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IEEE International Conference on robotics and Biomimetics

作者： Ziqi Liu Li Jiang Wangyang Li Ming Cheng Xiaoqiao Wu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781665481106

This work investigates the design of the sensor system and control system for the coupled adaptive multi-fingered dexterous hand with actively switchable modalities. Considering the specific mechanical structure characteristics of the dexterous hand, a master-slave distributed control system design approach is adopted to integrate the sensor system and control system inside the finger, which completes the mechatronic integration of the whole hand. It can realize the modularity at the finger level and simplify the system complexity. This paper also introduces a fuzzy adaptive PID control method and develops the control strategy in active switchable mode. The experimental results show that the controller architecture can adapt to the changes in the institutional characteristics of the system when the finger switches between coupled and coupled adaptive states. It can complete the high-precision tracking of the target trajectory, achieve accurate position control, and have superior real-time performance.

关键词： Adaptive systems Target tracking Position control Switches Control systems Sensor systems Real-time systems

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Prototype Design and Efficiency Analysis of a Novel Robot Drive Based on 3K-H-V Topology

Prototype Design and Efficiency Analysis of a Novel Robot Dr...

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IEEE International Conference on robotics and Biomimetics

作者： Le Qi Dapeng Yang Baoshi Cao Zhiqi Li Yikun Gu Zongwu Xie Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781665481106

Robot actuators directly affect the performance of robots, and robot drives directly affect the performance of robot actuators. With the development of robotics, robots have put higher requirements on robot drives, such as high stiffness, high accuracy, high loading, high efficiency, low backlash, compact size, and hollow structure. In order to meet the demand development of robot actuators, this research base proposes a new robot drive based on 3K-H-V topology using involute and cycloidal gear shapes, planetary cycloidal drive, from the perspective of drive topology and through the design idea of decoupling. In this study, the reduction ratio and the efficiency model of the 3K-H-V topology were analyzed, and a prototype planetary cycloidal actuator was designed. The feasibility of the drive is initially verified by experimentally concluding that the PCA has a hollow structure, compact size, and high torque density (69 Nm/kg).

关键词： Actuators Torque Shape Gears Biomimetics Loading Prototypes

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Convolutional neural network based on sparse graph attention mechanism for MRI super-resolution

arXiv

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arXiv 2023年

作者： Hua, Xin Du, Zhijiang Yu, Hongjian Ma, Jixin State Key Laboratory of Robotics Technology and Systems Harbin Institute of Technology Heilongjiang Harbin15000 China

Magnetic resonance imaging (MRI) is a valuable clinical tool for displaying anatomical structures and aiding in accurate diagnosis. Medical image super-resolution (SR) reconstruction using deep learning techniques can enhance lesion analysis and assist doctors in improving diagnostic efficiency and accuracy. However, existing deep learning-based SR methods predominantly rely on convolutional neural networks (CNNs), which inherently limit the expressive capabilities of these models and therefore make it challenging to discover potential relationships between different image features. To overcome this limitation, we propose an A-network that utilizes multiple convolution operator feature extraction modules (MCO) for extracting image features using multiple convolution operators. These extracted features are passed through multiple sets of cross-feature extraction modules (MSC) to highlight key features through inter-channel feature interactions, enabling subsequent feature learning. An attention-based sparse graph neural network module is incorporated to establish relationships between pixel features, learning which adjacent pixels have the greatest impact on determining the features to be filled. To evaluate our model's effectiveness, we conducted experiments using different models on data generated from multiple datasets with different degradation multiples, and the experimental results show that our method is a significant improvement over the current state-of-the-art methods. Copyright © 2023, The Authors. All rights reserved.

