Workshop

 

State Key Laboratory of Robotics (SKLR), with support from the Shenyang Institute of Automation, Chinese Academy of Sciences (SIA-CAS), is one of the leading laboratories developing industrial, underwater, ground mobile, and micro-nano operative robots. State Key Laboratory of Robotics System (SKLRS), with support from Harbin Institute of Technology, is also one of the most famous laboratories. SKLRS has obtained important progress in industrial robots, lunar exploration robots, space robots, robotic arms, and dexterous hand technology. As the only two state key laboratories of robotics in China, SKLR and SKLRS represent China’s progress in state-of-the-art robot technology. In this workshop, several researchers from SKLR and SKLRS will introduce their relevant studies, including fundamental research and system technology, as well as future research plans.

本次workshop由中科院沈阳自动化研究所机器人学国家重点实验室(SKLR)和哈尔滨工业大学机器人技术与系统国家重点实验室(SKLRS)联合举办。这是我国机器人领域仅有的两个国家重点实验室,一定程度上代表了我国机器人的发展水平和发展趋势。在本次workshop上,将介绍两个实验室在微纳米机器人、自主机器人、机器人控制理论,水下机器人等方面的最新进展,并就两个实验室的进展,对未来机器人的发展方向给出展望。

The workshop is held on Jun 8th, at Room 8-16 of Shenyang Royal Wanxin Hotel.

 

The schedule and the brief introductions of the talks are listed below. All the conference attendees are allowed and encouraged to join the discussion. Welcome for attending!

 

Time Presenter Affiliation Title
13:40-14:00 Lianqing Liu SIA Micro/nano robotics for biology Study
14:00-14:20 Zhang Lixian HIT Switched MPC of switched linear systems with mode-dependent dwell time
14:20-14:40 Jiancheng Yu SIA The development of underwater vehicles for marine exploration
14:40-15:00 Qiang He HIT Design and fabrication of self-propelled synthetic nanorobots
15:00-15:20 Xingang Zhao SIA Surface EMG based interface for assistive robot
15:20-15:40 Coffee Break
15:40-16:00 Hui Xie HIT A flexible robotic system developed for multi-scale manipulation and assembly from nanoscale to microscale
16:00-16:20 Ruiwen Yi SIA Hydrodynamic Modeling of Unmanned Underwater Vehicle: Challenges and Opportunities
16:20-16:40 Wei Dong HIT Two Cases of Flexible Robots: Parallel Robots with Compliant Joints and Flexible Needle Insertion
16:40-17:00 Yuqing He SIA Autonomy of Mobile Robots in Complicated Environments
17:00-17:20 Liang Ding HIT An introduction to robotic terramechanics
18:00-20:00 Conference Welcome Reception

 

SIA-Speaker 1:

Lianqing Liu, professor of Shenyang Institute of Automation, Chinese Academy of Sciences. He received his BSc degree in Industrial Automation from Zhengzhou University, China, in 2002, and his Ph.D degree in Pattern Recognition and Intelligent Systems from Shenyang Institute of Automation (SIA), Chinese Academy of Sciences (CAS) in 2009. Liu was awarded the Early Government/Industrial Career Award by the IEEE Robotics and Automation Society in May, 2011, Lu Jiaxi Young Scientist Award of the Chinese Academy of Sciences in Jan, 2011, and president Award of the Chinese Academy of Sciences in 2009. Currently his research interests include Nanorobotics, Intelligent control, and Biosensors.

刘连庆,博士,研究员,博士生导师,沈阳自动化所机器人学研究室副主任。主要研究方向:微纳机器人学,微纳制造与微纳生物医学。长期从事微纳机器人学的相关研究,在机器人基础理论、纳米制造和生物医学应用等方面取得了重要进展。发表SCI/EI检索90余篇次,曾获得IEEE机器人与自动化学会青年科学家奖(IEEE RAS Early Career Award, 每年两人,大陆学者首获此奖),中国科学院首批卓越青年科学家计划,中国科学院卢嘉锡青年人才奖,中国科学院院长优秀奖,中国科学院沈阳分院优秀青年科技人才奖,辽宁省自然学术成果奖等20余项荣誉和奖励。

