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Micro and Nanotechnology for Power Generation and Energy Conversion Applications (PowerMEMS)

作者： Yunfei Li Manjuan Huang Tianyi Tang Heng Zhao Lining Sun Huicong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology (HIT) CHINA School of Mechanical and Electric Engineering Jiangsu Provincial Key Laboratory of Advanced Robotics Soochow University CHINA

ISBN: (数字)9798350380200

ISBN: (纸本)9798350380217

This paper presents a non-contact magnetic frequency-boosting wind energy harvester suitable for low wind speed environments, designed to power various IoT sensors. The device comprises a driving component, a driven component, and a stator component. These components work together to convert low-speed rotational motion caused by wind into high-speed rotational motion, thereby achieving high-power electromagnetic energy output. Performance tests have shown that the output voltage increases with wind speed, reaching a peak voltage of 27V and a peak power of 1.6W at a wind speed of 10 m/s. The device has successfully powered LED bulbs and Bluetooth sensors, demonstrating its practicality for real-time environmental monitoring applications.

关键词： Temperature sensors Wind energy Wind speed Magnetic sensors Voltage Stators Sensor systems Environmental monitoring Electromagnetics Power generation

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Multi-Robot Collaborative Identification and Trajectory Optimization for Fine Operation of Uncertain Objects

SSRN

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SSRN 2024年

作者： Cheng, Tianhong Xu, Wenfu Yan, Lei The School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen518055 China Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robots Shenzhen518055 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

Multi-robot systems offer many advantages over single robots such as flexible operation, high efficiency, and large payload, making it highly promising for applications in large equipment assembly, complex part manufacturing, and maintenance. However, uncertainties in the shape, size, mass, and inertia of manipulated objects, coupled with spatial constraints in multi-robot collaborative operations, pose significant challenges. To address the above issues, this paper proposes a multi-robot collaborative identification and trajectory optimization framework for fine operation of uncertain object. First, the compound multi-robot and object system is modelled. Then a power identification method is presented by introducing the motor model. Regarding the uncertainties related to manipulated objects, a novel momentum observer is designed, which enables the identification of physical properties of the object manipulated by the multi-robot system such as its mass, inertia, and the position of center of mass. Subsequently, for multi-robot collaborative operations, the paper explores collaborative trajectory optimization methods across various levels, including initial scene design, path allocation, and energy-efficient trajectory optimization. Several typical simulations and collaborative polishing experiment validate the effectiveness of the proposed method. © 2024, The Authors. All rights reserved.

关键词： Multipurpose robots

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A deep convolutional neural network for diabetic retinopathy detection via mining local and long-range dependence

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CAAI Transactions on Intelligence technology 2024年第1期9卷 153-166页

作者： Xiaoling Luo Wei Wang Yong Xu Zhihui Lai Xiaopeng Jin Bob Zhang David Zhang Shenzhen Key Laboratory of Visual Object Detection and Recognition Harbin Institute of TechnologyShenzhenChina Peng Cheng Laboratory ShenzhenChina Shenzhen Institute of Artificial Intelligence and Robotics for Society ShenzhenChina College of Big Data and Internet Shenzhen Technology UniversityShenzhenChina The Department of Computer and Information Science University of MacaoMacaoMacaoChina The Chinese University of Hong Kong(Shenzhen) ShenzhenChina

Diabetic retinopathy(DR),the main cause of irreversible blindness,is one of the most common complications of *** present,deep convolutional neural networks have achieved promising performance in automatic DR detection *** convolution operation of methods is a local cross-correlation operation,whose receptive field de-termines the size of the local neighbourhood for ***,for retinal fundus photographs,there is not only the local information but also long-distance dependence between the lesion features(*** and exudates)scattered throughout the whole *** proposed method incorporates correlations between long-range patches into the deep learning framework to improve DR ***-wise re-lationships are used to enhance the local patch features since lesions of DR usually appear as *** Long-Range unit in the proposed network with a residual structure can be flexibly embedded into other trained *** experimental results demon-strate that the proposed approach can achieve higher accuracy than existing state-of-the-art models on Messidor and EyePACS datasets.

关键词： image classification medical image processing pattern recognition

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An adaptive Kalman filter for physiological tremor suppression in robot-assisted minimally invasive surgery

An adaptive Kalman filter for physiological tremor suppressi...

