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IEEE International Conference on Mechatronics and Automation

作者： Liyun Li Weidong Wang Yanyu Su Zhijiang Du State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781479970995

This paper presents a grasp planning method for grasping novel objects from point clouds provided by the Kinect camera. By applying machine learning, the planning method can generate two points which represent the contact point and direction of grasp. This method is based on three components: 1) grasp configuration which can present the location of contact points and the direction of grasp, 2) features which take force closure and grasp stability into account, and 3) Gaussian Process Classifier which is used to calculate the grasp quality by using the features of each grasp configuration. Two experiments are carried out to verify our method. The results demonstrate that the robot using this approach can successfully grasp objects with partial point clouds.

关键词： Grasping Gaussian processes Three-dimensional displays Grippers Robots Feature extraction Probability

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Study of adhesion force between cellulose micro-sphere and cellulose membrane

Study of adhesion force between cellulose micro-sphere and c...

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International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M-NANO)

作者： Yuli Lai Pasi Kallio Hao Zhang Hui Xie Yasuhito Sugano Johan Bobacka Department of Automation Science and Engineering Tampere University of Technology Tampere Finland The State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China Department of Chemistry University of Helsinki Helsinki Finland Johan Gadolin Process Chemistry Centre Åbo Akademi University Turku Finland

ISBN: (纸本)9781509029464

Development of novel high added value cellulose products requires improved understanding of interaction forces, which includes also the adhesion force, between cellulose surfaces. However, the interaction forces between cellulose surfaces have not been adequately studied. In this paper, cellulose-cellulose adhesion force is studied by using a customized dual-probe atomic force microscope (AFM) with a cellulose colloidal probe. Two different types of cellulose membranes (CM) with cellulose concentration of 1.5% and 2% are used as test samples, and about ten thousand tests are repeated on each CM sample type. Adhesion force histograms are provided and they show a large difference between the two types of CM. The average adhesion force on CM 1.5% is approximately 10 times higher than that on CM 2%. On CM 1.5%, the adhesion forces concentrate on the range from 450nN to 650nN, whereas on CM 2% the force distribute from 50 to 75nN. The difference in the adhesion force on these two types of CM can be attributed to their difference in surface roughness and surface energy.

关键词： Probes Adhesives Force Surface topography Force measurement Rough surfaces Surface roughness

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Turning gait planning and simulation validation of a hydraulic hexapod robot

Turning gait planning and simulation validation of a hydraul...

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International Conference on Fluid Power and Mechatronics (FPM)

作者： Haibo Gao Ma Jin Yiqun Liu Liang Ding Haitao Yu Zongquan Deng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781479987719

Gait planning is an important part of robotics research, and turning gait is an important and useful walking gait of a hexapod robot. But researches on turning gait of hexapod robots are limited. This paper presents the structure of a hydraulic hexapod walking robot. The coordinate of the leg is defined, and the positive and inverse kinematic equation of the leg is established. Foot trajectory based on cycloid during swing phase is planned, and the foot trajectory of support phase is also planned. A turning gait can be divided into the first half cycle and the second half cycle, and the turning gait based on tripod gait of the hexapod robot is planned. A virtual simulation platform for the hexapod robot is developed based on Vortex software. The platform consists of robot model module, manipulator and control module, terrain model module and foot-terrain interaction module. The simulation process is presented, and the turning gait is realized on the simulation platform. Finally, the simulation results show that the foot trajectory curves and the joint angle curves are smooth, and there is no conflict between the curves of six legs. The rationality and feasibility of the proposed method has been verified.

关键词： Legged locomotion Robot kinematics Foot Turning Trajectory Planning

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A review of heavy-duty legged robots

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Science China(Technological Sciences) 2014年第2期57卷 298-314页

作者： ZHUANG HongChao GAO HaiBo DENG ZongQuan DING Liang LIU Zhen State Key Laboratory of Robotics and System Harbin Institute of Technology

Heavy-duty legged robots have been regarded as one of the important developments in the field of legged robots because of their high payload-total mass ratio,terrain adaptability,and *** problems associated with the development and use of heavy-duty legged robots have motivated researchers to conduct many important studies,covering topics related to the mechanical structure,force distribution,control strategy,energy efficiency,***,heavy-duty legged robots have three main characteristics:greater body masses,larger body sizes,and higher payload-total mass ***,various heavy-duty legged robots and their performances are reviewed *** review presents the current developments with regard to heavy-duty legged ***,the main characteristics of high-performance heavy-duty legged robots are determined and conclusions are ***,the current research of key techniques of heavy-duty legged robots,including the mechanical structure,force distribution,control method,and power source,is *** assess the transportation capacity of heavy-duty legged robots,performance evaluation parameters are ***,problems that need further research are addressed.

