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IEEE International Conference on robotics and Biomimetics

作者： Hongmin Wang Dongmei Wu Zhijiang Du Zhiyuan Yan Changjun Li State Key Laboratory of Robotics and System Hit Limited Harbin China College of Electric and Information Engineering Heilongjiang Institute of Science and Technology Harbin China

ISBN: (纸本)9781424493197

This paper presents the design of a novel serial and parallel master manipulator. Firstly, the mechanism configuration of the master manipulator with a novel serial and parallel mechanism is given. Parallel mechanism uses 3-RUU type to achieve position control, and serial mechanism adopts triaxial concurrent mechanism to realize posture control. Then, the kinematics analysis of the master manipulator such as parallel mechanism inverse kinematics and forward kinematics, jacobian matrix and serial mechanism kinematics are given. Thirdly, the master manipulator workspace is analyzed, and the master manipulator static stiffness for the three points in the workspace is also analyzed. Finally, the force feedback simulation experiment is carried out to verify the parallel mechanism force feedback. It can be seen that this novel serial and parallel master manipulator meets the design requirements and future force feedback.

关键词： Manipulators Force feedback Kinematics Force Clamps Equations

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A Novel Approach based on Evolutionary Game Theoretic model for Multi Player Pursuit Evasion

A Novel Approach based on Evolutionary Game Theoretic model ...

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2010 International Conference on Computer,Mechatronics,Control and Electronic Engineering(2010计算机、机电、控制与电子工程国际会议 CMCE 2010)

作者： Renping Liu Cai ze-su College of Information Engineering North China University of Technology Beijing 100144 China State Key Laboratory Robotics and System(HIT) Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)9781424479573

In this paper, we consider a novel Three Hierarchical decomposition approach for Multi-Player Pursuit Evaders (MPPE) game. In multi-player pursuit evasion game, hierarchical framework is applied widely in order to decompose the original complicated multiplayer game into multiple small scale games. In this paper, we first study the number of pursuers which necessitates;the capture condition and the time of all evaders have been captured. Then, describe the Distributed Task Assignment Stage Based on dynamic Coalition Formation. Last, a novel multi-agent Qlearning approach based on Evolutionary Game Theoretic model is used for pursue. Experimental results obtained on two different environments of a well-known pursuit domain show the effectiveness and robustness of the proposed Hierarchical architecture and learning approach.

关键词： Pursuit Evasion Q-learning, Evolutionary Game Theory Coalition Formation

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A Wireless Communication Method with Dynamic Adding Nodes for the Underground Search and Rescue Robot

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Journal of Measurement Science and Instrumentation 2010年第3期1卷 212-216页

作者：焦国太王峰秦栋泽 . State Key laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China Robotics Research Center North University of China Taiyuan 030051 China College of Mechatronics Engineering North University of China Taiyuan 030051 China

A wireless communication method with dynamic adding nodes for Underground Search and Rescue robot is proposed： fix the address of the controller, add repeater nodes into the net dynamically, and shift the address of the mobile terminal. With this method, the Search and Rescue robot can reach the deeper place of a mine to help rescue and keep in touch with the controller through wireless communication in a single channel, even in a complex laneway where radio wave cannot go through the thick wall. The collision in the process of the two-way multi-hop communication in the single channel will also be resolved by the communication direction priority and response signal mechanism, to enhance the reliability of communication. Finally, a sample is designed and an experiment is conducted to verify the efficiency of the method.

关键词： nndti-hop wireless communication underground search and rescue robot

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Ontology-Based Product Knowledge Integration in Mobile Environment

Ontology-Based Product Knowledge Integration in Mobile Envir...

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International Conference on Control, Automation, robotics and Vision

作者： Cao.LI Zongwu.XIE Kui.SUN Hong.LIU Yongjun.ZHENG State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin P.R.China School of Architecture Design and the Built Environment Nottingham Trent University Nottingham UK

ISBN: (纸本)9781424478149

This paper is to develop an ontology-based mobile environment for collaborative product design and manufacture, which enables geographically dispersed team members to collaborate over the internet within the total design or manufacturing process, including product design specification, conceptual design, detail design, manufacture and recycling. In this paper, a database which based on a new method named ontology is built up to demonstrate the all related information in order to achieve an efficient and convenient management. According these two achievements, a new data management system is built and tested in the mobile device and compared to the traditional data management system at the end of this paper.

关键词： ontology mobile web

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Notice of Modification

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仿生工程学报(英文版) 2010年第1期7卷 112-112页

作者： Dapeng Yang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 P. R. China

Dear readers,In the paper "An Anthropomorphic Robot Hand Developed Based on Underactuated Mechanism and Controlled by EMG Signals", Journal of Bionic Engineering, 2009, 6, 255-263, by Dapeng Yang et al., we adopted an experi-mental method already developed by the DLR (German Aerospace Center). Unfortunately, we did not cite their main works properly at that time. We sincerely apologize for this mistake to Dr. Cas'tellini, Dr. van der Smagt and other coauthors.

