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Inflatable Metamorphic Origami

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Research 2023年第2期6卷 53-63页

作者： Sen Wang Peng Yan Hailin Huang Ning Zhang Bing Li School of Mechanical Engineering and Automation Harbin Institute of TechnologyShenzhen 518052P.R.China guangdong provincial key laboratory of intelligent morphing mechanisms and adaptive robotics Harbin Institute of TechnologyShenzhen 518052P.R.China State key laboratory of robotics and System Harbin Institute of TechnologyHarbin 150001P.R.China

This study created a new type of inflatable metamorphic origami that has the advantage of being a highly simplified deployable system capable of realizing multiple sequential motion patterns with a monolithic actuation.

关键词： simplified lata system

The Autonomous Pipeline Navigation of a Cockroach Bio-Robot with Enhanced Walking Stimuli

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Cyborg and Bionic Systems 2023年第1期4卷 47-55页

作者： Songsong Ma Yuansheng Chen Songlin Yang Shen Liu Lingqi Tang Bing Li Yao Li State key laboratory of robotics and System Harbin Institute of TechnologyHarbinChina guangdong key laboratory of intelligent morphing mechanisms and adaptive robotics Harbin Institute of TechnologyShenzhenChina School of Mechanical Engineering and Automation Harbin Institute of TechnologyShenzhenChina The Biorobotics Institute Scuola Superiore Sant'AnnaPisaItaly

Tens of crawling bio-robots with cockroaches as the mobile platform have been developed with various *** with artificial crawling robots of the same size,they revealed better flexibility,larger payload,and stronger *** features made bio-robots ideal for pipeline inspection scenarios because the advancements in locomotion mechanisms and efficient power systems are still hurdles for current artificial *** this study,we controlled the bio-robot to crawl in the confined dark pipeline and achieved autonomous motion control with the help of an onboard sensing ***,a micro-camera was mounted on the electronic backpack of the cockroach for image collection,and an IMU sensor was used to compute its body *** electronic backpack transmitted images to the host computer for junction recognition and distance ***,the insect's habituation to electrical stimulation has long been an uncertain factor in the control of ***,a synergistic stimulation strategy was proposed to markedly reduce the habituation and increase the number of effective turning controls to over 100 *** is also found that both the increase of payload and the application of stimulations could promote the metabolic rate by monitoring carbon dioxide *** the integration of synergistic stimulation and autonomous control,we demonstrated the fully autonomous pipeline navigation with our cockroach bio-robot,which realized the cycle number of approximately 10 in a *** research provides a novel technology that has the potential for practical applications in the future.

关键词： robot artificial Robot

Bearing-Only Formation Tracking Control With Time-Varying Leaders' Velocity without Inter-Agent Communication

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Bearing-Only Formation Tracking Control With Time-Varying Le...

Direct Model Reference adaptive Control of Periodic Slow Time-Varying Systems with Disturbance Input

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作者： Yuxiao Huang Tianxing Chen Hongwei Zhang guangdong provincial key laboratory of intelligent morphing mechanisms and adaptive robotics School of Mechanical Engineering and Automation Harbin Institute of Technology

This paper studies the bearing-only formation tracking problem of leader-follower multi-agent systems, where the leaders move at a time-varying velocity. Different from the existing formation tracking methods, the proposed control protocol can be implemented without inter-agent communication. We construct the control protocol via a variable structure approach to track the time-varying velocity and almost achieve the target formation. We also show that the velocity tracking error will converge to zero and the position tracking error can be restricted in an upper bounded set while the upper bound can be arbitrarily minimized by increasing the control gain. Simulation results are presented to illustrate the effectiveness of the control protocol.

关键词： Formation tracking Bearing-only measurement Multi-agent system

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Direct Model Reference Adaptive Control of Periodic Slow Tim...

Offline Deep Reinforcement Learning Two-stage Optimization Framework Applied to Recommendation Systems

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作者： Zhuolin Tan Xiaochen Xie Jiantai Huang Department of Automation Harbin Institute of Technology guangdong key laboratory of intelligent morphing mechanisms and adaptive robotics

This paper investigates the direct model reference adaptive control(MRAC) of periodic systems with slow timevarying dynamics and disturbance input. It is necessary to approximate the periodic slow time-varying system as a periodic piecewise linear system for MRAC. Based on the stability criteria of the periodic piecewise linear reference system, a new sufficient condition in terms of linear matrix inequalities(LMIs) is established to obtain the Lyapunov matrices and design the adaptive update law for the state feedback controller gains. Different from previous studies, where asymptotic tracking was possible only in the presence of a common Lyapunov function for the reference models, the asymptotic tracking in this work is achieved through a periodic time-varying Lyapunov matrix function. A numerical example validates the proposed MRAC scheme, and the effectiveness of the modified approach is discussed.

