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International Conference on Multimedia and Signal Processing (CMSP)

作者： Xianchun Meng Shijie Dai Yuhong Liu Biao Xiang Zhidong Liu Zhi Lv School of Mechanical Engineering Hebei University of Technology Tianjin China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

A new recognizing obstacle method based on the visual information with the different voice was proposed in this paper, which overcame the flaw of the former ETA system to be unable to distinguish the outside obstacle concrete information. This method extraction goal object's color and the shape characteristic, with the established database retrieval math, distinguishes the goal object and then sends out the corresponding pronunciation. After a period of time's training, the blind person can skilled listen to the sound to know the obstacle information.

关键词： Image color analysis Feature extraction Shape Pixel Mutual information Object recognition Colored noise

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Research on reconfigurable hydraulic robot configuration based on genetic algorithm

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International Review on Computers and Software 2011年第7期6卷 1301-1306页

作者： Lin, Jiang Hongwei, Zhang Xianbao, Xiang Xinyuan, Chen Jie, Zhao Key Laboratory of Metallurgical Equipment Control of Ministry of Education Wuhan University of Science and Technology Wuhan 430081 Hubei China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 Heilongjiang China

Aiming at problems of the discrete optimization configuration and large search space in reconfigurable hydraulic robot configuration, an improved genetic algorithm was proposed to solve the difficulties in reconfigurable hydraulic robot configuration design optimization. The joints sequence and joints kinds were used as two different discrete variables to express the discrete optimization configuration problem. The different combinations of the two discrete variables represented different configurations. The appropriate weighting factors of twelve basic movement joints were designated and analyzed. The seven kinds of performance, as well as position of joint in a configuration and function overlap of the joint were all considered in the weighting factors of twelve basic movement joints. Every configuration had a comprehensive weighted evaluation factor. Combining with improved genetic algorithm optimization ability, an optimal configuration with good weighted evaluation factor was obtained in the discrete and larger search space. Based on the above theory the simulation model was established, and the simulation results verified that the configuration design optimization theory of reconfigurable hydraulic robot based on improved genetic algorithm was correct. © 2011 Praise Worthy Prize S.r.l. - All rights reserved.

关键词： Genetic algorithms

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Application of a novel capacitive sensor in precise positioning systems

Application of a novel capacitive sensor in precise position...

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IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Tao Chen Liguo Chen Mingqiang Pan Lining Sun Robotics and Microsystems Center Soochow University Suzhou China State Key Laboratory of Transducer Technology Chinese Academy and Sciences Shanghai China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

This paper presents a comb-finger capacitive displacement sensor used in nano-positioning system. The displacement sensor is designed to develop an integrated implementation platform and to achieve its closed-loop control. In the design, offset constant-tooth, combinations with S-type beams and flexible cantilevers have been adopted to enhance the position range and structure performance. Surface and bulk micromachining technology is employed to fabricate the sensor from a single crystal silicon wafer. Through testing of the nano-positioning stage, the capability of the sensor has been obtained. The results show that this method can achieve a detect range of 10 μm, with resolution of 5 nm.

关键词： Electrodes Robot sensing systems Capacitance Sensitivity Capacitive sensors Structural beams Silicon

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An on-line gait generator for bipedal walking robot based on neural networks

An on-line gait generator for bipedal walking robot based on...

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IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Fei Wang Yuzhong Zhang Shiguang Wen Tinghui Ning College of Information Science and Engineering Northeastern University Shenyang China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

An on-line gait synthesis scheme for a bipedal walking robot is proposed. To realize efficient and human-like gait, MTi sensors were mounted on the lower limb of human subject to acquire kinematics information that can be integrated to the angular changes of hip and knee joints during walking. The time series angles were normalized and then sampled by cubic spline interpolation. By employing discrete-time Fourier Series, the samples were extracted into features, and further dimensionally reduced by using PCA to simplified features. By using ANNs, the nonlinear functional relations between gait parameters (i.e. cadence and stride) and simplified features that can be used to reconstruct angles of hip and knee joints were established. Walking experiments of a biped robot at slow, intermediate and fast speeds were conducted to validate the effectiveness of the proposed scheme. The results indicate that the synthesized gait is smooth, efficient and human-like. The proposed scheme can on-line generate the reference gait that covers a wide speed range for bipedal walking of robot.

关键词： Legged locomotion Joints Knee Hip Humans Principal component analysis

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Kinematic and dynamic optimizations of the redundant manipulator via local degrees of freedom

Kinematic and dynamic optimizations of the redundant manipul...

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International Conference on Mechanic Automation and Control Engineering (MACE)

作者： Yushu Bian Zhihui Gao Min Liu State Key Laboratory for Robotics and System Harbin Institute of Technology Harbin China School of Mechanical Engineering and Automation Beihang University Beijing China

In order to conquer the difficulty of simultaneous optimizations on kinematic and dynamic indices of the redundant manipulator, a new type of redundant manipulator with local degrees of freedom is proposed. Redundant degrees of freedom are used to optimize kinematic index, and local degrees of freedom are used to optimize dynamic index. The corresponding optimization method is suggested. As a result, the kinematic and dynamic indices of the redundant manipulator can be optimized simultaneousely. Some simulations are carried out, and the optimization method is verified to be effective.

