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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Qin, Meijuan Kong, Lingyu Nie, Daming Jiang, Hongjian Zhang, Yu Fu, Yili Intelligent Robot Research Center Zhejiang Laboratory Hangzhou311100 China The National Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin150001 China

ISBN: (纸本)9798350325706

Lightweight design can improve the energy efficiency of biped robots, which is significant in the field of biped robot. Topology optimization has been widely used in the field of robot. However, the existing optimization is limited to the structural space based on traditional empirical design, and the potential of topology optimization is not fully utilized. Moreover, the finite element model is too simplified, which leads to a large optimization deviation. In this paper, a method of structural innovation design for the shank structure of biped robot is proposed. In the initial stage of conceptual design, the design space of optimization object is effectively maximized. Then, the load transmission characteristics of bearings are simulated by link10 element, and the topology optimization method of multiple load cases is carried out to obtain the optimized shank structure, which reduces the weight by 14.09 % compared with the existing shank. Finally, finite element extreme strength check and experiment test are both used to verify the feasibility and availability of the structure. © 2023 IEEE.

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Real-Time Break-Through Detection in Craniotomy Using Long Short-Term Memory Networks

Real-Time Break-Through Detection in Craniotomy Using Long S...

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IEEE International Conference on robotics and Biomimetics

作者： Yunle Chen Xingjian Shen Xianghe Meng Hui Xie State key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

An important step before the implantation of an invasive brain-computer interface (BCI) is craniotomy, which provides direct access to the brain. During the craniotomy, the precision of cranial drilling is critical, as any deviation or exces-sive penetration can pose significant risks, potentially leading to severe brain injury. Traditional methods of force signal analysis lack effective feedback in complex situations, leading to a risk of over-drilling and potential brain damage. Here, we proposes a Long Short-Term Memory (LSTM) neural network to detect the break-through of the drill bit in real-time. Thrust force data from five drilling experiments on a fancy rat skull specimen are collected. The force data are then split into 0.2-second intervals corresponding to different stages of the drilling process. An LSTM network is trained with these labeled datasets to detect changes in the drilling stage, thereby determining the break-through point. The trained classicfication network gets a accuracy of 96%. Practical drilling experiments on a fancy rat skull specimen validates the feasibility and accuracy of the break-through detection algorithm. The experimental results demonstrate that the method can achieve an over-penetration distance within 15 μm, which is safe for performing craniotomy in rats. Given that this method ensures safety for the stringent requirements of rat craniotomy, it can be expected to provide even greater safety for human craniotomy procedures.

关键词： Drilling Accuracy Force Rats Skull Real-time systems Safety Classification algorithms Long short term memory Biological neural networks

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Performance Analysis of 4-RPUR Parallel Mechanism for Ankle Rehabilitation

Performance Analysis of 4-RPUR Parallel Mechanism for Ankle ...

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IEEE International Conference on Mechatronics and Automation

作者： Hongjian Yu Zijia Guo Zhenyi Wang Sheji Sun Zhijiang Du State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China

ISBN: (数字)9798350388077

ISBN: (纸本)9798350388084

Four-degrees-of-freedom (4-DoFs) ankle fracture surgery assistant and rehabilitation robot based on 4-RPUR was developed to help the patients recover movement ability of the ankle. Furthermore, to evaluate the performance of the robot, we use a spatial search method to calculate and depict the workspace images, and analyze the sensitivity of the workspace to different parameters; based on screw theory, a singularity evaluation indicator is proposed, and singularity images are drawn; the robot is subjected to stiffness modeling, constructing a stiffness matrix for the mechanism and establishing stiffness evaluation indicators, and creating performance spectra, with further analysis and discussion on the physical variation rules and physical meanings of the spectra.

关键词： Ankle Analytical models Sensitivity systematics Mechatronics Search methods Surgery

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An Iterative Variable Step Error Compensation Approach for Enhancing Robot Trajectory Accuracy

An Iterative Variable Step Error Compensation Approach for E...

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Automation, robotics and Computer Engineering (ICARCE), 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)9798331529505

ISBN: (纸本)9798331529512

In this paper, an iterative error compensation approach is analyzed and designed to improve trajectory accuracy of industrial robots. Advanced offline programming and robotic machining tasks require high trajectory accuracy of industrial robots, which is significantly affected by parameter inaccuracy, stiffness deformation, backlash, and so on. Such complicated coupling makes it impossible to model each factor separately, thus data-driven direct error compensation is the major solution to improve trajectory accuracy. Previous methods utilize external measurement equipment to obtain tracking error and rely on the error consistency assumption to compensate for the error by modifying the trajectory commands directly. However, such consistency assumption does not hold. Even a minor incremental modification of the initial commands can lead to unexpected influence on the robot's tracking performance, owning to unaccounted factors such as the robot's dynamic stiffness and natural frequency. This paper decomposes trajectory tracking errors based on servo encoder feedback and external laser tracker, and proposes a variable step error compensation scheme to improve tracking performance. Physical experiments are conducted on a standard 6 degree-of-freedom industrial robot to validate the effectiveness of the proposed method. The results of various error compensation approaches are analyzed to draw a possible error correlation model, in order to account for the error inconsistency in the compensation process.