关键词： Center works Robot paper Based main Hand van EMG der Cas

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Software implementation of bar tacker control system

Software implementation of bar tacker control system

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GCIS, WRI Global Congress on Intelligent systems

作者： Cui Ma Xiaohui Xie Qiang Sun R. Du Shenzhen Institutes of Advanced Technology Chinese Academy and Sciences Shenzhen China State Key Laboratory of Robotics and System Harbin Institute of technology Harbin Heilongjiang China Chinese University of Hong Kong Hong Kong China

This paper presents a multi-axis control system of bar tacker. A bar tacker must meet the following requirements: feeding accurately, cutting automatically, needle stopping precisely and quickly, et ac. In order to achieve these functions, multi-thread synchronization control was introduced to ensure the multi-axis collaborative motion. And time-based PI method with velocity feed-forward was used to control the needle stop position. The software of this control system was programmed based on embedded Windows platform. At present this control system has been tested in the factory and the test results show that this method can accurately control the multi-axis motion and produce good sewing patterns. Besides lockstitch bar tacker, this control system can also be applied to other intelligent sewing machines by minor changes and improvement.

关键词： Servomotors Needles Position control Instruction sets Pi control Collaboration

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An approach for corresponding vertexes of robots and application in formation control

An approach for corresponding vertexes of robots and applica...

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World Congress on Intelligent Control and Automation (WCICA)

作者： Wang-bao Xu Xue-bo Chen State Key Laboratory of Robotics and System Harbin Institute of Technology Heilongjiang 150080 China School of Electronics and Information Engineering Liaoning University of Science and Technology Anshan 114051 China

Determinating corresponding vertexes of robots is the precondition and base for utilizing artificial moment method to control multi-robot formation. In this paper, a new criterion based on generalized assignment problems is proposed to determine corresponding vertexes of robots, and its character is discussed. Then, according to the minimum increment principle, a new method for generalized assignment problems is presented, and the program is given in MATLAB language. Finally, numerical experiments were done. Both theory and results of experiments show that the criterion is as good as the distance-optimization correspondence, and the method has many advantages, such as low time complexity, and solutions being very close to the optimal solution, so they are feasible and valid.

关键词： Lead Control systems Moment methods Mobile robots MATLAB Information science

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Multiple-Pursuer Cooperative Multiple-Evader Games based on auction mechanism

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harbin Gongye Daxue Xuebao/Journal of harbin institute of technology 2010年第SUPPL. 2期42卷 160-164页

作者： Cai, Ze-Su Hong, Bing-Rong Sun, Li-Ning State Key Laboratory Robotics and System Harbin Institute of Technology Harbin 150001 China School of Computer Science and Technology Harbin Institute of Technology Harbin 150001 China

This paper mainly discusses Multiple-Pursuer Cooperative Multiple-Evader Games, in which a team of autonomous mobile robots act as pursuers to pursue multiple moving targets cooperatively. The traditional Contract Net protocol is extended, including the motivational vector of robot, the trust degree and the acquaintance degree to improve the alliance decision. In order to reduce the communication load during the task negotiation process, the auction mechanism in Economics was introduced, and an improved task negotiation process based on auction was proposed in this paper. It allocated task dynamically through capability classification and independent competition. It can support the dynamically changing capability of each agent and reduce the cost of communication and the difficulty of acquiring knowledge. Based on these extensions, a kind of multi-robot cooperative pursuit algorithm that allows dynamic alliance is proposed. Simulation results show the feasibility and validity of the given algorithm.

关键词： Multipurpose robots

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An interventional treatment plan system design on liver tumor

An interventional treatment plan system design on liver tumo...

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International Conference on Image Analysis and Signal Processing, IASP

作者： Xie Xiaohui Zhang Lei Yu Xiaofang Du Ruxu Shenzhen Institute of Advanced Integration Technology Chinese University of Hong Kong Shenzhen Hong Kong China State Key Laboratory of Robotics and System (HIT) Harbin Institute of Science and Technology Harbin China ShenZhen People's Hospital Shenzhen China

Interventional treatment becomes increasingly popular since this technique means substantially less trauma for the patient. By using VTK and ITK to build a plan system, the treatment can be high efficiency. VTK is responsible for visualization, while ITK takes care of the image segmentation and registration. By combining VTK and ITK, and using Qt as the user interface, an interventional treatment plan system is built. This system has finished several mainly functions, like DICOM data displaying in multi-planar reformation, manual segmentation, semi-automatic segmentation, surface rendering using marching cubes algorithm, volume rendering using volume ray casting algorithm. Also an interventional treatment plan system has been developed based on the medical inspection.

关键词： Liver neoplasms Image segmentation Medical treatment Rendering (computer graphics) Data visualization User interfaces DICOM Surface finishing Surface treatment Casting

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Design of a control system for a macro-micro dual-drive high acceleration high precision positioning stage for IC packaging

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Science China(Technological Sciences) 2009年第7期52卷 1858-1865页

作者： LIU YanJie LI Teng SUN LiNing State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

A macro-micro dual-drive positioning system showing good potential for high acceleration and high precision positioning required in IC packaging applications is devised in this paper. The dual-drive positioning stage uses a VCM (voice coil motor) driven macro positioning stage and a PZT piezo-electric driven micro positioning stage. The coupling characteristics of the system are analyzed to produce a control structure with a micro positioning stage that can dynamically compensate for the positioning error produced by the macro positioning stage. Models of the two positioning stages are described. The models cover both the mechanism and the actuator. For the macro positioning stage, friction characteristics are taken into account, and a controller with an LQG (linear-quadratic-Gaussian) control algorithm combining a feed-forward compensation algorithm is derived. A PID controller is used to control the micro positioning stage. Detailed designs are derived for the proposed approach, and the performance is validated by simulation.

关键词： macro-micro dual-drive positioning stage control system friction LQG

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