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IEEE International Conference on robotics and Biomimetics

作者： Ziteng Liu Wenpeng Gao Jiahua Zhu Bainan Liu Yili Fu School of Life Science and Technology Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

Surgical smoke can obscure the surgeon's line of sight during the laparoscopic procedure, potentially posing risk to the patients. Robot assisted-minimally invasive surgery (MIS) also faces such a challenge, which also hinders its autonomous operation. This paper proposes a desmoking method for laparoscopic surgery smoke removal. As the surgical smoke is hetergeneous, a two-stage network is developed to estimate the smoke distribution and reconstruct the corresponding smoke-free scene with the hybrid embedding guidance, including the estimated smoke mask and the initial image. The network is designed following the concept of the atmospheric scattering model, which makes the network more explainable. To qualitatively and quantitatively evaluate the proposed method, a synthetic laparoscopic dataset is generated and a real laparoscopic dataset is obtained. Experimental results show that the Peak Signal to Noise Ratio (PSNR) of the proposed method is 1.9% higher than that of the DehazeFormer, while the run-time is shorter more than 40.9%. The proposed method is comparable to or even outperforms the state-of-the-arts in desmoking quality and computation cost.

关键词： Laparoscopes Training PSNR Minimally invasive surgery Atmospheric modeling Scattering Real-time systems Robots Videos Testing

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Synthesized colonoscopy dataset from high-fidelity virtual colon with abnormal simulation

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Computers in Biology and Medicine 2025年 186卷 109672-109672页

作者： He, Dongdong Liu, Ziteng Yin, Xunhai Liu, Hao Gao, Wenpeng Fu, Yili School of Life Science and Technology Harbin Institute of Technology Harbin150080 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Department of Gastroenterology The First Affiliated Hospital of Harbin Medical University Harbin150001 China

With the advent of the deep learning-based colonoscopy system, the need for a vast amount of high-quality colonoscopy image datasets for training is crucial. However, the generalization ability of deep learning models is challenged by the limited availability of colonoscopy images due to regulatory restrictions and privacy concerns. In this paper, we propose a method for rendering high-fidelity 3D colon models and synthesizing diversified colonoscopy images with abnormalities such as polyps, bleeding, and ulcers, which can be used to train deep learning models. The geometric model of the colon is derived from CT images. We employed dedicated surface mesh deformation to mimic the shapes of polyps and ulcers and applied texture mapping techniques to generate realistic, lifelike appearances. The generated polyp models were then attached to the inner surface of the colon model, while the ulcers were created directly on the inner surface of the colon model. To realistically model blood behavior, we developed a simulation of the blood diffusion process on the colon's inner surface and colored vertices in the traversed region to reflect blood flow. Ultimately, we generated a comprehensive dataset comprising high-fidelity rendered colonoscopy images with the abnormalities. To validate the effectiveness of the synthesized colonoscopy dataset, we trained state-of-the-art deep learning models on it and other publicly available datasets and assessed the performance of these models in abnormal classification, detection, and segmentation. Notably, the models trained on the synthesized dataset exhibit an enhanced performance in the aforementioned tasks, as evident from the results. © 2025 Elsevier Ltd

关键词： Digital elevation model

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A geometric method based on space arc for pose-configuration simultaneous planning of segmented hyper-redundant manipulators

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Science China(Technological Sciences) 2021年第11期64卷 2389-2407页

作者： HU ZhongHua YUAN Han XU WenFu YANG TaiWei LIU TianLiang LIANG Bin School of Mechanical Engineering and Automation Harbin Institute of TechnologyShenzhen 518055China State Key Laboratory^of Robotics and System Harbin Institute of TechnologyHarbin 150001China Department of Automation Tsinghua UniversityBeijing 100084China

A segmented hyper-redundant manipulator can perform complicated operation tasks in a confined space due to its high flexibility and dexterity. However, the trajectory planning in a narrow space and obstacles environment is very challenging for the manipulator. In this paper, we propose a geometry method to simultaneously plan the end-effector pose and manipulator’s configuration. Firstly, the geometries of each segment are described by an inscribed arc(IA) and a circumscribed arc(CA). Then,the whole kinematics chain is considered as an inscribed curve(IC) or a circumscribed curve(CC) which are composed of multiple IAs or CAs. Furthermore, the IC and CC of the manipulator are divided into multiple spatial single-arc and double-arc groups according to requirements. The pose-configuration simultaneous planning is realized by the spatial single-arc/double-arc modeling and joints angles solving. By numerical iteration, the spatial arcs’ parameters are determined according to desired pose and boundary condition of obstacle avoidance. The angles of joints are analytically solved when the above parameters are known. Finally, a narrow space detection task is simulated and experimented respectively. The results verify the proposed method.