Abstract: The technique of Robotic Nano manipulation extends people’s ability into nano scale, which generates a significant influence to the modern science. It provides new feasible ways to solve the problems that traditional technique cannot achieve. In this talk, we will present the demonstration of nanorobot for its applications in biological study firstly. Then aiming at meeting the new function requisites aroused from the multidiscipline research, we introduce the recent progress of nanorobot in perspective of system integration. The integration here includes two meanings. One is developing technologies based on nanorobot itself, such as more accurate manipulation, fast scanning, molecular recognition and so on. Another meaning is creating new functions through integrating other advanced techniques into nanorobot system, such as planar patch clamp, Scanning Ion Conductance Microscopy, Optical-induced tweezers. Each new integrated technology generates a boarder impact to the applications of nanorobot. The examples show the problems that cannot be investigated with traditional method can be elucidated through the work of nanorobot based integration, which in turn shows nanorobot as system integration leads to an improved significance and scientific value.

报告人将介绍机器人学国家重点实验室在微纳操控领域取得的最新进展,并就该方向在生物医学中的应用给予详细介绍。并以实例阐述如何利用微纳操控为癌症个性化治疗、新药开发和细胞行为学等基础科学问题研究提供系统性解决方案,报告内容涉及纳米机器人学、细胞机械特性测试、细胞动力学建模、细胞三维制造等关键技术,体现出生物-纳米-信息(Bio-Nano-Info)三者融合所带来的创新契机。


 

HIT-Speaker 1:

Lixian Zhang received the Ph.D. degree in control science and engineering from Harbin Institute of Technology, China, in 2006. He was a postdoc researcher in the Dept. Mechanical Engineering at EcolePolytechnique de Montreal, Canada, and visiting professor at Process Systems Engineering Laboratory, Massachusetts Institute of Technology (MIT) during Feb 2012 to March 2013. Since Jan 2009, he has been with the Harbin Institute of Technology, China, where he is currently a Professor in the Research Institute of Intelligent Control and Systems. Dr. Zhang’s research interests include nondeterministic and stochastic switched systems, networked control systems and their applications. He serves as Associated Editors for various peer-reviewed journals including IEEE Transactions on Automatic Control, IEEE Transactions on Cybernetics, etc., and was a leading Guest Editor for the Special Section of “Advances in Theories and Industrial Applications of Networked Control Systems” in IEEE Transactions on Industrial Informatics.

张立宪,哈尔滨工业大学航天学院教授、博士生导师。在“切换系统控制”方向上主持国家、省部级科研项目20余项,发表论文110余篇,Google学术引用4200余次,SCI他引2100余次。获黑龙江省自然科学奖一等奖1项(排名第一),国家自然科学二等奖1项(排名第三)。IEEE高级会员,IEEE系统、人、控制论协会哈尔滨分部主席。现为《IEEE自动控制汇刊》及《IEEE控制论汇刊》编委;曾任《IEEE工业信息学汇刊》专刊客座主编等任职。国家优秀青年科学基金获得者、教育部新世纪优秀人才,2014年度汤森路透全球高被引学者及2014年度爱思唯尔中国高被引学者。

Abstract: In this talk, the model predictive control (MPC) of a class of discrete-time switched linear systems with mode-dependent dwell time (MDT) will be addressed. By the invariance of the reachable sets of the feasible region of each subsystem, the minimal admissible MDT is determined so as to guarantee both the persistent feasibility of MPC design and system stability. The conservatism of ignoring the position of the states at the switching instants is discussed by determining the state-dependent admissible MDT. It is shown that the system stability is guaranteed as long as the persistent feasibility is ensured both within the subsystems and at the switching instants. Finally, when the MDT is given, an algorithm is developed for determining the feasible region for the switched systems.

摘要:报告将介绍一类先进优化控制技术—模型预测控制在具有模态切换特性的切换系统中的基本控制问题。切换系统可有效建模切换轮移动机器人、汽车调速系统、生物网络等具备模态切换现象的物理系统以及为改善系统性能采取切换控制机制的智能控制系统。报告将介绍在子系统采取模型预测控制策略前提下,切换系统确保稳定时的模态停留时间计算算法,以及给定停留时间情况下确定系统初始条件所构成的吸收域的有效算法。


 

SIA-Speaker 2:

Jiancheng Yu, Professor in Shenyang Institute of Automation (SIA), CAS. He is the associate director of Marine Robotics Department of SIA. Dr. Yu received the B. S. degree in Mechanical Engineering and M. S. degree in Mechanical Design & Theory from Northeastern University, Shenyang, China, in 2000 and 2003, respectively, and the PhD degree in Mechatronic Engineering from Shenyang Institute of Automation, CAS, Shenyang, China, in 2006. His research interests include control theory & methods research for underwater vehicles and new concept underwater vehicles design, with a specific focus on the development of underwater glider.

