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International Conference on Power Electronics and Motion Control (IPEMC)

作者： Yingxiang Liu Weishan Chen Peilian Feng Junkao Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China

In a previous study, the authors have proposed, designed and fabricated a cylindrical traveling wave piezoelectric motor excited by a longitudinal and bending hybrid composite transducer. This study focuses the research on the vibration coupling problems of the proposed stator. After the introduction of the working principle of the motor, harmonic analysis is developed to gain the input impedance characteristics of the longitudinal and bending vibration modes of single transducer; the electromechanical coupling factors are calculated to evaluate the energy transfer efficiency. Then, the input impedance characteristics of the two vibration modes of the stator are analyzed to gain the corresponding electromechanical coupling factors. At last, the resonance frequencies of the transducer and cylinder are adjusted to obtain their effects on the electromechanical coupling factors. The study results can guide the design of traveling wave motors that utilized sandwich transducers as actuators.

关键词： Transducers Couplings Stators Vibrations Resonant frequency Acoustics Impedance

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Fuzzy control and connected region marking algorithm-based SEM nanomanipulation

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Mathematical Problems in Engineering 2012年第1期2012卷

作者： Li, Dongjie Rong, Weibin Sun, Lining You, Bo Zou, Yu Xiao, Wanzhe State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China School of Automation Harbin University of Science and Technology Harbin 150080 China

The interactive nanomanipulation platform is established based on fuzzy control and connected region marking (CRM) algorithm in SEM. The 3D virtual nanomanipulation model is developed to make up the insufficiency of the 2D SEM image information, which provides the operator with depth and real-time visual feedback information to guide the manipulation. The haptic device Omega3 is used as the master to control the 3D motion of the nanopositioner in master-slave mode and offer the force sensing to the operator controlled with fuzzy control algorithm. Aiming at sensing of force feedback during the nanomanipulation, the collision detection method of the virtual nanomanipulation model and the force rending model are studied to realize the force feedback of nanomanipulation. The CRM algorithm is introduced to process the SEM image which provides effective position data of the objects for updating the virtual environment (VE), and relevant issues such as calibration and update rate of VE are also discussed. Finally, the performance of the platform is validated by the ZnO nanowire manipulation experiments. © 2012 Dongjie Li et al.

关键词： Zinc oxide

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STUDY ON THE VIBRATION COUPLING OF ULTRASONIC MOTOR USING LONGITUDINAL TRANSDUCERS

STUDY ON THE VIBRATION COUPLING OF ULTRASONIC MOTOR USING LO...

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2012全国压电和声波理论及器件技术研讨会

作者： Ying-xiang LIU Wei-shan CHEN Di LU Xiao-hui YANG Yu YAO State Key Laboratory of Robotics and System Harbin Institute of Technology School of Astronautics Harbin Institute of Technology

A linear ultrasonic motor using longitudinal vibration transducers with single foot was proposed,designed,fabricated and tested in a previous *** longitudinal vibrations of two orthogonal bolt-clamped transducers are superimposed to produce eUiptical movements on the driving ***,the operating principle of the proposed motor is *** longitudinal and bending vibrations of the transducers are gained by modal ***,the resonance frequencies and input impendence characteristics of the individual transducers and the motor are calculated respectively to gain the effect from the vibration *** study results state that the vibration coupling between the transducers make thenlongitudinal resonance frequencies have small increases and the electromechanical coupling factor of the vertical transducer has an obvious decrease after it is linked with the horizontal *** last,the coupling bending vibrations of the transducers are tested by using a scanning laser Doppler vibrometer.

关键词： Ultrasonic motor Longitudinal transducer Vibration coupling Input impendence

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SEMG control of an upper limb rehabilitation robot based on boosting of neural networks

SEMG control of an upper limb rehabilitation robot based on ...

