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Design of a spherical robot based on novel double ballast masses principle

高技术通讯（英文版） 2011年第2期17卷 180-185页

作者： Zhao Bo Wang Pengfei Hu Haiyan Sun Lining State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001P.R.China

A spherical robot based on a novel double ballast masses principle is developed for military re-connaissance and unknown environment *** robot is driven by two DC motors,each of which drives one ballast mass,and the two ballast masses are placed symmnetrically on the major *** with the traditional ballast mass principle,the robot has featured high speed,the abil-ity of slope climbing and obstacle overcoming in linear *** robot has two inputs and three DOF,which is a nonholonomic and underactuated *** dynamic model of the robot is con-structed,and the linear motion performance of robot in theory is proved by Adams *** control system is briefly introduced,and the performance of the prototype is tested by experiments at last.

关键词： spherical robot double ballast masses dynamic model

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Mobile robot path planning method combined improved artificial potential field with optimization algorithm

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High technology Letters 2011年第2期17卷 160-165页

作者：赵杰 Yu Zhenzhong Yan Jihong Gao Yongsheng Chen Zhifeng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 P. R. China

To overcome the shortcomings of the traditional artificial potential field method in mobile robot path planning, an improved artificial potential field model （IAPFM） was established, then a new path planning method combining the IAPFM with optimization algorithm （trust region algorithm） is proposed. Attractive force between the robot and the target location, and repulsive force between the robot and the obstacles are both converted to the potential field intensity; and filled potential field is used to guide the robot to go out of the local minimum points ; on this basis, the effect of dynamic obstacles velocity and the robot＇s velocity is consid thers and the IAPFM is established, then both the expressions of the attractive potential field and the repulsive potential field are obtained. The trust region algorithm is used to search the minimum value of the sum of all the potential field inten- sities within the movement scope which the robot can arrive in a sampling period. Connecting of all the points which hare the minimum intensity in every sampling period constitutes the global optimization path. Experiment result shows that the method can meet the real-time requirement, and is able to execute the mobile robot path planning task effectively in the dynamic environment.

关键词： trust region optimization algorithm path planning artificial potential field mobile robot potential field intensity

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Automated classification of gait patterns based on time-frequency analysis

Beijing Keji Daxue Xuebao/Journal of University of Science a...

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Beijing Keji Daxue Xuebao/Journal of University of Science and technology Beijing 2012年第1期34卷 31-36页

作者： Wang, Fei Wen, Shi-Guang Zhang, Yu-Zhong Kim, Ki-Jun Wu, Cheng-Dong State Key Laboratory of Integrated Automation for Process Industries Northeastern University Shenyang 110819 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

A general scheme for the automated classification of gait patterns based on time-frequency analysis was proposed to discriminate acceleration signals characterized by high dimension, non-linearity, strong coupling and high time-varying acquired under different terrains and motion patterns of lower limbs. A three-axis acceleration sensor was mounted on a crus to acquire acceleration signals in the sagittal, coronal and cross-sectional planes separately. By using a 5-order Daubechies wavelet base, the features were extracted from time-series acceleration signals and further dimensionally reduced by employing linear discrimination analysis (LDA). The reduced features were classified by the decision tree and the support vector machine (SVM). From experimental results, both classifiers can achieve the high classification accuracy ratio over 90% and for the specified gait the ratio can be up to 100%, indicating the rationality and effectiveness of the proposed methods for feature extraction and dimension reduction.

关键词： Support vector machines

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A Study on sEMG Simulation Modeling and Its Decomposition Methods

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Chinese Journal of Biomedical Engineering(English Edition) 2012年第1期21卷 1-11页

作者： ZOU Ling MA Xiao-juan RONG Hai-long School of Information Science & Engineering Changzhou University Changzhou 213164 China State Key Laboratory of Robotics and System (HIT) Harbin Institute of Technology Harbin 150001 China

In this paper, we establish a surface electromyography(sEMG) signal model and study the signal decomposition method from noisy background. Firstly, single fiber action potential (SFAP), motor unit action potential (MUAP) and motor unit action potential train(MUAPT) are simulated based on the tripolar signal source model, and then the sEMG is obtained; secondly, the simulated sEMG signal is extracted from the mixed signals that consists of white noises, power frequency interference signal and electrocardio signal by independent component analysis (ICA) algorithms; lastly, the spikes corresponding to each motor unit action potential from the simulated sEMG signals were detected by applying the wavelet transform (WT) method. Simulation results showed that sEMG model could describe the physiological process of sEMG, ICA and WT methods could extract the sEMG signal and its features, which will lay a foundation for further classifying the MUAP.

关键词： sEMG simulation recruitment and firing motor unit action potential independent component analysis wavelet transform

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Algorithm for simulator's road spectrum signal

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key Engineering Materials 2011年 458卷 237-245页

作者： Zhao, Zhenmin Kong, Minxiu Du, Zhijiang Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China College of Electric and Information Engineering Heilongjiang Institute of Science and Technology Harbin 150027 China

In response to the impossibility of directly using data of the actual road show experiment to the motion simulation of simulators, due to the limited work space of simulators, this paper begins with an attempt to extract the main frequency components of original signals by spectrum analysis and allow the input signal to meet performance requirements by adjusting the phase offset corresponding to the various frequency components. The paper proceeds with the regeneration of the signals capable of reflecting the motion characteristics of the original data and meeting the performance requirements of motion simulators by selecting these phase offsets as the design variables, selecting simulator's displacement, velocity, and acceleration as the optimization objectives and applying Genetic Algorithm toolbox of Matlab to develop the optimization model. The paper ends with the efforts to check mechanism singularity by calculating the Jacobian matrix condition number of the regenerating signals and thus obtain the regenerating signals compatible with the work space, capable of fulfilling the performance requirements of motion simulators and free of continuous region singularity. © 2011 Trans Tech Publications, Switzerland.

