Invited Speakers


 

 

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Hongzhou Jiang, Harbin Institute of Technology, China
姜洪洲,教授,博士生导师,哈尔滨工业大学

Tiantian Xu, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, China
徐天添,博导,中国科学院深圳先进技术研究院

Wei Tang, Northwestern Polytechnical University, China
唐炜,副教授,西北工业大学

Yu Wang, Institute of Automation Chinese Academy of Sciences, China
王宇,副研究员,中国科学院自动化研究所

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Shuaishuai Sun, University of Science and Technology of China
孙帅帅,特任研究员,博士生导师,中国科学技术大学

   

 

 

 

Biography / 个人简历:

 

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Prof. Hongzhou Jiang, Harbin Institute of Technology, China

Biography: Hongzhou Jiang received the M.S. degree and the Ph.D. degree in mechanical engineering from the Harbin Institute of Technology, Harbin, China, in 1996 and 2001, respectively. He is currently a Professor of mechanical engineering with the Harbin Institute of Technology. His research interests include parallel robotics, biologically inspired robotics, soft robotics, and hydraulic control systems. For multi-degrees of freedom hydraulic control systems, he proposed a modal space control method based on dynamic pressure feedback to enable the decomposition of complex multi-degrees of freedom systems into independent hydraulic subsystems, so that the bandwidths of the hydraulic driven multi-degrees of freedom system can be independently adjusted according to the vibration modes. For parallel mechanism design, he has put forward a dynamic isotropic design method based on the frequency characteristics to help the designers fully consider the impact of structural, inertial and damping parameters on the dynamic performance of the system in the design stage. In recent years, he has tried to combine flexible serial-parallel mechanisms with robotic fish to explore the relationship between vibration modes and swimming locomotion. This led to some interesting research results of a tensegrity robotic fish.

Speech Title: A Tesegrity Robotic Fish

Abstract: We present a tensegrity flexible biomimetic robotic fish, which can be used in the experimental study of the stiffness distribution characteristics and intrinsic curvature control of the fish body, and exploring the influence of the stiffness distribution characteristics of the fish body on swimming performance and the matching mechanism of active/passive swimming systems.The technical feature of the tensegrity robotic fish is the use of tensegrity joints instead of traditional rigid joints. The tensegrity joint uses tension network to make the rigid links of fish body skeleton float with respect to each other, greatly reduces the mechanical friction loss, and improves the mechanical transmission efficiency of the ish body.The proposed tensegrity joint has the advantages of independent and controllable stiffness and joint angle, and large range of variable stiffness. The fish body adopts the flooding design, and inherits the advantages of light weight and high load capacity of tensegrity structures, and is easy to extend to a large-scale robot fish .

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Assoc. Prof. Wei Tang, Northwestern Polytechnical University, China

Biography: Wei Tang, deputy Director of Shaanxi general aviation system engineering research center, associate Professoris in the School of Automation, Northwestern Polytechnical University (doctoral tutor) , and has visited the Newcastle University in Australia for control engineering research. He received his Ph.D. from Northwestern Polytechnical University in 2006. His research interests include robot intelligent control, vibration control and aeroengine control. He has authored over 50 research and scientific publications. He is the PI of 4 national scientific research projects such as National Natural Science Foundation of China. His work has won three awards including the second class prize for national defense technological invention.

Speech Title: A Multi-sensor Fusion Localization Method for Complex Outdoor Scenes

Abstract: In the research of mobile robots, localization is one of the key technologies. Since the outdoor environment is complex and changeable, it is difficult for a single sensor to meet the high-precision localization requirements. A key issue is how to fuse the information of multi-sensors to meet the localization requirements in the outdoor complex environment. This lecture will introduce a multi-sensor fusion localization method based on particle filter framework. This method fuses the information of 3D LiDAR, IMU and GPS, and takes advantage of each sensor to effectively solve the problems of poor localization effect of 3D LiDAR in outdoor open environment and GPS signal loss in densely built environment. The method has the characteristics of high localization accuracy and high reliability, which can meet the localization requirements of outdoor complex environment. This lecture systematically reviews the research background, essential implement ideas, advantages of this approach and potential applications, and ends with some remarks and conclusions.

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Dr. Tiantian Xu, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, China

Biography: Tiantian Xu received the M.S. degree in Industrial Engineering from the Ecole Centrale Paris, France, the Engineer degree (∼M.S. degree) in Mechanic from Supmeca, France, in 2010, and the Ph.D. degree at the Institute of Intelligent Systems and Robotics (ISIR), University of Pierre and Marie Curie, Paris, France, in 2014. She worked for the Chinese University of Hong Kong as a postdoctoral fellow from 2014 to 2016. She is currently working in the Guangdong Provincial Key Laboratory of Robotics and Intelligent System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, China. Her research interests are currently focused on design and control of magnetic actuated microswimmers. She has published 11 IEEE Trans as first or corresponding author, including TRO, TMECH, TASE, and etc. She has received the NSFC excellent young scholar.

