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IEEE International Conference on robotics and Biomimetics

作者： Jian Chen Xiaodong Wen Hao Wang Wei Gong Zongquan Deng Haitao Yu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Tianjin Key Laboratory of Aerospace Intelligent Equipment Technology Tianjin Institute of Aerospace Mechanical and Electrical Equipment Tianjin China

ISBN: (纸本)9781665481106

Modular robots are gaining increasing attention in space services. The docking mechanism plays a critical role in performing self-healing and self-reconfiguration of modular robots. It is beneficial for the docking mechanism to operate with high efficiency, homogeneity and high misalignment tolerances. To meet these requirements, this paper presents a novel genderless docking mechanism. The construction of the docking mechanism is designed with features of passive locking and single-sided electromagnetic unlocking. To demonstrate the advantages of passive locking, the working processes of the axial and circumferential locking mechanisms are described in detail. Based on theoretical calculations and simulations, it is shown that the docking mechanism can provide fast connections or disconnections with a degree of translational and angular misalignment tolerances. This docking mechanism is intended for future applications in modular space robots or unstructured environment exploration robots.

关键词： Energy consumption Biomimetics Biological system modeling Electromagnetics Robots Optimization

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CDM-MPC: An Integrated Dynamic Planning and Control Framework for Bipedal Robots Jumping

arXiv

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arXiv 2024年

作者： He, Zhicheng Wu, Jiayang Zhang, Jingwen Zhang, Shibowen Shi, Yapeng Liu, Hangxin Sun, Lining Su, Yao Leng, Xiaokun Department of Computer Science Harbin Institute of Technology Harbin150001 China Beijing100080 China School of Mechatronics Engineering Harbin Institute of Technology Harbin150080 China Jiangsu Provincial Key Laboratory of Advanced Robotics School of Mechanical and Electric Engineering Soochow University Suzhou215000 China

Performing acrobatic maneuvers like dynamic jumping in bipedal robots presents significant challenges in terms of actuation, motion planning, and control. Traditional approaches to these tasks often simplify dynamics to enhance computational efficiency, potentially overlooking critical factors such as the control of centroidal angular momentum (CAM) and the variability of centroidal composite rigid body inertia (CCRBI). This paper introduces a novel integrated dynamic planning and control framework, termed centroidal dynamics model-based model predictive control (CDM-MPC), designed for robust jumping control that fully considers centroidal momentum and non-constant CCRBI. The framework comprises an optimization-based kinodynamic motion planner and an MPC controller for real-time trajectory tracking and replanning. Additionally, a centroidal momentum-based inverse kinematics (IK) solver and a landing heuristic controller are developed to ensure stability during high-impact landings. The efficacy of the CDM-MPC framework is validated through extensive testing on the full-sized humanoid robot KUAVO in both simulations and experiments. Copyright © 2024, The Authors. All rights reserved.

关键词： Model predictive control

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Emerging material platforms for integrated microcavity photonics

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Science China(Physics,Mechanics & Astronomy) 2022年第10期65卷 10-28页

作者： Jin Liu Fang Bo Lin Chang Chun-Hua Dong Xin Ou Blake Regan Xiaoqin Shen Qinghai Song Baicheng Yao Wenfu Zhang Chang-Ling Zou Yun-Feng Xiao State Key Laboratory of Optoelectronic Materials and Technologies School of PhysicsSun Yat-sen UniversityGuangzhou 510000China MOE Key Laboratory of Weak-Light Nonlinear Photonics TEDA Institute of Applied Physics and School of PhysicsNankai UniversityTianjin 300071China State Key Laboratory of Advanced Optical Communications System and Networks School of ElectronicsPeking UniversityBeijing 100871China CAS Key Lab of Quantum Information University of Science and Technology of ChinaHefei 230026China State Key Laboratory of Functional Material for Informatics Shanghai Institute of Microsystem and Information TechnologyChinese Academy of SciencesShanghai 200050China School of Mathematical and Physical Sciences University of Technology SydneyUltimo 2007Australia School of Physical Science and Technology ShanghaiTech UniversityShanghai 201210China Ministry of Industry and Information Technology Key Lab of Micro-Nano Optoelectronic Information System Harbin Institute of TechnologyShenzhen 518055China Key Laboratory of Optical Fiber Sensing and Communications(Ministry of Education) University of Electronic Science and Technology of ChinaChengdu 611731China State Key Laboratory of Transient Optics and Photonics Xi’an Institute of Optics and Precision MechanicsChinese Academy of SciencesXi’an 710119China State Key Laboratory for Mesoscopic Physics and Frontiers Science Center for Nano-optoelectronics School of PhysicsPeking UniversityBeijing 100871China

