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International Workshop on Intelligent systems and Applications

作者： Yu, Lingtao Shuai, Rongbiao Zhao, Jilang Wu, Guoliang Xia, Guisuo Lai, Zhihua Wu, Haiyan State Key Laboratory of Robotics and System HIT Harbin China School of Mechanical and Electrical Engineering Harbin Engineering University Harbin China Jiujiang Precision Measuring Technology Research Institute Jiujiang China

ISBN: (纸本)9781424498574

The double parallel-joints CMM is a new coordinate measuring machine that between the tradion coordinate measuring machine and the multi-joint coordinate measuring machine. To further study of the double parallel-joints CMM , it is necessary to study on the error model of the measuring machine. The kinematics model is constructed by the D-H method and the error model for the double parallel-joints CMM is constructed too. The SimMechanics institutions model and the M-function model verifies that the theoretical analysis is ture ,by the simulation. to verify the correctness of the error model, laying the groundwork for further theoretical research. The theoretic foundation is made for the further study of The double parallel-joints CMM. © 2011 IEEE.

关键词： MATLAB

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Tracking control of an electro-hydraulic shaking table system using a combined feedforward inverse model and adaptive inverse control for real-time testing

Tracking control of an electro-hydraulic shaking table syste...

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作者： Shen, G. Zheng, S.T. Ye, Z.M. Yang, Z.D. Zhao, Y. Han, J.W. State Key Laboratory of Robotics and System School of Mechatronics Engineering Harbin Institute of Technology Yikuang Street 2# Nangang District Harbin Heilongjiang Province 150001 China

An electro-hydraulic shaking table (EHST) is used for real-time replication of situations that occur in civil and architectural engineering, the automotive industry, and earthquake resistance testing. EHSTs are able to generate a large force at high speeds over a wide frequency range and this feature makes them invaluable in performing vibration tests. Unfortunately, due to the inherent dynamics of the EHST system's hydraulics, the output response of an EHST system displays magnitude attenuation and phase delays in response to displacement and acceleration commands. A feedforward inverse model (FFIM) combined with adaptive inverse control (AIC) is proposed to improve the tracking performance of the EHST following specified displacement and acceleration commands. The proposed control strategy utilizes a FFIM to extend the EHST system's frequency bandwidth and uses AIC based on a recursive least squares (RLS) algorithm to adaptively adjust the time domain drive signal of the EHST servo controller and improve the tracking accuracy. Experimental and simulation results demonstrate the effectiveness of the proposed combined control strategy. © Authors 2011.

关键词： Earthquake engineering

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Design for flexible joint controller based on a new compensation control strategy

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Jiqiren/Robot 2011年第2期33卷 150-155页

作者： Dang, Jin Ni, Fenglei Liu, Yechao Liu, Hong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China Institute of Robotics and Mechatronics German Aerospace Center Munich 82230 Germany

For the uncertain disturbance, friction and parameter variation, modeling errors and other issues in flexible joint robot control system, conventional PID control can not take into account both the requirements of stability and control accuracy. To solve this problem, a novel robust joint controller based on a new compensation control strategy is designed. In the controller design, the friction is divided into two parts, linear and nonlinear, and the disturbance into certain and uncertain. The part associated with the robot self structure, deterministic disturbance and the linear part of the friction can be controlled effectively by the feedforward compensation part. Feedback compensation part of the proposed controller can compensate nonlinear part of friction, system parameter variation, external uncertain disturbance, modeling error and so on. Its stability is completely proved by Lyapunov stability theory. Finally, the results on the platform of HIT 4-DOF flexible manipulator show that the controller has good position tracking performance and robustness.

关键词： Controllers

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Kernel based empirical mode decomposition and its application in gait signal de-noise

Kernel based empirical mode decomposition and its applicatio...

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作者： Wen, Shiguang Wang, Fei Wu, Chengdong College of Information Science and Engineering Northeastern University Shenyang 110819 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)9789881725592

Gait signal analysis of quantitative has been a challenging task over the past decades for its non-linear and non-stationary nature. Empirical Mode Decomposition (EMD) is a data-driven signal analysis method developed by Norden. E. Huang, it is especially suitable for non-linear non-stationary signal processing. It has been successfully applied in many problems, but the envelop algorithm using traditional cubic spline interpolation by Norden. E. Huang have border swing problem and extra oscillations, it is because that the cubic spline interpolation couldn't adapt to the nature of the signal envelop, inspired by the ideas from machine learning, a new algorithm which is improved kernel ridge regression to estimate envelop of signal using the extrema is proposed in this paper. The new algorithm can used to recover the corrupted test signal. Numerical simulations show higher performance of the proposed algorithm than the traditional one. © 2011 Chinese Assoc of Automati.

关键词： Empirical mode decomposition

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Object detection based on shape fragments

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Zidonghua Xuebao/Acta Automatica Sinica 2011年第4期37卷 427-439页

作者： Chen, Guo-Dong Sun, Li-Ning Du, Zhi-Jiang Ji, Jun-Hong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China Robotics and Microsystems Center Soochow University Suzhou 215021 China

Most of the algorithms for object detection are sensitive to background clutter and occlusion, and cannot localize the edge of the object. In this paper, the authors present an approach based on the local shape fragments. Firstly, the model of the object is learnt from the training set. The model is composed of shape fragments and the model of the object is in multi-scales. In this way, the method is invariant to scale changes. Then, shape fragments are extracted from the test image, which is in the same way at the model shape fragments extracting method. According to the similarity of the shape fragments, candidate shape fragments are got from the test image. After that, according to the rotation relationship between the fragments on the model and the test image, rotation angle between the fragments are estimated. Finally, the object detection problem is casted to the peak detection problem in Hough space by combining the probability Hough transform. After peak positions are achieved in the Hough space, each candidate shape fragment is traced back to verify whether it belongs to the object. Test results show that the proposed method is valid. © 2011 Acta Automatica Sinica.

