Introduction
The Special Robotics and Intelligent Equipment Research Center relies on the national key disciplines of "Mechanical Engineering" and "Mechatronic Engineering", and focuses on special technologies such as special robots, medical robots, humanoid/bionic robots, electro-hydraulic intelligent equipment. Various long-term cooperative relationships have been established with well-known domestic universities, hospitals and research institutes. The team with more than 10 members aims to break through the key technologies of robots and intelligent equipment, and strive to become one of the bases for discipline construction, scientific research and talent cultivation at Shanghai University.
Research directions
Special robot technology
Intelligent humanoid/bionic robot
Medical robot
Intelligent unmanned system
Machine vision and intelligent detection
Electromechanical and hydraulic integrated intelligent equipment
Distinctive achievements
In the past five years, the team has undertaken 3 national projects, more than 30 industrial projects, published 20+ SCI papers, authorized 80+ national invention patents and won Shanghai Award once.
In 2018, the funds exceeded 14 million yuan.
Supervised more than 20 Ph.D students, 100 master students, and 6 post-doctors.
Research
Design and control of Final optics assembly of ICF
It is important to keep away from the ghost ref lection point for the arrangement design of final optics assembly (FOA)in the high power laser facility. he high power output of the SG-Ⅱ upgrading laser, limited target field space and complicated ghost reflection distribution lead to the difficult design of the FOA. By using the ghost image analysis software designed by ourselves, we analyzed the ghost reflection distribution of the FOA. Then, the arrangement of two types of designs for the FOA was optimized. According to the characteristics of SG- Ⅱ upgrading laser, we obtained the design for the FOA, which can satisfy the system requirement exactly.
Magnetic Fluid Deformable Mirror
A new type of magnetic fluid deformable mirror (MFDM) with a two-layer layout of actuators is proposed to improve the correction performance for full-order aberrations with a high spatial resolution. The shape of the magnetic fluid surface is controlled by the combined magnetic field generated by the Maxwell coil and the two-layer array of miniature coils. The upper-layer actuators which have a small size and high density are used to compensate for small-amplitude high-order aberrations and the lower-layer actuators which have a big size and low density are used to correct large-amplitude low-order aberrations. The analytical model of this deformable mirror is established and the aberration correction performance is verified by the experimental results. As a new kind of wavefront corrector, the MFDM has major advantages such as large stroke, low cost, and easy scalability and fabrication.
Adaptive tracking control for optical data storage systems
In the next generation optical data storage systems, the tolerance of the tracking error will become even smaller under various unknown working situations. However, the unknown external disturbances caused by vibrations make it difficult to maintain the desired tracking precision during normal disk operation. It is proposed in this paper to use an adaptive regulation approach to maintain the tracking error below its desired value despite these unknown disturbances. The design of the regulator is formulated by augmenting a base controller into a Youla-Kucera (Q) parameterized set of stabilizing controllers so that both the deterministic and the random disturbances can be deal with properly. The adaptive algorithm is developed to search the desired Q parameter which satisfies the Internal Model Principle and thus the exact regulation against the unknown deterministic disturbance can be achieved. The performance of the proposed control approach is evaluated with experimental results that illustrate the capability of the proposed adaptive regulator to attenuate the unknown disturbances and achieve the desired tracking precision.
Reconstruction of distorted underwater images
Imaging through a fluctuating air-water surface is a challenging task since light rays bent by unknown amounts lead to complex geometric distortions. This paper presents a new algorithm to undistort dynamic refractive effects. An iterative robust registration algorithm is employed to overcome the structural turbulence of the waves of the frames by registering each frame to a reference frame. To get the high-quality reference frame, the image is reconstructed by the patches selected from the sequence frames. A blind deconvolution algorithm is also performed to improve the reference frame. Experiments show our method exhibits significant improvement over other methods.
hand & eye-vergence visual servoing
Animals rotate their eyes to gaze at the target prey, enhancing the ability of measuring the distance to the target precisely for catching it. These animals, visual tracking includes the triangular eye-vergence control and their body’s motion control by visual servoing. The research aims to realize a bionic robot tracking performance, in which the body links moves together with eyes’ view orientation.