Many breakthroughs in technologies are closely associated with the deep understanding and development of new material *** the main material used in microelectronics,Si also plays a leading role in the development of integrated *** indirect bandgap,absence ofχ(2)nonlinearity and the parasitic nonlinear absorptions at the telecom band of Si imposed technological bottlenecks for further improving the performances and expanding the functionalities of Si microcavities in which the circulating light intensity is dramatically *** past two decades have witnessed the burgeoning of the novel material platforms that are compatible with the complementary metal-oxide-semiconductor(COMS)*** particular,the unprecedented optical properties of the emerging materials in the thin film form have resulted in revolutionary progress in microcavity *** this review article,we summarize the recently developed material platforms for integrated photonics with the focus on chip-scale microcavity *** material characteristics,fabrication processes and device applications have been thoroughly discussed for the most widely used new material *** also discuss open challenges and opportunities in microcavity photonics,such as heterogeneous integrated devices,and provide an outlook for the future development of integrated microcavities.

关键词： microcavity integrated optics nonlinear optics

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Fast Pose Estimation Method for Stacked Bolts

Fast Pose Estimation Method for Stacked Bolts

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Computer Vision, Image and Deep Learning (CVIDL), International Conference on

作者： Bo Yuan Dong Yin Yuling Li Xudong Hou Mingfei Zhang Lezheng Yu Lijun Zhao State Grid Shandong Electric Power Company Liaocheng Power Supply Company Liaocheng China State Grid Shandong Electric Power Company Jinan China State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China

ISBN: (数字)9798350373820

ISBN: (纸本)9798350373837

This paper introduces a two-stage method for the pose estimation of bolts in complex stacked scenarios. The proposed approach is based on the open-source FPCC network and employs a custom dataset of stacked bolts, designed following the IPA stacked dataset generation methodology. To highlight the distinct features of bolts, we have adjusted the local coordinate system from the geometric center to the head of the hexagonal sections. During the instance generation phase of the fast clustering algorithm, we utilize DBSCAN and Mean-Shift techniques to refine the results of instance segmentation. Subsequently, SAC-IA and ICP are integrated for pose estimation, facilitating the alignment of the point cloud around the hexagonal bolt head. Our method enhances the speed of pose estimation while maintaining precision in stacked bolt scenarios.

关键词： Instance segmentation Point cloud compression Deep learning Head Three-dimensional displays Pose estimation Poles and towers

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Analysis of a landfill cover without geomembrane using varied particle sizes of recycled concrete

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Journal of Rock Mechanics and Geotechnical Engineering 2023年第5期15卷 1263-1273页

作者： Charles Wang Wai Ng Cheuk Lam Ng Junjun Ni Haowen Guo Qi Zhang Qiang Xue Rui Chen Department of Civil and Environmental Engineering Hong Kong University of Science and TechnologyHong KongChina School of Transportation Southeast UniversityNanjingChina State Key Laboratory of Geomechanics and Geotechnical Engineering Institute of Rock and Soil MechanicsChinese Academy of SciencesWuhan430071China Department of Civil and Environmental Engineering Shenzhen Graduate SchoolHarbin Institute of TechnologyShenzhenChina

