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2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Yang, Lijun Wang, Yang Tian, Zhongguo State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China Key Laboratory of Micro-systems and Micro-structures Manufacturing Ministry of Education Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

The research about laser cutting technology based on controlled fracture method has great potential to cutting ceramics. The paper investigate the controlled fracture technology to ZrO2 ceramic irradiated with Nd:YAG laser. In the experiment, laser energy produces a thermal stress that cause ceramic to separate along the moving path of laser beam. Graphite coated ceramic surface to improve the absorption rate for laser radiation. Optical microscope photographs and SEM of the separation surface are obtained to examine the surface quality. The surface qualities of ceramic obtained by laser and mechanical cutting are compared. Fracture propagation mechanism is studied by examining the temperature and stress fields using finite element software ANSYS12.1. The results show that good cutting quality of ceramic can be acquired by continuous Nd:YAG laser cutting with controlled fracture. © 2012 IEEE.

关键词： Fracture

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Design and experiment of electromagnetic force device for optical fiber fusion stretching

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Guangxue Jingmi Gongcheng/Optics and Precision Engineering 2012年第1期20卷 72-79页

作者： Rong, Wei-Bin Guan, Nan-Nan Wang, Le-Feng Sun, Li-Ning State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China

An electromagnetic force device is designed to realize the precise force control in the process of fusion stretching of ultra-thin fibers. First, the electromagnetic force with different coil parameters is calculated based on finite element method, and the relationship between electromagnetic force and coil parameters is derived. With the demand of stretching system performance and the dimension restrictions of the coil frame, constraint equations and objective functions are established to optimize the solution to machine the electromagnetic coil. Then the control circuit for electromagnetic force is designed to regulate the current in the coil and achieve the fine adjustment of electromagnetic force. Finally, experiments of electromagnetic force device are performed. The results indicate that the range of stretching force for the optical fibers can achieve 26.073 mN and the measuring resolution is 7.473 μN. It satisfies the demand of the fusion stretching of ultra-thin fibers.

关键词： Optical fibers

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Errors modeling and sensitivity analysis for a novel parallel manipulator

Errors modeling and sensitivity analysis for a novel paralle...

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2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Li, Yunfeng Li, Changfeng Qu, Dongsheng Duan, Suolin Bai, Xue Shen, Huiping State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China Robotics Institute of Changzhou University Changzhou University Changzhou Jiangsu Province China

ISBN: (纸本)9781467312776

Error model is the basis for accuracy-related computations and analyses for parallel manipulator. In this paper, one novel 6-DOF Parallel manipulator is proposed and its errors model is obtained by setting up the relation of pose errors and structural parameters based on the closed-vectors differential method. Errors sensitivity index are defined by using of singular value of the matrix and are given to physical meanings. Errors synthetically sensitivity, direction sensitivity and maximum sensitivity are quantitatively analysed through simulation, which prove that errors sensitivity of some feature in the working space can be of evaluation scale for optimum structural design. Analysis of the structural parameters and the error sensitivity can describe the relationship of parallel manipulator configuration parameters on the terminal accuracy. The errors model set up can lay a solid foundation for structure design and errors compensation of the manipulators. © 2012 IEEE.

关键词： Sensitivity analysis

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A fast two-step marker-controlled watershed image segmentation method

A fast two-step marker-controlled watershed image segmentati...

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2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Han, Xianwei Fu, Yili Zhang, Haifeng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China Harbin Dongyu Agricultural Engineering Machinery Co. Ltd. Harbin 150090 China

ISBN: (纸本)9781467312776

A fast two-step marker-controlled watershed image segmentation method in CIELAB color space is presented in this paper. We choose a number of seed points distributed nearly uniformly as the makers to perform the first marker watershed segmentation step, and obtain superpixels of the input image. These markers have the minimal gradient in a 3 x 3 neighborhood, which is able to avoid placing them at an edge and to reduce the chances of choosing a noise pixel. After superpixels segmentation, we do not adopt the traditional region merging strategies based on the different features of the adjacent regions, but cluster the superpixels in a 5-D space composed of Lab color vector and the position coordinates of the superpixels to resolve the over-segmentation problem, which saves a lot of computation time. Experiments on various types of images demonstrate that our algorithm is faster than many other segmentation algorithms and very suitable for real-time applications. © 2012 IEEE.

关键词： Superpixels

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Static analysis for a 3-RUU parallel mechanism

Static analysis for a 3-RUU parallel mechanism

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2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Yu, Lingtao Wang, Tao Song, Huajian Wang, Zhengyu Yu, Peng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China College of Mechanical and Electrical Engineering Harbin Engineering University Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

A mathematical model of static for a parallel mechanism is generally established by using the force Jacobin matrix [1], [2], [3], which is inaccurate due to ignoring of self-gravity of the linkage [4], [5]. In this paper, based on taking self-gravity of the linkage into account, static analysis of a novel 3-DOF parallel mechanism with RUU joint structure that can perform three-dimensional translations is put forward. Based on the inverse-kinematics of parallel mechanism and forces (torques) transfer mechanism between different hinges, static model is established in order to improve accuracy of static model. Then, a numerical example is given. © 2012 IEEE.

关键词： Static analysis

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Study of high-speed loading machine's missing chip detection system based on vacuum testing

Study of high-speed loading machine's missing chip detection...