关键词： segmented hyper-redundant manipulator pose-configuration simultaneous planning spatial arc modeling obstacle avoidance geometric planning

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Sustainable Generation of Sulfate Radicals and Decontamination of Micropollutants via Sequential Electrochemistry

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Engineering 2023年第11期30卷 144-152页

作者： Wentian Zheng Shijie You Yuan Yao Nanqi Ren Bin Ding Fang Li 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 Innovation Center for Textile Science and Technology College of TextilesDonghua UniversityShanghai 200051China Shanghai Institute of Pollution Control and Ecological Security Shanghai 200092China

The removal of emerging micropollutants in the aquatic environment remains a global *** routes are often chemically,energetically,and operationally intensive,which decreases their sustainability during ***,we develop an advanced chemical-free strategy for micropollutants decontamination that is solely based on sequential electrochemistry involving ubiquitous sulfate anions in natural and engineered *** can be achieved via a chain reaction initiated by electrocatalytic anodic sulfate(SO_(4)^(2-))oxidation to produce persulfate(S_(2)O_(8)^(2-))and followed by a cathodic persulfate reduction to produce sulfate radicals(SO_(4)^(·-)).These SO_(4)^(·-)are powerful reactive species that enable the unselective degradation of micropollutants and yield SO_(4)^(2-)again in the treated *** proposed flow-through electrochemical system achieves the efficient degradation(100.0%)and total organic carbon removal(65.0%)of aniline under optimized conditions with a single-pass *** also reveal the effectiveness of the proposed system for the degradation of a wide array of emerging micropollutants over a broad pH range and in complex *** work provides the first proof-ofconcept demonstration using ubiquitous sulfate for micropollutants decontamination,making water purification more sustainable and more economical.

关键词： Advanced oxidation Chain reaction Sulfate radical Micropollutants Sequential electrochemistry

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Performance Analysis of Hydrogen Storage Insulation system in Lunar Base

Performance Analysis of Hydrogen Storage Insulation System i...

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International Conference of Electrical, Electronic and Networked Energy systems, EENES 2024

作者： Li, Jing Fan, Fulin Li, Heran Fei, Teng Sun, Chuanyu Jiang, Jinhai Yang, Wenying Song, Kai School of Electrical Engineering and Automation Harbin Institute of Technology Harbin150001 China Suzhou Research Institute Harbin Institute of Technology Suzhou215104 China Complex Environment Architecture Research Institute Harbin Institute of Technology Harbin150001 China State Key Laboratory of Hydro-Power Equipment Harhin150001 China

ISBN: (纸本)9789819618637

In-situ resource utilization (ISRU) is one of the critical technologies for achieving long-term sustainable construction of lunar bases. Utilizing the extremely low temperatures in the permanently shadowed regions of the Moon to store liquid hydrogen is an essential energy storage method during the initial phases of lunar base construction. Multilayer insulation (MLI) structures can maintain the low-temperature state of liquid hydrogen without the need for additional active control equipment such as refrigeration units or circulation pumps, relying on the excellent thermal resistance properties of the materials themselves to ensure stable system operation. This research builds upon the existing MLI structures, taking into comprehensive consideration the impact of different structural forms and interlayer materials on thermal insulation performance in the lunar context. By conducting performance simulations on various configurations of hollow glass microspheres coupled with multilayer insulation (HGMs-MLI), the study identifies the optimal hydrogen storage insulation structures for the lunar shadowed regions, providing crucial guidance and reference for future liquid hydrogen storage research in lunar exploration. © Beijing Paike Culture Commu. Co., Ltd. 2025.