Previous studies have demonstrated the effectiveness of a novel three-layer landfill cover system constructed with recycled concrete aggregates(RCAs)without geomembrane in both laboratory and ***,no systematic investigation has been carried out to optimize the combination of the particle sizes for fine-grained RCAs(FRC)and coarse-grained RCAs(CRC)that can be used for the three-layer landfill cover *** aim of this paper is to assist engineers in designing the three-layer landfill cover system under a rainfall of 100-year return period in humid climate conditions using an easily controlled soil parameter D10 of *** numerical study reveals that when D10 of FRC increases from 0.05 mm to 0.16 mm,its saturated permeability increases by 10 *** a result,a larger amount of rainwater infiltrates into the cover system,causing a higher lateral diversion in both the top FRC and middle CRC *** further changes in the lateral diversion are observed when the D10 value of FRC is larger than 0.16 *** the particle sizes of FRC and CRC layers are shown to have a minor influence on the percolation under the extreme rainfall *** implies that the selection of particle sizes for the FRC and CRC layers can be based on the availability of *** it is well known that the bottom layer of the cover system should be constructed with very fine-grained soils if possible,this study provides an upper limit to the particle size that can be used in the bottom layer(D10 not larger than 0.02 mm).With this limit,the three-layer system can still minimize the water percolation to meet the design criterion(30 mm/yr)even under a 100-year return period of rainfall in humid climates.

关键词： Capillary barrier Landfill cover Particle size Recycled concrete

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Transcriptomic analysis of Andrias davidianus meat and experimental validation for exploring its bioactive components as functional foods

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Food Science and Human Wellness 2024年第1期13卷 166-172页

作者： Changge Guan Zhenglin Tan Shucheng Li Yi Wang Naoyuki Yamamoto Chong Zhang Songjun Wang Junjie Chen Xinhui Xing Key Laboratory for Industrial Biocatalysis Ministry of Education of ChinaDepartment of Chemical EngineeringTsinghua UniversityBeijing 100084China School of Life Science and Technology Tokyo Institute of TechnologyYokohama 226-0026Japan Sensing System Research Center National Institute of Advanced Industrial Science and TechnologyTsukuba 305-8565Japan Center for Synthetic and Systems Biology Tsinghua UniversityBeijing 100084China Henan Giant Salamander Protection and Development Association Luoyang 471000China Intelligent Computing Research Center Harbin Institute of TechnologyShenzhen 518071China Institute of Biopharmaceutical and Health Engineering Tsinghua Shenzhen International Graduate SchoolShenzhen 518055China Institute of Biomedical Health Technology and Engineering Shenzhen Bay LaboratoryShenzhen 518067China

Andrias davidianus(Chinese giant salamander,CGS)is the largest and oldest extant amphibian species in the world and is a source of prospective functional food in ***,the progress of functional peptides mining was slow due to lack of reference genome and protein sequence *** this study,we illustrated full-length transcriptome sequencing to interpret the proteome of CGS meat and obtain 10703 coding DNA *** functional annotation and amino acid composition analysis,we have discovered various genes related to signal transduction,and 16 genes related to *** have also found vast variety of functional peptides through protein coding sequence(CDS)analysis by comparing the data obtained with the functional peptide ***-Pro-Ile predicted by the CDS analysis was released from the CGS meat through enzymatic hydrolysis,suggesting that our approach is *** study suggested that transcriptomic analysis can be used as a reference to guide polypeptide mining in CGS meat,thereby providing a powerful mining strategy for the bioresources with unknown genomic and proteomic sequences.

关键词： Chinese giant salamander Transcriptomic analysis Bioactive components Functional peptides mining

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Multisensory Measurement Synchronization and Industrial Robot Trajectory Error Compensation Based on Laser Tracker and Photoelectric Switch

引用

IEEE Transactions on Instrumentation and Measurement 2025年 74卷

作者： Chengzhi Wang Sikai Zhao Tian Xu Tianjiao Zheng Shize Zhao Ziyuan Yang Hegao Cai Jie Zhao Yanhe Zhu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

This article presents a multisensory measurement synchronization approach that combines a laser tracker and multiple photoelectric switches, which easily embed laser tracker into robotic machining systems to achieve high-accuracy error compensation and trajectory tracking. Previous composite error compensation systems rely on limited interfaces provided by equipment producers and require careful temporal logic arrangement, making the whole system complicated and task-specific. The proposed method utilizes portable photoelectric switches that work as an intermediary between the robot system and the laser tracker system to match the corresponding data from both sides. The switches could be mounted anywhere along the robot task trajectories, and a critic trigger adjustment is designed to effectively determine the trigger position. Various types of trajectory are executed and measured to validate the effectiveness and robustness of the proposed method, and subsequent error compensation experiments demonstrate a significant improvement in robot accuracy.

