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Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 2014年 8917卷 1-12页

作者： Yao, Jiantao Li, Wenju Zhang, Hongyu Xu, Yundou Zhao, Yongsheng Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao066004 China Key Laboratory of Advanced Forging and Stamping Technology and Science Ministry of Education of China Yanshan University Qinhuangdao066004 China

As the isotropy performance widely used for evaluating parallel six-component force sensor is not suitable for a certain task, the task-oriented design method of the sensor is proposed. The mathematic model of sensor is built with the screw theory;based on the task requirement, the task ellipsoid is established. Then, with ellipsoid method, the design method for the sensor structure is proposed and the structure constraints are deduced. In order to perform peg-in-hole assembly task with the task-oriented sensor, the sensor prototype is designed and manufactured. Based on the assembly platform, the experimental research is carried out. The research results are useful for the design and application of six-component force sensor. © Springer International Publishing Switzerland 2014.

关键词： Structural design

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Mechanical response joint under of the TiAl/steel brazed torsional load

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China Welding 2014年第3期23卷 42-47页

作者：李玉龙赵诚冯吉才何鹏 Key Lab for Robot & Welding Automation of Jiangxi Province Mechanical & Electrical Engineering School Nanchang University Nanchang 330031. State Key Laboratory of Advanced Welding and Joining Harbin Institute of Technology Harbin 150001.

An attempt to investigate the mechanical response to the torsional load, torsional tests of TiA1/steel brazed joints were conducted at room temperature. The TiAl/steel joints used in the torsional loading tests were brazed under the optimum parameters of 1 173 K and 300 s. Torsional strength, fracture path and the behavior of the reaction phases were studied. The results show that the average torsional strength of the joints with the diameters of 13mm, 16 mm and 20 mm is 136 N · m, 270 N · m and 490 N · m, respectively; which is 81.9% , 85.5% and 86. 2% of the TiAl base metal, respectively. Fracture path and crack propagation process analysis shows, when subjected to the torsional load, Ag-based solid solution is deformed and cracks germinate at the interface of Ag-based solid solutioa/AlCu2 Ti particles or Ag-based solid solution/AlCu2 Ti layers, grow up and propagate into the Al-Cu- Ti brittle reaction layers, then propagate into the TiAl base metal, subsequently result in failure.

关键词： TiAl brazing torsional test fracture path

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Study on virtual liver surgery simulation system with real-time haptic feedback

Study on virtual liver surgery simulation system with real-t...

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2014 2nd International Conference on Mechatronics, robotics and Automation, ICMRA 2014

作者： Fang, Yan Hong Wu, Bin Yang, Zheng Yi Special Environment Robot Technology Key Laboratory of Sichuan Province Southwest University of Science and Technology Mianyang China Centre for Advanced Imaging The University of Queensland St Lucia QLD Australia

ISBN: (纸本)9783038350781

To improve the precision and real-time of the virtual liver surgery simulation system with haptic feedback, a novel deformation modelling based on wave equation and spherical harmonic is proposed. Continuous changed liver models were mapped into a common reference system in which corresponding coefficients of spherical harmonic were compared with method of principal components analysis and force feedback were calculated by simplified deformation wave equation. Moreover, system structure design, fast collision detection and real-time feedback operation are also discussed in detail. Experimental platform of virtual liver surgery was established based on vizard 4.0 and Sensable-phantom® desktop™. Experiment results show that the system can provide a stable force to the human operator and which satisfy the requirement of real-time performance. Establishing a simple and lifelike physics deformation model and a precise and rapid collision detection algorithm favors the performance improvement of the virtual liver surgery simulation system. © (2014) Trans Tech Publications, Switzerland.