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

作者： Li, Qingling Song, Yu School of Mechanical Electronic and Information Engineering China University of Mining and Technology Beijing China State Key Laboratory of Robotics and System of HIT Harbin Institute of Technology Harbin China School of Electronic and Information Engineering Beijing Jiaotong University Beijing China

ISBN: (纸本)9781467312776

This paper presents a surface electromyography (sEMG) control strategy for robot-assisted upper limb rehabilitation after stroke which can make the rehabilitation robot follow the patient's intention. A new method for feature extraction is proposed aiming at non-stationary feature of sEMG firstly. And then, an ensemble classification method based on BP base classifier is brought forward to discriminate upper limb motions. Experimental results verify that the feature extraction method is superior to traditional ones with respect to recognition rate and convergence speed of classifier, and the ensemble classifier have stronger generalization ability and higher recognition accuracy than single neural network classifier. © 2012 IEEE.

关键词： Feature extraction

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Square-root cubature FastSLAM algorithm for mobile robot simultaneous localization and mapping

Square-root cubature FastSLAM algorithm for mobile robot sim...

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

作者： Song, Yu Li, Qingling Kang, Yifei Yan, Deli School of Electronic and Information Engineering Beijing Jiaotong University Beijing China State Key Laboratory of Robotics and System of HIT Harbin Institute of Technology Harbin China School of Mechanical Electronic and Information Engineering China University of Mining and Technology Beijing China

ISBN: (纸本)9781467312776

In this paper, we derive a new SRCFastSLAM algorithm to SLAM problem, which is the square-root edition of our previously proposed Cubature FastSLAM. The main contribution lies that: 1) in SRCFastSLAM, the particles for SLAM implementation are assembled by means and covariance square-root factors (rather than covariances) of the robot state and the feature landmarks;2) Due to the covariance square-root factors are directly propagated in our SLAM process, the time-expensive Cholesky decompositions on covariance matrixes are avoided, also the symmetry and positive (semi) definiteness of the covariance matrixes are preserved. The performance of the proposed algorithm is investigated and compared with FastSLAM2.0 and UFastSLAM using a serial simulation. Results show that the proposed SRCFastSLAM outperforms FastSLAM2.0 and UFastSLAM in precision and reduces the computational cost of the CFastSLAM obviously. © 2012 IEEE.

关键词： robotics

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Design and Development of a Cheetah Robot under the Neural Mechanism Controlling the Leg's Muscles

Design and Development of a Cheetah Robot under the Neural M...

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IEEE/RSJ International Conference on Intelligent robotics and systems

作者： Xin Wang Mantian Li Wei Guo Pengfei Wang Lining Sun currently a PhD candidate in State Key Laboratory of Robotics and System Harbin Institute of Technology 150001 China in State Key Laboratory of Robotics and System Harbin Institute of Technology 150001 China currently an associate professor in State Key Laboratory of Robotics and System Harbin Institute of Technology 150001 China

ISBN: (纸本)9781467317375

The high speed running of legged robot raise higher requirements on the design and development of the robot and the control method. The mammals' excellent performance, especially the cheetah, provides us much inspiration on control, mechanical design and etc. In this paper, a model of the cheetah robot is developed for researching the locomotory behaviors of fast running. Under the biological knowledge on neural mechanism, a new bio-inspired control method was proposed via controlling the muscles flexion and extension movements. Then, a bio-musculoskeletal hindlimb prototype was designed in this paper. The muscle-like actuator and the cheetah-like structure combining the bio-control approach provide more natural fashion for the new robot. Finally, the simulation of the bounding gait establishes good biological properties, cheetah-like leg's trajectory. Experiment with the real hindlimb prototype validates the design and the development of the structure and the controller. In the near future, a final prototype will be manufactured with onboard power and air source.

关键词： Neural Mechanism Controlling development extension movements cheetahs Robot Control Methods Legged robot AIR SUPPLIES Leg muscles

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Study on the landing mechanism employed in asteroid exploration

Study on the landing mechanism employed in asteroid explorat...