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IEEE International Conference on robotics and Biomimetics

作者： Daolong Yang Li Jiang Kun Xu Robotics Institute of School of Mechanical Engineering and Automation Beihang University (BUAA) Beijing China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Physiological tremors of surgeons’ hands bring vibration to the tip of surgical instruments, which may severely damage the accuracy of surgical procedures and even put patients’ lives at risk. Thus robot-assisted surgery using a teleoperation system was introduced to solve this problem. Many filter algorithms were implemented into the robot-assisted surgery system to suppress the inevitable tremors, but always overlooking the traits of hand motion. An innovation/residual-based floating forgetting-factor adaptive Kalman filter (IFFAKF) is proposed to address this problem. A floating forgetting-factor is brought into the innovation/residual-based adaptive estimation algorithm to adjust the process noise covariance (Q) and measurement noise covariance (R) of the system, thus generating estimation of voluntary hand movement and suppressing the vibration at the tip of the surgical instrument caused by the physiological tremor during surgeries. The proposed filter has been contrasted with various filters in simulations and experiments. The results confirm that the proposed filter has obvious advantages in terms of time delay, estimation error, and tremor suppression performance.

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Ti-diffused KTN waveguide enabling intensity modulation based on the quadratic electro-optic effect

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Optics Express 2025年第11期33卷 23269-23279页

作者： Wang, Tao Wang, Yu Tan, Peng Xing, Bohan Li, Zhenghao Liu, Mingxuan Zhu, Ziyao Tian, Hao School of Physics Harbin Institute of Technology Harbin150001 China Heilongjiang Provincial Key Laboratory of Advanced Quantum Functional Materials and Sensor devices Harbin150001 China Key Laboratory of Micro-Nano Optoelectronic Information System Ministry of Industry and Information Technology Harbin150001 China

Optical waveguides are fundamental components in integrated optics, enabling the confinement of light beams at micron and nanometer scales. The performance of electro-optic materials is the key to realizing waveguide-based modulation devices. Potassium tantalate niobate (KTN) crystals exhibit exceptional quadratic electro-optic effects, making them highly promising for applications in optical waveguides and electro-optic modulators. This study explored a novel, to our knowledge, optical waveguide leveraging the quadratic electro-optic effect of KTN crystals. Buried waveguides with a width of 10 µm were fabricated in KTN crystals using the titanium ion diffusion method. The impact of ion diffusion on the crystal structure of KTN was analyzed using confocal Raman spectroscopy. Based on the optical waveguide, an intensity modulator with a single waveguide and an extinction ratio of 14.2 dB at 1550 nm was developed. The modulator’s different modulation functions were evaluated without and with an applied bias voltage. This research offers valuable insights for the design and production of low-driving, efficient electro-optic modulation devices in integrated optics. © 2025 Optica Publishing Group under the terms of the Optica Open Access Publishing Agreement.

关键词： Integrated optics

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Research on Low-Force Cutting Load Characteristics for Lunar Rock Simulant

Research on Low-Force Cutting Load Characteristics for Lunar...

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2021 International Conference on Computer Graphics, Artificial Intelligence, and Data Processing, ICCAID 2021

作者： Wang, Yizhuo Li, Peng Xu, Bo Liu, Junwei Mechanical Engineering College Beihua University Jilin132022 China Mechanical Engineering College Yanshan University Qinhuangdao066004 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

ISBN: (数字)9781510652170

ISBN: (纸本)9781510652163

In the whole lunar regolith drilling and sampling task, It is critical to make the operation of the drilling and sampling system efficient and reliable. In view of the high efficiency drilling requirements of lunar rock under low-force conditions, it is necessary to study the mechanical properties of an elemental blade and lunar rock. Firstly, a test platform is developed to test the low-force cutting load characteristics for the lunar rock simulant according to the requirements of the cutting load characteristics test function. Then, the linear cutting load and impact crushing load characteristics for the lunar rock simulant are tested and verified respectively. It is finally found that the cutting load of the lunar rock simulant can be reduced by increasing the cutting edge rake angle and side rake angle and improving the percussive frequency. This provides a certain reference for setting the operating parameters of lunar rock core drilling tools to achieve high performance drilling under low-force conditions. © 2022 SPIE.

关键词： Rocks

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Visual Servo Stabilization of Nonholonomic Mobile Robot Based on Epipolar Geometry and 1D Trifocal Tensor

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Chinese Journal of Electronics 2023年第4期22卷 729-734页

作者： CAO Zhengcai YIN Longjie FU Yili ZHANG Jie College of Information Science and Technology Beijing University of Chemical Technology Beijing China The State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China

In this paper, a visual servo stabilization approach consisting in a dynamic switching control law for a nonholonomic mobile robot is presented, which applies the epipolar geometry and the 1D trifocal tensor to drive the robot to a desired configuration. The whole motion process is divided into three steps. Firstly, an epipole-based control law is designed to make the robot rotate in place until the camera points to the desired position. The 1D trifocal tensor is then used in the second translation step to reach the desired place. Finally, the desired configuration is reached through a pure rotation using the epipolar geometry. The stability of the proposed control system is proved based on linear system control theory and Lyapunov theory. Simulation results are given to illustrate the effectiveness of the proposed controller.