关键词： Manipulator dynamics Moment methods Kinematics Optimization Jacobian matrices

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Message from ICME 2011 general chairs

Message from ICME 2011 general chairs

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IEEE International Conference on Multimedia and Expo (ICME)

作者： Irene Cheng Gabriel Fernandez Haohong Wang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China Dep. of Intelligent Mechanical System Engineering Kochi University of Technology Japan

On behalf of the Organizing Committee, it is our great pleasure to welcome you to the 2011 IEEE International Conference on Multimedia and Expo (ICME 2011). ICME is sponsored by four IEEE societies: Signal Processing, Circuits and systems, Computer and Communications. It is the premier forum for the presentation of the latest advances in multimedia technologies, systems, and applications from both the research and development perspectives. ICME 2011 is the twelve in the series that has been held annually since 2000, after New York, Tokyo, Lausanne, Baltimore, Taipei, Amsterdam, Toronto, Beijing, Hannover, New York City and Singapore. We are glad that from July 11 th to 15 th , 2011 Barcelona will be the home of the latest research in multimedia technologies.

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Dynamic simulation and gravity balancing optimization of spot welding robot based on RecurDyn

Dynamic simulation and gravity balancing optimization of spo...

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2011 IEEE International Conference Mechatronics and Automation(2011 IEEE机电一体化与自动化国际会议)

作者： Ping-Chun Xie Yu-Xian Gai Yan-Shen Wang Lian-Zheng Ge Department of Mechanical Engineering Harbin Institute of Technology at Weihai Weihai Shandong Provi State Key Laboratory of Robotics and System School of Mechatronics Harbin Institute of Technology Ha

Driving torques of a specific type of spot welding robot was simulated in RecurDyn, which provided useful information for motor selecting and gravity balancing. According to D-H parameters of the robot parts of the robot were modeled separately and then assembled to form the robot, in Pro/Engineer. Imported into RecurDyn and adding necessary constraints, the virtual prototype of the robot was constructed in RcurDyn for dynamic simulation. Time dependent torque variations of every joint were got by simulation, which facilitated motor selection. The spring for sustaining the gravity of robots links was also optimized through the simulation analysis of torques in Joint 2.

关键词： robot dynamic simulation RecurDyn gravity balance spring

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Optical flow based plane detection for mobile robot navigation

Optical flow based plane detection for mobile robot navigati...

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World Congress on Intelligent Control and Automation (WCICA)

作者： Zhongli Wang Jie Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China School of Electronic and Information Engineering Beijing Jiaotong University Beijing China

Dominant plane detection is an essential task for an autonomous navigation of mobile robots equipped with a vision system, as we assume that robots move on the dominant plane. In this paper, based on optical flow, the image motions of points which located in a plane were described by planar flow. After the parameters of planar flow are estimated, the distance error of image points can be used for detecting the plane region from monocular image sequence. The proposed method includes three steps. First, the robust optical flow is estimated between two consecutive images from the image sequence. Then a geometry constraint provided by planar flow is applied to detect the plane regions in optical flow. And finally, some iterative procedures can be used for improving the results. Compared with the feature point based method which sometimes is invalid because of the lacking of texture, the optical flow based method can detect the ground plane even if there are not much more image features in the plane region. Some experiments with outdoor images have been conducted.

关键词： Computer vision Image motion analysis Optical imaging Adaptive optics Feature extraction Estimation Optical variables control

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Research on state-guided teleoperation assistance method

Research on state-guided teleoperation assistance method

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International Conference on Computer Science and Service system (CSSS)

作者： Xizhe Zang Jie Zhao Qingxin Meng State Key Laboratory of Robotics and System Harbin Institute of Technology Heilongjiang 150080 China School of Mechanical and Electrical Engineering Harbin Engineering University 150001 China

Toward the Internet-based robotic tasks, a state-guided teleoperation assistance method is presented. According to this method, the whole task can be identified into several states to direct the execution of teleoperation, through state definition, state recognition and state display. After building up an Internet-based teleoperation system centered on data fusion, the remote manipulations of medical treatment are accomplished finally. The experiment demonstrates that introduction of the assistance method alleviates the difficulties such as network time-delay effectively and operation efficiency, improving the global capacity of system.

关键词： Robots Grippers Sensor fusion Sensor systems Force

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Complex indoor map building based on fusion of sequential Mb-ICP

Complex indoor map building based on fusion of sequential Mb...

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作者： Wang, Ke Zhao, Lijun Li, Ruifeng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China Key Laboratory of Measurement and Control of CSE Ministry of Education Nanjing 210096 China

ISBN: (纸本)9789881725592

Towards complex indoor environment, this paper proposed a fusion method of sequential Mb-ICP scan matching for mobile robot map building. We firstly introduce the classic ICP scan matching method and its limitations for dealing with robot rotation. Based on a new metric space, Mb-ICP scan matching approach is analyzed. We then use Kalman Filter to fuse multiple sequential scan matching results of Mb-ICP. Experimental results are shown to validate the effectiveness of the proposed approach. © 2011 Chinese Assoc of Automati.

关键词： Mobile robots

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