检索结果-内蒙古大学图书馆

2022 8th International Conference on Mechanical Engineering, Materials and Automation technology, MMEAT 2022

作者： Gao, Jian Rong, Weibin Gao, Peng 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 a hot research topic in the field of micro robotics. The magnetic torque of each part of the robot rotates with its deformation, so the magnetic torque and magnetic force to which the robot is subjected are difficult to be calculated directly. The lack of physical interfaces for torque distribution in many finite element software reduces the speed and accuracy of calculating the deformation of a robot using finite element simulation methods. In this paper, a fast simulation method to convert the local magnetic torque into equivalent load density for the deformation mode of the sheet micro soft robot is proposed. A finite element model of the fabricated micro soft robot is established, and the deformation and total magnetic moment of the robot under different magnetic field strength and magnetic field gradient are simulated and calculated. Experiments are executed to verify the validity of the simulation results. © Published under licence by IOP Publishing Ltd.

关键词： Robots

来源：评论

学校读者我要写书评

暂无评论

Design of Mixed Reality Assembly system Based on Improved ORB Algorithm 3

Design of Mixed Reality Assembly System Based on Improved OR...

引用

3rd International Conference on Computer Vision, Image and Deep Learning and International Conference on Computer Engineering and Applications, CVIDL and ICCEA 2022

作者： Lu, Na Xiao, YongFei Zhao, Jie Shandong Provincial Key Laboratory of Robot and Manufacturing Automation Technology ShanDong China Harbin Institute of Technology Institute of Automation Shandong State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9781665459112

This paper studies the natural feature point detection algorithm in a virtual assembly system. To address the problems of unsatisfactory detection effect and poor matching accuracy of the ORB algorithm, a feature uniform distribution algorithm based on pyramidal grid division is proposed, and a strategy of retaining feature points according to Harris response values is formulated to solve the problem of feature point aggregation while ensuring extraction speed. Hamming distance and the RANSAC algorithm are used to constrain the matching results. The robot assembly system based on this algorithm overlays the 3D model of the spraying robot and virtual information in the mobile device to improve the assembly efficiency of the staff. The experimental results show that the mixed reality(MR) assembly system based on the algorithm of this paper performs well, and the real-time performance and alignment accuracy are improved. © 2022 IEEE.

关键词： Assembly

来源：评论

学校读者我要写书评

暂无评论

A Light Space Manipulator with High Load-to-Weight Ratio: system Development and Compliance Control

引用

Space(Science & technology) 2021年第1期2021卷 107-118页

作者： Zhiwei Wu Yongting Chen Wenfu Xu The School of Mechanical Engineering and Automation Harbin Institute of TechnologyShenzhen 518055China The State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

In order to meet the requirements of the space environment for the lightweight and load capacity of the manipulator,this paper designs a lightweight space manipulator with a weight of 9.23 kg and a load of 2 *** adopts the EtherCAT communication protocol and has the characteristics of high load-to-weight *** order to achieve constant force tracking under the condition of unknown environmental parameters,an integral adaptive admittance control method is *** control law is expressed as a third-order linear system equation,the operating environment is equivalent to a spring model,and the control error transfer function is *** control performance under the step response is further *** simulation results show that the proposed integral adaptive admittance control method has better performance than the traditional *** has no steady-state error,overcomes the problems caused by nonlinear discrete compensation,and can facilitate analysis in the frequency domain,realize parameter optimization,and improve calculation accuracy.

关键词： overcome load EtherCAT

来源：评论

学校读者我要写书评

暂无评论

HIT-Hawk and HIT-Phoenix: Two kinds of flapping-wing flying robotic birds with wingspans beyond 2 meters

引用

Biomimetic Intelligence & robotics 2021年第1期1卷 13-25页

作者： Erzhen Pan Hui Xu Han Yuan Jianqing Peng Wenfu Xu The School of Mechanical Engineering and Automation Harbin Institute of TechnologyShenzhen 518055China The State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

Inspired by large and medium-sized birds,two kinds of flapping-wing flying robots with wingspans beyond 2 meters were *** have the appearance of a hawk and a phoenix respectively,so they are called HIT-Hawk and *** this paper,the bionic concept,theoretical analysis,design and manufacturing are introduced in ***,the flight principle and characteristics of large and medium-sized birds were ***,the aerodynamics was modeled based on the thin airfoil theory,and the main design basis was ***,the mechanical structures of HIT-Hawk and HIT-Phoenix were designed to ensure the lateral and longitudinal stability and have optimized flight ***,an autonomous flight control method was proposed and realized in highly integrated on-onboard controller;it satisfies the strict restrictions on mass,size,power and ***,the prototypes were fabricated and verified through practical flight *** wingspans of these two flapping wing aircrafts are 2.0 m and 2.3 m respectively,the take-off weights are 1.15 kg and 0.86 kg,and the maximum stable endurance is 65 min(with battery of 3S LiPo,4300 mAh)and 8 min(with battery of 3S LiPo,800 mAh).Their wind resistance can both reach level *** with the small and micro flapping-wing aerial vehicles that mimic insects or small birds,they both have strong load capacity,strong wind resistance and long endurance.

