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IEEE International Conference on Mechatronics and Automation

作者： Mohamed A. Naeem Wenpeng Gao Yili Fu State Key Lab of Robotics and Systems Harbin Institute of Technology Harbin China School of Life Science and Technology Harbin Institute of Technology Harbin China

ISBN: (数字)9798350388077

ISBN: (纸本)9798350388084

Owing to their continuously bending backbone, continuum robots are able to perform dexterous movements and accurate manipulation, allowing them suited for unstructured environments such as surgical applications. However, controlling their stiffness and payload capability are still challenging. This paper presents a novel design of continuum robot for needle guidance in brain surgery. The design composes of a series-connected rigid spherical joints, and a central cable acting as a backbone to adjust stiffness of the robot. Additionally, this cable offers a mechanical lock to precisely reach the target pose for the needle during Intracerebral Hemorrhage (ICH) evacuation surgery. A design studies are conducted by optimizing certain parameters to evaluate the performance of the robot in terms of variable stiffness and locking. The design analysis is performed, while respecting the constraints of stress and deflection. On the other hand, a friction analysis based on contact point estimation approach is derived to ensure the configuration lock. The performance of the proposed design is evaluated by using Multibody Dynamics software. Moreover, experimental validation of the robot is carried out to verify its variable stiffness and payload capacity. The results demonstrate that the continuum robot has an acceptable load-carrying capacity and displacement deflection error. The displacement deflection error range from 0.78 mm to 0.48 mm at payload of 500 gm and tension force range from 350 N to 800 N.

关键词： Force Aluminum Surgery Bending Needles Continuum robots Wire

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RockTrack: A 3D Robust Multi-Camera-Ken Multi-Object Tracking Framework

arXiv

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arXiv 2024年

作者： Li, Xiaoyu Li, Peidong Zhao, Lijun Liu, Dedong Gao, Jinghan Wu, Xian Wu, Yitao Cui, Dixiao State Key Laboratory of Robotics and Systems Harbin Institute of Technology China Zhijia Technology China

3D Multi-Object Tracking (MOT) obtains significant performance improvements with the rapid advancements in 3D object detection, particularly in cost-effective multi-camera setups. However, the prevalent end-to-end training approach for multi-camera trackers results in detector-specific models, limiting their versatility. Moreover, current generic trackers overlook the unique features of multi-camera detectors, i.e., the unreliability of motion observations and the feasibility of visual information. To address these challenges, we propose RockTrack, a 3D MOT method for multi-camera detectors. Following the Tracking-By-Detection framework, RockTrack is compatible with various off-the-shelf detectors. RockTrack incorporates a confidence-guided preprocessing module to extract reliable motion and image observations from distinct representation spaces from a single detector. These observations are then fused in an association module that leverages geometric and appearance cues to minimize mismatches. The resulting matches are propagated through a staged estimation process, forming the basis for heuristic noise modeling. Additionally, we introduce a novel appearance similarity metric for explicitly characterizing object affinities in multi-camera settings. RockTrack achieves state-of-the-art performance on the nuScenes vision-only tracking leaderboard with 59.1% AMOTA while demonstrating impressive computational efficiency. © 2024, CC BY-NC-SA.

关键词： Object detection

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Stabilization of a class of fuzzy stochastic jump systems with partial information on jump and sojourn parameters

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Science China(Technological Sciences) 2021年第2期64卷 353-363页

作者： CAI Bo WENG Rui ZHANG RuiXian LIANG Ye ZHANG LiXian School of Astronautics Harbin Institute of TechnologyHarbin 150001China Key Laboratory of System Control and Information Processing Ministry of EducationShanghai 200240China

This paper addresses the problem of the design of controller for fuzzy semi-Markov jump systems with hidden modes against the incomplete information on probability density functions of sojourn time. Two ubiquitous circumstances in practice are taken into account, which are often ignored in other related work:(1) the phenomenon that system modes cannot be accessed entirely is considered proactively;(2) finitely accessible information on probability density functions is studied in this paper. By virtue of hidden semi-Markov chain, the underlying systems are modeled as hidden semi-Markov jump systems, which are more general than semi-Markov jump systems. Sufficient conditions on the existence of desired accessible-mode-dependent fuzzy controller are derived such that the fuzzy hidden semi-Markov jump systems is mean square stable. Based on the emission probability matrix, the presented control policy overcomes the possible mode-mismatch between the system mode and the accessible ***, an example is provided to demonstrate the effectiveness of the proposed control method.