俞建成,博士,研究员,中国科学院沈阳自动化研究所水下机器人研究室副主任。2005年至今在中国科学院沈阳自动化研究所工作,从事水下机器人系统与自主控制技术研究。作为负责人主持国家自然科学基金重点项目1项(“水下机器人海洋环境自主观测理论与技术”)、国家863计划项目3项、以及其它各类项目多项、作为课题负责人参与中国科学院战略先导专项1项。累计发表学术论文50余篇,其中,SCI收录5篇、EI收录35篇。申请国家专利30项,其中,发明专利17项、实用新型专利13项。2011年当选辽宁省“百千万人才工程”千人层次人选,2013年获中国科学院杰出科技成就奖。

Abstract: Marine exploration, especially for the polar regions, and other extreme deep sea diving detection relies heavily on the advances of underwater vehicle technology. This presentation will introduce the latest underwater vehicles and some of their application results for the marine exploration in the SIA. These underwater vehicles include Qianlong 6000m class AUV, 4500m class AUV, SeaWing underwater glider, Arctic ARV and small portable AUV.

水下机器人是海洋探测,尤其是极地冰下、极深海域探测等极端环境探测的重要技术手段。报告人将介绍中国科学院机器人学国家重点实验室针对海洋探测应用研制的最新水下机器人装备及其应用情况。主要包括“潜龙一号”6000米级AUV、深海热液探测AUV、“海翼”水下滑翔机、北极ARV以及便携式小型AUV等装备。


 

HIT-Speaker 2:

Qiang He, Professor of Micro/Nanotechnology Research Center, Harbin Institute of Technology. He won his PhD degree in Physical Chemistry from the Institute of Chemistry, Chinese Academy of Sciences (ICCAS) in 2003. He then joined the ICCAS as an assistant professor and became an associate professor in 2006. He ever spent four years as a research fellow of the Alexander von Humboldt Foundation in the Max Plank Institute of Colloids and Interfaces, Germany. His research interests include responsive materials-based soft robots, self-propelled synthetic nanorobots and their biomedical application. He has published more than 80 peer-reviewed papers and holds 6 patents.

贺强,教授,博士生导师,哈尔滨工业大学。2003年在中国科学院化学研究所获理学博士学位。其后留所工作并历任助理研究员、副研究员。2006年获德国洪堡基金资助在德国马普胶体与界面研究所从事博士后研究。2010年4月回国,目前主要研究方向是基于智能高分子材料的柔性机器人、自驱动合成微纳米马达及其生物医用。已在Adv.Mater.,Angew.Chem., ACS Nano等国际著名学术期刊发表80多篇学术论文,合作出版英文专著一本。2011年入选教育部新世纪优秀人才,2012年入选黑龙江省龙江学者特聘教授。

Abstract: There is a growing effort in the scientific community to design and fabricate self-propelled synthetic nanorobots because they have potentials in the field of directed drug delivery, roving sensors, isolation and detection of targets, and active biomimetic systems. Inspired by the nanoscale linear biomotors (e.g. kinesins), our group recently developed chemical-powered synthetic nanorobots which have ability of havesting chemical energy into autonomous motion based on a catalytically chemical reaction. Based on this, different physical stimuli including magnetic fields, near infrared light, ultrasound waves have been employed to propel and tune the motion of synthetic nanorobots. These polymer-based nanorobots are able to be served as both autonomous motor and smart cargo, performing drug loading, targeted transportation and remote controlled release in the vicinity of cells and tissues in an organism.

