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2017 IEEE 第2届先进信息技术,电子与自动化控制国际会议(IAEAC 2017)

作者： Cai Jun Li Fei Zhang Yi Liu Yu College of Automation Chongqing University of Posts and Telecommunications Chongqing Information Accessibility and Service Robot Technology Research Center School of Advanced Manufacturing Engineering Chongqing University of Posts and Telecommunications

In speech recognition system, an improved multibase neural network speech recognition model is proposed to solve the problem of long learning time and slow convergence rate of deep neural network. How

ISBN: (纸本)9781467389808

关键词： Speech recognition Depth neural network Over-fitting BP algorithm Accuracy Speech recognition TEST SETS Neural network speech recognition system Neural Networks (Computer)

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A unified leader-follower scheme for mobile robots with uncalibrated on-board camera

A unified leader-follower scheme for mobile robots with unca...

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2017 IEEE International Conference on robotics and automation, ICRA 2017

作者： Guo, Dejun Wang, Hesheng Chen, Weidong Liu, Ming Xia, Zeyang Leang, Kam K. Lab University of Utah Robotics Center Salt Lake CityUT84112 United States Department of Automation Shanghai Jiao Tong University Shanghai200240 China Department of Electronics and Computer Engineering Hong Kong University of Science and Technology Hong Kong Hong Kong Institute of Biomedical and Health Engineering Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen China

ISBN: (纸本)9781509046331

This paper studies the problem of image-based leader-follower formation control for mobile robots, where the controller is designed independently of the leader's motion. An adaptive control scheme, which is suitable for both omnidirectional and perspective cameras, is proposed. The proposed approach avoids the need for accurate calibration of the extrinsic parameters of the omnidirectional camera as well as the intrinsic and extrinsic parameters of perspective camera. Additionally, the coefficients of the plane where the feature point moves relative to the camera frame can be uncertain. These uncertain constant parameters are estimated using an adaptive estimator. Uniform Semi-global Practical Asymptotic Stability (USPAS) of the system is shown using the Lyapunov approach. Experimental results are presented to demonstrate the effectiveness of the proposed control scheme. © 2017 IEEE.

关键词： Mobile robots

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Planning algorithms for multi-setup multi-pass robotic cleaning with oscillatory moving tools

Planning algorithms for multi-setup multi-pass robotic clean...

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2016 IEEE International Conference on automation Science and Engineering, CASE 2016

作者： Kabir, Ariyan M. Langsfeld, Joshua D. Shriyam, Shaurya Rachakonda, Vinaichandra Sai Zhuang, Cunbo Kaipa, Krishnanand N. Marvel, Jeremy Gupta, Satyandra K. Maryland Robotics Center University of Maryland MD United States National Institute of Standards and Technology MD United States Center for Advanced Manufacturing University of Southern California CA United States

ISBN: (纸本)9781509024094

We present planning algorithms for cleaning stains on a curved object. Removing the stain may require multiple reorientations and repositions of the object and some portions of the stain may require multiple cleaning passes. The experimental setup involves two robot arms. The first arm immobilizes the object. The second arm moves the cleaning tool. The algorithm analyzes the stain and determines the sequence of positions and orientations needed to clean the part based on the kinematic constraints of the robot arm. Our algorithm uses a depth-first branch-and-bound search to generate setup plan solutions. We also compute the cleaning trajectories and select the cleaning parameters to maximize the cleaning performance. The algorithm generates multi-pass trajectories by replanning based on the observed cleaning performance. Numerical simulations and cleaning experiments with two Kuka1 robots are used to validate our approach. © 2016 IEEE.

关键词： Cleaning

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Planning Algorithms for Multi-Setup Multi-Pass Robotic Cleaning with Oscillatory Moving Tools

Planning Algorithms for Multi-Setup Multi-Pass Robotic Clean...