关键词： Principal component analysis

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Weight aids system for Horse Riding robot Simulator

Weight aids system for Horse Riding Robot Simulator

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IEEE International Workshop on robot and Human Communication (ROMAN)

作者： Ji-Won Seo Oh-Hoon Kwon Jeong-Yeon Yang Chan-Soon Lim Dong-Soo Kwon Human-Robot Interaction Research Center Korea Advanced Institutes of Science and Technology Daejeon Korea Department of Mechanical Engineering KAIST(Korea Advanced Institute of Science and Technology) Daejeon Republic of Korea

A rider communicates with a horse to control the horse. This type of communication, collectively known as riding aids, is important in horse riding. When the rider communicates with the horse during horse riding, the horse determines the rider's command with its own intelligence and controls its own motors. We expect that probability factors can represent the riding aids and they can be used to control the horse. Therefore, we propose a probability model of riding aids, especially weight aids. To estimate the probability of the weight aids, we devised a sensor-equipped saddle that measures the vertical force. These sensors calculate the Center of Gravity (COG). In experiments, the rider rides on the horse with the sensor-equipped saddle and the sensors record the COG data depending on the rider's commands. Finally, we formulated the probability of the weight aids as rider commands. The probability of weight aid can be a prior probability of other riding aid probability, and we expect that the rider can control a horse robot simulator with theses probability models.

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A manual wheelchair assistance system which cancels a gravitational force on a slope

A manual wheelchair assistance system which cancels a gravit...

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IEEE International Conference on Industrial technology (ICIT)

作者： Daisuke Chugo Masahiro Goto Satoshi Muramatsu Sho Yokota Yuki Sakaida Hiroshi Hashimoto Graduate School of Science and Technology Kwansei Gakuin University Sanda Hyogo Japan RIKEN-SRK Collaboration Center for Human-Interactive Robot Research RIKEN (The Institute of Physical and Chemical Research) Nagoya Aichi Japan Faculty of Science and Engineering Toyo University Kawagoe Saitama Japan Master Program of Innovation for Design and Engineering Advanced Institute of Industrial Technology Shinagawa Tokyo Japan

This paper proposes a novel driving assistance system for a manual wheelchair. On an inclination road, there is a high risk of moving the direction, which a manual wheelchair user does not intend, because of a gravitational force. Our proposed system cancels the wheel traction, which is generated according to the inclination of the road, using only servo brakes on each wheel. Our system measures the inclination of the road and estimates the wheel traction generated by a gravitational force. Then, our system cancels this traction and its user can use this wheelchair as its user drives it on no inclination flat ground. Its user can use it intuitively because its user drives this wheelchair by rowing its hand rims as usual and our assistance system works passively with their own intentional force. For realizing this idea, our system uses only servo brakes which can generate the various required brake traction. Our system does not require actuators, and its mechanism is simple and low cost. There is no risk by malfunction of servomotors. We test our proposed assistance system by the experiments with our prototype and verify its effectiveness.

关键词： Wheelchairs Wheels Acceleration Gravity Roads Servomotors

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Roller straightening process and FEM simulation for stainless steel clad plate

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Open Mechanical Engineering Journal 2014年 8卷 557-561页

作者： He-Ong, Jin Ya-Li, Yi Xue-Yan, Han Yan, Liang Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of National Education Yanshan University Qinhuangdao China Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University Qinhuangdao China School of Mechanical Engineering Yanshan University Qinhuangdao China

Based on elasto-plastic deformation straightening theory and adopting 11 rolls plate straightening mode, the isothermal residual curvature straightening process is proposed for stainless steel clad plate. The straightening mathematical model is established to realize plate shape finishing and stress reforming. By using finite element analysis software, establishing straightening process and determining intermesh, the effects of intermesh on shape and residual stress are analyzed. The results indicate that the straightening process meet the finishing plainness of stainless steel clad plate after rolling. Longitudinal residual stress of the clad plate is evenly distributed across width. The cladding plate and steel substrate are symmetrical and the ascent of stress near the edge is greater. Longitudinal residual stress across length is distributed with the wave of pull-press-pull and the cladding plate and base plate are symmetrical. The above researches are based on the previous theory of the application of stainless steel clad plate straightening technology. © 2014, He-Rong et al.;Licensee Bentham Open.

关键词： Stainless steel

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A cooperative multi-camera system for tracking a fast moving object

A cooperative multi-camera system for tracking a fast moving...

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IEEE International Conference on Cyber technology in Automation, Control, and Intelligent Systems

作者： Su Jeong You Phuc H. Truong Sang Hoon Ji Sang Moo Lee Chang Eun Lee Young Jo Cho Department of Applied Robot Technology Korea Institute of Industrial Technology Ansan Korea Department of Advanced Robot Technology Electronic Telecommunication Research Institute Daejeon Korea

This paper presents an economic real-time system for tracking a fast moving object using adjacent inexpensive multiple web cameras. Our experimental system includes three cameras that integrated into three client computers, and an acquisition sever computer that receives information from the clients and estimates the object speed in real-time. In this system, the three client computers play the role of monitor stations that detect the object, calculate the object position and capture the moment of a successful detection. From information of clients, the server estimates the relative positions of the object in each detection event to calculate the instantaneous velocities of the object. Finally, the speed of the object is determined by its average velocity in its all trajectory. The experimental results perform an accurate measurement on the setup environment.

