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第三十二届中国控制会议

作者： Xue Zhang Haibin Duan Xinge Gao Science and Technology on Aircraft Control Laboratory School of Automation Science and Electrical EngineeringBeihang University Advanced Engineering Robotics Faculty of EngineeringUniversity of BristolBristol BS81THU.K.

ISBN: (纸本)9781479900305

In this paper,we proposed a hybrid method in extracting the attitude parameters of unmanned aerial vehicle(UAV), which is based on computer vision and improved artificial bee colony(ABC) *** is used as a characteristic line, whose two parameters,Φandσare utilized to obtain UAV's parameters:roll angleΨand pitch angleθ.Defogging Algorithm is used to make the original pictures clearer and gain the transmission image for horizon *** UAV could obtain the horizon through improved ABC *** also analyzed the relationship between line parameters and UAV parameters and calculated the UAV *** results verified the feasibility and effectiveness of our presented approach.

关键词： unmanned aerial vehicle(UAV) computer vision artificial bee colony(ABC) horizon

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A robotic holder of transcranial doppler probe for CBFV auto-searching

A robotic holder of transcranial doppler probe for CBFV auto...

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International Conference on Information and automation (ICIA)

作者： Quanli Qiu Xiaoping Yang Jia Liu Pandeng Zhang Xinyu Wu Guangdong Provincial Key Laboratory of Robotics and Intelligent System Chinese Academy of Sciences Shenzhen Guangdong China Key Lab of Advanced Manufacturing Technology Harbin Institute of Technology China Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong SAR China

ISBN: (纸本)9781479913329

The operational difficulty of Transcranial Doppler (TCD) limits its use in normal clinical settings. We therefore present a robotic arm consists of five degrees of freedom which are achieved by four motors and one extra flexible spring, to assure appropriate pressure on temporal window. With proper control strategies, the robotic arm can move the TCD probe to automatically search temporal window positions. In this paper, we have developed the first full-automatic ambulatory TCD system, evaluated its reliability and efficiency after many experiments. In view of the validation of the instrument in successful experiments, this probe holder is likely to have great impact on future TCD examination.

关键词： Probes DC motors Robots Equations Mathematical model Force Arteries

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Non-Markovian quantum input-output networks

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Physical Review A 2013年第3期87卷 032117-032117页

作者： Jing Zhang Yu-xi Liu Re-Bing Wu Kurt Jacobs Franco Nori Department of Automation Tsinghua University Beijing 100084 China Center for Quantum Information Science and Technology TNList Beijing 100084 China Advanced Science Institute RIKEN Wako-shi Saitama 351-0198 Japan State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China Institute of Microelectronics Tsinghua University Beijing 100084 China Department of Physics University of Massachusetts at Boston Boston Massachusetts 02125 USA Physics Department The University of Michigan Ann Arbor Michigan 48109-1040 USA

Quantum input-output response analysis is a useful method for modeling the dynamics of complex quantum networks, such as those for communication or quantum control via cascade connections. Non-Markovian effects are expected to be important in networks realized using mesoscopic circuits, but such effects have not yet been studied. Here we extend the Markovian input-output network formalism to non-Markovian networks. The general formalism can be applied to various examples: (i) we show how non-Markovian coherent feedback can reduce the speed of decoherence for an atom in an optical cavity; (ii) we examine the effect of finite-cavity bandwidths in a superconducting circuit.

关键词： Atomic physics

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HOUSEHOLD SERVICE ROBOT WITH CELLPHONE INTERFACE

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International Journal of Information Acquisition 2013年第2期9卷

作者： LONG HAN XINYU WU YONGSHENG OU YEN-LUN CHEN CHUNJIE CHEN YANGSHENG XU Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences China Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong

In this paper, an efficient and low-cost cellphone-commandable mobile manipulation system is described. Aiming at house and elderly caring, this system can be easily commanded through common cellphone network to efficiently grasp objects in household environment, utilizing several low-cost off-the-shelf devices. Unlike the visual servo technology using high quality vision system with high cost, the household-service robot may not afford to such high quality vision servo system, and thus it is essential to use some of low-cost device. However, it is extremely challenging to have the said vision for precise localization, as well as motion control. To tackle this challenge, we developed a realtime vision system with which a reliable grasping algorithm combining machine vision, robotic kinematics and motor control technology is presented. After the target is captured by the arm camera, the arm camera keeps tracking the target while the arm keeps stretching until the end effector reaches the target. However, if the target is not captured by the arm camera, the arm will take a move to help the arm camera capture the target under the guidance of the head camera. This algorithm is implemented on two robot systems: the one with a fixed base and another with a mobile base. The results demonstrated the feasibility and efficiency of the algorithm and system we developed, and the study shown in this paper is of significance in developing a service robot in modern household environment.

