检索结果-内蒙古大学图书馆

Chinese Control Conference (CCC)

作者： WenWu Zeng XiaoRui Zhu YanJie Li Lei Li State Key Laboratory of Robotics and System (HIT) Harbin 415100 China Harbin Institute of Technology Shenzhen Graduate School 518000 China

Large wind disturbance is harmful to the autonomous helicopters, especially to the small ones because of their low inertia and high cross-coupling effects among the multiple inputs. This paper has analyzed how the large wind disturbance would affect the performance of the small-scale unmanned autonomous helicopter (UAH) under the condition of hovering and forward flight. A group of polynomial functions were identified first according to the experiment data from the wind tunnel tests to estimate the variation of the total forces and moments caused by different large wind disturbances. Then, the wind resistance abilities of UAH are discussed based on further analysis of the wind tunnel experiment data. This paper has provided support to the controller design in order to attenuate large horizontal wind disturbances.

关键词： Force Helicopters Wind speed Electronic mail Performance analysis Laboratories Robots

来源：评论

学校读者我要写书评

暂无评论

A new algorithm for wireless sensor network based on NS-2

引用

Journal of Measurement Science and Instrumentation 2013年第3期4卷 272-275页

作者：焦国太孟庆丰 State Key Laboratory of Robotics and System Harbin Institute of Technology College of Mechatronics Engineering North University of China Robotics Research Center North University of China

Considering wireless sensor network characteristics,this paper uses network simulator,version2(NS-2)algorithm to improve Ad hoc on-demand distance vector(AODV)routing algorithm,so that it can be applied to wireless sensor *** studying AODV routing protocol,a new algorithm called Must is brought *** paper introduces the background and algorithm theory of Must,and discusses the details about how to implement Must *** last,using network simulator(NS-2),the performance of Must is evaluated and compared with that of *** results show that the network using Must algorithm has perfect performance.

关键词： wireless sensor networks routing protocol network simulator, version 2 （NS-2） Must algorithmCLC number：TN926 Document code：AArticle ID：1674-8042（2013）03-0272-04

来源：评论

学校读者我要写书评

暂无评论

Structure design optimization of micro/nano angular-table with S-shape compliant structure

Structure design optimization of micro/nano angular-table wi...

引用

International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M-NANO)

作者： Mahmoud Helal Weibin Rong Lininig Sun Production and Mechanical Design Dept. Mansoura University Mansoura EGYPT State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin CHINA

Micro-electromechanical systems is a rapidly growing field that will permeate our everyday lives in the coming decades. Recently, the evolution in microelectronics of combining mechanical and electrical functions has brought about an exciting new field micro/nano-electro-mechanical system. Compliant mechanisms can play an important role in the design of micro-devices for micro-electro-mechanical systems applications. Compliant mechanism is flexible structures that generate desired motion by undergoing elastic deformations. The concept of structural optimization has been more and more widely accepted in many engineering fields. The structural optimization can result in a much more reasonable and economical structure design. In this investigation, structure optimization is applied for designing two-dimensional micro/nano angular-table compliant mechanism. The interface between Malab and Ansys were shown to obtain the optimal shape of the compliant mechanism. Structure design optimization of the two-dimension micro/nano angular-table with S-shape compliant structure was shown and all results are illustrated.

关键词： Manufacturing processes Finite element analysis Micromechanical devices Mathematical model Design optimization Shape

来源：评论

学校读者我要写书评

暂无评论

Optimal design of dynamic and control performance for planar manipulator

引用

Journal of Central South University 2012年第1期19卷 108-116页

作者： YOU Wei KONG Min-xiu SUN Li-ning DU Zhi-jiang State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

A design and optimization approach of dynamic and control performance for a two-DOF planar manipulator was *** the kinematic and dynamic analysis,several advantages of the mechanism were illustrated,which made it possible to obtain good dynamic and control performances just through mechanism *** on the idea of design for control(DFC),a novel kind of multi-objective optimization model was *** were three optimization objectives:the index of inertia,the index describing the dynamic coupling effects and the global condition *** indexes to characterize the designing requirements such as the velocity of end-effector,the workspace size,and the first mode natural frequency were regarded as the *** cross-section area and length of the linkages were chosen as the design ***-II algorithm was introduced to solve this complex multi-objective optimization *** criteria from engineering experience were incorporated into the selecting of final parameters among the obtained Pareto solution ***,experiments were performed to validate the linear dynamic structure and control performances of the optimized mechanisms.A new expression for measuring the dynamic coupling degree with clear physical meaning was *** results show that the optimized mechanism has an approximate decoupled dynamics structure,and each active joint can be regarded as a linear SISO *** control performances of the linear and nonlinear controllers were also *** can be concluded that the optimized mechanism can achieve good control performance only using a linear controller.

