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WRI World Congress on Software Engineering, WCSE

作者： Shijie Dai He Huang Zhangying Gao Kai Li Shumei Xiao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Research Institute of Robotics and Automation Hebei University of Technology TianJin China

ISBN: (纸本)9781424435661

In order to solve the problem about the recognition accuracy, Tchebichef moment invariants and support vector machine (SVM) are adopted to recognize the vehicle-logo. It extracts six invariant moments of the object as feature vectors, and then uses the support vector machines (SVM) to recognize vehicle-logo. Tchebichef moment invariants perform significantly better than Hu moment invariants and Zernike moment invariants. The result of these experiments suggests that this system has a high recognition rate in both noise-free and noisy environment which has high practical value.

关键词： Support vector machines Vehicles Noise shaping Licenses robotics and automation Working environment noise Shape Redundancy Polynomials Software engineering

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Path Planning for Mobile Robot Based on Rough Set Genetic Algorithm

Path Planning for Mobile Robot Based on Rough Set Genetic Al...

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International Workshop on Intelligent Networks and Intelligent systems (ICINIS)

作者： Shijie Dai He Huang Fang Wu Shumei Xiao Ting Zhang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Research Institute of Robotics and Automation Hebei University of Technology Tianjin China

A rough set genetic algorithm (RSGA) is mainly studied to optimize the robot path planning speed and enhance the precision. At first, under the grid model and by the feasibility of the grid, the initial decision-making table of the robot is obtained, which can be simplified by the rough set theory to extract the minimal decision-making rules. We use these rules to train the initial population of the genetic algorithm (GA), and then solve the best path using GA. At last, the simulations are performed and contrasted under multi-group test conditions to the initial population of GA simplified by rough sets and generated randomly respectively, the results of which suggest that the effect of this suggested RSGA is significant at optimizing the robot path planning speed, especially in the complicated environments.

关键词： Path planning Mobile robots Genetic algorithms robotics and automation Set theory Intelligent networks Intelligent robots Decision making Rough sets Orbital robotics

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An exoskeleton force feedback master finger distinguishing contact and non-contact mode

An exoskeleton force feedback master finger distinguishing c...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Honggen Fang Zongwu Xie Hong Liu Tian Lan Jinjun Xia State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Institute of Robotics and Mechatronics German Aerospace Center Wessling Germany

In this paper, a new type of master finger in exoskeleton type has been developed to implement master-slave operation for DLR/HIT dexterous hand. The finger has three novel characteristics. Firstly, the exoskeleton mechanism uses ldquofour-bar mechanism jointrdquo, which rotates about an instant center that coincides with joint center of operator's finger. Secondly, the master finger can distinguish the contact and non-contact mode. The two modes enable free motion and natural contact sensation between operator and master finger respectively. Thirdly, the master finger can exert forces in the direction of extension and flexion because it can make active motion in the two directions. In order to assure faster data transmission and near zero delay in master-slave operation, a digital signal processing/field programmable gate array (DSP/FPGA-FPGA) structure is proposed to control the master finger. The kernel of the hardware system consists of a peripheral component interface (PCI)-based DSP/FPGA board configured as high-level and a FPGA board configured as low-level. By utilizing low-voltage differential signaling (LVDS) serial data bus and PCI bus, the high-level can communicate with the low-level and PC. Using the principle of Virtual work, the relationship between driving torque and the force acting at the tip of master finger is acquired and validated by an experiment conducted to the operation of master finger and DLR/HIT dexterous finger. Experimental results also demonstrate that the master finger can augment telepresence.

关键词： Exoskeletons Force feedback Fingers Digital signal processing Field programmable gate arrays Master-slave Data communication Filtering theory Delay Kernel

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Indoor Dangerous Gas Environment Detected by Mobile Robot

Indoor Dangerous Gas Environment Detected by Mobile Robot

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2009 IEEE International Conference on robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

作者： Fujun He Zhijiang Du Yingfei Sun Xiaolei liu State Key Laboratory of Robotics and System Harbin Institute of Technologyand Daqing Petroleum Inst State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbinHeilongjiang Provi Department of Mechanical Science and Technology Electrical Engineering DepartmentDaqing Petroleum I

