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arXiv 2023年

作者： Li, Xiaoyu Xie, Tao Liu, Dedong Gao, Jinghan Dai, Kun Jiang, Zhiqiang Zhao, Lijun Wang, Ke State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150006 China

3D Multi-object tracking (MOT) empowers mobile robots to accomplish well-informed motion planning and navigation tasks by providing motion trajectories of surrounding objects. However, existing 3D MOT methods typically employ a single similarity metric and physical model to perform data association and state estimation for all objects. With large-scale modern datasets and real scenes, there are a variety of object categories that commonly exhibit distinctive geometric properties and motion patterns. In this way, such distinctions would enable various object categories to behave differently under the same standard, resulting in erroneous matches between trajectories and detections, and jeopardizing the reliability of downstream tasks (navigation, etc.). Towards this end, we propose Poly-MOT, an efficient 3D MOT method based on the Tracking-By-Detection framework that enables the tracker to choose the most appropriate tracking criteria for each object category. Specifically, Poly-MOT leverages different motion models for various object categories to characterize distinct types of motion accurately. We also introduce the constraint of the rigid structure of objects into a specific motion model to accurately describe the highly nonlinear motion of the object. Additionally, we introduce a two-stage data association strategy to ensure that objects can find the optimal similarity metric from three custom metrics for their categories and reduce missing matches. On the NuScenes dataset, our proposed method achieves state-of-the-art performance with 75.4% AMOTA. The code is available at https://***/lixiaoyu2000/Poly-MOT. © 2023, CC BY-NC-SA.

关键词： Motion planning

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Model heat source using actual distribution of laser power density for simulation of laser processing

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Journal of Central South University 2022年第10期29卷 3277-3293页

作者： WANG Gen-wang DING Ye GUAN Yan-chao WANG Yang YANG Li-jun State Key Laboratory of Robotics and Systems Harbin Institute of TechnologyHarbin 150001China School of Mechatronics Engineering Harbin Institute of TechnologyHarbin 150001China

The model of heat source(MHS) which reflects the thermal interaction between materials and laser during processing determines the accuracy of simulation results. To acquire desirable simulations results, although various modifications of heat sources in the aspect of absorption process of laser by materials have been purposed, the distribution of laser power density(DLPD) in MHS is still modeled theoretically. However, in the actual situations of laser processing, the DLPD is definitely different from the ideal models. So, it is indispensable to build MHS using actual DLPD to improve the accuracy of simulation results. Besides, an automatic modeling method will be benefit to simplify the tedious pre-processing of simulations. This paper presents a modeling method and corresponding algorithm to model heat source using measured DLPD. This algorithm automatically processes original data to get modeling parameters and provides a step MHS combining with absorption models. Simulations and experiments of heat transfer in steel plates irradiated by laser prove the mothed and the step MHS. Moreover, the investigations of laser induced thermal-crack propagation in glass highlight the signification of modeling heat source based on actual DLPD and demonstrate the enormous application of this method in the simulation of laser processing.

关键词： heat source laser processing distribution of power density digital images processing heat transfer

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Three-line structured light vision system for non-cooperative satellites in proximity operations

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Chinese Journal of Aeronautics 2020年第5期33卷 1494-1504页

作者： Yang LIU Zongwu XIE Hong LIU State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150000China

Adapter ring is a commonly used component in non-cooperative satellites,which has high strength and is suitable to be recognized and grasped by the space *** proximity operations,this circle feature may be occluded by the robot arm or limited field of ***,the captured images may be underexposed when there is not enough *** address these problems,this paper presents a structured light vision system with three line lasers and a monocular *** lasers project lines onto the surface of the satellite,and six break points are formed along both sides of the adapter ring.A closed-form solution for real-time pose estimation is given using these break ***,a virtual structured light platform is constructed to simulate synthetic images of the target *** with the predefined camera parameters and relative positions,the proposed method is demonstrated to be more effective,especially at a close ***,a physical space verification system is set up to prove the effectiveness and robustness of our method under different light *** results indicate that it is a practical and effective method for the pose measurement of on-orbit tasks.

关键词： Adapter ring Line detection Non-cooperative target Pose measurement Space robot Structured light

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Design and Verification of a Projectile Structure for Main-belt Comets Penetration Exploration

Design and Verification of a Projectile Structure for Main-b...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Tang, Junyue Liang, He Chi, Cheng Xiao, Junxiao Lu, Zixiao Yao, Ziyun Ha, Zekun Jiang, Shengyuan Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China CAS Center for Excellence in Nanoscience National Center for Nanoscience and Technology Beijing100190 China

ISBN: (纸本)9781665481090

Comparing the isotopic composition of the D/H ratio of the water ice in Main-belt Comets (MBCs) to that of the oceans on the Earth can enhance the understanding of where the water comes from and of how the distribution of the water ices in our early solar system. Herein, a jet penetrator with a turbo-blasting explosion device and a high-precision accelerometer has been proposed to realize a 1m class subsurface detection for China next asteroidal exploration mission. Considering the ruggedness of rubble pile structure in the low-gravity environment, the projectile's posture and its overloads determined by its structure and velocity during the penetration is highly uncertain. By establishing the rubble pile structure penetrating mechanism model, the real-time overloads and posture is analyzed to acquire an optimized projectile structure. Finally, a frozen rubble pile simulant penetrating experiment under gas gun system verified the optimized structure. © 2022 IEEE.