关键词： Accuracy Service robots Trajectory tracking Measurement uncertainty Error compensation Industrial robots Laser modes Trajectory Iterative methods Load modeling

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Machine learning parallel system for integrated process-model calibration and accuracy enhancement in sewer-river system

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Environmental Science and Ecotechnology 2024年第2期18卷 70-82页

作者： Yundong Li Lina Ma Jingshui Huang Markus Disse Wei Zhan Lipin Li Tianqi Zhang Huihang Sun Yu Tian State Key Laboratory of Urban Water Resource and Environment(SKLUWRE) School of EnvironmentHarbin Institute of TechnologyHarbin150090China Chair of Hydrology and River Basin Management Technical University MunichArcisstrasse 2180333MunichGermany

The process-based water system models have been transitioning from single-functional to integrated multi-objective and multi-functional since the worldwide digital upgrade of urban water system *** proliferation of model complexity results in more significant uncertainty and computational ***,conventional model calibration methods are insufficient in dealing with extensive computational time and limited monitoring *** we introduce a novel machine learning system designed to expedite parameter optimization with limited data and boost efficiency in parameter ***,termed the machine learning parallel system for fast parameter search of integrated process-based models,aims to enhance both the performance and efficiency of the integrated model by ensuring its comprehensiveness,accuracy,and *** was constructed upon the concept of model surrogation t algorithm optimization using Ant Colony Optimization(ACO)coupled with Long Short-Term Memory(LSTM).The optimization results of the Integrated sewer network and urban river model demonstrate that the average relative percentage difference of the predicted river pollutant concentrations increases from 1.1 to 6.0,and the average absolute percent bias decreases from 124.3%to 8.8%.The model outputs closely align with the monitoring data,and parameter calibration time is reduced by 89.94%.MLPS enables the efficient optimization of integrated process-based models,facilitating the application of highly precise complex models in environmental *** design of MLPS also presents valuable insights for optimizing complex models in other fields.

关键词： Integrated sewereriver model LSTM ACO SewereWWTPeriver system Water pollution control strategy

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Thermodynamically stable ionic liquid microemulsions pioneer pathways for topical delivery and peptide application

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Bioactive Materials 2024年第2期32卷 502-513页

作者： Tianqi Liu Ying Liu Xiaoyu Zhao Liguo Zhang Wei Wang De Bai Ya Liao Zhenyuan Wang Mi Wang Jiaheng Zhang State Key Laboratory of Advanced Welding and Joining School of Materials Science and EngineeringHarbin Institute of Technology(Shenzhen)Shenzhen518055China Research Center of Printed Flexible Electronics School of Materials Science and EngineeringHarbin Institute of TechnologyShenzhen518055China Shenzhen Shinehigh Innovation Technology Co. Ltd.Shenzhen518055China Harbin Voolga Technology Co. Ltd.Harbin150070China CAS Key Laboratory of Quantitative Engineering Biology Shenzhen Institute of Synthetic BiologyShenzhen Institutes of Advanced TechnologyChinese Academy of SciencesShenzhen518055China Department of Chemistry College of SciencesNortheastern UniversityShenyang110819China

Copper peptides(GHK-Cu)are a powerful hair growth promoter with minimal side effects when compared with minoxidil and finasteride;however,challenges in delivering GHK-Cu topically limits their non-invasive *** theoretical calculations and pseudo-ternary phase diagrams,we designed and constructed a thermodynamically stable ionic liquid(IL)-based microemulsion(IL-M),which integrates the high drug solubility of ILs and high skin permeability of microemulsions,thus improving the local delivery of copper peptides by approximately three-fold while retaining their biological *** in mice validated the effectiveness of our proposed IL-M ***,the exact effects of the IL-M system on the expression of growth factors,such as vascular endothelial growth factor,were revealed,and it was found that microemulsion increased the activation of the Wnt/β-catenin signaling pathway,which includes factors involved in hair growth ***,the safe and non-invasive IL microemulsion system developed in this study has great potential for the clinical treatment of hair loss.