ISBN: (纸本)9781424447749;9781424447756

It will be dangerous if hazard gas or inflammable gas arises in room without being noticed for a long time. A robot is a good choice to automatically detect the dangerous gas and send out accurate information and alarm. To obtain exact and plentiful danger information, the robot has to search the gas source. Traditional gas source searching ways is not satisfying. An intelligent robot mounted gas sensors, laser finder and vision is introduced, and the responding and recover delay features of gas sensors is analysed. The requirement and feature of indoor searching is discussed. two kinds of searching strategy is presented, one is the danger site directly searching strategy, which make use of the prior knowledge about the indoor environment, the gas source and so on, the robot can analysis the type of gas source through sensor information, and estimate the possible sites of the source, then go searching them according to the priority. The other strategy imitates the searching process of people, which evaluates the risk area around the robot by a fuzzy inferring system with gas sensors and vision information. The robot can arrive to gas source by moving to high risk area step by step instead of trace plum, thus can improve efficiency. The simulation shows that the strategy is successfully for indoor danger source searching.

关键词： valve diameter Robot Gas sensors Mobile robots search strategies combustible gas safety

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DSP/FPGA-based highly integrated flexible joint robot

DSP/FPGA-based highly integrated flexible joint robot

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2009 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Zongwu Xie Jingdong Zhao Jianbin Huang Kui Sun Genliang Xiong Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China China academy of Space Technology China Institute of Robotics and System Dynamics German Aerospace Center Germany

This paper presents a DSP/FPGA based multi-sensory flexible-joint robot including modular mechanics, hardware and software architecture. The robot is composed of four modular flexible joints and a DLR-HIT-Hand. In each joint there is a Field Programmable Gate Array (FPGA) for sensor data processing, brushless DC motor control and communication. The kernel of the hardware system is a PCI-based high speed floating-point Digital Signal Processor (DSP) for the arm/hand Cartesian level control, and FPGA for two high speed (up to 25 Mbps) real-time Serial Buses communication with the arm and hand. All the electronics are integrated into the joint to achieve the high modularity and reliability. Cartesian impedance control and position control with on-line gravity compensation are realized for regulation tasks of the robot with elastic joints. In addition, the experiments of the joint impedance control and Cartesian impedance control demonstrate that the multi-sensors highly integrated robot has a good performance.

关键词： Digital signal processing Field programmable gate arrays Robot sensing systems Sensor arrays Communication system control Impedance Hardware Software architecture Data processing Brushless DC motors

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Integrating positioning X-Y stage based on bulk micromachining

引用

Guangxue Jingmi Gongcheng/Optics and Precision Engineering 2009年第2期17卷 333-340页

作者： Wang, Jia-Chou Rong, Wei-Bin Li, Xin-Xin Sun, Li-Ning Ma, Li State Key Laboratory of Transducer Technology Shanghai Institute of Microsystem and Information Technology Chinese Academy of Sciences Shanghai 20050 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China School of Mechanical and Electronic Engineering and Automation Shanghai University Shanghai 200072 China

In order to realize the miniaturized nano-positioning stage, a novel 2-DOF Single Crystal Silicon (SCS) nano-positioning micro X-Y stage with the function of displacement detection is successfully developed by using silicon bulk-micromachining;the X-Y stage is drived by an electrostatics comb actuator. The theories of electromechanical coupling and energy conservation are used to analyze electrostatic actuated mechanism, X-Y stage static characteristic and X-Ystage dynamic characteristic. Some failure modes of X-Y stage are also presented and the electromechanical side instability and the stable travel range of comb-drive actuators are investigated. The stable travel range depends on the finger gap spacing, the initial finger overlap and the spring stiffness ratio of the compliant suspension. Additionally, by taking into account the effect of the air damping on the X-Ystage dynamic characteristic, the maximum velocity, stable travel range and critical driving voltage are given to an experiment on closed-loop control. The experimental results indicate that the analyzed characteristics are useful in the design and control of the micro X-Ystage. Under 30 V driving voltage, the single-axis displacement output is 10 μm, and the closed-loop step response is only 2.5 ms.

关键词： Electrostatics

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Study and Test of a Double-rotor Ultrasonic Motor with Symmetrical Longitudinal-torsional Converter

Study and Test of a Double-rotor Ultrasonic Motor with Symme...

