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ieee International Conference on Automation and Logistics

作者： Shijie Dai Gang Ren Lei Zhao Weiguo Ren State Key Laboratory of Robotics and System (HIT) Harbin Institute of Technology Harbin China Research Institute of Robotics and Automation Hebei University of Technology Tianjin China

ISBN: (纸本)9781424425020

A control strategy that combines input shaping with PD feedback control is presented in this paper. Input shaping was used to cancel the swing of the bucket, and feedback was used to detect and eliminate the position error of the trolley. Simulation of the bucket dynamics was carried on to evaluate the performance of the controller.

关键词： Cranes Pd control Feedback control Vibrations Robustness Switches Driver circuits

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A silicon integrated micro nano-positioning XY-stage for nano-manipulation

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Journal of Micromechanics and Microengineering 2008年第12期18卷 125004 (9p-125004 (9p页

作者： Sun, Lining Wang, Jiachou Rong, Weibin Li, Xinxin Bao, Haifei State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 Heilongjiang Province China State Key Laboratory of Transducer Technology Shanghai Institute of Microsystem and Information Technology Chinese Academy of Sciences Shanghai 20050 China

An integrated micro XY-stage with a 2 × 2 mm2 movable table is designed and fabricated for application in nanometer-scale operation and nanometric positioning precision. The device integrates the functions of both actuating and sensing in a monolithic chip and is mainly composed of a silicon-based XY-stage, comb-drive actuator and a displacement sensor, which are developed by using double-sided bulk-micromachining technology. The high-aspect-ratio comb-driven XY-stage is achieved by deep reactive ion etching (DRIE) on both sides of the wafer. The displacement sensor is formed on four vertical sidewall surface piezoresistors with a full Wheatstone bridge circuit, where a novel fabrication process of a vertical sidewall surface piezoresistor is proposed. Comprehensive design and analysis of the comb actuator, the piezoresistive displacement sensor and the XY-stage are given in full detail, and the experimental results verify the design and fabrication of the device. The final realization of the device shows that the sensitivity of the fabricated piezoresistive sensors is better than 1.17 mV νm-1 without amplification, and the linearity is better than 0.814%. Under 28.5 V driving voltage, a 10 νm single-axis displacement is measured without crosstalk and the resonant frequency is measured at 983 Hz in air. © 2008 IOP Publishing Ltd.

关键词： Natural frequencies

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Electrostatically driven microgripper integrated piezoresistive force sensor

Electrostatically driven microgripper integrated piezoresist...

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Design, Test, Integration and Packaging of MEMS/MOEMS

作者： Tao Chen Liguo Chen Lining Sun Xinxin Li State Key Laboratory of Robotics and System Robotics Institute Harbin Institute of Technology Harbin China State Key Lab ofTransducer Technology Shanghai Institute ofMicrosystem and Information Technology Chinese Academy and Sciences Shanghai China

This paper presents the design, fabrication, and application of an electrostatically driven microgripper integrated piezoresistive force sensor. The microgripper is designed to manipulate two microobjects at the same time with force sensing ability. Surface and bulk micromachining technology is employed to fabricate the microgripper from single crystal silicon wafer. The end effector of the gripper is a four arms structure, two fixed cantilever beams integrated with piezoresistive sensor are designed to sensing the gripping force, and an electrostatically driven microactuator is designed to provide the force to operate the other two movable arms. In this way, the four fingers structure enables the gripper to grasp two samples with different sizes at the same time. Experimental results show that it can successfully provide force sensing and play a main role in preventing damage of microparts in micromanipulation and microassembly tasks.

关键词： Grippers Piezoresistance Force sensors Arm Fabrication Micromachining Silicon End effectors Structural beams Microactuators

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Design of a Hybrid-type Electrostatically Driven Microgripper Integrated Vacuum Tool

Design of a Hybrid-type Electrostatically Driven Microgrippe...

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中国微米纳米技术学会第十届学术年会暨第一届国际会议(1st International Conference of the Chinese Society of Micro/Nano Technology)

作者： Lining Sun Tao Chen Liguo Chen Xinxi Li State Key Laboratory of Robotics and System Robotics InstituteHarbin Institute of TechnologyHarbin 150080CHINA State Key Lab of Transducer TechnologyShanghai Institute of Microsystem and Information TechnologyChinese Academy of SciencesShanghai 200050CHINA

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Single Neuron Adaptive PID Control of the Silicon-based Integrated Micro Nano-Positioning XY-Stage

Single Neuron Adaptive PID Control of the Silicon-based Inte...

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中国微米纳米技术学会第十届学术年会暨第一届国际会议(1st International Conference of the Chinese Society of Micro/Nano Technology)

作者： Wang Jiachou Rong Weibin Sun Lining Li Xinxin State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbinHeilongjiang ProvinceChina State Key Laboratory of Transducer TechnologyShanghai Institute of Microsystem and Information TechnologyChinese Academy of SciencesShanghaiChina

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Development of a multi-DOF exoskeleton based machine for injured fingers

Development of a multi-DOF exoskeleton based machine for inj...