关键词： Service robotics robot interface mobile manipulation grasping

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A stochastic state prediction in AFM based nanomanipulation

A stochastic state prediction in AFM based nanomanipulation

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2012 9th IEEE International Conference on Mechatronics and automation, ICMA 2012

作者： Wang, Zhiyu Liu, Lianqing Wang, Zhidong Dong, Zaili Yuan, Shuai Hou, Jing State Key Laboratory of Robotics Shenyang Institute of Automation CAS Shenyang 110016 China Faculty of Electrical and Control Engineering Liaoning Technical University Huludao 125105 China Dept. of Advanced Robotics Chiba Institute of Technology Chiba Japan Graduate School Chinese Academy of Sciences Beijing 100001 China

ISBN: (纸本)9781467312776

The reliability of AFM based nanomanipulation is one of the prerequisites for nano fabricating, thus uncertainties of the target nano-particle position need to be controlled within a pointed limits, which lead to two problem to be solved: one is how to describe state uncertainties at every different sample times;the other is how to deduce the next state uncertainty according to the current one. This paper provides a method to construct a stochastic predictive model to covering those problems. In the concrete, the predictive model uses Gaussian and Beta distribution as well as Mont Carlo Method to describe and deduce the state uncertainties respectively. The method is also applied to the process of pushing a nano-particle using AFM. © 2012 IEEE.

关键词： Stochastic systems

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The equivalent resistance gradient model of metamorphic mechanisms and the design approach

The equivalent resistance gradient model of metamorphic mech...

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2nd ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2012

作者： Li, Shujun Dai, Jian S. College of Mechanical Engineering and Automation Northeastern University Shenyang 110004 China Centre for Advanced Mechanisms and Robotics MOE Key Laboratory for Mechanism Theory and Equipment Design Tianjin University Tianjin China Centre for Robotics Research King's College University of London Strand London WC2R 2LS United Kingdom

ISBN: (纸本)9781447141402

The practical metamorphic process, which include configuration transforming, configuration keeping and working sequence problems, is introduced. The concept of equivalent resistance gradient of metamorphic joints is proposed to investigate a new way for regulating the constrained metamorphic process and/or design of metamorphic joints. A kinds of metamorphic cyclogram is introduced, and the resistance characteristics of typical metamorphic joints are studied. A non-dimension equivalent resistance coefficient of metamorphic joints and the equivalent resistance gradient model of metamorphic mechanism are defined. The connection ships of equivalent resistance, constraint characteristics and forms, and the structure of metamorphic joints in the working stages are revealed. A design approach is demonstrated based on the metamorphic cyclogram and the equivalent resistance gradient model. © Springer-Verlag 2012.

关键词： Mechanisms

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Estimating the posture of pipeline inspection robot with a 2D Laser Rang Finder

Estimating the posture of pipeline inspection robot with a 2...

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2012 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI 2012

作者： Hu, Yuanyuan Song, Zhangjun Zhu, Jun ShenZhen Institutes of Advanced Technology China Academy of Science China Chinese University of Hong Kong Hong Kong Hong Kong Guangdong Provincial Key Laboratory of Robotics and Intelligent System China Information and Electrical Engineering China University of Mining and Technology China Mechanical Engineering and Automation South China University of Technology China

ISBN: (纸本)9781467325110

Pipeline network is one of the city's critical infrastructures, such as lots of gas pipes and water pipes exist in public utilities, factories and so on. Regular inspection is required to ensure the static integrity of the pipes and to insure against the problems associated with failure of the pipes. We have developed a pipeline inspection robot equipped with a camera which can walk in the pipes and stream back live video to the base station. In this paper we propose a new method for estimating the posture of the robot in round pipes with a 2D Laser Rang Finder (LRF) and a dual tilt-sensor by using the geometrical characteristic of the round pipes constructed with the point cloud data. Transformation matrix from the robot coordinate system to the global system is deduced. The positions and sizes of pipe defects can be calculated easily relying on the range data and images. Experiments by the inspection robot in dry smooth HDPE pipes are carried out and the results show that the proposed method is useful and valid. © 2012 IEEE.

