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2012 ieee 7th International Power Electronics and Motion Control Conference - ECCE Asia, IPEMC 2012

作者： Liu, Yingxiang Chen, Weishan Feng, Peilian Liu, Junkao State Key Laboratory of Robotics and System Harbin Institute of Technology 150001 Heilongjiang Province China

ISBN: (纸本)9781457720864

In a previous study, the authors have proposed, designed and fabricated a cylindrical traveling wave piezoelectric motor excited by a longitudinal and bending hybrid composite transducer. This study focuses the research on the vibration coupling problems of the proposed stator. After the introduction of the working principle of the motor, harmonic analysis is developed to gain the input impedance characteristics of the longitudinal and bending vibration modes of single transducer;the electromechanical coupling factors are calculated to evaluate the energy transfer efficiency. Then, the input impedance characteristics of the two vibration modes of the stator are analyzed to gain the corresponding electromechanical coupling factors. At last, the resonance frequencies of the transducer and cylinder are adjusted to obtain their effects on the electromechanical coupling factors. The study results can guide the design of traveling wave motors that utilized sandwich transducers as actuators. © 2012 ieee.

关键词： Stators

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A water walking robot inspired by water strider

A water walking robot inspired by water strider

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2012 9th ieee International Conference on Mechatronics and Automation, ICMA 2012

作者： Zhao, Jie Zhang, Xinbin Pan, Qinmin State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

Recent studies on water striders have revealed the mechanism of their floating and walking on water. By fast swinging their middle legs backward and striking the water, water striders get the driving force to move forward. This paper introduces a new water walking robot mimicking the rowing locomotion of water strider. The robot weighs 10 g and utilizes superhydrophobic nickel foam sheets as supporting legs and a spring-based actuating mechanism. Motion and force analysis for the supporting legs and the spring-based actuating mechanism were made and corresponding mechanics analysis models were built, based on which the simulation analysis of the robot was carried out. The robot can move over a distance of 30 cm per stroke with an average speed of 30 cm/s. This robot not only can help us better understand the mechanism of water strider rowing on water, but also can be developed for many applications in water quality monitoring, aquatic exploration, search and rescue on water, etc. in the future. © 2012 ieee.

关键词： Water quality

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A dynamic model of skeletal muscle based on collective behavior of myosin motors-Biomechanics of skeletal muscle based on working mechanism of myosin motors(I)

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Science China(Technological Sciences) 2012年第6期55卷 1589-1595页

作者： GUO Zhao YIN YueHong State Key Laboratory of Mechanism System and Vibration Institute of RoboticsShanghai Jiao Tong UniversityShanghai 200240China

A dynalnic model of skeletal muscle is developed to describe its activation kinetics and contraction dynamics based on the collective working mechanism of myosin II motors with a statistical mechanics method. According to the structure of sar- comeres arranged in series and in parallel, the mechanical properties of skeletal muscle are studied. This model reveals the re- lations between action potential and muscle characteristics. It is shown that calcium concentration in sarcoplasmic （SP） in- creases linearly with the increasing stimulation frequency and gradually reaches saturation. Active force and contraction veloc- ity follow the trend of calcium concentration and reach a peak value at the maximum stimulation frequency. Contraction ve- locity is inversely proportional to the load while the contraction power increases to maximum and then reduces to zero with the increasing load. These properties are consistent with published physiological experimental results of skeletal muscle.

关键词： skeletal muscle sacromere molecular motor collective behavior dynamic model

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Research on grinding system of robot-assisted artificial cervical disc replacement surgery

Research on grinding system of robot-assisted artificial cer...