关键词： Model Reference adaptive Control Periodic Slow Time-Varying System Periodic Piecewise Linear System

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Offline Deep Reinforcement Learning Two-stage Optimization F...

TrinityMag:A novel magnetically actuated miniature robot manipulating system with a human-scale workspace

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作者： Yihua Jiang Qi Liu Yanjie Li guangdong key laboratory of intelligent morphing mechanisms and adaptive robotics and School of Mechanical Engineering and Automation the Harbin Institute of Technology

Most traditional recommendation systems(RS) improve the model structure to obtain valid user behavior representation and make better recommendations. However, limited by the scale of the model, the model cannot accommodate an extended range of user historical data and cannot effectively extract long-term preferences. Reinforcement learning(RL) aims to maximize the cumulative return. Introducing RL can smoothly solve the long-term and short-term profit balance. However, there are specific problems with the direct combination of the two. Training RS that relies on offline user data will cause the strategy to suffer from an overestimation of action and distribution shift. Unlike the traditional RL environment, the ample space of the RS will also cause problems of insufficient exploration and sparse rewards, making the policy more difficult to learn. In response to the above issues, this work proposes an offline RL two-stage optimization framework. The framework consists of an offline RL method based on unknown behavior to alleviate the problem of action overestimation and a two-stage feature optimization training method to reduce the impact of large spaces. Experimental results prove that the method proposed in this article can effectively improve the long-term recommendation ability of the model and more effectively improve the model performance than the general offline RL algorithm.

关键词： Recommendation Systems Overestimation of Actions Distribution Shift Deep Reinforcement Learning Two-stage Feature Optimization

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Science China(Technological Sciences) 2024年第11期67卷 3546-3558页

作者： LI Dong CHEN BinHan HUANG ChenYang XU Sheng WU XinYu XU TianTian guangdong provincial key laboratory of robotics and intelligent System Shenzhen Institutes of Advanced TechnologyChinese Academy of SciencesShenzhen 518055China key laboratory of Biomedical Imaging Science and System Shenzhen Institute of Advanced TechnologyChinese Academy of SciencesShenzhen 518055China

The development of the magnetic manipulating system is essential for applications of magnetically actuated miniature robots in biomedical practice,such as targeted therapy and precise ***,the workspaces of existing magnetic manipulating systems for miniature robots are mostly insufficient to manipulate miniature robots inside human *** present study proposes an innovative electromagnets-based manipulating system,TrinityMag,which can produce dynamic three-dimensional(3D)magnetic fields in a human-scale spherical workspace with a 2.6 m *** magnetic field of a single electromagnet is simulated,and a new calibration technic is designed based on deep learning ***,the arrangement of three electromagnets is optimized to produce maximal 3D arbitrary magnetic fields with limited ***,a target-tracking algorithm is developed so that the TrinityMag can track the miniature robot in real ***,the TrinityMag is validated in experiments to manipulate a soft millirobot to move in human-scale tortuous tracks with two types of *** maximum speed of the soft millirobot reaches 11.05 body length/*** work contributes to a significant increment in the workspace of the electromagnets-based manipulating system for miniature *** further expect that the TrinityMag could push the applications of miniature robots from laboratory to clinical practice.

关键词： magnetic manipulating system human-scale workspace magnetically actuated miniature robots

Hierarchical Sponge-Hydrogel Hybrid Structures with Robust Interfaces

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Chinese Journal of Chemistry 2023年第20期41卷 2635-2640页

作者： Pei Zhang Guangda Chen Xingmei Chen Junfei Xing Yue Tao Ji Liu Department of Mechanical and Energy Engineering Southern University of Science and TechnologyShenzhenGuangdong518055 China Shenzhen key laboratory of Biomimetic robotics and intelligent Systems Department of Mechanical and Energy EngineeringSouthern University of Science and TechnologyShenzhenGuangdong518055 China guangdong provincial key laboratory of Human-Augmentation and Rehabilitation robotics in Universities Southern University of Science and TechnologyShenzhenGuangdong518055 China