关键词： Conferences Automation Control systems Intelligent systems

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Influence of structure parameters on the permanent magnetic planetary gear forced vibration frequency response 4

Influence of structure parameters on the permanent magnetic ...

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4th International Conference on advanced Design and Manufacturing Engineering, ADME 2014

作者： Zhu, Xue Jun Xu, Li Zhong Yanshan Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University Qinhuangdao China Key Laboratory of Advanced Forging and Stamping Technology and Science Yanshan University Qinhuangdao China

ISBN: (纸本)9783038352570

The time and frequency forced responses for the permanent magnetic planetary gear drive were computed and analyzed. The influence of magnetization intensity and pole pair number to frequency forced responses is discussed. Results show that the dynamic displacement when only considering output excitation is larger than that when only considering input excitationand magnetic parameters have obvious effects on the low frequency vibration amplitude of elements. When magnetization intensity and pole pair number are too large or too small, they will seriously affect the dynamic performance of the system. So, selecting rational system structure parameters is very important, which can avoid system elements generating larger vibration. © (2014) Trans Tech Publications, Switzerland.

关键词： Frequency response

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Lane Detection & Localization For UGV in Urban Environment

Lane Detection & Localization For UGV in Urban Environment

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17th International IEEE Conference on Intelligent Transportation Systems & The Asia-Pacific Council on Systems Engineering Conference 2014

作者： Teawon Han Yanghyun Kim Kisung Kim Samsung Techwin Robot Technology group Advanced Technology Institute Robot Technology group Advanced Technology InstituteSamsung Techwin R&D Center R&D Center Seongnam-siGyeonggi-do463-400 South Korea

Generally,the main components of autonomous driving system consists of perception(geometry recognition,localization,and objects detection & tracking) and navigation processes(global & local path planning,and controller).In this paper,we focus on finding an accurate position for Unmanned Ground Vehicle(UGV) in urban environments.A GPS sensor is fundamentally used to get a current global position,but its accuracy is susceptible to satellite geometry or receiver's conditions;even though high performance guaranteed GPS such as differential-GPS(DGPS) always return precise position(position error is less than 0.4m) because of problems such as disconnection between base station and *** position-errors,even few meters,could engender serious accidents when UGV is driving under urban *** this paper,we suggest the localization algorithm and novel lane detection *** detected lane information is implemented to overcome GPS sensor's ***,our novel lane detection algorithm is described,and then the localization algorithm is *** paper also provides experimental results of the lane-detection and the localization in urban environment by using UGV.

关键词： GPS Localization For UGV in Urban Environment Lane Detection

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Design and analysis of a novel heavy-load positioner with series-parallel mechanism 4

Design and analysis of a novel heavy-load positioner with se...

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4th International Conference on advanced Design and Manufacturing Engineering, ADME 2014

作者： Tang, Yan-Hua Parallel robot and mechatronic system laboratory of Hebei province Yanshan University QinhuangdaoHebei China Key Laboratory of Advanced Forging and Stamping Technology and Science of Ministry of National Education Yanshan University QinhuangdaoHebei China

ISBN: (纸本)9783038352570

A heavy-load positioner with series-parallel mechanism was put forward according to the heavy-load positioner’s task demand. Two rotational DOFs were realized by the spherical 3-DOF mechanism with a restricted embranchment instead of traditional gear-driven mechanism, the other by the serial part. The mechanism has the advantages of large workspace, good flexibility and high stiffness-to-weight ratio. The kinematics, statics and singularity of the positioner mechanism were analyzed. The mathematic model of the positioner mechanism was established. Combining the workspace demand of the positioner, dimension optimization of the mechanism was researched. Finally, the kinematics, statics and the singularity analysis of the positioner mechanism was verified through virtual prototype designed with one group of satisfied dimensions. © (2014) Trans Tech Publications, Switzerland.

关键词： Kinematics

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