关键词： hidden modes probability density function stochastic switching systems time-varying controller Takagi-Sugeno(T-S)fuzzy system

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A Trajectory Planning Framework for Experimental Module Manipulator On-Orbit Servicing

A Trajectory Planning Framework for Experimental Module Mani...

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IEEE International Conference on robotics and Biomimetics

作者： Boyu Ma Baoshi Cao Yang Liu Yuteng Xie Xiaohang Yang Wei Wang Handong Hu Xiaokai Zhou Yiming Ji Zhengpu Wang Mengfei Li Haoran Sun Wandong Sun Zongwu Xie State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China School of Resources and Environment Northeast Agricultural University Harbin China

This article proposes a novel trajectory planning framework for the Experimental Module Manipulator (EMM) on-orbit servicing (OOS). For a start, the simulation system of the EMM based on Open Inventor is developed, and the trajectory planning technical route of the EMM for OOS missions is illustrated, including two main phases: large-scale transfer and small-scale approach. Before trajectory planning, the Gilbert–Johnson–Keerthi convex bounding boxes of the CSS and the EMM are modeled. Moreover, we present a Cartesian-space collision-free planning scheme. For the different task requirements in the above two phases, two corresponding collision-free trajectory planning schemes in joint space are proposed. Finally, simulations of the EMM supporting an astronaut extra-vehicular activity verify the effectiveness of our trajectory planning framework and all of the schemes presented in this article.

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A novel multistage anoxic/aerobic process with sludge regeneration zone (R-MAO) for advanced nitrogen removal from domestic sewage

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Journal of Environmental Sciences 2023年第2期124卷 758-768页

作者： Lin Cao Rong Sun Wenyi Dong Hongjie Wang Zhongyi Dai Xue Wang Jin Xie Hua Li School of Chemical Engineering Huaqiao UniversityXiamen 361021China State Key Laboratory of Urban Water Resource and Environment School of Environment Harbin Institute of TechnologyHarbin 150090China School of Civil and Environmental Engineering Harbin Institute of Technology ShenzhenShenzhen 518055China Central and Southern China Municipal Engineering Design&Research Institute Co. Ltd.Wuhan 430010China Shenzhen Water Group Co. Ltd.Shenzhen 518000China

To achieve advanced nitrogen removal from actual municipal sewage,a novel multistage anoxic/aerobic process with sludge regeneration zone(R-MAO)was *** reactor was used to treat actual domestic sewage and the nitrogen removal capacity of the sludge regeneration zone(R zone)was investigated during the long-term *** best performance was obtained at the R zone’s Oxidation-Reduction Potential(ORP)of-50±30 mV and hydraulic residence times(HRT)of 1.2 *** average effluent COD,TN,NH_(4)^(+)-N and NO_(3)^(−)-N of the R-MAO process were 18.0±2.3,7.5±0.6,1.0±0.5 and 4.6±0.4 mg/L,respectively,with the corresponding removal efficiency of COD,TN and NH_(4)^(+)-N were 92.9%±1.0%,84.1%±1.5% and 97.5%±1.1%.Compared to the sole MAO system,the TN removal efficiency of the R-MAO increased by 10.1%.Besides,under the optimal conditions,the contribution of the R zone in the R-MAO that removal COD,TN,NH_(4)^(+)-N and NO_(3)^(−)-N were 0.36,0.15,0.032 and 0.82 g/***-throughput sequencing results showed that uncultured_bacterium_f_Burkholderiaceae(5.20%),OLB8(1.04%)and Ottowia(1.03%)played an important role in denitrification in the R *** study provided effective guidance for the design and operation of the R-MAO process in domestic sewage treatment.