关键词： mechanism optimization dynamic optimization design for control multi-objective optimization

来源：评论

学校读者我要写书评

暂无评论

Indoor surveillance robot controlled by a smart phone

Indoor surveillance robot controlled by a smart phone

引用

IEEE International Conference on robotics and Biomimetics

作者： Letian Liu Xiaorui Zhu Yi Tang State Key Laboratory of Robotics and System (HIT) Harbin Institute of Technology Shenzhen Graduate School Shenzhen Guangdong China

ISBN: (纸本)9781479927456

As the smart phone becomes a remote processor for more functions in people daily lifes, the operators of the indoor survelience robots can be located anywhere if they have the smart phone. This paper presents the design of a mobile robotic system remotely controlled by a smart mobile phone via the Internet. A control client on the Android smart phone was the command center while the mobile robot was excuted to surveilence. The model predictive control method was applied on the side of the smart phone to generate an optimal sequence of the control commands. A network compensator was embeded on the robot to determine the current action of the robot. Experiments under different netwok conditions were carried out and analyzed for validation of the proposed system.

关键词： Delay effects Delays Smart phones Robot kinematics Mobile robots Trajectory

来源：评论

学校读者我要写书评

暂无评论

CPG Control for Biped Hopping Robot in Unpredictable Environment

引用

Journal of Bionic Engineering 2012年第1期9卷 29-38页

作者： Tingting Wang Wei Guo Mantian Li Fusheng Zha Lining Sun State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150080P.R.China

A CPG control mechanism is proposed for hopping motion control of biped robot in unpredictable environment. Based on analysis of robot motion and biological observation of animal＇s control mechanism, the motion control task is divided into two simple parts： motion sequence control and output force control. Inspired by a two-level CPG model, a two-level CPG control mechanism is constructed to coordinate the drivers of robot joint, while various feedback information are introduced into the control mechanism. Interneurons within the control mechanism are modeled to generate motion rhythm and pattern promptly for motion sequence control; motoneurons are modeled to control output forces of joint drivers in real time according to feedbacks. The control system can perceive changes caused by unknown perturbations and environment changes according to feedback information, and adapt to unpredictable environment by adjusting outputs of neurons. The control mechanism is applied to a biped hopping robot in unpredictable environment on simulation platform, and stable adaptive motions are obtained.

关键词： biped robot unpredictable environment hopping motion control bionic control CPG

来源：评论

学校读者我要写书评

暂无评论

Bio-Inspired Controller for a Robot Cheetah with a Neural Mechanism Controlling Leg Muscles

引用

Journal of Bionic Engineering 2012年第3期9卷 282-293页

作者： Xin Wang Mantian Li Pengfei Wang Wei Guo Lining Sun State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001P.R.China

The realization of a high-speed running robot is one of the most challenging problems in developing legged robots. The excellent performance of cheetahs provides inspiration for the control and mechanical design of such robots. This paper presents a three-dimensional model of a cheetah that predicts the locomotory behaviors of a running cheetah. Applying biological knowledge of the neural mechanism, we control the muscle flexion and extension during the stance phase, and control the positions of the joints in the flight phase via a PD controller to minimize complexity. The proposed control strategy is shown to achieve similar locomotion of a real cheetah. The simulation realizes good biological properties, such as the leg retraction, ground reaction force, and spring-like leg behavior. The stable bounding results show the promise of the controller in high-speed locomotion. The model can reach 2.7 m-s^-1 as the highest speed, and can accelerate from 0 to 1.5 m-s^-1 in one stride cycle. A mechanical structure based on this simulation is designed to demonstrate the control approach, and the most recently developed hindlimb controlled by the proposed controller is presented in swinging-leg experiments and jump-force experiments.