Soft materials including elastomers and hydrogels are playing critical roles in a variety of fields,including bioelectrodes,batteries,supercapacitors,biomedical scaffolds,and solar vapor *** hydrophobic sponges(i.e.,mechanical robustness,elasticity and macroscopic porous structure)and hydrophilic hydrogels(i.e.,autonomous water absorption and transportation,biocompatibility)within one unit could readily combine the complementary characters from each component,making a number of future research directions and applications *** propose a simple yet effective strategy to construct sponge-hydrogel hybrid structures with robust hydrophobic-hydrophilic *** sponge scaffold imparts the sponges-hydrogel hybrids with desirable mechanical robustness,elasticity and macroscopic *** the other hand,the incorporated hydrogel component endows the hybrids with high water content(98 wt%hydrogel and 2 wt%sponge),superior compatibility,and nanoscale pores allowing for storage and transportation of various chemical and biological *** further demonstrate that the introduction of hydrophilic hydrogel components could effectively improve the liquid absorption capability,blood coagulation rate,hemostatic capacity and hemocompatibility,thus promising as hemostatic agents.

关键词： Sponge-hydrogel hybrid Interface Hierarchical Robustness Liquid absorption Gels Polymer Composites Materials Science

Fabricating AC/DC nanogenerators based on single ZnO nanowires by using a nanomanipulator in a scanning electron microscope

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Nanotechnology and Precision Engineering 2024年第2期7卷 25-31页

作者： Mei Liu Mengfan He Aristide Djoulde Lingdi Kong Weilin Su Xin Bai Jinbo Chen Jinjun Rao Zhiming Wang Shanghai key laboratory of intelligent Manufacturing and robotics School of Mechatronic Engineering and AutomationShanghai UniversityShanghai 200444China guangdong provincial key laboratory of Fuel Cell Technology School of Chemistry and Chemical EngineeringSouth China University of TechnologyGuangzhou 510641China

Single zinc oxide nanowires(ZnO NWs)are promising for nanogenerators because of their excellent semiconducting and piezoelectric properties,but characterizing the latter efficiently is *** reported here,an electrical breakdown strategy was used to construct single ZnO NWs with a specific *** the high operability of a nanomanipulator in a scanning electron microscope,ZnO-NW-based twoprobe and three-probe structures were constructed for fabricating AC/DC nanogenerators,*** a ZnO NW,an AC output of between−15.31 mV and 5.82 mV was achieved,while for a DC nanogenerator,an output of24.3 mV was ***,the three-probe structure’s output method was changed to verify the distribution of piezoelectric charges when a single ZnO NW is bent by a probe,and DC outputs of different amplitudes were *** study provides a low-cost,highly convenient,and operational method for studying the AC/DC output characteristics of single NWs,which is beneficial for the further development of nanogenerators.

关键词： Zinc oxide nanowire Piezoelectric properties Nanomanipulator SEM AC/DC nanogenerators

Development of a novel autonomous lower extremity exoskeleton robot for walking assistance

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Frontiers of Information Technology & Electronic Engineering 2019年第3期20卷 318-329页

作者： Yong HE Nan LI Chao WANG Lin-qing XIA Xu YONG Xin-yu WU guangdong provincial key laboratory of robotics and intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences CAS key laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen College of Advanced Technology University of Chinese Academy of Sciences Department of Mechanical Engineering and intelligent Systems the University of Electro-Communications

Today, exoskeletons are widely applied to provide walking assistance for patients with lower limb motor incapacity. Most existing exoskeletons are under-actuated, resulting in a series of problems, e.g., interference and unnatural gait during walking. In this study, we propose a novel intelligent autonomous lower extremity exoskeleton(Auto-LEE), aiming at improving the user experience of wearable walking aids and extending their application *** traditional exoskeletons, Auto-LEE has 10 degrees of freedom, and all the joints are actuated independently by direct current motors, which allows the robot to maintain balance in aiding walking without extra *** new exoskeleton is designed and developed with a modular structure concept and multi-modal human-robot interfaces are considered in the control system. To validate the ability of self-balancing bipedal walking, three general algorithms for generating walking patterns are researched, and a preliminary experiment is implemented.

关键词： Lower-limb Exoskeleton Self-balancing Bipedal walking Modular design