关键词： Advanced nitrogen removal Multistage anoxic/aerobic process Sludge regeneration zone(R zone) Microbial community

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An Efficient Inverse Kinematic Method for SSRMS-type Manipulator with Conformal Geometric Algebra

An Efficient Inverse Kinematic Method for SSRMS-type Manipul...

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

作者： Jingdong Zhao Jiayu Zhang Liangliang Zhao Zhonglai Tian Zirui Wang Wei Jiang Hong Liu School of Mechatronics Engineering State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (数字)9798350355369

ISBN: (纸本)9798350355376

SSRMS-type Manipulator is a typical type of space manipulator featuring 7-degree-of-freedom offset configuration with redundancy characteristic. It is challenging to solve inverse kinematics in high efficiency, make the upmost of redundancy characteristic, and select optimal redundant parameter. This paper proposes an analytical inverse kinematic method, named three-continuous-parallel-Link Direction Vector Parameterization (LDVP), in the theory of Conformal Geometric Algebra. This method employs the direction vector of the axis of parallel Joint 3, Joint 4, and Joint 5 as the parameter, and selects the optimal parameter according to context plan-points in a given trajectory. The process of solving inverse kinematics is divided into two steps, including solving joint positions and joint variables. The average solution time of forward and inverse kinematics is 9.79 us and 0.25 ms respectively. The continuous path tracking experiment verifies that all seven joints changing to pursue the optimal configuration, which makes full use of redundancy characteristic.

关键词： Mechatronics Algebra Termination of employment Kinematics Manipulators Vectors Orbits

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Methane and nitrous oxide emissions from municipal wastewater treatment plants in China:A plant-level and technology-specific study

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Environmental Science and Ecotechnology 2024年第4期20卷 123-130页

作者： Haiyan Li Liangfang You He Du Bowen Yu Lu Lu Bo Zheng Qiang Zhang Kebin He Nanqi Ren School of Civil and Environmental Engineering Harbin Institute of TechnologyShenzhen518055China Shenzhen Key Laboratory of Ecological Remediation and Carbon Sequestration Institute of Environment and EcologyTsinghua Shenzhen International Graduate SchoolTsinghua UniversityShenzhen518055China Ministry of Education Key Laboratory for Earth System Modeling Department of Earth System ScienceTsinghua UniversityBeijing100084China State Key Joint Laboratory of Environment Simulation and Pollution Control School of EnvironmentTsinghua UniversityBeijing100084China

Wastewater treatment is an important source of greenhouse gases(GHGs).Yet large uncertainties remain in the quantification of GHG emissions from municipal wastewater treatment plants(MWWTPs)in China.A high-resolution and technology-specific emission inventory is still lacking to support mitigation strategies of *** we develop a plant-level and technology-based MWWTP emission inventory for China covering 8703 plants and 19 treatment technology categories by compiling and harmonizing the most up-to-date facility-level ***'s methane(CH_(4))and nitrous oxide(N_(2)O)emissions from MWWTPs in 2020 are estimated to be 150.6 Gg and 22.0 Gg,respectively,with the uncertainty range of-30%to 37%and-30%to 26%at 95%confidence *** find an emission inequality across cities,with the richest cities emitting two times more CH_(4)and N_(2)O per capita from municipal wastewater treatment than the poorest *** emitted CH_(4)and N_(2)O are dominated by Anaerobic/Anoxic/Oxic-,Sequencing Batch Reactor-,Oxidation Ditch-,and Anoxic/Oxic-based MWWTPs of less than 20 years *** the relatively young age structure of China's MWWTPs,the committed emissions highlight the importance of reducing on-site GHG emissions by optimization of operating conditions and innovation *** emission differences among our estimates,previous studies,and the Intergovernmental Panel on Climate Change guidelines are largely attributed to the uncertainties in emission factors,implying the urgent need for more plant-integrated measurements to improve the accuracy of emission accounting.

