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

作者： Hu, Yusheng Xiao, Yong Shi, Jinfei Chen, Bin Li, Ying Li, Liyi Guangdong Provincial Key Laboratory of High-speed and Energy Conservation Motor System China Gree Electric APPLIANCES INC. of Zhuhai Zhuhai China Harbin Institute of technology Harbin China

ISBN: (纸本)9784886864406

Line-start PM assisted synchronous reluctance machine (LS-PMaSynRM) combines the characteristics of an asynchronous motor and a permanent magnet assisted synchronous reluctance motor. It starts through asynchronous torque generated by squirrel cages (conductor bars) and runs synchronously through permanent magnet torque and reluctance torque. The basic principle of LS-PMaSynRM was introduced in this paper, and then the rotor structure was designed and optimized. The effects of the number of flux barrier (permanent magnet) layers, the thickness of PMs, the distribution of conductor bars, the amount of PMs in each layer, and the total amount of PMs on the efficiency were simulated, and the rotor structure was determined. Compared with line- start permanent magnet synchronous motor (LS-PMSM) with the same power, LS-PMaSynRM has obvious efficiency advantages at the same cost. Under the existing machine frame, the LS-PMaSynRM achieves IE6 ultra-high energy efficiency. Finally, the performance of the LS-PMaSynRM was verified through prototype testing. © 2024 The institute of Electrical Engineers of Japan.

关键词： Permanent magnets

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Optimization on the Preparation Conditions of Fe-N/BC Catalyst and its Pollution Removal Efficiency 6

Optimization on the Preparation Conditions of Fe-N/BC Cataly...

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2024 6th International Conference on Advanced Materials and Ecological Environment, AMEE 2024

作者： Zhou, Ting Yang, Yang Du, Tianxing Dong, Wenyi Wang, Hongjie School of Civil and Environmental Engineering Harbin Institute of Technology Shenzhen Guangdong Shenzhen518055 China Shenzhen Key Laboratory of Water Resource Utilization and Environmental Pollution Control Guangdong Shenzhen518055 China State Key Laboratory of Urban Water Resource and Environment School of Environment Harbin Institute of Technology Heilongjiang Harbin150090 China

This study was aimed to optimize the preparation conditions of Fe-N/BC catalyst. Citric acid iron and melamine was used to co-doped modified selected biomass, optimized factors included biomass type, acid washing time, iron-nitrogen doping amount and pyrolysis temperature, with nitrobenzene as the targeted degradation object. The optimal preparation conditions for Fe-N/BC iron-nitrogen co-doped biochar catalyst were determined. The results showed that using onion as the biomass, after 8 hours of acid washing, immersed in an ultrasonic solution of citric acid iron with a concentration of 8 g/L for 30 minutes, followed by adding melamine at a doping ratio of 5 g/g biomass and another 30 minutes of ultrasonication, centrifuged, water washed, and dried, then pyrolyzed at 900°C under N2 atmosphere for 1 hour. The obtained Fe-N/BC iron-nitrogen co-doped biochar catalyst exhibited the best removal efficiency for nitrobenzene in a catalytic reduction system, with a removal rate of 96.6% after 15 minutes of reaction. © Published under licence by IOP Publishing Ltd.

关键词： Semiconductor doping

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Research on Intelligent Routing For Integrated Satellite-Terrestrial Networks Through Autonomous Multi-Agent Collaboration

Research on Intelligent Routing For Integrated Satellite-Ter...

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2024 IAF Symposium on Integrated Applications at the 75th International Astronautical Congress, IAC 2024

作者： He, Wentao Li, Huayi Qiu, Shi Research Center of Satellite Technology Harbin Institute of Technology No.92 Xidazhi Street Nangang District Harbin150080 China State Key Laboratory of Micro-Spacecraft Rapid Design and Intelligent Cluster Harbin Institute of Technology No. 92 Xidazhi Street Nangang District Harbin150080 China

ISBN: (纸本)9798331312176

Recent years have witnessed the construction plans of large, low Earth orbit (LEO) satellite constellations, such as Starlink, has gained significant interest and are expected to assume a critical role in integrated satellite-terrestrial networks as the foundation of the forthcoming 6G network. However, ensuring optimal network Quality of Service (QoS) performance presents significant challenges arising from the variability of inter-satellite and satellite-to-ground links, coupled with the uneven geographical distribution of ground service requests. A large body of current literature emphasizes inter-satellite routing with singular optimization objectives, proving insufficient for the requirements of integrated satellite-terrestrial networks. This study addresses these challenges by approaching integrated network routing as a two-pronged problem. First, it focuses on satellite-to-ground link selection in defined constraints. Second, it employs a multi-hop Markov decision process for inter-satellite links. Moreover, the study establishes predictive models for both satellite-to-ground and inter-satellite link channels and states. It also introduces a node congestion model that factors in the distribution of service requests. A novel routing framework for the integrated satellite-terrestrial network, based on an autonomous multi-agent collaboration system, has been designed. This framework incorporates an enhanced reward strategy derived from cooperative game theory. In this framework, each satellite node acts as an agent, executing forwarding decisions through actor-critic deep reinforcement learning (AC-DRL). Dynamic reward adjustments based on the network state optimize data forwarding decision-making. The results demonstrate that while this research achieves similar path length performance to established routing methods such as shortest path search, it derives significant improvements in network QoS performance. Specifically, it enhances latency, jitter, packet los