关键词： Robots Trajectory Robot kinematics Measurement by laser beam Measurement uncertainty Service robots Error compensation Synchronization Accuracy Switches

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Learning-Based Passive Fault-Tolerant Control of a Quadrotor with Rotor Failure

arXiv

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arXiv 2025年

作者： Chen, Jiehao Zhao, Kaidong Liu, Zihan Li, YanJie Lou, Yunjiang Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics School of Inteligence Science and Engineering The Harbin Institute of Technology Shenzhen518055 China

This paper proposes a learning-based passive fault-tolerant control (PFTC) method for quadrotor capable of handling arbitrary single-rotor failures, including conditions ranging from fault-free to complete rotor failure, without requiring any rotor fault information or controller switching. Unlike existing methods that treat rotor faults as disturbances and rely on a single controller for multiple fault scenarios, our approach introduces a novel Selector-Controller network structure. This architecture integrates fault detection module and the controller into a unified policy network, effectively combining the adaptability to multiple fault scenarios of PFTC with the superior control performance of active fault-tolerant control (AFTC). To optimize performance, the policy network is trained using a hybrid framework that synergizes reinforcement learning (RL), behavior cloning (BC), and supervised learning with fault information. Extensive simulations and real-world experiments validate the proposed method, demonstrating significant improvements in fault response speed and position tracking performance compared to state-of-the-art PFTC and AFTC approaches. Video and code will be available at https://***/HITSZcjh/uav_ftc. © 2025, CC BY-NC-ND.

关键词： Reinforcement learning

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A Microgravity Simulation Experimental Platform For Small Space Robots In Orbit

arXiv

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arXiv 2025年

作者： Luo, Hang Zhou, Nanlin Zhang, Haoxiang Han, Kai Zhao, Ning Yang, Zhiyuan Qi, Jian Zhao, Sikai Zhao, Jie Zhu, Yanhe State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

This study describes the development and validation of a novel microgravity experimental platform that is mainly applied to small robots such as modular self-reconfigurable robots. This platform mainly consists of an air supply system, a microporous platform and glass. By supplying air to the microporous platform to form an air film, the influence of the weight of the air foot and the ventilation hose of traditional air-float platforms on microgravity experiments is solved. The contribution of this work is to provide a platform with less external interference for microgravity simulation experiments on small robots. Copyright © 2025, The Authors. All rights reserved.

关键词： Microgravity processing

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Palm Vein Imaging Enhancement in Highly Reflective Hand Scenarios 8

Palm Vein Imaging Enhancement in Highly Reflective Hand Scen...

引用

8th International Conference on Image, Vision and Computing, ICIVC 2023

作者： Sun, Shiyou Wang, Zheng'Ao Chen, Fanglin Xia, Kai Shenzhen Tencent Computer System Co. Ltd. WeChat Pay Lab 33 Shenzhen China Harbin Institute of Technology Guangdong Provincial Key Laboratory of Novel Security Intelligence Technologies Shenzhen China

ISBN: (纸本)9798350335231

Palm vein recognition is an emerging biometric recognition technology that has received significant attention in recent years. However, we have discovered that in some challenging scenarios, such as wet or bright hands, the collected palm vein images are seriously reflective, which affects the recognition of palm veins. Rather than proposing a high-complexity suppression algorithm, in this paper, we (WeChat Pay Lab 33) present a palmprint collection system based on infrared polarization imaging for reflection suppression and palm vein imaging enhancement. The system's core concept involves using two polarizers to suppress surface reflections. Specifically, the first polarizer converts the emitted infrared light into linearly polarized light. The second polarizer filters out reflected light that is not in the correct direction. Furthermore, we conduct extensive experiments to explore the effects of the number and angle of polarizers on suppression and verify the effectiveness of this system in multiple scenarios. © 2023 IEEE.

关键词： Image enhancement

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