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Target Tracking Algorithm Using Finite-time Convergence Smooth Second-order Sliding Mode Controller for Mobile Robots

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Chinese Journal of Mechanical Engineering 2011年第3期24卷 414-419页

作者： GE Lianzheng ZHAO Lijun GAO Tong State Key Laboratory of Robotics Technique and System Harbin Institute of Technology Harbin 150001 China

Target tracking control for wheeled mobile robot （WMR） need resolve the problems of kinematics model and tracking ***-order sliding mode control is a valid method used in the nonlinear tracking control system,which can eliminate the chattering of sliding mode *** there lacks the research of robustness and uncertain factors for high-order sliding mode *** address the fast convergence and robustness problems of tracking target,the tracking mathematical model of WMR and the target is *** on the finite-time convergence theory and second order sliding mode method,a nonlinear tracking algorithm is designed which guarantees that WMR can catch the target in finite *** the same time an observer is applied to substitute the uncertain acceleration of the target,then a smooth nonlinear tracking algorithm is *** on Lyapunov stability theory and finite-time convergence,a finite time convergent smooth second order sliding mode controller and a target tracking algorithm are designed by using second order sliding mode *** simulation results verified that WMR can catch up the target quickly and reduce the control discontinuity of the velocity of WMR.

关键词： mobile robots second order sliding mode finite-time convergence observer

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Extraction of coastline in high-resolution remote sensing images based on the active contour model

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Journal of Harbin Institute of Technology(New Series) 2011年第4期18卷 13-18页

作者：邢坤付宜利王树国韩现伟 State Key Laboratory of Robotics and System Harbin Institute of Technology

While executing tasks such as ocean pollution monitoring,maritime rescue,geographic mapping,and automatic navigation utilizing remote sensing images,the coastline feature should be *** methods are not satisfactory to extract coastline in high-resolution panchromatic remote sensing *** contour model,also called snakes,have proven useful for interactive specification of image contours,so it is used as an effective coastlines extraction ***,coastlines are detected by water segmentation and boundary tracking,which are considered initial contours to be optimized through active contour *** better energy functions are developed,the power assist of snakes becomes *** internal energy has been done to reduce problems caused by convergence to local minima,and new external energy can greatly enlarge the capture region around features of *** normalization processing,energies are iterated using greedy algorithm to accelerate convergence *** experimental results encompassed examples in images and demonstrated the capabilities and efficiencies of the improvement.

关键词： remote sensing images coastline extraction active contour model greedy algorithm

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Image sub-pixel recognition method for optical precise adjustment

Image sub-pixel recognition method for optical precise adjus...

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

作者： Ma, Li Zhou, Shasha Ouyang, Hangkong He, Zhengfeng Rong, Weibin Sun, Lining School of Mechatronic Engineering and Automation University of Shanghai Shanghai China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

Cavity adjustment is a critical step for manufacturing laser gyro. Location relation of the laser facula and the aperture images should be detected to provide control information for the movement of the cavity adjustment mechanism. According to the image features, a sequence image variance method is proposed to segment the laser facula image, and maximum variance between clusters method (Ostu algorithm) is adopted to acquire automatic threshold value to segment the aperture image. Use the edge detection of binary image to obtain pixel edge of the laser facula and the aperture images. And sub-pixel edge point information of the images is given by a parameter fitting method. Centre points coordinates of the laser facula and the aperture are achieved by fitting sub-pixel edge utilizing the least square ellipse fitting method. The experimental results of cavity adjustment verify the validity of image recognition method of the laser facula and the aperture. © 2012 ieee.

关键词： Binary images

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Working principle and design of a double cylinders type traveling wave ultrasonic motor using composite transducer

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Journal of Harbin Institute of Technology(New Series) 2011年第2期18卷 28-32页

作者：陈维山刘英想刘军考石胜君 State Key Laboratory of Robotics and System Harbin Institute of Technology

A double cylinders type traveling wave ultrasonic motor using composite transducer was *** proposed stator contained two cylinders and one composite transducer,and the transducer located on the outer surfaces of *** composite transducer included two exponential horns located on leading ends,and the horns insected with the cylinders at tip *** degenerated flexural vibration modes spatially and temporally orthogonal to each other were excited in each cylinder by the composite *** this new design,a single transducer could excite two flexural traveling waves in the ***,elliptical motions were achieved at the particles on the *** working principle of the proposed motor was *** cylinder and transducer were designed with *** resonant frequencies of two vibration modals of the stator were tuned to be the same,and the motion trajectories of nodes on the teeth were *** analysis results show that the motion trajectories of teeth are *** results of this paper can guide the development of this new type of ultrasonic motor.

关键词： ultrasonic motor traveling wave double cylinders composite transducer FEM

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Actuating mechanism and design of a T-type linear ultrasonic motor

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Journal of Harbin Institute of Technology(New Series) 2011年第2期18卷 43-46页

作者：刘英想刘军考陈维山石胜君 State Key Laboratory of Robotics and System Harbin Institute of Technology

To take advantage of merits of higher output-power and efficiency of bolt-clamped transducer,a T-type linear ultrasonic motor was proposed in this *** proposed motor contained a horizontal transducer and a vertical *** horizontal transducer included two exponential shape horns,and the vertical transducer contained one exponential shape *** the horns intersected at tip ends where a driving foot was *** longitudinal vibrations of transducers were excited by the stretching vibration of PZT *** vibrations were superimposed in the motor and generated elliptical trajectory at the driving *** actuating mechanism of the proposed motor was *** two working modals of the motor were gained with *** resonant frequencies of two working modals were degenerated by adjusting the structural *** motion trajectory of nodes on the driving foot was gained by transient *** vibration amplitude of node on the driving foot indicates that the proposed motor has potential good output *** results verify the feasibility of the proposed design and provide instructions for the development of the new ultrasonic motor.