关键词： Satellite links

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Open-Source Reinforcement Learning Environments Implemented in MuJoCo with Franka Manipulator

Open-Source Reinforcement Learning Environments Implemented ...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Zichun Xu Yuntao Li Xiaohang Yang Zhiyuan Zhao Lei Zhuang Jingdong Zhao State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (数字)9798350355369

ISBN: (纸本)9798350355376

This paper presents three open-source reinforcement learning environments developed on the MuJoCo physics engine with the Franka Emika Panda arm in MuJoCo Menagerie. Three representative tasks, push, slide, and pick-and-place, are implemented through the Gymnasium robotics API, which inherits from the core of Gymnasium. Both the sparse binary and dense rewards are supported, and the observation space contains the keys of desired and achieved goals to follow the Multi-Goal Reinforcement Learning framework. Three different off-policy algorithms are used to validate the simulation attributes to ensure the fidelity of all tasks, and benchmark results are also given. Each environment and task are defined in a clean way, and the main parameters for modifying the environment are preserved to reflect the main difference. The repository, including all environments, is available at https://***/zichunxx/panda_mujoco_gym.

关键词： Mechatronics Reinforcement learning Benchmark testing Manipulators Task analysis Physics Engines

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Fusing Dynamics and Reinforcement Learning for Control Strategy: Achieving Precise Gait and High Robustness in Humanoid Robot Locomotion 23

Fusing Dynamics and Reinforcement Learning for Control Strat...

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23rd IEEE-RAS International Conference on Humanoid Robots, Humanoids 2024

作者： Zhao, Zida Huang, Haodong Sun, Shilong Li, Chiyao Xu, Wenfu Harbin Institute of Technology Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics School of Mechanical Engineering and Automation Shenzhen518055 China

ISBN: (纸本)9798350373578

Achieving precise gait planning and high robustness in locomotion control is crucial for the development and application of humanoid robots. In this paper, a novel control strategy is proposed, which combines dynamics control and reinforcement learning (RL), leveraging the precision of dynamics control and the robustness of RL. Specifically, foot placements for each step of the humanoid robot are designed, and the trajectories of the center of mass (CoM) and feet are obtained using a 3D linear inverted pendulum model (3D LIPM). Subsequently, joint angles during motion are calculated based on the trajectories of the CoM and feet using inverse kinematics equations. Finally, the obtained joint angles are trained as baseline actions using RL algorithms. To enhance control robustness, parameter domain randomization is introduced during the training process. By employing this control strategy, simulations of various single-step gaits, such as walking forward, walking to the right, and making right turns, are achieved. Additionally, trajectory tracking, locomotion tests on different terrains, and disturbance resistance are conducted. The simulation results demonstrate that the proposed control strategy enables precise gait control and exhibits strong robustness in humanoid robots. © 2024 IEEE.

关键词： Inverse kinematics

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Viia-hand: a Reach-and-grasp Restoration system Integrating Voice interaction, Computer vision and Auditory feedback for Blind Amputees

arXiv

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arXiv 2023年

作者： Peng, Chunhao Yang, Dapeng Cheng, Ming Dai, Jinghui Zhao, Deyu Jiang, Li State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China Artificial Intelligence Laboratory Harbin Institute of Technology Harbin150080 China

Visual feedback plays a crucial role in the process of amputation patients completing grasping in the field of prosthesis control. However, for blind and visually impaired (BVI) amputees, the loss of both visual and grasping abilities makes the "easy" reach-and-grasp task a feasible challenge. In this paper, we propose a novel multi-sensory prosthesis system helping BVI amputees with sensing, navigation and grasp operations. It combines modules of voice interaction, environmental perception, grasp guidance, collaborative control, and auditory/tactile feedback. In particular, the voice interaction module receives user instructions and invokes other functional modules according to the instructions. The environmental perception and grasp guidance module obtains environmental information through computer vision, and feedbacks the information to the user through auditory feedback modules (voice prompts and spatial sound sources) and tactile feedback modules (vibration stimulation). The prosthesis collaborative control module obtains the context information of the grasp guidance process and completes the collaborative control of grasp gestures and wrist angles of prosthesis in conjunction with the user's control intention in order to achieve stable grasp of various objects. This paper details a prototyping design (named viia-hand) and presents its preliminary experimental verification on healthy subjects completing specific reach-and-grasp tasks. Our results showed that, with the help of our new design, the subjects were able to achieve a precise reach and reliable grasp of the target objects in a relatively cluttered environment. Additionally, the system is extremely user-friendly, as users can quickly adapt to it with minimal training. Copyright © 2023, The Authors. All rights reserved.