报告人将介绍机器人技术与系统国家重点实验室在自驱动合成纳米机器人领域所取得的最新进展以及它们在生物医学领域的潜在应用。自驱动合成纳米机器人是近十年来伴随着纳米科学的快速发展而兴起的一个前沿热点领域,期望其在药物的靶向输运、体内毒素清除、疾病诊断、清洁创伤、组织修复等方面提供新的解决思路。报告内容涉及自驱动纳米机器人的设计与合成、自驱动机理、运动的人为控制及其在药物输运和毒素清除等方面的应用。


 

SIA-Speaker3

Xingang Zhao, Professor in the State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences (SIA). He received BE and ME degree from Jilin University, China, in 2000 and 2004, and Ph.D. from Chinese Academy of Sciences, China in 2008. From 2007 through 2009, he was an Assistant Professor in the SIA. From 2010 through 2014, he was an Associate Professor. Since 2015, he is a Professor in SIA. His current research interests are rehabilitation robot and computer- assisted robotic surgery, which combine the robot design, modeling and control, physiological signal processing. Dr. Zhao has received grants from National Natural Sciences Foundation of China and Ministry of Science and Technology of the People’s Republic of China. He has published 50 peer reviewed papers.

赵新刚,博士,研究员,中国科学院沈阳自动化所机器人学国家重点实验室。2000年,2004年毕业于吉林大学获工学学士、硕士学位。2008年毕业于中国科学院获博士学位。2008年进入中国科学院沈阳自动化所工作,2010年至2014年任副研究员,2015年至今任研究员。主要研究方向:康复机器人及系统。主持及参与国家自然科学基金、国家“863”等省部级项目10余项,发表论文50余篇。

Abstract: A surface electromyography (sEMG) is the summation of action potentials from the muscle fibers under the electrodes placed on the skin. The more muscles fired, the greater the amount of action potentials recorded and the greater the sEMG reading. sEMG signals have a variety of clinical and biomedical applications, for examples, detecting medical abnormalities, activation level, or recruitment order, analyzing the biomechanics of human movement. sEMG signals also have widely potential used as intelligent control interface for assistive robotic system, including rehabilitation robotic system and prosthetic devices, such as prosthetic hands, arms, and lower limbs. However, there are significant uncertainties of sEMG signals of different subjects, which restrict extensive applications in the assistive field seriously. In this presentation, we are going to introduce some common problem of sEMG signal processing and some of our unique research results dealing with the uncertainties, including the false tolerant decoding method, estimation method of continuous motion, user-independent recognition of hand gesture. Several examples of sEMG-controlled robotic system will be given.

人体表面提供了丰富的生物电信息,可以反映人体某些方面的状态。表面肌电(sEMG)信号是肌肉收缩在人体表面采集到的电信号,可表征神经通路的状况,对于神经系统疾病诊断、手术术中神经监护、及人体运动功能分析具有重大意义。同时,sEMG还被广泛用作智能机器人的人机交互控制接口,对于安装假肢、假手残疾人的康复具有重要意义。但是,sEMG信号本身具有很强的不确定性,不同人的表面肌电不同,相同人的表面肌电也会发生变化,限制了其在康复领域的应用。报告将针对上述问题介绍我们在提高sEMG实用性、鲁棒性、通用性方面的研究成果。期望能有助于推动sEMG在康复领域中的推广应用。


 

HIT-Speaker 3:

Hui Xie is a full professor in the State Key Laboratory of Robotics and Systems, Harbin Institute of Technology (HIT), China. Xie was an a Research Associate at the Institut des SystèmesIntelligents et Robotique (ISIR), Université Pierre et Marie Curie (UPMC)/Centre National de la RechercheScientifique (CNRS), Paris, France, from april 2006 to April 2010. He was awarded the National Science Fund for Excellent Young Scholars of China in 2012, and supported by Program for New Century Excellent Talents in University at the same year. Currently his research is micro/nanorobotics and applications in various fields, e.g. bio-nanotechnology, nanomaterials, nanoelectronics and CD metrology.