关键词： Bionic robots Flapping-wing flying Unmanned aerial vehicle Robotic bird

来源：评论

学校读者我要写书评

暂无评论

A Time-Optimal Trajectory Planning Algorithm for Six-Degree-of-Freedom Robots Based on NURBS Curves

A Time-Optimal Trajectory Planning Algorithm for Six-Degree-...

引用

International Conference on Control, Automation and robotics (ICCAR)

作者： Hao Hong Minxiu Kong Jiawang Wang Qianjiang Wang School of Mechatronics Engineering Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China

ISBN: (数字)9798350373172

ISBN: (纸本)9798350373189

In this paper, we research and analyse the practical needs of robotic arm to complete the complex path planning of robotic arm and smooth transition of multi-attitude in the shortest time under the premise of satisfying the dynamics constraints, and put forward the time-optimal trajectory planning based on NURBS curves and multi-attitude interpolation algorithm based on quaternion with NURBS curves. Using the complex nature of quaternions, the quaternions are converted into three-dimensional space points for curve interpolation, and finally converted back to quaternions to achieve the second-order continuity of multi-gesture interpolation; a time-optimal trajectory planning algorithm based on NURBS curves is designed, which discretises the curves, and fits the NURBS curves using the discrete points. At the same time, the optimal rate solution under all the constraints is calculated point by point according to the discrete points on the motion path, and the optimal velocity curve satisfying the dynamics constraints is obtained, so as to achieve the time-optimal trajectory planning. Finally, the feasibility of the designed trajectory planning algorithm is verified in the simulation software and experimental platform, and it is proved that the algorithm can effectively improve the running speed by at least 30%.

关键词： Surface reconstruction Interpolation Trajectory planning Service robots Quaternions Heuristic algorithms Software algorithms

来源：评论

学校读者我要写书评

暂无评论

A WLS-Based Step-by-Step Identification Method for Industrial Robot Dynamics Parameters

A WLS-Based Step-by-Step Identification Method for Industria...

引用

International Conference on Control, Automation and robotics (ICCAR)

作者： Qianjiang Wang Mingxiu Kong Chuancheng Bian Hao Hong State Key Laboratory of Robotics and System School of Mechatronics Engineering Harbin Institute of Technology Harbin China

ISBN: (数字)9798350373172

ISBN: (纸本)9798350373189

In order to improve the accuracy of robot dynamics parameter identification, this paper designs a step-by-step identification method based on weighted least squares. The robot dynamics model is first linearized to obtain the minimum parameter set. Subsequently, the friction model is built separately and experiments are designed to recognize the joint friction parameters first. Based on this, the excitation trajectory of finite term Fourier series is designed and optimized and data are collected. The joint moments obtained from the difference between the overall experimentally collected moments and the calculated friction moments are used to obtain the complete robot dynamics parameters based on weighted least squares identification. Comparison of the designed overall identification experiments shows that the total moment residuals of this method are reduced by 35.52% compared with the one-time identification method, which proves the effectiveness of this method.

关键词： Parameter estimation Accuracy Automation Service robots Friction Industrial robots Kinetic theory

来源：评论

学校读者我要写书评

暂无评论

Solubility and Thermodynamic Modeling of 3⁃Nitro⁃1,2,4⁃triazole⁃5⁃one(NTO)in Different Binary Solvents

引用

含能材料 2025年第3期33卷 295-303页

作者： GUO Hao-qi YANG Yu-lin State Key Laboratory of Space Power‑Sources School of Chemistry and Chemical EngineeringHarbin Institute of TechnologyHarbin150001China

Using a dynamic laser monitoring technique,the solubility of 3-nitro-1,2,4-triazole-5-one(NTO)was investigated in two different binary systems,namely hydroxylamine nitrate(HAN)-water and boric acid(HB)-water ranging from 278.15 K to 318.15 *** solubility in each system was found to be positively correlated with ***,solubility data were analyzed using four equations:the modified Apelblat equation,Van’t Hoff equation,λh equation and CNIBS/R-K equations,and they provided satisfactory results for both two *** average root-mean-square deviation(105RMSD)values for these models were less than *** utilizing the Van’t Hoff equation and Gibbs equations facilitated the derivation of apparent thermodynamic properties of NTO dissolution in the two systems,including values for Gibbs free energy,enthalpy and ***%ζ_(H)is larger than%ζ_(TS),and all the%ζ_(H)data are≥58.63%,indicating that the enthalpy make a greater contribution than entropy to theΔG_(soln)^(Θ).

关键词： 3-nitro-l,2,4-triazole-5-one(NTO) solubility thermodynamic models apparent thermodynamic analysis

来源：评论

学校读者我要写书评

暂无评论

An Adaptive Feedforward Optimization Mechanism for Improving Industrial Robots Trajectory Tracking Performance through Iterative Learning

An Adaptive Feedforward Optimization Mechanism for Improving...