关键词： Thermal insulation

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Target extraction based on hybrid domain features of array GM-APD lidar 10

Target extraction based on hybrid domain features of array G...

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10th Symposium on Novel Optoelectronic Detection technology and Applications

作者： Zhang, Xin Li, Sining Sun, Jianfeng Jiang, Peng Jin, Haowei National Key Laboratory of Laser Spatial Information Institute of Opto-Electronic Harbin Institute of Technology Heilongjiang Harbin150001 China Zhengzhou Research Institute of Harbin Institute of Technology Henan Zhengzhou450000 China National Key Laboratory of Complex System Control and Intelligent Agent Cooperation Beijing100074 China

ISBN: (数字)9781510688155

ISBN: (纸本)9781510688148

This study proposes a target extraction algorithm for array GM-APD lidar based on hybrid domain features, designed to address the challenges of accurately extracting target region based on the image in complex scenes and high noise interference. We extracted the temporal features of the echo signals and transformed the echo signals into the image domain to enhance the information content and further extract image features. By integrating multi-view K-means clustering and AdaBoost classification methods, we introduced a dynamic weight adjustment mechanism and a region adjustment method based on a correlation coefficient to achieve pixel-type discrimination and target region extraction. Experimental results demonstrate that the proposed method exhibits good robustness and adaptability in complex detection environments. Under conditions of different occlusion, different signal-to-noise ratios, and different target reflectivity, the proposed algorithm significantly outperforms traditional region-growing segmentation methods in terms of accuracy of target region extraction. © 2025 SPIE.

关键词： K-means clustering

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Realizing high-speed target tracking by using multi-rate feedforward predictive control for the acquisition, tracking, and pointing system

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Defence technology 2025年

作者： Li, Hang Peng, Gaoliang Shan, Xiaobiao Zhao, Mingyuan Zhang, Wei Wang, Jinghan Cheng, Feng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China College of Information Science and Technology Eastern Institute of Technology Ningbo315200 China

The acquisition, tracking, and pointing (ATP) system is widely used in target tracking, counter-UAV operations, and other related fields. As UAV technology develops, there is a growing demand to enhance the tracking capabilities of ATP systems. However, in practical applications, ATP systems face various design constraints and functional limitations, making it infeasible to indefinitely improve hardware performance to meet tracking requirements. As a result, tracking algorithms are required to execute increasingly complex tasks. This study introduces a multi-rate feedforward predictive controller to address issues such as low image feedback frequency and significant delays in ATP systems, which lead to tracking jitter, poor tracking performance, low precision, and target loss. At the same time, the proposed approach aims to improve the tracking capabilities of ATP systems for high-speed and highly maneuverable targets under conditions of low sampling feedback rates and high feedback delays. The method suggested is also characterized by its low order, fast response, and robustness to model parameter variations. In this study, an actual ATP system is built for target tracking test, and the proposed algorithm is fully validated in terms of simulation and actual system application verification. Results from both simulations and experiments demonstrate that the method effectively compensates for delays and low sampling rates. For targets with relative angular velocities ranging from 0 to 90°/s and angular accelerations between 0 and 470°/s2, the system improved tracking accuracy by 70.0%–89.9% at a sampling frequency of 50 Hz and a delay of 30 m s. Moreover, the compensation algorithm demonstrated consistent performance across actuators with varying characteristics, further confirming its robustness to model insensitivity. In summary, the proposed algorithm considerably enhances the tracking accuracy and capability of ATP systems for high-speed and highly maneuverable ta

关键词： Predictive control systems

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A grid-assisted 3D printing method for magnetically driven micro soft robot 9

A grid-assisted 3D printing method for magnetically driven m...