关键词： heavy-duty legged robot mechanical structure force distribution control method power source

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A Nearfield acoustic holography based on the mapping relationship between patterns on surfaces of structure and hologram 44

A Nearfield acoustic holography based on the mapping relatio...

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44th International Congress and Exposition on Noise Control Engineering, INTER-NOISE 2015

作者： Wu, Hai-Jun Jiang, Wei-Kang Department of Mechanical and Engineering State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai200240 China

A nearfield acoustic holography method based on the mapping relationship between patterns on the surfaces of structure and hologram is proposed. The approach is to seek explicit descriptions of the mapping relationship between velocity patterns on the boundary and pressure patterns on the field, and design a proper experimental setup for obtaining the participant coefficients of the pressure patterns on the hologram surface. The mapping relationship adopted in this work is built on the fundamental solution of Helmholtz equation in spherical coordinates. The advantageous is twofold. Firstly, the patterns making the mapping relationship on the structure and hologram surfaces are analytical, which supplies an analytical way to determine the number and position of microphones for accurate patterns recognition on the hologram surface. Secondly, the inverse numerical operation to reconstruct the boundary velocity based on the measured acoustic signals is avoided by a substitution of evaluation of participant coefficients on the hologram surface and applying the analytical mapping relationship to the structure surface, which alleviates error amplification. The approach is validated by numerical examples. © 2015 by ASME.

关键词： Holograms

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Research on the degree of freedom control strategy for redundant-drive shaking tables

Research on the degree of freedom control strategy for redun...

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International Conference on Fluid Power and Mechatronics (FPM)

作者： Lianpeng Zhang Yu Yang Chifu Yang Junwei Han State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781479987719

Redundant-drive shaking tables composed of more than one shaking tables are indispensible test equipments for anti-seismic study of long-span structures and are experiencing rapid development recently. However, the control strategy of the shaking tables system is greatly complex and there isn't a common accepted method now. This paper proposed two degree of freedom(DOF) control strategies for the shaking tables system composed of two identical redundant-drive electro-hydraulic servo shaking table: six DOFs control strategy and twelve DOFs control strategy. According to different control principles, build two kinds of coordinates, derive the geometric motion relationship of the platform or load and the hydraulic cylinders, and then use zero-position geometric linearity technique to obtain simplified coordinate transformation matrixes between platform or load motion space and the hydraulic cylinders space. The control system model with DOF control strategy and dynamic model of the shaking tables are built using the Matlab/Simulink and SimMechanics software. Simulation experiments are carried out and the test results indicate that both the control strategies can realize the accurate motion of the platform and verify the feasibility and validity of the proposed control strategies. In the end, this paper compared the two DOF control strategies and analyzed the advantages and disadvantages of each control strategy.

关键词： Load modeling Matrix decomposition Acceleration Aerospace electronics Software Fasteners

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Indoor objects 3D modeling based on RGB-D camera for robot vision

Indoor objects 3D modeling based on RGB-D camera for robot v...

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International Conference on Fluid Power and Mechatronics (FPM)

作者： Guangsheng Shi Lijun Zhao Ke Wang Yunfeng Gao Yihuan Liu State key laboratory of robotics and system Harbin Institute of Technology Harbin China

ISBN: (纸本)9781479987719

The 3D-object modeling has become one hottopic in robot vision field for robots locating, grabbing and dropping operation. In this paper, we propose an efficient method of object modeling based RGB-D camera (Kinect) that can help the robot to carry out operation task. Our method is divided into three stage: firstly, point clouds of scene containing object are captured from the camera and plane-segmentation to extract clusters of object; secondly, the preprocessed method is used to filter noise and outlier points; Points pair-wise alignment by way of our proposed pairs rejection strategy, global consistent alignment of the complete object and object-centered representation easy to manipulate. Besides, for the well-known loop closure problem, we optimize the pose and eliminate the accumulations base on the ICP improved algorithm. Finally, the proposed method is validated by the modeling of several household objects.