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IEEE International Conference on automation Science and Engineering

作者： Ariyan M. Kabir Joshua D. Langsfeld Shaurya Shriyam Vinaichandra Sai Rachakonda Cunbo Zhuang Krishnanand N. Kaipa Jeremy Marvel Satyandra K. Gupta Maryland Robotics Center University of Maryland National Institute of Standards and Technology Center for Advanced Manufacturing University of Southern California

ISBN: (纸本)9781509024100

关键词： Manipulators Surface cleaning Trajectory Planning

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Atomistic simulations on the axial nanowelding configuration and contact behavior between Ag nanowire and single-walled carbon nanotubes

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Journal of Nanoparticle Research 2017年第3期19卷 1-14页

作者： Cui, Jianlei Zhang, Jianwei He, Xiaoqiao Yang, Xinjun Mei, Xuesong Wang, Wenjun Jiang, Gedong Wang, Kedian Yang, Lijun Xie, Hui State Key Laboratory for Manufacturing Systems Engineering Xi’an Jiaotong University Xi’an People’s Republic of China State Key Laboratory of Digital Manufacturing Equipment and Technology Huazhong University of Science and Technology Wuhan People’s Republic of China State Key Laboratory of Surface Physics and Department of Physics Fudan University Shanghai People’s Republic of China State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin People’s Republic of China Department of Architecture and Civil Engineering City University of Hong Kong Kowloon Hong Kong Center for Advanced Structural Materials City University of Hong Kong Shenzhen Research Institute Shenzhen People’s Republic of China

As for the interesting new building blocks, the Ag nanowires (AgNWs) and single-walled carbon nanotubes (SWNTs) as the interesting new building blocks are viewed as the promising candidates for the next-generation interconnects due to their most remarkable electrical, thermal, optical, mechanical, and other properties. The axial nanowelding of head-to-head style and side-to-side style is relatively simulated with the molecular dynamics method. As for the head-to-head structural style, SWNTs will move toward the AgNWs and contact with the head of AgNWs. And, the part of the Ag nanowire may be subsequently encapsulated in SWNT with the core-filling Ag atom chain as the final atomic contact configuration during nanowelding, which is related to the nanowelding temperature. When the SWNTs and AgNWs are arranged by the side-to-side contact style, the SWNTs will move along the SWNT surface and may eventually catch up with the AgNW being neck and neck. Aiming at the final axial atomic configurations and the contact behavior during nanowelding process, the related dominant mechanism is revealed in this paper.

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Investigating interfacial contact configuration and behavior of single-walled carbon nanotube-based nanodevice with atomistic simulations

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Journal of Nanoparticle Research 2017年第3期19卷 1-10页

作者： Jianlei Cui Jianwei Zhang Xiaoqiao He Xuesong Mei Wenjun Wang Xinju Yang Hui Xie Lijun Yang Yang Wang State Key Laboratory for Manufacturing Systems Engineering Xi’an Jiaotong University Xi’an People’s Republic of China State Key Laboratory of Surface Physics and Department of Physics Fudan University Shanghai People’s Republic of China State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin People’s Republic of China Department of Architecture and Civil Engineering City University of Hong Kong Kowloon Hong Kong Center for Advanced Structural Materials City University of Hong Kong Shenzhen Research Institute Shenzhen People’s Republic of China

Carbon nanotubes (CNTs), including single-walled carbon nanotubes (SWNTs) and multi-walled carbon nanotubes (MWNTs), are considered to be the promising candidates for next-generation interconnects with excellent physical and chemical properties ranging from ultrahigh mechanical strength, to electrical properties, to thermal conductivity, to optical properties, etc. To further study the interfacial contact configurations of SWNT-based nanodevice with a 13.56-Å diameter, the corresponding simulations are carried out with the molecular dynamic method. The nanotube collapses dramatically into the surface with the complete collapse on the Au/Ag/graphite electrode surface and slight distortion on the Si/SiO2 substrate surface, respectively. The related dominant mechanism is studied and explained. Meanwhile, the interfacial contact configuration and behavior, depended on other factors, are also analyzed in this article.

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Nanofabrication with the thermal AFM metallic tip irradiated by continuous laser

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Integrated Ferroelectrics 2017年第1期179卷 140-147页

作者： Cui, Jianlei Zhang, Jianwei Barayavuga, Theogene Wang, Xuewen He, Xiaoqiao Yang, Lijun Xie, Hui Mei, Xuesong Wang, Wenjun State Key Laboratory of Advanced Welding and Joining Harbin Institute of Technology Harbin China State Key Laboratory of Surface Physics and Department of Physics Fudan University Shanghai China State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China Department of Architecture and Civil Engineering City University of Hong Kong Tat Chee Avenue Kowloon Hong Kong State Key Laboratory for Manufacturing Systems Engineering Xi'an Jiaotong University Xi'an China Center for Advanced Structural Materials City University of Hong Kong Shenzhen Research Institute Shenzhen Hong Kong

