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Evolution Design Methodology of the Metamorphic Mechanisms Inspired by Gene Deduction

Journal of Mechanical Design 2025年第8期147卷 083302页

作者： Zhang, Yang Xu, Peng Li, Bing Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robots Key University Laboratory of Mechanism & Machine Theory and Intelligent Unmanned Systems of Guangdong School of Robotics and Advanced Manufacture Harbin Institute of Technology Shenzhen 518052 China

This article proposes an evolutionary design method for metamorphic mechanisms inspired by gene deduction. First, the correlations between biological evolution and mechanical evolution, biological systems and mechanical systems, and genes and mechanisms are revealed. There are many similarities between biology and mechanism. Biological principles can be applied to the study and design of the mechanisms to adapt well to tasks and environments. The correlation between genetic operation and mechanical design is developed. The selection operator, recombination operator, and mutation operator of the mechanisms are deduced by inspiring genes. To verify the rationality of these operators, they are used to construct 5R (revolute joints) overconstrained closed-loop linkage, 6R metamorphic closed-loop linkage, 7R deployable closed-loop linkage, and 2RP (prismatic joint) RR metamorphic parallel mechanism (MPM). The mobilities of these mechanisms are analyzed via the atlas method. Finally, the evolutionary design method of MPMs is introduced and used to design the mechanisms with 2R1T (two rotation one translation) and 1R2T modes, which verify the effectiveness of the method. The proposed evolutionary design method provides a new theoretical tool for the design of metamorphic single-loop and parallel mechanisms.

关键词： bio-inspired design Chain Design methodology evolution design Design Parallel mechanisms Kinematics metamorphic mechanisms single-loop/parallel mechanisms Kinematic chains gene deduction atlas method Biology Bifurcation

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Fluid pumping by liquid metal droplet utilizing ac electric field

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Physical Review E 2022年第2期105卷 025102-025102页

作者： Chun-Lei Song Ye Tao Wei-Yu Liu Yi-Cheng Chen Rui Xue Tian-Yi Jiang Biao Li Hong-Yuan Jiang Yu-Kun Ren State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China School of Engineering and Applied Sciences and Department of Physics Harvard University Cambridge Massachusetts 02138 USA School of Electronics and Control Engineering Chang'an University Xi'an 710000 China School of Energy Science and Engineering Harbin Institute of Technology Harbin 150001 China School of Mechatronics Engineering Harbin Institute of Technology Harbin 150001 China

We report a unique phenomenon in which liquid metal droplets (LMDs) under a pure ac electric field pump fluid. Unlike the directional pumping that occurs upon reversing the electric field polarity under a dc signal, this phenomenon allows the direction of fluid motion to be switched by simply shifting the position of the LMD within the cylindrical chamber. The physical mechanism behind this phenomenon has been termed Marangoni flow, caused by nonlinear electrocapillary stress. Under the influence of a localized, asymmetric ac electric field, the polarizable surface of the position-offset LMD produces a net time-averaged interfacial tension gradient that scales with twice the field strength, and thus pumps fluid unidirectionally. However, the traditional linear RC circuit polarization model of the LMD/electrolyte interface fails to capture the correct pump-flow direction when the thickness of the LMD oxide skin is non-negligible compared to the Debye length. Therefore, we developed a physical description by treating the oxide layer as a distributed capacitance with variable thickness and connected with the electric double layer. The flow profile is visualized via microparticle imaging velocimetry, and excellent consistency is found with simulation results obtained from the proposed nonlinear model. Furthermore, we investigate the effects of relevant parameters on fluid pumping and discuss a special phenomenon that does not exist in dc control systems. To our knowledge, no previous work addresses LMDs in this manner and uses a zero-mean ac electric field to achieve stable, adjustable directional pumping of a low-conductivity solution.

关键词： Electrokinetic flows Interfacial flows Surface tension effects Lagrangian particle tracking

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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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A Genderless Docking Mechanism with Passive Locking and High Rotation Misalignment Tolerance for Modular Space Robots

A Genderless Docking Mechanism with Passive Locking and High...