谢晖是哈尔滨工业大学机器人技术及系统国家重点实验室教授。他2006年在哈尔滨工业大学获得博士学位。自2006年12月至2010年四月,在法国巴黎第六大学/法国科学研究中心的机器人及智能系统中心从事纳米机器人研究工作。2012年获得国家自然基金优秀青年基金的资助,同年获得新世纪优秀人才计划资助。研究方向为微纳米机器人技术,以及其应用研究,如生物纳米技术、纳米材料、纳电子,以及关键尺寸测试技术等。

Abstract: The atomic force microscope (AFM) has gave nanotechnology a significant boost by providing it with a powerful tool for understanding physical and chemical phenomena from the nanoscale to atomic scale, as well as for performing engineering operations on nanoscale objects, molecules and atoms. A flexible robotic system developed for multi-scale manipulation and assembly from nanoscale to microscale is presented. This system is based on the principle of atomic force microscopy and comprises two individually functionalized cantilevers, to build a nanotweezer. Benefiting from capabilities of image scanning and accurate force sensing, the nanotweezer is capable of positioning one-dimensional nanostructures deposited on a surface, and then performing in situ peeling tests with pick-and-place operations at different peeling locations of interest along a selected nanostructure. As applications of the ducal probe nanotweezer, we will introduce the dual-probe caliper for critical dimension (CD) metrology, pick-and-place manipulation of a single living cell in an aqueous environment for in-situ qualification of cell adhesion and a three-dimensional atomic force microscope (3DAFM) for imaging of the micro and nanoscale sidewall structures with controllable scanning density.

原子力显微镜(AFM)的发明,给纳米科技的研究提供了有力的工具,理解从原子尺度的纳米级物理和化学现象,以及实现纳米级物体,分子和原子的操作。报告将介绍研究的一种基于AFM的由两个相互协作的纳米探针组成的机器人系统。得益于图像扫描与精确的力传感能力,纳米镊子能够对沉积在基底表面的一维纳米材料进行准确的定位、操作,以及剥离力原位测试。作为该机器人系统的扩展应用,将进一步介绍基于双探针结构的关键尺寸测量的纳米卡尺、细胞操作及其粘附力原为测试,以及可实现微纳米侧壁结构三维连续、扫描密度可控成像的三维原子力显微镜的研究。


 

SIA-Speaker 4

Yuqing He, professor of Shenyang Institute of Automation, Chinese Academy of Sciences. He received his BSc degree in Automation Northeastern University at Qinhuangdao, China, in 2002, and his PhD degree in Pattern Recognition and Intelligent Systems from Shenyang Institute of Automation (SIA), Chinese Academy of Sciences (CAS) in 2008. He was a visiting professor in Institute for Control Theory, Technique University of Dresden, Germany, from April 2012 to October 2012. He was awarded the honors of the 2008 ZhuliYuehua Excellent PhD Student Award of Chinese Academy of Sciences and Best Paper Award of several international academic conferences. He has published 1 book and more than 80 peer-reviewed SCI/EI cited academic papers and holds 3 patents (including a United States Patent). In this period, his researches focused on the autonomy of mobile robots and nonlinear control of mechatronic systems. Also, he was involved into the hardware and software development of some application oriented testbeds.

何玉庆,博士,研究员。2002年毕业于东北大学秦皇岛分校,获工学学士学位;2008年毕业于中国科学院沈阳自动化研究所,获工学博士学位;2007年起留所工作,历任助理研究员、副研究员、研究员。2012年赴德国德累斯顿工业大学控制理论研究所进行合作研究。曾获中国科学院朱李月华优秀博士生奖,多次获得国际学术会议的最佳论文奖。目前的主要研究方向包括移动机器人自主行为、非线性机电系统估计与控制等。已出版中文专著1部,发表SCI/EI检索文章80余篇,获批发明专利3项(包括1项美国专利)。参与研制了南极科考地面移动机器人、通用型多型号旋翼飞行机器人、水面环境监控机器人等多款面向使用的机器人平台。

Abstract: All kinds of mobile robot systems (MRS) have been widely used in many applications, such as aiding disaster recovery efforts in mines and after earthquakes/tsunami, scientific explore, environmental monitoring, etc. However, the complicated environments introduce some dynamical factors and huge uncertainties, which often make the mobile robot difficult to work as desired without or with as little as possible human’s intervention. Thus, autonomy has been an open problem in the fields of mobile robotics since early 21st century. In this talk, the key techniques and some researches involved in autonomy of mobile robots while maneuvering on out-door, unstructured, and dynamic terrain are introduced. The main concerns of this talk include 3D real time environment modeling, online situational awareness and constraint generation, real time behavior optimization under multiple environmental constraints, and coordination and cooperation of cross-domain multiple robots. Besides, some application oriented experimental results will also be presented to show the validity of these methods/techniques for different mobile robots, including UAV, UGV and USV.