引用

robotics, Control and Automation (ICRCA), International Conference on

作者： Chengzhi Wang Sikai Zhao Tianjiao Zheng Hegao Cai Jie Zhao Yanhe Zhu State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China

ISBN: (数字)9798331544577

ISBN: (纸本)9798331544584

This paper presents an adaptive feedforward optimization method based on iterative learning control mechanism, improving trajectory tracking accuracy from trial to trail. Conventional feedforward control researches focus on the precise prediction and compensation of torques, either by means of dynamic modelling and parameter identification or by data-driven approaches. However, there exists unpredictable time-delay for torques to work. The proposed method takes the previously less-concerned velocity feedforward part of the servo control system into consideration, and a self-adaptive fine-tuning mechanism is designed and established. The error measurement and feedforward optimization processes are integrated into an iterative learning framework to obtain efficiency and precision. The effectiveness of proposed method is validated by physical experiments on an EFORT ER15 industrial robot, and an averagely 90.71% error reduction is witnessed.

关键词： Accuracy Torque Parameter estimation Trajectory tracking Service robots Predictive models Industrial robots Feedforward systems Servosystems Tuning

来源：评论

学校读者我要写书评

暂无评论

Ionic liquid-wrapped MXene film with bowl-like structures for highly integrated micro-supercapacitor array with ultrahigh output voltage

引用

Nano Research 2023年第4期16卷 4926-4932页

作者： Cai-Yun Ren Sheng-You Qiu Jing-Ru Zhai Ke-Qi Zhang Jia-Xing Lu Jian Gao Chuang Wang Yong-Chao Zhang Xiao-Dong Zhu State Key Laboratory Base of Eco-Chemical Engineering Institute of Chemical TechnologyQingdao University of Science&TechnologyQingdao 266042China School of Chemistry and Chemical Engineering Harbin Institute of TechnologyHarbin 150080China School of Materials Sun Yat-sen UniversityShenzhen 518107China

Recent researches in the development of in-plane micro-supercapacitor(MSC)have been dedicated to advancing its energy density in a finite storage ***,the low ion-accessible surface area of plane electrode material has been the bottleneck limiting the energy output of ***,we design a stable ionic liquid(IL)-MXene microemulsion system in virtue of tween-20(TW20),gathering IL-TW20 microdroplets around MXene *** microemulsion can adhere on the current collector and form the dense MXene-TW20-IL *** IL as spacer and electrolyte is retained in the interlamination of MXene with the elimination of the TW20 during heat treatment,which enlarges the ion-accessible surface area of the MXene ***,the MSC based on the flexible MXene-IL film exhibits a high areal capacitance(44.6 mF·cm^(−2)),a high areal and volumetric energy density(50.7μW·h·cm^(−2)and 39 mW·h·cm^(−3)),surpassing most of the reported MXene-based *** the MSC unit can be arbitrarily integrated in terms of various energy and voltage *** instance,the integrated array with thirty MSC units in series realizes a high voltage output of 90 V,widening the range of application in next-generation microelectronic devices.

关键词： microemulsion system ionic liquid-wrapped MXene films micro-supercapacitors extra-high voltage integration

来源：评论

学校读者我要写书评

暂无评论

An Intelligent Ranking Evaluation Method of Simulation Models Based on Graph Neural Network 15th

An Intelligent Ranking Evaluation Method of Simulation Model...

引用

15th EAI International Conference on Simulation Tools and Techniques, SIMUTools 2023

作者： Yang, Fan Ma, Ping Zhang, Jianchao Cheng, Huichuan Li, Wei Yang, Ming Control and Simulation Center Harbin Institute of Technology Harbin150080 China National Key Laboratory of Complex System Modeling and Simulation Harbin150080 China Chinese Aeroengine Research Institute Beijing101304 China

ISBN: (纸本)9783031575228

To validate the alternative simulation models and select the most credible one when the models have multivariate and correlated outputs, an intelligent ranking evaluation method of simulation models based on Graph Neural Network (GNN) is proposed. The process of ranking evaluation is divided into three parts: graph structure conversion for evaluation data, feature extraction based on Graph Representation Learning (GRL) and ranking evaluation based on feature distance. A graph structure modeling method is presented to provide the pre-define graph structure for further GRL primarily. Next the interdependencies and dynamic evolutionary patterns among variables are captured by GNN so that the graph representations of evaluation data can be obtained. Then ranking evaluation is achieved by similarity measurement of the graph representations. In the end, the effectiveness of the proposed method on feature extraction of evaluation data and simulation models ranking is illustrated through an application example on a prediction model for aerodynamic parameters of a certain flight vehicle. © ICST institute for Computer Sciences, Social Informatics and Telecommunications Engineering 2024.

关键词： Feature extraction

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：