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2009 The 18th IEEE International Symposium on Applications of Ferroelectrics(2009年国际铁电学暨IEEE国际铁电应用联合会议)

作者： Mingwei Sheng Weishan Chen Junkao Liu Shengjun Shi State Key Laboratory of Robotics and System Harbin Institute of Technology92 West Da-Zhi Street Harbin150001China

To obtain large torque, ultrasonic motors using longitudinal–torsional converters with diagonal slits are proposed. The converters have rather simple and tough structures and are driven by simply exciting the longitudinal vibration of the transducer. Stemming from the merits of such type ultrasonic motors, this paper proposes a double-rotor ultrasonic motor with a symmetrical longitudinal-torsional converter. The ultrasonic motor consists of four PZT-4 annular plates that vibrate longitudinally, two sonotrodes screw bonded atop the two end surfaces of the PZT plate stack, and two rotors pre-pressed against to the output surfaces of the sonotrodes by coil springs. To form identical directions of the output elliptical trajectory motions of the driving points, diagonal slits were symmetrically cut in the sonotrodes. To validate the proposed idea, principle description, FEM simulation, fabrication, and performance measurement of and prototype motor are presented in this paper. The tested performance of the

关键词： ultrasonic motor longitudinal–torsional converter converter with diagonal slits

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Adhesion Theory of Frication Model and Characteristics of Hybrid Transducer Type Ultrasonic Motors

Adhesion Theory of Frication Model and Characteristics of Hy...

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2009 The 18th IEEE International Symposium on Applications of Ferroelectrics(2009年国际铁电学暨IEEE国际铁电应用联合会议)

作者： Mingwei Sheng Weishan Chen Junkao Liu Shengjun Shi State Key Laboratory of Robotics and System Harbin Institute of Technology92 West Da-Zhi Street Harbin150001China

High torque as one important characteristic of longitudinal-torsional hybrid transducertype ultrasonic motor (HTUSM) is mainly caused of discontinuous-surface-connect mode between the stator and the rotor which is different from the many-pointconnect mode of traveling wave motors. Therefore, it is important that one connect friction model is proposed to analyze this connect mode between the stator and the rotor. In this paper, according to the adhesion theory of friction, an advanced equivalent circuit of the motor which contains both the longitudinal vibrator and torsional vibrator is proposed. Based on this model, design method of a longitudinal-torsional hybrid transducer-type ultrasonic motor (HTUSM) aimed at practical uses of the motor is presented. All factors that influence the mechanical characteristics are analyzed, and low-efficient of this type motor is explained. Based on this study, mechanical characteristics of the motor such as the maximum torque, efficiency and the no-load speed and preload are determined.

关键词： Ultrasonic motor Adhesion theory of friction Mechanical characteristics

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Sine Wave Form Reappeared Control Method Research of Variable Step-Size on Hydro-Pneumatic Suspension system

Sine Wave Form Reappeared Control Method Research of Variabl...

引用

International Conference on Intelligent Computation technology and Automation, ICICTA

作者： Hui Zhang Zhengmao Ye Junwei Han Jiang Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China China Shipbuilding Industry Corp Beijing CN

ISBN: (纸本)9781424447411

This paper described phase-amplitude control methods, based on fix step-size (FSS-LMS) and variable step-size (VSS-LMS) in ALINE neural network control respectively, were compared and analyzed on the simulated hydro-pneumatic suspension control system. The test results indicated that phase-amplitude control method could improve the sine signal reappeared accuracy in limited range, efficiently realize sine signal coordinated loading control for same or not phase and amplitude by adjusting input signals, and be suitable for more coordinated loading control in multi-channel system.

关键词： Control systems Force control Valves Vehicles Petroleum Intelligent robots robotics and automation Laboratories Neural networks Iterative methods

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Modeling and Simulation on the Contact Deformation Distribution in a Wire Race Ball Bearing

Modeling and Simulation on the Contact Deformation Distribut...

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2009 IEEE International Conference on robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

作者： Weishan Chen Tao Xie Xiaobiao Shan Lili Wang State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China College of Science Northeast Forestry UniversityHarbin 150040China

ISBN: (纸本)9781424447749

A mathematical model was firstly built for investigating the contact deformation distribution in a wire race ball bearing. The numerical computing program was developed in MATLAB, by employing an example of a wire race ball bearing with a 1000 mm diameter used in a large-scale caterpillar disaster relief robot. The contact deformation distribution in the elliptical contact zone of the wire and the ball was obtained. The finite element simulation was carried out to demonstrate the validity of the mathematical model and numerical method. It shows that the results by the numerical method are in good agreement with those by the simulation. The present work provides a significant support for studying the stiffness of the wire race ball bearing, and for boosting the application in the large scale rescue robot.

关键词： ELECTRIC WIRE BEARING BALLS Contact deformation Numerical methods Mathematical Model FINITE ELEMENT Disaster relief simulating CONTACT AREA Racial Stocks Modeling MATLAB

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