目前,各种各样的移动机器人已经获得了越来越多的关注,并且在灾难救援、科学考察、环境监控等领域已经逐步实现了常态化应用。但是,当移动机器人在野外复杂环境中执行使命时,复杂环境带来的动态性因素以及各种不确定因素将严重影响机器人自动完成使命的能力,即移动机器人的自主行为能力。关于自主行为能力的研究是目前移动机器人领域研究的一个重点和热点问题。本报告将从环境建模、约束产生、行为优化、多机器人跨域协作等方面介绍中科院沈阳自动化研究所机器人学国家重点实验室在移动机器人自主行为方面所取得的一些研究成果,并将展示这些理论、方法成果在实际平台上的应用及其对移动机器人自主行为能力的提升作用。


 

HIT-Speaker 4:

Dr. Wei Dong works with State Key Laboratory of Robotics and System, Harbin Institute of Technology. His research expertise is in the general areas of robotics and mechatronics. He has extensive experience in a series of inter-related research subjects including innovative design of robot/mechatronics systems, robotic system modeling and optimization, and smart material and structure integration and application etc. Prior to joining HIT, he worked as a postdoctoral researcher at CNRS FEMTO-ST, France (2009.09-2010.08) and University of Connecticut, US (2007.11-2009.07), respectively. He received the Ph.D. and M.S. degrees in Mechatronics Engineering and B.S. degree in Mechanical Engineering from HIT in 2007, 2003 and 2001, respectively.

董为,博士,副教授,任职于哈尔滨工业大学机器人技术与系统国家重点实验室。主要研究从事机器人技术与机电系统方面研究,目前主要研究方向为机器人/机电系统的创新设计、机器人系统建模与优化和智能材料与结构的集成与应用。在加入哈尔滨工业大学之前,在法国国家科研中心FEMTO-ST研究所(2009.09-2010.08)和美国康涅迪格大学(2007.11-2009.07)从事博士后研究。董为分别于2001年、2003年2007年在哈尔滨工业大学获得机械工程学士学位和机电工程硕士学位和博士学位。

Abstract: In this talk, the research progress on flexible robots will be reported, e.g. the high precision parallel robots with compliant joints and the robotic flexible needle insertion. On the first topic, creative generation of flexible parallel robots, modeling and optimization of compliant joints, and the applications will be presented. On the second topic, flexible needles’ innovative design, needles’ shaping identification and needle-tissue operation will be introduced.

报告人将介绍在“柔性机器人”领域的部分研究工作,包括柔顺关节并联机器人和柔性针穿刺两个方面。在柔顺关节并联机器人方面,将介绍柔顺机器人创成、柔顺关节建模与优化、柔顺关节并联机器人应用等。在柔性针穿刺方面,将介绍新型柔性针的创新设计、柔性针检测以及针-组织符合操控等方面的进展。


 

SIA-Speaker 5

Ruiwen Yi, Assistant Professor in the State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences (SIA, CAS). He received the M.S. degree from Shanghai Jiao Tong University in 2010, and B.S. degree in Naval Architecture and Marine Engineering from Harbin Engineering University in 2003, and joined SIA in 2010. His current research interests include hydrodynamics and maneuverability of Unmanned Underwater Vehicle. In the last few years, he has been supported by National Natural Science Foundation of China, and served in charge sub-system of 863 Program.

衣瑞文,硕士,助理研究员,中国科学院沈阳自动化研究所机器人学国家重点实验室。2003年、2010年分别于哈尔滨工程大学、上海交通大学获学士、硕士学位。2010年至今在中科院沈阳自动化所工作,主要研究方向为水下机器人水动力CFD计算、操纵性建模与分析等。主持国家自然科学基金1项,作为分系统负责人参与863计划、中科院战略先导专项各1项,并先后参加863计划、中科院科技创新重点部署项目、中科院科技创新重点基金、中国大洋协会项目等多项重大项目。近年来在水下机器人方向发表论文10余篇,申请发明专利7项。

Abstract: Hydrodynamic Modeling of Unmanned Underwater Vehicles (UUV) is the basic work for UUV maneuverability analysis and motion control research. In the last few years, many new type UUVs have been designed, such as super high speed UUV, on the other hand, the capability of UUV has been expanded, such as underwater docking. The traditional hydrodynamic modeling method based on taylor polynomials faces challenges in these new research fields. In this talk, we will present the new design of super high speed UUV in the State Key Laboratory of Robotics, and the new method to meet low speed motion control that based on synthetic jet will also be shown in the presentation. In the second topic, we will talk about the fresh new opportunities in the field of traditional maneuverability which based on hydrodynamics.