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2008 ieee/RSJ International Conference on Intelligent Robots and systems

作者： Yili Fu Peng Wang Shuguo Wang State Key Laboratory of Robotics and System Harbin Institute of Technology Hardin CO USA Headmasters office Harbin Institute of Technology Hardin CO USA

ISBN: (纸本)9781424420575

In order to offer a method for the rehabilitation of injured fingers and a means of quantitative detection and evaluation, an exoskeleton based continuous passive motion (CPM) machine is presented in this paper. Corresponding to each finger of human hand, the CPM machine has 4 degrees of freedom (DOF) driven by two DC motors. The joint force and position sensors are all integrated into the machine. The device can be easily attached and also be adjusted to fit different hand sizes. During the injured fingerpsilas flexion and extension motion the machine can always exert perpendicular forces on the finger phalanges, meanwhile it can achieve the precise control of scope, force and speed of the moving fingers. In order to control the CPM machine, we have also designed an embedded control system based on S3C2410 (a kind of 32-bit RISC microprocessor). The whole system is open-ended for new functions and applications. The function modularization method provides a new thinking of design for the control system.

关键词： Fingers Joints Continuous phase modulation Sensors Force Gears Control systems

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Mobile Robot Path Tracking in Unknown Dynamic Environment

Mobile Robot Path Tracking in Unknown Dynamic Environment

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ieee Conference on robotics, Automation and Mechatronics

作者： Du Zhi Jiang Wang Zhong Min State key laboratory of robotics and system Harbin Institute of Technology Harbin China Department of Mechanical Engineering Tianjin University of Technology and Education Tianjin China

The paper proposes a cooperative system of fuzzy neural networks (FNN) and fuzzy logic control (FLC). And this system is used to on-line path tracking of a mobile robot in unknown dynamic environment, instead of the commonly used FLC to research on this problem. Firstly, the application of FNN based on the kinematics models of mobile robot is described in detail, moreover, it uses an improved back propagation (BP) algorithm to complete the network learning and training. Secondly, it utilizes FLC to fulfill the real-time avoiding obstacles. The simulation results show that the proposed cooperative system is effective and robust, meanwhile possesses better abilities of path tracking and real-time avoiding obstacles in unknown dynamic environment.

关键词： Mobile robots Fuzzy neural networks Fuzzy control Kinematics Cooperative systems Control systems Path planning Intelligent robots Feedback control Neural networks

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Calculation of maximum injection power of large-scale wind farms connected to power systems

Calculation of maximum injection power of large-scale wind f...

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2006 International Conference on Power system Technology, POWERCON2006

作者： Jun, Wu Guojie, Li Lin, Cheng Yuanzhang, Sun IEEE State Key Laboratory of Power System Tsinghua University Beijing China

ISBN: (纸本)1424401119

Calculation of the maximum injection power is an urgent issue in the planning and operating of wind farms. This paper presents a method based on the stochastic programming theory in calculation of the maximum injection power of large-scale wind farms connected to power systems. It introduces random variables to describe active powers of wind farms because of their stochastic characteristics and pays attention to realistic operating situations during short time periods. To overcome the difficulty in solving chance-constrained programming problem, firstly this paper simplifies it properly;secondly it proposes a genetic algorithm based on the stochastic simulation technique to calculate the maximum injection power. The results on ieee30 system with wind farms demonstrate the effectiveness and correctness of the proposed method. The method avoids fussy calculation of the dynamic simulation and conservative results computed by deterministic programming methods, and it ensures the optimization of results. © 2006 ieee.

关键词： Wind power

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Locomotion modeling and simulation of the biped robot with heterogeneous legs

Locomotion modeling and simulation of the biped robot with h...

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2007 2nd ieee Conference on Industrial Electronics and Applications, ICIEA 2007

作者： Fu, Li Xu, Xinhe Department of Auto-control Shenyang Institute of Aeronautical Engineering Shenyang 110004 China Institute of Artificial Intelligence and Robotics Northeastern University Shenyang 110004 China State Key Laboratory for Intelligence Technology and System Tsinghua University Beijing 100084 China

ISBN: (纸本)1424407370

This paper proposed a methodology for kinematic and dynamic modeling of biped robot with Heterogeneous legs (BRHL). Based on design characteristics in the knee joint used in intelligent prosthesis leg, i.e., multi-axes mechanics with closed loop chain and reluctant coordinates, we use Routh method to develop dynamic model of BRHL and evaluate the relationship between force and moment, giving an algorithm of Routh equation for forward and reverse solution as well as constrain equations. This methodology establishes the basis for locomotion, control and perception of BRHL. In addition, the model thus developed is proven to be robust and the human motion process is well simulated in ADAMS software. © 2007 ieee.

关键词： Robotic arms

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A low power and high performance analog front end for passive RFID transponder

A low power and high performance analog front end for passiv...

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4th ieee Workshop on Automatic Identification Advanced Technologies, AUTO ID 2005

作者： Hu, Jianyun Min, Hao IEEE State Key Laboratory of ASIC and System Fudan University Auto-ID Lab at Fudan University Shanghai China

ISBN: (纸本)0769524753

This paper presents a novel low power and high performance analog front end circuit for passive RFID transponder. With a novel architecture including three rectifier circuits, among which a new high efficient rectifier circuit is proposed, and other circuits optimized for low power, this analog front end is characterized by high power conversion efficiency (PCE) and low power consumption. The circuit includes all the analog front end modules for a transponder to perform a complete function. Besides, the analog front end circuit is compatible with standard CMOS process.

关键词： Transponders

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