关键词： Bio-based ionic liquids Copper peptides Microemulsion Hair regeneration Transdermal delivery

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Robot learning from demonstration for path planning: A review

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Science China(Technological Sciences) 2020年第8期63卷 1325-1334页

作者： XIE ZongWu ZHANG Qi JIANG ZaiNan LIU Hong State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

Learning from demonstration(LfD)is an appealing method of helping robots learn new *** papers have presented methods of LfD with good performance in ***,complicated robot tasks that need to carefully regulate path planning strategies remain *** or non-contact constraints in specific robot tasks make the path planning problem more difficult,as the interaction between the robot and the environment is *** this paper,we focus on the path planning of complex robot tasks in the domain of LfD and give a novel perspective for classifying imitation learning and inverse reinforcement *** classification is based on constraints and obstacle ***,we summarize these methods and present promising directions for robot application and LfD theory.

关键词： learning from demonstration path planning imitation learning inverse reinforcement learning obstacle avoidance

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Torque Ripple Suppression Under Open-Circuit Fault for DTPPMSM Considering Back EMF Harmonics

Torque Ripple Suppression Under Open-Circuit Fault for DTPPM...

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International Conference on Applied Superconductivity and Electromagnetic Devices, ASEMD

作者： Chengsi Liu Jibin Zou State Key Laboratory of Robotics and System Harbin Institute of Technology HIT Harbin China

This paper analyzed the impact of phase back electromotive force (back EMF) harmonics on torque of dual three phase permanent magnet synchronous motor (DTPPMSM) from the view of electromagnetic power, and proposed a torque ripple suppression fault-tolerant method for open-circuit fault of DTPPMSM. The proposed method can consider the phase back EMF harmonics, thus achieveing both minimum torque ripple and maximum average torque. The proposed method is verified by both finite element analysis (FEA) and prototype experiment.

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Bio-inspired design of alternate rigid-flexible segments to improve the stiffness of a continuum manipulator

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Science China(Technological Sciences) 2020年第8期63卷 1549-1559页

作者： LIU Hong WANG HaiRong FAN ShaoWei YANG DaPeng State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

Intrinsic flexible structures enable a continuum manipulator to exhibit attractive dexterity and intrinsic compliance over traditional hyper-redundant ***,its insufficient stiffness makes the performance of continuum manipulators unsatisfactory and thus limits the applications in many fields.A significant challenge is how to make a trade-off among dexterity,compliance and *** an evolutionary perspective,this paper compares several biological structures that enable the continuum manipulator function,and intends to reveal the mechanism on how the biological structures can improve the *** notochord and the vertebral column with acoelous centra are abstracted and physically implemented.A fundamental roddriven continuum manipulator is also introduced as a *** stiffness models of these three continuum manipulators are proposed,and comparative experiments are conducted to verify their stiffness *** results demonstrate that the rigid-flexible segmental structure can improve the stiffness properties of a continuum manipulator.

关键词： continuum robots biologically inspired robot flexible arm stiffness kinematics

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Fast topological pumping for the generation of large-scale Greenberger–Horne–Zeilinger states in a superconducting circuit

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Frontiers of physics 2022年第6期17卷 143-161页

作者： Jin-Xuan Han Jin-Lei Wu Zhong-Hui Yuan Yan Xia Yong-Yuan Jiang Jie Song School of Physics Harbin Institute of TechnologyHarbin 150001China Department of Optoelectronics Science Harbin Institute of TechnologyWeihai 264209China Department of Physics Fuzhou UniversityFuzhou 350002China Collaborative Innovation Center of Extreme Optics Shanxi UniversityTaiyuan 030006China Key Laboratory of Micro-Nano Optoelectronic Information System Ministry of Industry and Information TechnologyHarbin 150001China Key Laboratory of Micro-Optics and Photonic Technology of Heilongjiang Province Harbin Institute of TechnologyHarbin 150001China

Topological pumping of edge states in the finite lattice with nontrivial topological phases provides a powerful means for robust excitation transfer,requiring extremely slow evolution to follow an adiabatic ***,we propose fast topological pumping via edge channels to generate large-scale Greenberger–Horne–Zeilinger(GHZ)states in a topological superconducting circuit with a sped-up evolution *** scheme indicates a conceptual way of designing fast topological pumping related to the instantaneous energy spectrum characteristics rather than relying on the shortcuts to *** on fast topological pumping,large-scale GHZ states show greater robustness against on-site potential defects,the fluctuation of couplings and losses of the system in comparison with the conventional adiabatic topological *** experimentally feasible qutrit-resonator coupling strengths and moderate decay rates of qutrits and resonators,fast topological pumping drastically improves the scalability of GHZ states with a high *** work opens up prospects for the realization of large-scale GHZ states based on fast topological pumping in the superconducting quantum circuit system,which provides potential applications of topological matters in quantum information processing.

关键词： topological pumping superconducting ciruit large-scale Greenberger-Horne-Zeilinger states

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