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2012 9th ieee International Conference on Mechatronics and Automation, ICMA 2012

作者： Wu, Dongmei Zhang, Litao Hao, Guangxin Du, Zhijiang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Harbin Heilongjiang Province 150001 China

ISBN: (纸本)9781467312776

Artificial cervical disc replacement surgery is not widely accepted mainly because many problems such as inadequate precision, excessive radiation and other issues need to be solved. A medical robot has been designed to complete positioning and grinding bone mating surfaces with prosthesis in artificial cervical disc replacement surgery. Firstly, the mechanical design of the 6-DOF (Degree of Freedom) parallel robot and the control system design are presented. Then kinematic analysis and grinding trajectory planning for the medical robot are described. Finally, the experiment of the robotassisted cervical disc replacement surgery was carried out with a sheep cervical spine as experimental subject. The experiment on this platform verified rationality and feasibility for the robotassisted cervical disc replacement surgery. © 2012 ieee.

关键词： Kinematics

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Virtual Force Feedback-based 3D Master/Slave Tele-nanomanipulation in SEM

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Journal of Nano Research 2012年 20卷 109-116页

作者： Li, Dongjie Rong, Weibin Sun, Lining Xiao, Wanzhe Zou, Yu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China Institute of Electromechanical Control and Automation Technology Harbin University of Science and Technology Harbin 150080 China

In this paper, we focus on the need for real time nanomanipulation, a 3D Master/Slave tele-nanomanipulation platform is studied with the haptic device (Omega3) as the master and the nanopositioner (Attocube) as the slave, working in scanning electron microscope (SEM). The 3D manipulation environment is developed with the help of VR technology. The platform is controlled by the enhanced virtual coupling (EVC) algorithm. The stability of the platform is discussed with Llewellyn's stability criteria. Scale factors and enhancement factor of the control system are determined, according to the force applied on master and slave terminals. Performances of the platform are tested with the ZnO nanowire manipulation experiments. Experiment results show that the platform has good performance while guaranteeing stability on ZnO nanowires manipulation in SEM using the method presented in this paper. © (2012) Trans Tech Publications, Switzerland.

关键词： Stability criteria

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Continuous wavelet transform-based estimation of modal parameters with scale selection

Continuous wavelet transform-based estimation of modal param...

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2012 9th ieee International Conference on Mechatronics and Automation, ICMA 2012

作者： Dai, Yu Zhang, Jianxun Institute of Robotics and Automatic Information System Nankai University Tianjin 300071 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province 150080 China

ISBN: (纸本)9781467312776

This paper improves the method for the estimation of modal parameters from free decay response of a structural system using continuous wavelet transform (CWT). The CWT of free decay response is investigated especially for the case when closely spaced modes need to be analyzed. A robust iteratively reweighted least-squares (IRLS) linear regression method is introduced to fit wavelet amplitude and phase curves. The selection of the appropriate analyzing scale is proposed to improve the modal parameter estimation of the system with poorly separated modes, and scale selection is performed by searching the locations of the local minima of fitting error functions. Both numerical and experimental studies are performed to demonstrate the method and verify its accuracy. The experimental system is a minimally invasive surgery manipulator with force sensing ability. The results show that the estimation accuracy is significantly improved in the presence of close modes. © 2012 ieee.

关键词： Least squares approximations

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Simulation and experiment on automatic polarization alignment of fine polarization maintaining fibers

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Zhongguo Jiguang/Chinese Journal of Lasers 2013年第12期40卷

作者： Rong, Weibin Zhang, Wei Wang, Lefeng Cao, Yang Zhao, Lei Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 150080 China AVIC Xi'an Fight Automatic Control Research Institute Xi'an Shaanxi 710065 China

To improve the performance of fine polarization maintaining fiber (PMF) couplers, it is necessary to increase the detection accuracy of polarization axis. The mathematical model of panda PMF index is established, and then the side view method is simulated. From the simulation results, the light is transmitted in the optical fiber and is focused on the other side, and the maximum light intensity of the fiber image is related to the rotation angle and the observation distance. When the observation distance is constant, the maximum value of light intensity changes periodically with the PMF rotation angle. When the observation plane is near the focused one of the transmitted light, the highest light intensity of optical image reaches the maximum value, which is the polarization axis detection parameter of PMF. Based on this, detection method which takes the maximum intensity as the feature is proposed. Combining the micro-vision technology, the polarization axis detection system for fine PMF is designed. The image sharpness function which can confirm the position of the detection plane is proposed. The experimental data are processed using the Fourier filtering method. By fitting the experiment data with the cubic spline method, the panda PMF polarization axis is determined. According to the experimental results, the repetitive detection error is 0.61°, which meets the requirements of PMF coupler manufacturing.