关键词： Methane Nitrous oxide Emissions Municipal wastewater treatment plants

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Recent advances in electrochemical decontamination of perfluorinated compounds from water: a review

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Frontiers of Environmental Science & Engineering 2023年第2期17卷 39-58页

作者： Fuqiang Liu Shengtao Jiang Shijie You Yanbiao Liu College of Environmental Science and Engineering Textile Pollution Controlling Engineering Center of the Ministry of Ecology and EnvironmentDonghua UniversityShanghai 201620China College of Life Science Taizhou UniversityTaizhou 318000China State Key Laboratory of Urban Water Resource and Environment School of EnvironmentHarbin Institute of TechnologyHarbin 150090China

Per- and polyfluoroalkyl substances (PFAS) pose serious human health and environmental risks due to their persistence and toxicity. Among the available PFAS remediation options, the electrochemical approach is promising with better control. In this review, recent advances in the decontamination of PFAS from water using several state-of-the-art electrochemical strategies, including electro-oxidation, electro-adsorption, and electro-coagulation, were systematically reviewed. We aimed to elucidate their design principles, underlying working mechanisms, and the effects of operation factors (e.g., solution pH, applied voltage, and reactor configuration). The recent developments of innovative electrochemical systems and novel electrode materials were highlighted. In addition, the development of coupled processes that could overcome the shortcomings of low efficiency and high energy consumption of conventional electrochemical systems was also emphasized. This review identified several major knowledge gaps and challenges in the scalability and adaptability of efficient electrochemical systems for PFAS remediation. Materials science and system design developments are forging a path toward sustainable treatment of PFAS-contaminated water through electrochemical technologies.

关键词： Perfluorinated compounds Electrochemical approach Working mechanisms Impacting factor Coupled process

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Carbon Fiber Composite Honeycomb Structures and the Application for Satellite Antenna Reflector with High Precision

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Advances in Astronautics Science and technology 2022年第4期5卷 423-441页

作者： Wei, Xingyu Wang, Yan Xue, Pengcheng Zhang, Taotao Rouis, Abir Xiao, Wei Xiong, Jian Center for Composite Materials and Structures Harbin Institute of Technology Harbin 150001 China National Key Laboratory of Science and Technology On Advanced Composites in Special Environments Harbin Institute of Technology Harbin 150080 China Beijing Institute of Spacecraft System Engineering Beijing 10000 China

This article summarizes the composite honeycomb structure which possess important meaning and application value on the high-precision satellite antenna reflector. The key technologies of composite material honeycomb structure are summarized, including the material selection for satellite antenna reflector, honeycomb configuration, fabrication process, mechanical properties, lightweight design, surface accuracy, thermal deformation control and other issues. The development goal of “lighter, larger, more refined and more stable” are put forward after looking forward to the manufacturing technology and functional requirement of the future satellite antenna reflector. © 2022, Chinese Society of Astronautics.

关键词： Composite honeycomb material Fabrication method Mechanical property Sandwich structure Satellite antenna reflector

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Construction and evaluation of SLAM and navigation system for mobile robot based on diverse environments

Construction and evaluation of SLAM and navigation system fo...

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2021 IEEE International Conference on Real-Time Computing and robotics, RCAR 2021

作者： Wang, Haodong Guo, Wei Fu, Yu Harbin Institute of Technology State Key Laboratory of Robotics

ISBN: (纸本)9781665436786

In this paper, a complete mapping, localization and navigation framework based on ROS system is proposed. And on this experimental platform, a variety of environments are built based on the 3D simulation software gazebo. In the simulation experiment, gmapping and cartographer are used to build occupancy map in real time. The evaluation strategy of the SLAM system is proposed, and the experiment result evaluation based on different environment and parameters is completed. © 2021 IEEE.

关键词： Simulation platform

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