关键词： Computer vision

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A Novel Sample Manipulation Device (SMD) for Lunar Regolith Volatile In-Situ Exploration: Method and Validation

A Novel Sample Manipulation Device (SMD) for Lunar Regolith ...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Tang, Junyue Yang, Tian Chen, Xiren Liu, Ziheng Li, Jiannan Zhang, Zhiheng Xiao, Junxiao Chi, Cheng Jiang, Shengyuan Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China Nanjing University of Aeronautics and Astronautics China Institute of Geology and Geophysics Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781665481090

Extraction and analysis of volatile substances in lunar regoilth is an important means to reveal the formation of the Earth-moon system and explore lunar resources. At present, volatile matter loss will be caused by shock vibration and pressure change of returned samples, so volatile matter needs to be prepared in situ on the lunar surface. In order to accurately measure the contents of volatile matter in lunar regoilth, it is necessary to collect samples with constant volume and quantity. In view of the above problems, this paper designed a sample manipulation device for quantitative detection, sample transfer and volatile preparation of lunar regoilth. The device carries 12 sample tubes through the gear disc to realize double station sample transfer. Seal requirements during sample reception and heating are achieved by lifting the rack. The test shows that the device can accurately measure the sample volume, the sample transfer time is 76.67s, and the thrust into the furnace is more than 150N, which meets the requirements of sample processing time and sealing. The device has a certain enlightening effect on the subsequent lunar exploration project. © 2022 IEEE.

关键词： Lunar missions

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A High-precision Calibration Method for Microsurgical Robots: Combining Iterative Least Squares and PSO-Optimized Support Vector Machine

A High-precision Calibration Method for Microsurgical Robots...

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Mechatronics and robotics Engineering (ICMRE), International Conference on

作者： Linjun Pang Haiming Li Peiyuan Gao Haotian Li He Zhang Jie Zhao State Key Lab of Robotics and Systems Harbin Institute of Technology Harbin China

ISBN: (数字)9798331509293

ISBN: (纸本)9798331509309

Microsurgical robot calibration is essential for achieving high precision in surgical operations. This paper proposes a high-precision calibration approach combining Iterative Least Squares (ILS) for geometric error correction and Particle Swarm Optimization-optimized Least Squares Support Vector Machine (PSO-LSSVM) for non-geometric error compensation. Experimental results show that the proposed method reduces positioning errors from 3.2541 mm to 0.2310 mm through geometric calibration, achieving a 92.90 % accuracy improvement, and further reduces the error to 0.0749 mm after non-geometric error compensation. These results underscore the effectiveness of the proposed approach in enhancing the precision of robotic systems used in microsurgery,

关键词： Support vector machines Accuracy Medical robotics Error compensation Kinematics Microsurgery Calibration Iterative methods Reliability Particle swarm optimization

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A High-precision Calibration Method for Microsurgical Robots: Combining Iterative Least Squares and PSO-Optimized Support Vector Machine 11

A High-precision Calibration Method for Microsurgical Robots...

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11th International Conference on Mechatronics and robotics Engineering, ICMRE 2025

作者： Pang, Linjun Li, Haiming Gao, Peiyuan Li, Haotian Zhang, He Zhao, Jie Harbin Institute of Technology State Key Lab of Robotics and Systems Harbin China

ISBN: (纸本)9798331509293

关键词： Error compensation

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RESEARCH ON THE FILM THICKNESS CHARACTERISTICS OF JET CONDENSER NOZZLE 31

RESEARCH ON THE FILM THICKNESS CHARACTERISTICS OF JET CONDEN...

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2024 31st International Conference on Nuclear Engineering, ICONE 2024

作者： Weiyu, Chu Chonghai, Huang Qi, Xiao Zhaoming, Meng Yilin, Fu Heilongjiang Provincial Key Laboratory of Nuclear Power System & Equipment Harbin Engineering University Harbin China Science and Technology on Thermal Energy and Power Laboratory Wuhan Second Ship Design and Research Institute Wuhan China

ISBN: (纸本)9780791888261

Owing to the expansive applicability of jet condensers across diverse sectors, juxtaposed with the paucity of scholarly investigation into the morphological characteristics of the condenser liquid film, the present study zeroes in on the determinants of film thickness attributable to jet condenser nozzles. In pursuit of this objective, we engineered and actualized a visualization experimental apparatus tailored for the meticulous examination of the film-forming propensities of such nozzles. Subsequent experimental endeavors focused on the dynamics of nozzle-induced spray film genesis. Leveraging bespoke measurement techniques, this inquiry delved into the influence of varied parameters including flow rate and nozzle angle, on the film thickness engendered by the nozzles, thereby elucidating discernible trends in the phenotypical attributes of nozzle film thickness. Findings from this research suggest a proportional relationship between film thickness and flow rate, and an inverse correlation between nozzle diameter and film thickness. These insights furnish empirical underpinnings for the refinement of nozzle configurations in jet condensers, thereby contributing to the enhancement of their operational efficacy. © 2024 by ASME.

关键词： Film thickness

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