关键词： Magnetic resonance imaging

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Enhanced Light-Harvesting Efficiency and Adaptation: A Review on Visible-Light-Driven Micro/Nanomotors

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Research 2020年第1期2020卷 1116-1140页

作者： Dekai Zhou Rencheng Zhuang Xiaocong Chang Longqiu Li Key Laboratory of Microsystems and Microstructures Manufacturing Harbin Institute of TechnologyHarbinHeilongjiang 150001China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbinHeilongjiang 150001China

As visible light accounts for a larger proportion of solar energy and is harmless to living organisms,it has the potential to be the energy source of micro/nanomotors,which transform visible-light energy into mechanical motion,for different applications,especially in environmental ***,how to precisely control the motion of visible-light-driven micro/nanomotors(VLD-MNMs)and efficiently utilize the weak visible-light photon energy to acquire rapid motion are significant *** review summarizes the most critical aspects,involving photoactive materials,propulsion mechanisms,control methods,and applications of VLD-MNMs,and discusses strategies to systematically enhance the energyharvesting efficiency and *** first,the photoactive materials have been divided into inorganic and organic photoactive materials and comprehensively ***,different propulsion mechanisms of the current VLD-MNMs are presented to explain the improvement in the actuation force,speed,and environmental *** addition,considering the characteristics of easy control of VLD-MNMs,we summarized the direction,speed,and cluster control methods of VLD-MNMs for different application ***,the potential applications of VLD-MNMs,e.g.,in environmental remediation,micropumps,cargo delivery,and sensing in microscale,are ***,discussions and suggestions for future directions to enhance the energy-harvesting efficiency and adaptation of VLD-MNMs are provided.

关键词： visible harvesting utilize

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Semantic Assisted LiDAR Odometry with Loop Closure in Large Scale Urban Environment

Semantic Assisted LiDAR Odometry with Loop Closure in Large ...

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International Conference on systems and Informatics (ICSAI)

作者： Jiaye Lin Yanjie Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781665474498

Compared to the vision-based approach, LiDAR-based SLAM has shown a great advantage in depicting geometric characteristics but still suffers from accumulated localization errors during long-term operation in large-scale scenarios. Introducing semantic information to the current system helps to discover higher-level features and establish a stronger association of features in different frames. In this paper, we utilize semantic information to present an integral LiDAR odometry that combines adaptive downsampling feature with label-specified registration to boost the performance of odometry estimation, together with Scan Context as the loop closure module to constrain the amplification of cumulative errors. Experiments are conducted based on the well-known KITTI dataset, which reveals that the proposed framework achieves higher accuracy with an average RTE of 0.97% in real-time and shows great robustness toward various scenarios.

关键词： Location awareness Technological innovation Laser radar Simultaneous localization and mapping Motion estimation Semantics Urban areas

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Effect of flapping mode on aerodynamic characteristics of bat-like flapping-wing aerial vehicle

Effect of flapping mode on aerodynamic characteristics of ba...

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IEEE International Conference on robotics and Biomimetics

作者： Bosong Duan Tianyou Mao Kening Gong Chuangqiang Guo Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781665481106

In this paper, three reciprocating flapping modes of bats are analyzed and studied. According to the flapping structure of bat-like flapping-wing aerial vehicle(FAV), the structural modes corresponding to the three reciprocating flapping modes are established, that is, the symmetric flapping mode(S), the asymmetric flapping mode with the upward flapping angle greater than the downward flapping angle(UR) and the asymmetric flapping mode with the downward flapping angle greater than the upward flapping angle(U). The influence of the three flapping modes on the structural strength is verified by theoretical calculation. The fluid-structure interaction simulation(FSI) is used to verify the influence of three flapping modes on aerodynamic characteristics. Finally, the advantages and disadvantages of three patting methods are compared and analyzed, it is concluded that under the same motion and flow field conditions, the pitching moment and thrust of UR are the smallest, and the lift is the largest, which is suitable for slow and stable flight; U has the largest thrust and pitching moment, and the smallest lift, which is conducive to rapid flight; The pitching moment, thrust and lift of S are moderate, and the performance is balanced, which is suitable for conventional flight. This study is helpful for the structural design of bat-like FAV.

关键词： Biomimetics Aerodynamics Stability analysis Structural engineering Robots

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6D Grasp Pose Detection in Cluttered Environment from a Single-view

6D Grasp Pose Detection in Cluttered Environment from a Sing...