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9th International Conference on Advanced Manufacturing technology and Materials Science, AMTMS 2021

作者： Gao, Jian Gao, Peng Rong, Weibin Li, Dongjie Wang, Lefeng State Key Laboratory of Robotics and System Harbin Institute of Technology Heilongjiang Harbin150001 China Key Laboratory of Advanced Manufacturing and Intelligent Technology Ministry of Education Harbin University of Science and Technology Heilongjiang Harbin150080 China

The magnetically driven micro soft robot is one of the research hotspots in the field of micro robots. A 3D printing method for manufacturing micro soft robots with the help of auxiliary grids is proposed. The shape flexibility of the micro soft robots manufactured by the micro 3D printing method can be improved, and internal structures composed of different materials inside the micro robots can be printed using this method. The technical details of the grid-assisted 3D printing process are introduced in this article. Micro soft robots with specific patterns were 3D printed, and the deformation and movement capabilities of the robots were verified in magnetically driven motion experiments. The experimental results prove that the grid-assisted 3D printing technology can not only manufacture magnetically driven micro soft robots, but also adjust the internal structure and motion performance of the robots. © 2022 institute of Physics Publishing. All rights reserved.

关键词： 3D printers

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Study on wear mechanism of small ball-end grinding wheel and surface integrity of complex component under high-speed machining condition

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Wear 2025年 570卷

作者： Qin, Biao Liu, Henan Cheng, Jian Tian, Jinchuan Sun, Jiangang Chen, Mingjun School of Mechatronics Engineering Harbin Institute of Technology Heilongjiang Harbin150001 China State Key Laboratory of Robotics and System Harbin Institute of Technology Heilongjiang Harbin150001 China Zhengzhou Research Institute Harbin Institute of Technology Zhengzhou450000 China

The small ball-end fine diamond grinding wheel is well-suited for machining complex components with small curved surface structures, demonstrating high-precision and high-quality machining capabilities. By increasing the speed of the workpiece, the issue of poor grinding performance caused by the small diameter of the ball-end grinding wheel can be effectively overcome. However, this strategy inevitably increases wheel wear and affects surface integrity. To address these challenges, this paper systematically investigates the grinding characteristics of the small ball-end grinding wheel. First, grinding experiments were performed to investigate the influence of workpiece speed, feed rate, and grinding depth on the material removal rate, wheel wear, and surface integrity. Then, the wear mechanism of the grinding wheel was analyzed. The wear modes of the grinding wheel at high workpiece speeds include metal adhesive wear and abrasive grain fracture, which enhance the self-sharpening of the grinding wheel while accelerating its wear. Furthermore, the surface morphology creation mechanism of fused silica under different material removal modes was revealed. Moreover, the correlation between material removal rate and surface roughness caused by wheel wear was revealed. A high-speed grinding strategy was subsequently proposed based on the relationship between the grinding characteristics and grinding parameters of the small ball-end grinding wheel under various grinding conditions. Finally, the feasibility of this grinding strategy was validated through its application to the machining of the complex curved fused silica hemispherical resonator (HSR). Experimental results indicate that under the high workpiece speed condition, the best surface roughness of HSR decreases from 90.5 nm to 62.2 nm, while the maximum grinding wheel wear increases from 9.7 μm to 11.5 μm, with minimal impact on surface integrity. Therefore, the high-speed grinding strategy proposed in this study ho

关键词： Fused silica

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A novel design of force-feedback master manipulator for remote ultrasound scanning

A novel design of force-feedback master manipulator for remo...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Li, Changle Zhang, Chentao Yu, Chuan You Zhang, Leifeng Liu, Gangfeng Zhao, Jie Harbin Institute of Technology State Key Laboratory of Robotics and System No.2 YiKuang Street NanGang District Harbin HeiLongJiang China

ISBN: (纸本)9781665481090

This paper presents a novel six-degree-of-freedom force feedback master manipulator for remote ultrasound scanning. Firstly, a new configuration based on a planar five-link mechanism is proposed, taking into account the practical needs of medical ultrasound scanning. This configuration has two operating modes and can provide three degrees of force feedback. Secondly, a hybrid force/position master-slave control system based on the kinetic model force feedback method is built, which can realize incremental master-slave control, variable proportional control, force feedback, and other functions. Finally, the positional accuracy, gravity balance effect, and force feedback performance of this master manipulator are verified through experiments. Experiments show that the average position error of this novel force feedback master manipulator is 1.18 mm, the average attitude error expressed in terms of Euler angles is 0.83°, and the maximum feedback force that can be provided is 12.1 N, which satisfies the requirements of ultrasonic scanning. © 2022 IEEE.

关键词： Feedback

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