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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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Live Demonstration: A Reconfigurable, Energy-efficient and High-frame-rate EKF-SLAM Accelerator Based SoC Design for Autonomous Mobile Robot Applications

Live Demonstration: A Reconfigurable, Energy-efficient and H...

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IEEE International Symposium on Circuits and systems (ISCAS)

作者： Dingcheng Jiang Bingqiang Liu Jipeng Wang Ao Hu Yequan Zhao Minjie Bao Zhendong Fan Zixuan Shen Ke Wang Chao Wang School of Mechanical Science and Engineering Huazhong University of Science and Technology Wuhan China School of Optical and Electronic Information Huazhong University of Science and Technology Wuhan China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China School of Future Technology Huazhong University of Science and Technology Wuhan China

ISBN: (数字)9798350330991

ISBN: (纸本)9798350331004

This demonstration shows a Extend Kalman Filter-Simultaneous Localization And Mapping (EKF-SLAM) accelerator based system On Chip (SoC) design for Autonomous Mobile Robots (AMR). The AMR platform consists of a multi-sensor system with a wheel encoder and LiDAR, and a ZYNQ-7000 FPGA based SoC featuring an EKF-SLAM hardware accelerator. This AMR system achieves real-time SLAM with significant energy efficient improvement against the state-of-the-art designs.

关键词： Location awareness Simultaneous localization and mapping Laser radar Wheels Energy efficiency Real-time systems system-on-chip

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A Method for Measurement of Workpiece Form Deviations Based on Machine Vision

SSRN

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SSRN 2022年

作者： Zhang, Wei Han, Zongwang Li, Yang Rong, Weibin Zheng, Hongyu Cheng, Xiang School of Mechanical Engineering Shandong University of Technology Zibo255000 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China

Machine vision has been studied for measurements of workpiece form deviations due to its ease for automation. However, the measurement accuracy limits its wide implementation in industrial applications. In this study, a method based on machine vision for measurement of straightness, roundness, and cylindricity of a workpiece is presented. A subsumed line search algorithm and an improved particle swarm optimization algorithm are proposed to evaluate the straightness and roundness deviations of the workpiece. Moreover, an image evaluation method of cylindricity deviation by the least square fitting of circle’s center coordinates is investigated. An image acquisition system incorporating image correction and sub-pixel edge positioning technology is developed. Performance of the developed system is evaluated against the measurement results of the standard cylindricity measuring instrument. The differences in measurement of straightness, roundness, and cylindricity are -4.69μm, 3.98μm, and 5.33μm, respectively. The proposed method would provide a viable industrial solution for measurement of workpiece form deviations. © 2022, The Authors. All rights reserved.

关键词： Computer vision

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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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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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A UAV-Based Remote Sensing Image Automatic Monitoring system Empowered by Artificial Intelligence

A UAV-Based Remote Sensing Image Automatic Monitoring System...

引用

2024 International Conference on Intelligent Algorithms for Computational Intelligence systems, IACIS 2024

作者： Liu, Tao Zhang, Bohan College of Computer Science and Technology Heilongjiang Institute of Technology Harbin China School of Information Engineering China University of Geosciences Wuhan Wuhan China State Key Laboratory of Information Engineering in Surveying Mapping and Remote Sensing Wuhan University Wuhan China

ISBN: (纸本)9798350360660

In this study, an automatic monitoring system based on convolutional neural network (CNN) is proposed to address the automation and accuracy of remote sensing image processing. With the maturity and wide application of remote sensing and UAV technologies, efficient and accurate image analysis methods have become particularly important. We developed this system through in-depth research on multiple stages of data preprocessing, feature extraction and model training. In the experimental stage, through the comparison experiments with Support Vector Machine (SVM) and Random Forest (RF) models, it is found that the CNN model has significant advantages in processing speed, anti-interference ability and accuracy. Especially in the processing of urban remote sensing images, CNN exhibits up to 90% accuracy, showing its wide applicability and excellent cross-domain application capability. Overall, this study not only successfully develops an efficient and accurate automatic monitoring system for remote sensing images, but also provides strong theoretical and experimental support for future optimization of CNN architecture in natural environments, improvement of real-time data processing capability, and extension to practical applications such as disaster monitoring and environmental protection. © 2024 IEEE.

关键词： Environmental monitoring

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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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