Speech Title: Independent Control Strategy of Multiple Magnetic Flexible Millirobots for Position Control and Path Following

Abstract: Magnetically actuated small-scale robots have great potential for numerous applications in remote, confined, or enclosed environments. Multiple small-scale robots enable cooperation and increase the operating efficiency. However, independent control of multiple magnetic small-scale robots is a great challenge, because the robots receive identical control inputs from the same external magnetic field. In this article, we propose a novel strategy of completely decoupled independent control of magnetically actuated flexible swimming millirobots. A flexible millirobot shows a crawling motion on a flat plane within an oscillating magnetic field. Millirobots with different magnetization directions have the same velocity response curve to the oscillating magnetic field but with a difference of phase. We designed and fabricated a group of up to four heterogeneous millirobots with identical geometries and different magnetization directions. According to their velocity response curves, an optimal direction of oscillating magnetic field is calculated to induce a desired velocity vector for the millirobot group, one of which is nonzero and the others are approximately zero. The strategy is verified by experiments of independent position control of up to four millirobots and independent path following control of up to three millirobots with small errors. We further expect that with this independent control strategy, the millirobots will be able to cooperate to finish complicated tasks.

 
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Dr. Yu Wang, Institute of Automation Chinese Academy of Sciences, China

Biography: Yu Wang, Ph.D., Associate professor, member of the Youth Innovation Promotion Association of Chinese Academy of Sciences. His scientific research interests include underwater bionic robots, robotic control, etc. He currently serves as the vice president of the Information Management Branch of the Youth Innovation Promotion Association of Chinese Academy of Sciences. He has published more than 60 academic papers in high-level international journals in the field of robotics and control technology. He presided over the National Natural Science Foundation-Outstanding Youth Foundation, Project of the National Basic Research Program of China, Talent Program of Youth Promotion Association of Chinese Academy of Sciences, National Natural Science Foundation of China-Surface Project. He won the first prize of the 2019 CAA Technology Invention Award, the 2019 Chinese Society of Automation Science Popularization Award, and the first prize in online recognition group of the 2018 China Underwater Robot Picking Contest.

Title: Design and Autonomous Manipulation for the Underwater Biomimetic Vehicle-Manipulator System

Abstract: Underwater robots have played an important role in underwater capture, emergency rescue, dangerous operations, equipment maintenance, target inspection, and underwater archaeology, showing promising practical value and application prospects. However, the key technologies such as autonomy and operation accuracy of the traditional underwater vehicle-manipulator system (UVMS) cannot fully meet the application requirements. Moreover, the challenges of the system design, motion control, and other aspects still need to be solved. The underwater biomimetic propulsion mode has the advantages of speed, stability, efficiency, maneuverability, and adaptability to complex turbulence. Therefore, compared with the traditional propeller-propelled UVMS, the biomimetic propulsion UVMS provides new ideas and schemes to solve the problems of hovering and hydrodynamic interference of the UVMS. The reporter has been engaged in the research of underwater biomimetic robots. This report will focus on the precise control of underwater operations and specifically introduce the research work on the system design, autonomous environment perception, motion control, and grasping operations of the UVMS.

 
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Dr. Shuaishuai Sun, University of Science and Technology of China

Biography: Shuaishuai Sun received the B.E. degree in mechanical engineering and automation from the China University of Mining and Technology, Beijing, China, in 2011, and Ph.D. degree in 2016 from University of Wollongong, N.S.W, Australia.
He is currently working as a Professor with the Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China (USTC), Hefei, China. Before he joined the USTC, he was with the University of Wollongong as a Research Fellow from 2016 to 2019 and with Tohoku University as an Assistant Professor from 2019 to 2020. His research interests include intelligent mechanical and mechatronics systems, system dynamics, smart materials and structures, innovative actuators for locomotive robots, and vibration control. He has published more than 110 SCI journal articles in his research field. He serves as an Associate Editor or Editorial Board Member for 5 international journals.
He received a number of awards, including talented young scientist award from IFAM, selected into China national talents program, Rising Stars 2020” award from the journal of Frontiers in Materials, Endeavour Australia Cheung Kong Research Leadership Award from Department of Education, Skills, and Employment, Australian Government, UOW Impact Maker Award from University of Wollongong.

Speech Title: Equipping new SMA artificial muscles with controllable MRF exoskeletons for robotic manipulators and grippers

Abstract: Shape memory alloy (SMA) wires are one of the widely used materials for soft artificial muscles. However, SMA artificial muscles have two problems, including limited load holding ability due to their soft nature and slow response due to their long cooling time. The main contributions of this research are the developments of a controllable magnetorheological fluid (MRF) exoskeleton and a fast-response magnetorheological elastomer (MRE)-SMA artificial muscle as effective approaches to solve the above-mentioned problems. The controllable MRF exoskeleton provides variable stiffness so that it can be flexible enough to allow the manipulator to bend as required while stiff enough to hold up heavy loads. This new artificial muscle accelerates the cooling speed of SMA wire to shorten its recovery time. Our tests proved that this new artificial muscle, compared with conventional SMA artificial muscles, could improve the recovery speed by up to 333%. The new artificial muscle and the MRF exoskeleton assembled a robotic manipulator and then a robotic gripper with three of those manipulators. The experimental tests verified that the loading capability of the new gripper had increased by 440% compared to the pure SMA gripper.

 

 

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