关键词： Polarization-maintaining fiber

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QSMC based on reaching law using saturation sliding surface for 6R industrial robots

QSMC based on reaching law using saturation sliding surface ...

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2012 9th ieee International Conference on Mechatronics and Automation, ICMA 2012

作者： Yu, Dianyong Wang, Xiaojue Ge, Lianzheng Chen, Jian State Key Laboratory of Robotics and System Harbin Institute of Technology No.2 Yikuang Street 150080 Harbin China

ISBN: (纸本)9781467312776

Quasi Sliding Mode Control (QSMC) based on reaching law has the advantages of simplicity and robustness. The chattering is also reduced by using a saturation function. But this control strategy only guarantees an asymptotic convergence. In order to increase the tracking speed for robotic joints when tracking error is small, a sliding surface with saturation function of the error is proposed in this paper. By applying this sliding surface, a fast finite time convergence is achieved. 6R industrial robots have highly coupled inertia coefficients in the inertia matrix. When modeling error exists, system precision and stability would be affected greatly. To improve the system robustness property, separate sliding surface feedback compensation torques mainly for the last three joints are applied in this paper. The compensation torques also help increase the tracking speed. The proposed controller is tested through ADAMS-MATLAB co-simulations on a 6R serial industrial robot prototype to prove its effectiveness. © 2012 ieee.

关键词： Industrial robots

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An Interest Point Detector Based on Polynomial Local Orientation Tensor

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自动化学报 2012年第7期38卷 1183-1189页

作者： LIN Rui WANG Wei-Dong DU Zhi-Jiang SUN Li-Ning State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150080P.R.China

Abstract In this paper, aiming at application of vision-based mobile robot navigation, we present a novel method for detecting scale and rotation invariant interest points, coined polynomial local orientation tensor (PLOT). Our detector is based on the local orientation tensor, which is constructed from the polynomial expansion of the image signal. We first analyze the properties of the local orientation tensor of PLOT, and select a suitable tuning parameter to make the local orientation tensor extract invariant features. Automatic scale selection is also used in the computation of the local orientation tensor and the characteristic scale is selected to attain scale invariant features. Then, the true interest points are detected by the small eigenvalues of the orientation tensor. We evaluate the performance of our detector on the repeatability criteria and compare it with other existing approaches. Experimental results for PLOT show strong performance in different rotations, with varying scale changes and illumination changes in the real-world conditions.

关键词：取向张量检测器多项式兴趣点旋转不变量 PLOT 机器人导航图像信号

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Intelligent bionic leg motion estimation based on interjoint coordination using PCA and RBF neural networks

Intelligent bionic leg motion estimation based on interjoint...

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2012 9th ieee International Conference on Mechatronics and Automation, ICMA 2012

作者： Wang, Fei Qi, Yalu Wen, Shiguang Wu, Chengdong State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang 110819 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 158100 China

ISBN: (纸本)9781467312776

It has been a challenging endeavor for amputee to coordinate harmoniously with his/her artificial limb. In this paper, a novel scheme of real-time motion estimation for Intelligent bionic leg based on interjoint coordination is proposed. To measure the gait during walking, inertial sensors are mounted on the CoGs of bilateral thighs and shanks to acquire angular velocities of lower limbs of subjects. For the existence of linear correlation between bilateral kinematics in healthy symmetrical human gait, principle components analysis is employed to model the interjoint coordination and is used to estimate the knee joint angle of intelligent bionic leg from body motion of amputee. To improve the presicion of motion estimation further, RBF neural networks are used to optimally calculate the knee joint angle. Simulation and experimental results demonstrate the effectiveness and correctness of the proposed scheme. © 2012 ieee.

关键词： Motion estimation

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