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

作者： Zhao, Zhijun Zhao, Jingdong Liu, Hong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

Different landing exploration modes of small bodies are discussed. A landing mechanism employed in the asteroid landing exploration is designed. It contains landing foot, landing gear, cardan, buffer mechanism, equipment base, anchor system, and so on. The landing mechanism could fold up to reduce space occupation in the spacecraft. It could fix itself on the landing slope under microgravity via the anchor system. The anchor system's penetrating and anchoring capability is examined in the frozen earth. The landing performance under microgravity is tested on the air-floating platform. Experiments show that the landing mechanism could perform landing under microgravity and anchoring itself firmly on the landing slope. © 2012 IEEE.

关键词： Microgravity

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Stability analysis of a tracked mobile robot in climbing stairs process

Stability analysis of a tracked mobile robot in climbing sta...

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

作者： Wang, Weidong Wu, Dongmei Wang, Qibin Deng, Zongquan Du, Zhijiang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 150001 China

ISBN: (纸本)9781467312776

Obstacle negotiation stability is essential to unmanned ground vehicle. The stability criterion which is proposed in this paper can provide the basis for analysing robot's stability. With analysing the interaction between the stairs and the tracked robot which is used in harsh environment, this paper presents two methods to judge the stability of the robot in climbing stairs process. Here the kinematic model is established with the D-H method. Using this model, the robot's ability of climbing stairs is analysed. With the model and the ability analysis method, a geometry stability analysis method which using the stability pyramid and a force stability analysis method which using the force between robot and stairs are proposed. At last, a simulation case and experiments illustrate the effectiveness of the proposed method for climbing stairs. © 2012 IEEE.

关键词： Kinematics

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Pressure dependence of Brillouin frequency shift in bare silica optical fibers

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Chinese Optics Letters 2012年第10期10卷 20-22页

作者：顾海栋董惠娟张广玉何俊徐宁 Douglas.J.Brown School of Mechatronics Engineering Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin Institute of Technology Department of Electrical and Computer Engineering University of New BrunswickFrederictonNB E3B 5A3Canada

The effect of hydrostatic pressure （up to 28 MPa） on Brillouin frequency shift （BFS） within two types of bare, single-mode fibers is studied via Brillouin optical time domain analysis technique. Experimental results show a negative linear relation between pressure and BFS, with almost the same sensitivity in both types of fibers. The average value of experimental slopes is –0.742 MHz/MPa. This value is found to be well suited to theoretical analysis on the basis of data on bulk silica glass in previous reports. This preliminary evaluation may result in a new method for distributed pressure sensing along silica optical fiber.

关键词： Frequency shift keying Hydrostatic pressure Silica Time domain analysis

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Motion control of an underactuated spherical robot: A hierarchical sliding-mode approach with disturbance estimation

Motion control of an underactuated spherical robot: A hierar...

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

作者： Liu, Baoyin Yue, Ming Liu, Rong School of Automotive Engineering Dalian University of Technology Dalian Liaoning Province 116024 China School of Electronic and Information Engineering Dalian University of Technology Dalian Liaoning Province 116024 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province 150001 China

ISBN: (纸本)9781467312776

The inner suspension of a spherical robot undergoes an underactuated state which will be difficult for the underactuated system control, when the robot is rolling ahead. To resolve this underactuated control problem, an adaptive hierarchical sliding mode control scheme is proposed. The spherical robot system is separated as shell subsystem and inner suspension subsystem according to the movement. Then a pair of first layer sliding surfaces is defined for each subsystem, by which the equivalent control law is derived to ensure states of each subsystem approaching to their own sliding mode surface. Based on the first layer sliding surface, a second layer surface is defined correspondingly, through which a total control law is given to make sure that all states can converge to their desired value via Lyapunov stability theorem. Meanwhile, considering the unavoidable and uncertain disturbance in the unstructured exploration environment, an adaptive hierarchical sliding mode control scheme is adopted to estimate the uncertain disturbances in real-time. Finally, the simulation results demonstrate the controller's adaptability and validity. © 2012 IEEE.

关键词： Spheres

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