles, as well as soft constraints to maintain continuous communication with the ground station and minimize impact forces at the moment of capture. To manage these constraints and regulate the system in real time, a motion planner employing nonlinear model predictive control is developed, supported by differential models of visual features. Furthermore, a lowlevel joint controller based on quadratic programming ensures accurate tracking of planned trajectories while adhering to torque limits. Simulation results validate the effectiveness of the proposed method. © 1965-2011 IEEE.

关键词： Quadratic programming

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High-precision trajectory calibration for robot surface machining by meta-heuristic search algorithm from local error in machining area

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International Journal of Advanced Manufacturing technology 2025年第5期138卷 2281-2295页

作者： Bi, Guangde Lu, Lei Zhang, Lei Fan, Cheng Sun, Lining School of Mechanical and Electric Engineering Jiangsu Provincial Key Laboratory of Advanced Robotics Soochow University Suzhou215123 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

Industrial robots used in complex surface machining are gradually increasing because of their high flexibility and large workspace. However, due to their low geometric accuracy, their application in high-precision surface machining is hindered. In order to improve the machining accuracy, a high-precision robot trajectory calibration method for complex surface machining is proposed. In the machining process, the machining trajectory is usually only within a certain machining area. In the method, high-precision standard balls are set at the boundary of the machining area. Based on the precise position information of these standard balls, the trajectory of the robot in the machining area is calibrated. Compared with the global robot calibration method, the proposed method can calibrate the robot trajectory in the machining area through standard parts, which will improve the trajectory accuracy of the machining robot to the level of repeated positioning accuracy. In this method, a large amount of standard ball data is obtained by the in-place measuring device before the machining process. Then, based on these data, a meta-heuristic search algorithm is used to calibrate the kinematic deviation of the robot measurement and the machining system. The trajectory of the machining robot is adjusted by the kinematic deviation after calibration, and it is applied to the motion control of the machining process to improve the positioning accuracy of the machining trajectory. In the end, to verify the accuracy and practicability of the machining trajectory obtained by this method, measurement and machining experiments are carried out. © The Author(s), under exclusive licence to Springer-Verlag London Ltd., part of Springer Nature 2025.

关键词： Industrial robots

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Polarization-independent, high-NA edge detection with nonlocal metasurfaces

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Optics Letters 2025年第11期50卷 3517-3520页

作者： Liu, Yalong Li, Xiaoxin Shi, Bojian Jia, Qi Zhang, Yanxia Gao, Yanyu Gao, Wenya Sun, Fangkui Cao, Yongyin Feng, Rui Ding, Weiqiang Institute of Advanced Photonics School of Physics Harbin Institute of Technology Harbin150001 China Key Laboratory of Micro-Nano Optical-acoustic-electronic System of Ministry of Industry and Information Technology Harbin150001 China Collaborative Innovation Center of Extreme Optics Shanxi University Shanxi Taiyuan030006 China

Optical analog computing based on flat optical structures offers significant advantages in system miniaturization, loss reduction, and computational speed compared to traditional systems requiring complex optical configurations. However, existing metasurface schemes for analog image processing suffer from critical limitations, including polarization dependence, bandwidth constraints, and restricted numerical aperture (NA). In this work, we demonstrate a robust and easy-to-fabricate nonlocal dielectric metasurface, which can readily perform polarization-independent edge detection with extended bandwidth and high NA. The isotropic two-dimensional second-order differentiation operations under arbitrary polarization conditions, including unpolarized illumination, are realized by leveraging the magnetic dipole resonance (MD). This scheme enables real-time, high-quality edge detection, featuring a bandwidth of 48 nm centered at 1064 nm and a NA of up to 0.5. This work provides a novel, to the best of our knowledge, approach for achieving polarization-independent edge detection, paving the way for practical applications in optical computing and imaging systems. © 2025 Optica Publishing Group. All rights, including for text and data mining (TDM), Artificial Intelligence (AI) training, and similar technologies, are reserved.

关键词： Minicomputers

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