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2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Rong, Weibin Liu, Ruyi Fan, Zenghua Sun, Lining Department of State Key Laboratory of Robotics and System Harbin Institute of Technology Ministry of Education Harbin Heilongjiang Province China Key Laboratory of Micro-systems and Micro-structures Manufacturing Harbin Institute of Technology Ministry of Education Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

A method of missing chip detection based on vacuum testing is presented in the paper in view of the requirement of response time in high-speed loading machine. On the basis of analyzing the factors that influence response time in theoretical, the experimental platform of the detection system is set up. Some key factors that affect the response time are analyzed by experiments, and the improvement of experimental platform completed in final. The experimental results show that the improved detection system has faster response time on the basis of guaranteeing the stability, the response time of this system is about 38ms, and it has put into use. © 2012 IEEE.

关键词： Response time (computer systems)

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Intelligent bionic leg motion estimation based on interjoint coordination using PCA and RBF neural networks

Intelligent bionic leg motion estimation based on interjoint...

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2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Wang, Fei Qi, Yalu Wen, Shiguang Wu, Chengdong State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang 110819 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 158100 China

ISBN: (纸本)9781467312776

It has been a challenging endeavor for amputee to coordinate harmoniously with his/her artificial limb. In this paper, a novel scheme of real-time motion estimation for Intelligent bionic leg based on interjoint coordination is proposed. To measure the gait during walking, inertial sensors are mounted on the CoGs of bilateral thighs and shanks to acquire angular velocities of lower limbs of subjects. For the existence of linear correlation between bilateral kinematics in healthy symmetrical human gait, principle components analysis is employed to model the interjoint coordination and is used to estimate the knee joint angle of intelligent bionic leg from body motion of amputee. To improve the presicion of motion estimation further, RBF neural networks are used to optimally calculate the knee joint angle. Simulation and experimental results demonstrate the effectiveness and correctness of the proposed scheme. © 2012 IEEE.

关键词： Motion estimation

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Equivalent circuit simulation model of cantilevered piezoelectric bimorph energy harvester

Equivalent circuit simulation model of cantilevered piezoele...

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2011 International Conference on Mechanical Engineering, Materials and Energy, ICMEME 2011

作者： Wang, Hongyan Shan, Xiaobiao Xie, Tao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China College of Computer and Control Engineering Qiqihar University Qiqihar 161006 China

ISBN: (纸本)9783037853405

This paper presented an equivalent circuit simulation model of the cantilevered piezoelectric bimorph energy harvester for predicting the electrical power output of the energy harvester. The alternating voltage in the equivalent circuit model is identified from FE transducer model and the parameters of the resistance, capacitance and inductance in the equivalent circuit model are identified from FE actuator model. To valid the equivalent circuit simulation model, the power output values are compared with those obtained from the coupled piezoelectric-circuit finite element analysis. The results demonstrate the accuracy of the equivalent circuit simulation model. © (2012) Trans Tech Publications, Switzerland.

关键词： Equivalent circuits

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Complex impedance matching for power improvement of a circular piezoelectric energy harvester

Complex impedance matching for power improvement of a circul...

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2011 International Conference on Mechanical Engineering, Materials and Energy, ICMEME 2011

ISBN: (纸本)9783037853405

The impedance matching and the optimization of power from a circular piezoelectric energy harvester with a central-attached mass are studied. A finite element model is constructed to analyze the electrical equivalent impedance of the circular piezoelectric energy harvester. Furthermore, the complex conjugate matching load is used to extract the maximum output power of the energy harvester. The power output from complex conjugate matching load is compared with the power output from the resistive matching load and a constant resistance, separately. The results suggest that the complex conjugate matching can result in a significant increase of the output power for all frequencies. The effective bandwidth of the piezoelectric energy harvester is extended significantly. © (2012) Trans Tech Publications, Switzerland.

关键词： Finite element method

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Wireless Control system of Reconfigurable Flexible Process-equipment

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10th Asia-Pacific Conference on Materials Processing (APCMP 2012)

作者： Zhou, Liang Fang, Yan Tao Cao, Gang Zhu, Bo State Key Laboratory of Robotics and System (HIT) Hei Longjiang Province China Harbin Institute of Technology Hei Longjiang Province China Harbin Power Bureau Hei Longjiang Province China

ISBN: (纸本)9783037853993

The reconfigurable flexible process-equipment developed for machining complex shape and size changes in the scope of large thin-walled parts usually consists of dozens or even hundreds of positioning/support units. During the control process, each unit communicates with the host computer to get control commands and simultaneously feedback internal state information. For large complex system composed of many subsystems, the traditional cable connection based on field bus technology is high control costs and the complexity of the control circuit is hard to build and manage. To solve this problem, this paper puts forward a new way of wireless communication with the cable network technology and drive positioning/support unit in order. This paper focuses on the overall structure of the proposed system, host computer control system, lower computer control system and wireless communication module as well as the implementation hardware circuits and software algorithm. In addition, some solutions of related issues are discussed. The research shows that the proposed system has high stability and reliability, and it provides an effective way to the control and communication of complex system which fully meets the requirements of reconfigurable flexible process-equipment.

关键词： Reconfigurable Flexible Process-equipment Wireless Control ZigBee

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