关键词： Inspection

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Overhead Power Line Detection from UAV Video Images

Overhead Power Line Detection from UAV Video Images

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International Conference on Mechatronics and Machine Vision in Practice

作者： Tang Wen YANG Hang YIN Qiu Qi RUAN Jian Da HAN Jun Tong QI Qing YONG Zi Tong WANG Zeng Qi SUN Beijing Key Laboratory of Advanced Information Science and Network Technology Institute of Information Science Beijing Jiaotong University Beijing 100044 China Key Laboratory of Rail Traffic Control and Safety Beijing Jiaotong University Beijing 100044 China State Key Laboratory of Robotics Shenyang Institute of Automation CAS Shenyang 110016 China Department of Computer Science and Technology Tsinghua University Beijing 100084 China

ISBN: (纸本)9781467316439

Currently, unmanned aerial vehicles (UAVs) are applied to routine inspection tasks of electric distribution networks. As an important information source, machine vision attracts much attention in the area of the UAV's autonomous control. To this end, real-time algorithms are studied-in this paper to detect the power lines in the UAV video images. First, video images are converted into binary images through an adaptive thresholding approach. Then, Hough Transform is used to detect line candidates in the binary images. Finally, a fuzzy C- means (FCM) clustering algorithm is used to discriminate the power lines from the detected line candidates. The properties of power lines are used to remove the spurious lines, and the length and slope of the detected lines are used as features to establish the clustering data set. Experimental results show that the algorithms proposed are effective and able to tolerate noises from complicated terrain background and various illuminations.

关键词： Hough transforms autonomous aerial vehicles computer vision fuzzy set theory pattern clustering power overhead lines power system control video signal processing

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Track tension optimization for stair-climbing of a wheelchair robot with Variable Geometry Single Tracked Mechanism

Track tension optimization for stair-climbing of a wheelchai...

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2011 IEEE International Conference on robotics and Biomimetics, ROBIO 2011

作者： Yu, Suyang Wang, Ting Wang, Zhidong Wang, Yuechao Li, Xiaofan State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Science Shenyang China Graduate School Chinese Academy of Science Beijing China Department of Advanced Robotics Chiba Institute of Technology Chiba Japan

ISBN: (纸本)9781457721373

This paper introduces an originally designed wheelchair robot. This robot is equipped with a novel type of Variable Geometry Single Tracked Mechanism (VGSTM) that can actively control the robot shape and the track tension. So it becomes possible to improve the obstacle clearing capability of the robot by adapting the robot shape for the obstacle. The track tension is closely related to the performance of this original wheelchair robot, so with the aim of stair-climbing, which is the most fundamental obstacle clearing performance of the wheelchair robot, the optimization model of the track tension is established based on the geometric model and the static model of the robot. Then the simulation is performed, and the optimal track tension values of the robot for different phases of stair-climbing are obtained. Finally, these track tension values are verified through the experiment. © 2011 IEEE.

关键词： Geometry

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SPARTAN system: Towards a low-cost and high-performance vision architecture for space exploratory rovers

SPARTAN system: Towards a low-cost and high-performance visi...

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2011 IEEE International Conference on Computer Vision Workshops, ICCV Workshops 2011

作者： Kostavelis, Ioannis Boukas, Evangelos Nalpantidis, Lazaros Gasteratos, Antonios Rodrigalvarez, Marcos Aviles Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace Xanthi Greece Advanced Space Systems and Technologies GMV Innovating Solutions Tres Cantos Madrid Spain

ISBN: (纸本)9781467300629

The "SPAring robotics Technologies for Autonomous Navigation" (SPARTAN) activity of the European Space Agency (ESA) aims to develop an efficient, low-cost and accurate vision system for the future Martian exploratory rovers. The interest on vision systems for space robots has been steadily growing during the last years. The SPARTAN system considers an optimal implementation of computer vision algorithms for space rover navigation and is designated for application to a space exploratory robotic rover, such as the ExoMars. The goal of the present work is the development of an appropriate architecture for the vision system. Thus, the arrangement and characteristics of the rover's vision sensors will be defined and the required computer vision modules will be presented. The analysis will be performed taking into consideration the constraints defined by ESA about the SPARTAN system. © 2011 IEEE.

关键词： Rovers

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