关键词： biomimetics biologically-inspired robots legged robots neural mechanism artificial pneumatic muscle

来源：评论

学校读者我要写书评

暂无评论

Approximate Perturbation Stance Map of the SLIP Runner and Application to Locomotion Control

引用

Journal of Bionic Engineering 2012年第4期9卷 411-422页

作者： Haitao Yu Mantian Li Pengfei Wang Hegao Cai State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150080P.R.China

This paper presents a novel method of perturbation to obtain the analytic approximate solution to the Spring-Loaded Inverted Pendulum （SLIP） dynamics in stance phase with considering the effect of gravity. This perturbation solution achieves higher accuracy in predicting the apex state variables than the typical existing analytic approximations. Particularly, our solution is validated for non-symmetric trajectory of hopping in a large angle range. Furthermore, the stance controller of the SLIP runner is developed to regulate the apex state based on the approximate apex return map. To compensate the energy variation between the current and desired apex states, a stiffness adjustment of the leg spring in stance phase is presented. The deadbeat controller of the angle of attack is designed to track the regulated apex height and velocity. The simulation demonstrates that the SLIP runner applying the proposed stance controller reveals higher tracking accuracy and more rapidly converges to the regulated apex state.

关键词： legged locomotion spring-loaded inverted pendulum perturbation apex return map stiffness adjustment

来源：评论

学校读者我要写书评

暂无评论

Combined Use of FSR Sensor Array and SVM Classifier for Finger Motion Recognition Based on Pressure Distribution Map

引用

Journal of Bionic Engineering 2012年第1期9卷 39-47页

作者： Nan Li Dapeng Yang Li Jiang Hong Liu Hegao Cai State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150080P.R.China

For controlling dexterous prosthetic hand with a high number of active Degrees of Freedom （DOF）, it is necessary to reliably extract control volitions of finger motions from the human body. In this study, a large variety of finger motions are discriminated based on the diversities of the pressure distribution produced by the mechanical actions of muscles on the forearm. The pressure distribution patterns corresponding to the motions were measured by sensor array which is composed of 32 Force Sensitive Resistor （FSR） sensors. In order to map the pressure patterns with different finger motions, a multiclass classifier was designed based on the Support Vector Machine （SVM） algorithm. The multi-subject experiments show that it is possible to identify as many as seventeen different finger motions, including individual finger motions and multi-finger grasping motions, with the accuracy above 99% in the in-session validation. Further, the cross-session validation demonstrates that the performance of the proposed method is robust for use if the FSR array is not reset. The results suggest that the proposed method has great application prospects for the control of multi-DOF dexterous hand prosthesis.

关键词： finger motion recognition dexterous hand support vector machine sensor array pressure distribution map

来源：评论

学校读者我要写书评

暂无评论

A rotary ultrasonic motor using radial bending mode of ring with nested PZT excitation

引用

Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2012年第3期13卷 189-196页

作者： Ying-xiang LIU Jun-kao LIU Wei-shan CHEN Xiao-hui YANG State Key Laboratory of Robotics and System Harbin Institute of Technology Horbin 150001 China

This study presents and verifies a new idea for constructing a rotary traveling wave ultrasonic motor （USM） that uses the radial bending mode of a ring. In the new design, 20 trapezoid cross section slots are cut symmetrically in the outer surface of a thick duralumin alloy ring, where 20 PZT stacks are nested. In each slot, two wedging blocks are set between the PZT stack and the two sides of the slot respectively to apply preloading on the PZT ceramics. Two radial bending modes of the stator that have a phase difference of a quarter wavelength on space are generated by using the d33 operating mode of the PZT elements, and then a flexural traveling wave is formed by the superimposing of two standing waves whose amplitudes are equal and phases are different by 90~ temporally. Two conical rotors are pressed to each end of the ring type stator by a coiled spring. The finite element method （FEM） simulation is developed to validate the feasibility of the proposed motor. The maximal speed and torque of the prototype are tested to be 126 r/rain and 0.8 N＇m, respectively.

关键词： Rotary ultrasonic motor Radial bending mode Traveling wave Wedging block clamped structure

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：