关键词： ultrasonic motor linear T-type longitudinal transducer FEM

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A ring type standing wave ultrasonic motor using cantilever type longitudinal transducers

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Journal of Harbin Institute of Technology(New Series) 2011年第1期18卷 52-56页

作者：刘英想刘军考陈维山石胜君 State Key Laboratory of Robotics and System Harbin Institute of Technology

The disadvantages of classic ring type ultrasonic motor were *** obtain large mechanical output power,a ring type standing wave ultrasonic motor using cantilever type longitudinal transducers was *** are four pairs of cantilevers on one side of the ring,and four PZT ceramics are set between each pair of cantilevers.A screw fastened the PZT ceramics and cantilevers together to form a longitudinal *** bending vibration mode of the ring is excited by the stretching vibration of the PZT ***,linear simple harmonic motions are achieved at the particle on the *** the driving force is the frictional force between rotor and *** working principle of the proposed motor was *** ring and the longitudinal transducer were designed with *** sensitive parameters of resonant frequency of the transducer and ring could be gained with modal *** longitudinal vibration modal of transducer and bending vibration modal of ring were degenerated,and the motion trajectories of nodes on the teeth were *** results of this paper could guide the development of this new type of motor.

关键词： ultrasonic motor standing wave ring type vibration characteristic FEM

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On set-point tracking control of dexterous robot hand

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Journal of Harbin Institute of Technology(New Series) 2011年第5期18卷 61-64页

作者：姜力潘军 State Key Laboratory of Robotics and System Harbin Institute of Technology

A model-free set-point tracking control approach of multi-fingered robot hand is *** set-point tracking controller,which has the structural form of PD controller,is composed with a combination of feedforward term,feedback term and saturation control *** controller does not require the explicit use of dynamic modeling *** performed on the HIT/DLR hand demonstrate the effectiveness of the proposed approach in performance improvement and real-time application.

关键词： tracking control robot hand kinematics

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Design and optimization of mechanical analogue element of space manipulator

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Nanjing Hangkong Hangtian Daxue Xuebao/Journal of Nanjing University of Aeronautics and Astronautics 2012年第4期44卷 532-537页

作者： Liu, Junxiu Deng, Zongquan Yue, Honghao Chen, Zhengsheng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China

A design method for equivalent mechanical character of manipulator is put forward to cut down ground mechanical experiment cost of manipulator and reflect its mechanical character more veritably. Furthermore, the parameters of mechanical analogue element of manipulator are optimized. Axletree rigidity and joint torsion rigidity are equivalently designed on the basis of manipulator structure principle. The parameters of mechanical analogue element of manipulator are optimized through objective obtained method. The comparison between mechanical analogue element and mass, centroidal coordinate, moment of inertia of centroid on each direction and other critical parameters of each mass module of the manipulator is made. The result shows that mechanical parameters between mechanical analogue element and each joint module are almost the same. The mechanical analogue element can satisfy experimental demand, thus reduceing the experimental cost of mechanical circumstance.

关键词： Multiobjective optimization

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Optimal measurement configurations for kinematic calibration of six-DOF serial robot

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Journal of Central South University 2011年第3期18卷 618-626页

作者：黎田孙奎谢宗武刘宏 State Key Laboratory of Robotics and System Harbin Institute of Technology Institute of Robotics and Mechatronics G erman Aerospace Center

An optimal measurement pose number searching method was designed to improve the pose selection *** optimal robot measurement configurations were added to an initial pre-selected optimal configuration set to establish a new configuration set for robot calibration one by *** root mean squares (RMS) of the errors of each end-effector poses after being calibrated by these configuration sets were *** optimal number of the configuration set corresponding to the least RMS of pose error was then *** based on those poses selected by this algorithm can get higher end-effector accuracy,meanwhile consumes less *** optimal pose set including optimal 25 measurement configurations is found during the *** errors after calibration by using these poses are 1.54,1.61 and 0.86 mm,and better than those before calibration which are 7.79,7.62 and 8.29 mm,even better than those calibrated by the random method which are 2.22,2.35 and 1.69 mm in directions X,Y and Z,respectively.

关键词： serial robot pose selection pose number kinematic calibration observability index

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New Generalized ESPRIT for Direction Estimation and Its Mathematical Link to RARE Method

New Generalized ESPRIT for Direction Estimation and Its Math...

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2012 ieee 11th International Conference on Signal Processing(ICSP 2012)

作者： Guangmin Wang Jingmin Xin Jiayi Wu Jiasong Wang Nangning Zheng Akira Sano Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University Xi'an Jiaotong University Suzhou Academy State Key Laboratory of Astronautic Dynamics Department of System Design Engineering Keio University

The generalized ESPRIT （GESPRIT） method extends the conventional ESPRIT estimator to estimate the directions-of-arrival （DOAs） of multiple incident signals by using the array with more general geometrical configurations, where the translational invariance structure is not required. Unfor-tunately, the GESPRIT has serious ambiguous DOA estimates in some scenarios, and its performance degrades severely at low signal-to-noise ration （SNR） and with a small number of snapshots. Although a polynomial version of a new GESPRIT （NGESPRIT） method was given, but its derivation and estimation performance are unavailable in published literature. In this paper, in order to overcome the ambiguity of the GESPRIT and improve the estimation performance, the NGESPRIT method is derived explicitly. Moreover, the equivalence between the proposed NGESPRIT method and the rank reduction （RARE） method is clarified, while the former is more computationally efficient than the latter. Finally the effectiveness of the NGESPRIT method is substantiated through numerical examples.

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