Based on the near-field optical lithography with the metallic AFM tip irradiated by pulse laser, the nanofabrication is proposed with the thermal AFM tip irradiated by continuous laser. The corresponding electric and thermal fields are calculated and simulated to reveal the mechanism. With the thermal AFM tip, the nanostructures can be fabricated with the thermal melting and mechanical extrusion effects based on the thermal expansion effect of the metallic AFM probe. © 2017 Taylor & Francis Group, LLC.

关键词： AFM continuous laser irradiation Nanofabrication

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A Unified Dynamic Control Method for a Redundant Dual Arm Robot

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Journal of Bionic Engineering 2015年第3期12卷 361-371页

作者： Meiling Wang Minzhou Luo Tao Li Marco Ceccarelli Department of Automation University of Science and Technology of China Hefei 230026 China Institute of Advanced Manufacturing Technology Hefei Institute of Physical Science Chinese Academy of Sciences Changzhou 213164 China LARM Laboratory of Robotics and Meehatronies DiMSAT-University of Cassino Via Di Biasio 43 03043 Cassino (Fr) Italy

Compared to single arm robot system, dual arm robot has the ability of performing human-like dexterity and cooperation. Dual arm cooperative operation has attracted more and more attention in industrial applications, such as in assembly of complex parts, manufacturing tasks and handling objects. A unified dynamic control method, which is divided into three modes, namely, independent mode, dependent mode, and half dependent mode, is proposed for a redundant dual arm robot with focus on the movement and force of the desired task being operated. Attention is devoted to develop a unified formulation of the above three modes. In addition, a closed form of inverse kinematic solution instead of numerical integration approach is proposed with the aim to guarantee position accuracy. Different from traditional dynamic controllers, where the independent redundancy resolution is obtained based on particular velocity or acceleration levels, here the two dynamic controllers are improved by combining a closed form of inverse kinematic solution with velocity and acceleration levels. Furthermore, the theoretical results of the proposed control method are validated by simulations and experiments.

关键词： unified control method dual arm robot dynamic constraints intemal force

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A MICROFLUIDIC SYSTEM FOR ASSESSING FRYING OIL QUALITY

A MICROFLUIDIC SYSTEM FOR ASSESSING FRYING OIL QUALITY

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IEEE International Conference on Micro Electro Mechanical Systems

作者： Mei Liu Shaorong Xie Ji Ge Zhensong Xu Zhizheng Wu Changhai Ru Yu Sun Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai University 200072 China Department of Mechanical and Industrial Engineering University of Toronto Toronto ON M5S 3G8 Canada Jiangsu Provincial Key Laboratory of Advanced Robotics and Collaborative Innovation Center of Suzhou Nano Science and Technology Soochow University Suzhou 215123 China

ISBN: (纸本)9781509006090

This paper reports a microfluidic system for assessing frying oil degradation. The hydrodynamic focusing microfluidic device developed for this purpose generates water-in-oil droplets. By correlating droplet size and the widely accepted oil quality metric, the total polar compound (TPM), it was proven that the device is capable of evaluating frying oil degradation. Compared to existing bulky instruments and methods, this device and measurement technique are fast, simple, and cost-effective.

关键词： SYSTEM ASSESSING FRYING oils Frying oils oil degradation

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Corrigendum: A 3D-printed polymer micro-gripper with self-defined electrical tracks and thermal actuator (2017 J. Micromech. Microeng. 27 045019)

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Journal of Micromechanics and Microengineering 2017年第8期27卷

作者： Khalid Alblalaihid James Overton Simon Lawes Peter Kinnell National Center for Aeronautical Technology King Abdulaziz City for Science and Technology (KACST) Riyadh 11442 Saudi Arabia Faculty of Engineering Manufacturing Metrology Team Advanced Manufacturing Metrology Research Group The University of Nottingham Nottingham NG7 2RD United Kingdom EPSRC Centre for Innovative Manufacturing in Intelligent Automation Wolfson School of Mechanical and Manufacturing Engineering Loughborough University Loughborough LE11 3UZ United Kingdom

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