关键词： Comets

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Electromagnetic Design of a Six-Phase Low-Inertia Fault-Tolerant Permanent Magnet Synchronous Machine 7

Electromagnetic Design of a Six-Phase Low-Inertia Fault-Tole...

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7th IEEE International Electrical and Energy Conference, CIEEC 2024

作者： Zhou, Ziyu Sui, Yi Qiu, Xiaoying Zheng, Ping Ma, Hui School of Electrical Engineering and Automation Harbin Institute of Technology Harbin China Avic Nanjing Engineering Institute of Aircraft Systems Aviation Key Laboratory of Science and Technology on Aero Electromechanical System Integration Nanjing China

ISBN: (纸本)9798350359558

Multiphase permanent magnet (PM) synchronous machine features the advantages of high reliability and high fault-tolerant capability, which has great potential in the fields like aviation servo and electric vehicles. In order to meet the design criteria of low moment of inertia and high post-fault torque performance, three different rotor structures are analyzed and compared for a low-inertia fault-tolerant permanent magnet synchronous machine(SLIFT-PMSM) by finite-element method. The influence of winding structure on torque performance is investigated, and the winding structure is optimized to improve the post-fault torque performance. The electromagnetic performance of the improved scheme is evaluated under both the normal and fault conditions. © 2024 IEEE.

关键词： Permanent magnets

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Experimental Study on Frog-inspired Swimming Robot Based on Articulated Pneumatic Soft Actuator

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Journal of Bionic Engineering 2020年第2期17卷 270-280页

作者： Jizhuang Fan Shuqi Wang Qingguo Yu Yanhe Zhu State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

This paper presents a frog-inspired swimming robot based on articulated pneumatic soft *** realize the miniaturization of the robot and enhance its environmental adaptability,combined with the advantages and characteristics of soft materials,an articulated pneumatic soft actuator is designed based on analysis of a frog's propulsion characteristics.A structural model is established to analyse the mechanical properties of the soft *** the goal of making full use of the driving torque of the actuator and enhancing the propulsion efficiency of the robot,the motion trajectories of each joint of the robot are *** on the trajectory planning,the control strategy of the soft actuator is determined to realize the frog-like swimming of the *** torso size after assembly is 0.175 m×0.100 m×0.060 m,which realizes the miniaturization of the frog-inspired *** the movement of the robot,the torso moves stably and flexibly,and can realize continuous linear and turning *** rationality of the structure and trajectory planning are verified by prototype experiments.

关键词： bionic robotic frog articulated pneumatic soft actuator trajectory planning prototype experiment

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Fault-Tolerant Multi-coil WPT system 11th

Fault-Tolerant Multi-coil WPT System

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11th Frontier Academic Forum of Electrical Engineering, FAFEE 2024

作者： Zhang, Jiantao Gao, Zhan Lan, Jianyu Cheng, Fuze Zhao, Wenbo Zhu, Chunbo School of Electrical Engineering and Automation Harbin Institute of Technology Harbin150001 China State Key Laboratory of Space Power Sources Shanghai Institute of Space Power-Sources Shanghai200245 China Harbin Institute of Technology Zhengzhou Research Institute Zhengzhou450003 China

ISBN: (纸本)9789819788156

Traditional contact slip rings have contact friction problems and need to be replaced periodically. Due to the application background of aerospace slip rings, they are difficult to replace frequently, and wireless power transmission (WPT) is more suitable for spacecraft power transmission because of its non-contact characteristics. However, it must be designed with a certain level of fault tolerance. Currently, the fault-tolerant design of WPT systems focuses primarily on offset fault tolerance. In this paper, a multi-coil WPT system with redundant fault-tolerant characteristics is designed, a multi-coil decoupling method based on compensation capacitors and a fault-tolerant method based on compensation network reconfiguration are proposed, and the multi-coil structure with parameter consistency and the compensation network reconfiguration topology is designed, which enables the system to stable output 3kW in three operating modes as well as to switch between different operating modes. © Beijing Paike Culture Commu. Co., Ltd. 2025.