关键词： Object detection

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Scheme design of extended configuration for in-pipe robot adapting mechanism

Scheme design of extended configuration for in-pipe robot ad...

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International Conference on Measuring technology and Mechatronics Automation

作者： Chen, Jun Chen, Tao Deng, Zongquan State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 15001 China School of Naval Architecture Harbin Institute of Technology at Weihai Weihai Shandong 264209 China Linyi Entry-Exit Inspection and Quarantine Bureau Linyi Shandong 276034 China School of Mechtronic Engineering Harbin Institute of Technology Harbin Heilongjiang 15001 China

ISBN: (纸本)9780769542966

The configuration design of in-pipe robot adapting mechanism has a significant impact on its motion performance. By analyzing the operation principle and structure composition of adapting mechanism, the four-bar linkage is chosen as basic unit to make topological combination, the two kinds of linkage combination including input of prismatic pair are presented, the configuration schemes that meet the given design constraints are also synthesized, and the application examples of specific mechanisms are given. Which provides a new method for configuration extended design of in-pipe robot adapting mechanism. © 2011 IEEE.

关键词： Topology

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Design method of modular units for articulated in-pipe robot inspecting system

Design method of modular units for articulated in-pipe robot...

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2011 2nd International Conference on Digital Manufacturing and Automation, ICDMA 2011

ISBN: (纸本)9780769544557

A novel untethered autonomous motor driven in-pipe robot inspecting system has been designed in order to solve the internal defect inspection for long-distance pipeLine. Which includes motor driven traction robot and other multiple cyLindrical box modular units, the adjacent units are Linked by double hook joints and by three extended supporting wheels contacting the inner surface of pipe elastically to form the articulated multi-body system. Based on the virtual prototype technology, by means of the relations of structure and size for modular units and its connectors, to research the determine method of structure size meeting the needs of in-pipe robot inspecting system moved in elbow pipe. The method proposed this paper has been used in the design of engineering prototype, and whose structure size and mechanics performance have been proved can achieve the design indexes. © 2011 IEEE.

关键词： Machine design

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The Study Between Passive Self-adaptability and DOF of The Rover

The Study Between Passive Self-adaptability and DOF of The R...

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2011 First International Conference on High Performance Structures and Materials Engineering (ICHPSM 2011)

作者： Fei Yang Jianguo Tao Zongquan Deng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin

For getting good passive self-adaptability,the model for single wheel system contacting with the terrain is established,and the degree of freedom(DOF) needed is studied when the system has good passive self-adaptability;further more,the model of one sided wheel-suspension is set up,and the DOF is obtained by analyzing with corresponding proof is given;several relative features of some common passive self-adaptive rovers are concluded,and these information testifies the universalism of this paper's conclusions.

关键词： rover passive self-adaptability DOF suspension structural synthesis

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A study on out-of-plane compressive properties of metal honeycombs by numerical simulation

A study on out-of-plane compressive properties of metal hone...

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2011 First International Conference on High Performance Structures and Materials Engineering (ICHPSM 2011)

作者： Meng Li Rongqiang Liu Hongwei Guo Zongquan Deng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin

To provide theoretical basis for metal honeycombs used as buffering and crashworthy structures,the effect of the cell length and foil thickness on compressive properties of metal honeycombs is investigated by numerical *** results are well consistent with the corresponding experimental *** numerical results show that metal honeycombs have cyclic buckling when loaded in out-of-plane *** thicker the foil is or the shorter the cell length is,the higher the plastic collapse stress is and the plastic collapse stress is much sensitive when cell length is *** numerical simulation used in this paper can well predict the crush *** and doubled foil portions of cell walls are also accounted in the FE *** results demonstrate that the method is effective which can be used in optimization design of buffers.

关键词： metal honeycombs quasi-static experiment numerical simulation out-of-plane compressive properties energy-absorption characteristic

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A pose measurement system for optical precision operation

A pose measurement system for optical precision operation

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作者： Ma, Li Rong, Weibin Ouyang, Hangkong He, Zhengfeng Sun, Lining Department of Precise Mechanical Engineering School of Mechanical and Electronic Engineering and Automation Shanghai University Shanghai 200072 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China

A new 3-DOF pose precision measurement system based on linear variable differential transformer (LVDT) is developed, built and tested. The system is mainly composed of four LVDTs of symmetrical distribution, which is used to detect the pose relations between a spherical mirror and a resonantor in an optical assembly process. Motion pose of the spherical mirror controlled by an optical assembly robot is formulated according to their geometrical relationship. A LVDT processing circuit using integrated signal conditioning chip AD598 is designed as the control system of pose measurement. Calibration experiments illustrate that the LVDT possesses well static and dynamic characteristics. A PID algorithm is used to improve the adjusting efficiency. Experimental results show that the pose measurement system with maximum angle error of 10" and maximum distance error of 0.5 μm can complete pose adjustment between the spherical mirror and the resonator in 25 seconds, which demonstrate the effectiveness of the proposed method for pose measurement. Copyright © 2011 American Scientific Publishers All rights reserved.

关键词： Mirrors

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