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IEEE International Conference on robotics and Biomimetics

作者： Enbo Li Yili Fu Haibo Feng Zhejiang Laboratory Intelligent Robot Research Center Hangzhou China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Robot grasping has always been a hot topic in the research field, but there are still a lot of problems to be solved. In this paper, we propose a general grasping method for the unknown objects in cluttered environment from a single-view. Our method is divided into three steps: sampling points selection, grasping pose sampling and grasping pose evaluation. Firstly, we generate a pixel-wise probability image based on the trained sampling affordance network from RGB images, and map the points with high probability to the 3D point cloud combined with the depth map. Then, we obtaine the candidate grasps by sampling on the proposal points, and finally we evaluate the candidate grasps through the trained grasp evaluation network. The network can capture the geometric structure represented by the point cloud information. The proposed method directly uses the original sensor data and can increases the sampling success rate.

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A reusable SMA actuated non-explosive lockrelease mechanism for space application

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International Journal of Smart and Nano Materials 2020年第1期11卷 65-77页

作者： Xueting Pan Yuliang Zhang Yifan Lu Fei Yang Honghao Yue State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbinChina Beijing Spacecraft BeijingChina

After the satellite is launched with the carrier rocket,it is necessary to separate the satellite from the rocket at an appropriate time to ensure that the satellite enters the intended *** this process,it is vital to ensure a reliable connection and accurate *** the increasing use of microsatellite in orbit,the contradiction between the shock of separation and the requirement of the platform’s dynamic environment is becoming increasingly ***,the traditional pyrotechnic separation device can no longer meet the *** paper presents a reusable non-explosive release actuator using shape memory alloy(SMA)wire for high load and low *** system is based on the Fast Acting Shock-less Separation Nut(FASSN)*** the shape memory effect of SMA,a biased SMA wire trigger has been developed,which is used as the driver source of the *** the moment of receiving the electrical signal,the SMA wire generates stress and *** trigger set free the constraints on the mechanical components,and the target is *** results indicate that the trigger device can unlock successfully and well meet the technical objectives.

关键词： SMA actuator non-explosive lock-release space application

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SSRN

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SSRN 2024年

作者： Gao, Mingyu Song, Peng Liang, Zhipeng Huo, Liang Gao, Yulong Yang, Guohui Xie, Yunji Song, Yinghao Wang, Fei Liu, Junyan School of Mechatronics Engineering Harbin Institute of Technology Harbin150001 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China The 41st Institute of the Sixth Academy of CASIC Hohhot010010 China School of Electronics and Information Engineering Harbin Institute of Technology Harbin150001 China

This paper proposes a microwave defect characterization algorithm based on Convolutional Neural Networks (CNN). A defect dataset derived from reflection microwave signals, was manually compiled by detecting samples with critical defects. The CNN framework was utilized for precise classification of microwave signals, employing a classification encoding strategy to extract two-dimensional defect information and achieve automatic localization and imaging of defects. Multiple deep learning models were compared in both simulations and experiments, revealing that the proposed CNN exhibited significant advantages in feature extraction, enabling highly effective identification of internal defects even with a limited dataset. Compared with traditional algorithms, the detection accuracy of the proposed 1D-SENet has been improved by 53.35% and 50.66%, respectively, and can achieve detection of defects with a minimum size of Φ6mm. These validate the effectiveness of algorithm in intelligent and automated microwave characterization of delamination defects within composite materials. © 2024, The Authors. All rights reserved.

关键词： Composite materials

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Collaborative Mission Planning for UAV Swarms Launched from Aerial Carriers

Collaborative Mission Planning for UAV Swarms Launched from...

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International Conference on Guidance, Navigation and Control, ICGNC 2024

作者： Yuan, Mingzhou Dong, Bo Yao, Weiran School of Astronautics Harbin Institute of Technology Harbin150001 China National Key Laboratory of Complex System Control and Intelligent Agent Cooperation Beijing100074 China Beijing100043 China

ISBN: (纸本)9789819622115

This paper takes the aerial carriers to launch UAV swarms as the background, aims to minimize the total flight distance of the UAV swarms, and proposes a clustering-launching-planning solution framework. Aiming at the scenario where UAVs adopt Dubins curve trajectories, a Dubins-KMeans clustering algorithm based on the Dubins curve length as the similarity measure is proposed. To ensure the shortest distance for air carriers to traverse each cluster, a two-part genetic algorithm is used to solve this MTSP problem and find the optimal order for air carriers to traverse each cluster. Ultimately, the energy efficiency of the entire unmanned system is optimized. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Genetic algorithms

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