水下机器人水动力学模型是水下机器人操纵性以及运动控制研究的基础。近年来,随着各种新型水下机器人(如高速/超高速水下机器人)概念的不断涌现,以及水下对接等新应用领域的拓展,传统的基于巡航模式的水动力学建模理论及方法受到诸多挑战。本报告主要介绍机器人学国家重点实验室正在开展的新概念高速水下机器人以及基于合成射流方法的低速水下机器人操控解决方案等水动力学研究新进展,并对传统的基于流体力学发展而来的操纵性学科在水下机器人操纵控制领域的新机遇进行展望。


 

HIT-Speaker 5:

Liang Ding, Professor of State Key Laboratory of Robotics and Systems in Harbin Institute of Technology (HIT). He received the Ph.D. degree in mechanical engineering from the HIT, Harbin, China, in 2010. He has authored or co-authored over 70 papers in journals and conference proceedings. He has been teaching robotics for under- and post-graduates. His current research interests include robotic terramechanics, planetary rovers, and legged robots. Dr. Ding was a recipient of the 2011 National Award for Technological Invention of China and the 2009/2013 Award for Technological Invention of Heilongjiang Province in China. He received the Hiwin Excellent Doctoral Dissertation Award in 2011 and the Best Paper in Information Award in the 2012 IEEE ICIA Conference. He was among the distinguished young scholar plan and the cultivation plan of distinguished scholar for basic research in HIT.

丁亮,博士,哈尔滨工业大学机器人技术与系统国家重点实验室教授/博导。主要研究方向:机器人地面力学、星球车、足式机器人等。先后主持国家青年自然科学基金青年、面上项目(青年—面上连续资助),黑龙江省博士后青年英才计划项目,中国博士后特别、面上资助,国家重点实验室自主研究课题,中国空间技术研究院委托课题等。作为骨干参与国防973项目、国家973课题、863计划主题项目、探月工程重大专项课题等。在IJRR、IEEE汇刊、J. Terramechanics等刊物发表学术论文70余篇,其中SCI论文30余篇。获得国家技术发明二等奖(2011)、机械工程学会上银优秀博士论文佳作奖(2011)、黑龙江省技术发明一等奖(2009, 2013)等。入选哈尔滨工业大学青年拔尖人才选聘计划、哈工大基础研究杰出人才培育计划。

Abstract: Terramechanics has been developed for more than 50 years to support the development of the terrestrial machines. In recent years, more and more robots that have complex interaction with the terrains have been or will be developed, such as the exploration rovers and the automated sampling robots for planetary exploration, and the terrestrial mobile robots, therefore, intensive research has been carried out for robotic terramechanics, in order to solve the problems beyond the conventional contact mechanics. In this talk, we will present the current situation and development trend of robotic terramechanics. The wheel-terrain interaction mechanics and its application to planetary rovers is the main focus, including the high-fidelity models with consideration of multiple effects: slip-sinkage, lugs, loads and dimensions, the longitudinal skid mechanics, and steering mechanics. The tool-terrain interaction mechanics as well as the terramechanics and terradynamics for robots’ legs/feet that emerges in recent years will also be discussed.

地面力学作为地面车辆研究的基础理论已经历了50余年的发展历程。近年来,与地面存在复杂作用力学行为的多种机器人被研发出来,例如星球探测车、星球自动采样机器人和地面移动机器人。因此,人们针对机器人地面力学开展了大量研究以突破传统接触力学的瓶颈。报告内容涉及机器人地面力学的研究现状与发展趋势,重点介绍融合多物理效应(滑转沉陷、轮刺效应、载荷效应和尺寸效应)的高保真度地面力学模型、纵向滑移力学和转向力学及其在星球车中的应用,同时将探讨工具-地面相互作用力学及近几年兴起的机器人腿/足地面力学与地面动力学。

 

 

Shenyang, China

 

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