关键词： Three-dimensional displays Iterative closest point algorithm Cameras Robots Solid modeling Measurement Filtering algorithms

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Neural adaptive tracking control for wheeled mobile robots

Neural adaptive tracking control for wheeled mobile robots

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International Conference on Fluid Power and Mechatronics (FPM)

作者： Zhencai Li Yang Wang Xingguo Song Zhen Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781479987719

In this study, an adaptive control method is proposed by combining the tracking controller with neural torque controller for wheeled mobile robots. The kinematics and dynamics control laws are developed, and stability of control system is ensured by standard Lyapunov theory. For the trajectory tracking control of the wheeled mobile robot (WMR), we design an efficient neural network control that can manage the unmodeled extra disturbances and unstructured dynamics model of WMR. Especially, we have chosen radial basis function (RBF) neural networks to approximate the nonlinear function. By tuning the neural network weights, ensure the small tracking errors when WMR travels with the bounded input signals. Simulations illustrate the soundness of the proposed control theme for the desired tracking trajectory by Matlab-simulation.

关键词： Mobile robots Mathematical model Artificial neural networks Wheels Adaptation models Vehicle dynamics

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80-GHz Operation of an 8-Bit RSFQ Arithmetic Logic Unit

80-GHz Operation of an 8-Bit RSFQ Arithmetic Logic Unit

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IEEE International Superconductive Electronics Conference (ISEC)

作者： Yuki Ando Ryo Sato Masamitsu Tanaka Kazuyoshi Takagi Naofumi Takagi State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

We have designed and demonstrated an arithmetic logic unit (ALU) based on rapid single-flux-quantum (RSFQ) technology. The ALU has been developed toward demonstration of high-performance information processing using a general purpose microprocessor CORE e4. The target operation frequency of the ALU is 50 GHz. In this paper, we present the design and high- speed functionality test results of the ALU. The ALU can execute 10 instructions. We aimed at high frequency operation with precise timing design using logic gates synchronized to the clock signal. The ALU contains 1555 Josephson junctions (JJs) and occupies a circuit area of 0.53mm 2 . We have demonstrated the correct operation of the ALU using on-chip high-speed test. The estimated maximum operating frequency based on measurement results is 80 GHz.

关键词： Yttrium Clocks Frequency measurement Microprocessors Logic gates Superconductivity Timing

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H-plane Loaded and Phase Velocity Tapered SWS for Improved Performance of TWT THz Sources

H-plane Loaded and Phase Velocity Tapered SWS for Improved P...

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2016 IEEE 9th UK-Europe-China Workshop on Millimetre Waves and Terahertz Technologies

作者： Xuyuan Chen Laxma R.Billa Xianbao Shi M.Nadeem Akram Department of Micro- and Nano-System Technology University College of Southeast Norway State Key Laboratory of Quantum Optics and Quantum Optics Devices Institute of Laser SpectroscopyShanxi University Vacuum Electronics National Laboratory School of Physical ElectronicsUniversity of Electronic Science and Technology of China

The design optimization and simulation for high performance of two types of slow wave structures(SWS) for micro-electro-mechanical system(MEMS) terahertz(THz)sources are presented,e.g.,THz staggered double vane(SDV)traveling wave tube(TWT) working at center frequency of 220 GHz,H-plane and E-plane loaded(HEL) rectangular TWT working at center frequency of 400 *** structures are able to realize a larger interaction impedance,thereby resulting in higher gain and improved output power of the *** further enhance the energy transferring between the electron beam and THz wave,the maximum length of the interaction section can be extended using the phase velocity tapering technique,where the spent electron beam energy can be reused by resynchronizing the phase velocity of the THz signal with electron velocity at the second section of the *** an achievement,improved power of more than 50%is achieved over the operated bandwidth for both *** designs have considered the LIGA fabrication for these vacuum MEMS THz sources.

关键词： Terahetz TWT Phase velocity tapered technology H-loaded and E-loaded corrugation

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