关键词： Geometry Linear systems Visualization Tensors Simulation Switches Control systems

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Electrochemical behavior and corrosion rate prediction study of alloy 690

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International Journal of Advanced Nuclear Reactor Design and technology 2022年第4期4卷 171-176页

作者： Wang, Weibing Zhou, Ying Liang, Bo Wang, Bo Zhang, Meng Tan, Sichao Heilongjiang Provincial Key Laboratory of Nuclear Power System & Equipment Harbin Engineering University Harbin150001 China College of Nuclear Science and Technology Harbin Engineering University Harbin150001 China CHN Energy Institute of Coal Chemical Industry Technology Ningxia Coal Industry Co. Ltd Ning Xia 750000 China

Alloy 690 is a material commonly used in heat transfer tubes of steam generators (SGTs). The electrochemical corrosion behavior in different volumes (V) of NaCl–Na2S2O3 solution for different surface roughness (Ra) of alloy 690 was studied, and a BPNN model for predicting electrochemical corrosion parameters of alloy 690 was established (CP and CCD). The results show that Ra on the surface of alloy 690 destroys the passivation film and changes the oxygen vacancies in the passivation film, so that Cl− is more easily attached to the passivation film. Finally, accelerated electrochemical reactions on the surface of SGTs. When the solution is Na2S2O3, with the increase of Ra on the metal surface (0.0977≤ Ra ≤ 1.1661), the corrosion potential gradually decreases. BPNN can accurately predict the electrochemical corrosion rate of alloy 690 under different conditions, and the relative error is less than 10%. In this paper, an artificial intelligence model is established for the first time to predict the relationship between Ra and electrochemical corrosion, and the conclusion can be used to schedule the maintenance process of the SG, thereby reducing the risk of structural failure and maintenance costs. © 2022 Xi'an Jiaotong University

关键词： Steam generators

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Hydraulic fluctuations during the pump power-off runaway transient process of a pump turbine with consideration of cavitation effects

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Journal of Hydrodynamics 2021年第6期33卷 1162-1175页

作者： Xiao-long Fu De-you Li Hong-jie Wang Yong-guang Cheng Xian-zhu Wei State Key Laboratory of Water Resources and Hydropower Engineering Science Wuhan UniversityWuhan 430072China School of Energy Science and Engineering Harbin Institute of TechnologyHarbin 150001China State Key Laboratory of Hydro-Power Equipment Harbin Institute of Large Electrical Machinery Harbin 150001China

A runaway transition after the pump power interruption and the simultaneous guide vane servomotor failure is one of the most dangerous and complex transitions for a pumped storage power system(PSPS).This paper analyzes the fluctuation behavior and mechanism of a PSPS during a runaway transition caused by the pump power *** transient cavitation flow in the PSPS is simulated by using a one-dimensional and three-dimensional coupling flow simulation method for the runaway ***,the effects of the transient fluctuation of the radial hydraulic thrust on the runner and transient pressures are analyzed using the short-time Fourier transform ***,the mechanisms are analyzed based on the analysis of the internal flow *** study suggests that the extreme fluctuation generally occurs near the critical transformation points between the two operation *** addition,the extreme fluctuation behavior is primarily related to the local backflow near the runner inlet and the unstable cavitation phenomena in the runner and the draft *** finding helps for optimizing the runner design to resolve the instability problems of a PSPS.

关键词： Pumped storage power system pump power-off runaway transient fluctuation behavior local backflow cavitation

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Modeling of the Constant-Current Stimuli Response of a Bio-Robot for Long-Term Motion Control

Modeling of the Constant-Current Stimuli Response of a Bio-R...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Zhou, Jie Fang, Yuan Chen, Yang Li, Yao Li, Bing Key University Laboratory of Mechanism & Machine Theory and Intelligent Unmanned Systems of Guangdong School of Mechanical Engineering and Automation Harbin Institute of Technology Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Shenzhen518055 China

ISBN: (纸本)9781665481090

Bio-robots continue to receive attention because of their small size and low power consumption. Unfortunately, it currently faces two major obstacles before practical application. The first is the habituation issue, insects are difficult to be effectively controlled for a long time by electrical stimuli signals. The other one is the lack of model for motion control. In this research, we established a stimuli-response model for cockroach bio-robot based on long time current. A more convenient optic lobe implantation method has been proposed, which has lower attenuation and better stimuli effect. Constant electrical stimuli also significantly increased the number of effective controls for crawling. A cockroach bio-robot stimuli distance response model was established and validated with experiment data. Five parameters were including in this model, namely sex, length, weight, current amplitude and equivalent stiumated-number. This model can predict the movement distance of biological robots well. © 2024 IEEE.

关键词： Microrobots

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