关键词： Genetic algorithms

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Positioning for array micro-holes punching

Positioning for array micro-holes punching

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6th International Forum on Strategic technology, IFOST 2011

作者： Liu, Yanwu Qu, Dongsheng Wu, Xing State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781457703966

The forming technique of micro-punching is an important method for precision plastic machining of micro-parts, the micro-hole size must be sub-millimeter in two-dimension. To punch less than 200μm micro-holes on thin plate and realize precise positioning, established positioning system based on micro-vision technology and detected the location of thin plate by the image of reference hole. Proposed a localization algorithm based on coordinate transformation, eliminated the positioning error, and achieved micro-hole positioning by controlling the servo platform. Completed the study on the image processing method, identified the reference hole by Hough and least-square circle detecting method. © 2011 IEEE.

关键词： Least squares approximations

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Frame vibration suppression for wafer transfer system

Frame vibration suppression for wafer transfer system

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2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2011

作者： Liu, Yanjie Wu, Mingyue Xu, Guobao Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781457707223

The rapid development of the Integrated Circuit (IC) manufacturing equipment industry requires greater efficiency for wafer transfer. However, the faster wafer transfer robot moves, the bigger the force applied on its support frame is, and also the bigger vibration aroused on the frame because of the low stiffness of the support frame. Meanwhile, some IC equipment are ultra-high sensitive to the vibration. So the speed of the wafer transfer robot is limited by the vibration of the frame In order to improve wafer transmission efficiency and synchronously reduce the vibration to the frame, in this paper, the rigid-flexible coupled dynamic model of wafer transfer robot was built, and then the vibration analysis of the robot on its support frame was discussed. After that the trajectory planning was used to suppress the force applied on the frame to reduce the vibration of the frame. Finally, the experiment system was built. The result shows that the vibration of the frame, while keeping the robot transmission efficiency, was clearly suppressed by using the bi-axis interpolation trajectory control. © 2011 IEEE.

关键词： Vibration analysis

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Motion-control-based analytical model for wheel-soil interaction mechanics of lunar rover

Motion-control-based analytical model for wheel-soil interac...

引用

6th International Forum on Strategic technology, IFOST 2011

作者： Xia, Kerui Ding, Liang Gao, Haibo Deng, Zongquan State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781457703966

During rover lunar exploration missions (such as China's "Chang'e"), rovers are required to move autonomously on the loose lunar soil. Control methods based on the rigidity hypothesis can hardly be expected to satisfy these requirements practically so wheel-soil interaction mechanics should be taken into account. The currently used integral model based on wheel-soil interaction mechanics, however, is complicated, and it cannot be directly applied to the design of a lunar rover's controller. This paper presents a new simplified method of determining the wheel-soil interaction of lunar rovers by introducing a normal stress factor and the ratio of the forward region to the rear region, based on an analysis of the integral model and lunar soil parameters. As an example, numerical analysis is performed for a lunar rover wheel with a width of 165 mm and a radius of 135 mm. Based on a slip ratio as high as 0.4 and an entrance angle that varies from 10° to 40°, the results show that the maximum errors of the model for the calculation of normal force and drawbar pull force are less than 2%, while the maximum error of resistance torque is approximately 5%. When designing a rover's controller, the relationship between the driving torque of wheel T and the drawbar pull of wheel FDP is T = FDPr according to the rigidity hypothesis, a relationship that contradicts the terramechanics model. The proposed simplified model, which is verified by experiments, provides an important basis for the design of a control algorithm for a lunar rover that takes into account lunar wheel-soil interaction mechanics. © 2011 IEEE.

关键词： Rovers

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Dynamic simulation and analyzation of arc welding robot

Dynamic simulation and analyzation of arc welding robot

引用

International Workshop on Intelligent systems and Applications

作者： Yu, Dianyong Ding, Kai State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781424498574

In this paper, we take 6kg arc welding robot designed by our lab as research object and build a complex virtual prototype model. A fast, intuitive and effective dynamics method which is based on simulink and robotics toolbox is designed to validate the virtual prototype model is right. On this basis we check the select of motor and reducer. © 2011 IEEE.

关键词： Industrial robots

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Global model of PMLSM drive system using bond graph method

Global model of PMLSM drive system using bond graph method

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2011 International Conference on Electric and Electronics, EEIC 2011

作者： Li, Teng Liu, Yanjie Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9783642217463

Global model of permanent magnet linear synchronous motor (PMLSM) drive system is built in this paper by bond graph method. In the global model each component of PMLSM drive system are concerned, which include motor driver, PMLSM, mechanism structure and sensor. 20-sim software is used to simulate the global model and do analysis of system's character. Simulation results illustrate that time constant of inverter in motor driver results in response lag, and sensor resolution influences the following accuracy. The process of modeling and analyzing fully shows the superiority of bond graph method and 20-sim software in multi domain system. © Springer-Verlag Berlin Heidelberg 2011.

关键词： Synchronous motors

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