关键词： Inductive power transmission

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Layered structural engineering of Bi 2 O 3 /PP and WO 3 /PP composites for γ-ray shielding in high energy range: anisotropic attenuation mechanisms via Monte Carlo simulation and experiments

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Journal of Materials Research and technology 2025年 36卷 10324-10336页

作者： Xiangjie Duan Jie Zhao Shuaida Song Na Zhou Jizhuang Fan Bo Tian Yunchen Du State Key Laboratory of Space Power-Sources School of Chemistry and Chemical Engineering Harbin Institute of Technology Harbin 150001 People's Republic of China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150006 People's Republic of China Heilongjiang Institute of Atomic Energy Heilongjiang Academy of Sciences Harbin 150081 People's Republic of China

The development of non-toxic and flexible polymer-based shielding composites has become a research hotspot due to the severe harm of γ ray to living organisms, mechanical equipment, and environment. However, the γ-ray shielding performance of polymer-based composites in high-energy range remains unsatisfactory. Herein, FLUKA Monte Carlo simulations capable of visualizing γ-photon transport behaviors are investigated in Bi 2 O 3 /PP and WO 3 /PP multi-layer composites with various layered configurations. The simulation results reveal significant anisotropic attenuation effects on shielding characteristics caused by layered configurations and incident path of γ-photons relative to the interface position. Subsequently, single-layer, AB, and sandwich-like ABA composites with a fixed thickness of 2.0 mm are experimentally fabricated via melt-mixing and hot press methods. At 1332 keV, sandwich-like WPPBPPWPP composite (WO 3 /PP outer layers + Bi 2 O 3 /PP core) achieves linear attenuation coefficients and radiation protection efficiency of 0.31 cm −1 and 6 %, respectively, which are 29 % higher than those of single-layer composite. These improvements originate from multiple scattering induced by interlayer interface. Additionally, layered configurations with externally placed high-density fillers (WO 3 ) and internally placed high atomic number fillers (Bi 2 O 3 ) further promote γ-photon attenuation in high-energy range. Experimental results validate the anisotropic shielding trends observed in MC simulations. Moreover, multi-layer composites demonstrate significantly improved energy storage capacity, thermal stability, and oxidation resistance while maintaining comparable to those of single-layer composites. This work provides a scalable strategy for developing non-toxic and flexible shielding materials applicable in nuclear protection, medical devices, and aerospace systems, where lightweight and efficient radiation attenuation are critical.

关键词： Polymer-based composites Multi-layer structural engineering γ-Ray shielding Monte Carlo simulation Anisotropy attenuation Heterogeneous interface

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The Application of Acceleration-Level Quaternion Interpolation in the Visual-Servoing Process 13

The Application of Acceleration-Level Quaternion Interpolati...

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13th International Conference on Computer and Automation Engineering, ICCAE 2021

作者： Zhao, Xiaoyu Liu, Yang Xie, Zongwu Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9780738132204

Visual servoing process is widely applied in robot control. In the visual servoing process, an interpolation of the robot end pose is necessary. In the interpolation, quaternion suffers a lot for the discontinuity in trajectory velocity and acceleration. In this paper, we propose an acceleration-level continuous interpolation method and apply it to visual servoing process. In the method, we make up use of the conversion between different rotation descriptors and achieve a smooth enough trajectory. Simulations and experiments are carried out to validate the method and the results show considerable performance. © 2021 IEEE.

关键词： Visual servoing

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Mild polarization electric field in ultra-thin BN-Fe-graphene sandwich structure for efficient nitrogen reduction

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Chinese Journal of Catalysis 2024年第10期65卷 126-137页

作者： Ziyuan Xiu Wei Mu Xin Zhou Xiaojun Han State Key Laboratory of Urban Water Resource and Environment School of Chemistry and Chemical EngineeringHarbin Institute of TechnologyHarbin 150001HeilongjiangChina MIIT Key Laboratory of Critical Materials Technology for New Energy Conversion and Storage School of Chemistry and Chemical EngineeringHarbin Institute of TechnologyHarbin 150001HeilongjiangChina

The electrocatalytic N_(2)reduction reaction(NRR)is expected to supersede the traditional Haber-Bosch technology for NH3 production under ambient *** activity and selectivity of electrochemical NRR are restricted to a strong polarized electric field induced by the catalyst,correct electron transfer direction,and electron tunneling distance between bare electrode and active *** coupling the chemical vapor deposition method with the poly(methyl methacylate)-transfer method,an ultrathin sandwich catalyst,i.e.,Fe atoms(polarized electric field layer)sandwiched between ultrathin(within electron tunneling distance)BN(catalyst layer)and graphene film(conducting layer),is fabricated for electrocatalytic *** sandwich catalyst not only controls the transfer of electrons to the BN surface in the correct direction under applied voltage but also suppresses hydrogen evolution reaction by constructing a neutral polarization electric field without metal *** sandwich electrocatalyst NRR system achieve NH3 yield of 8.9μg h^(−1)cm^(−2)and Faradaic Efficiency of 21.7%.The N_(2)adsorption,activation,and polarization electric field changes of three sandwich catalysts(BN-Fe-G,BN-Fe-BN,and G-Fe-G)during the electrocatalytic NRR are investigated by experiments and density functional theory *** by applied voltage,the neutral polarized electric field induced by BN-Fe-G leads to the high activity of electrocatalytic NRR.

关键词： Ultra-thin BN Fe doping BN-Fe-graphene Mild polarization electric field Nitrogen reduction reaction

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