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2011 3rd International Asia Conference on Informatics in Control, Automation and robotics, CAR 2011

作者： Zhao, Jinsong Ye, Zhengmao Shen, Gang Han, Junwei State Key Laboratory of Robotics and System School of Mechatronics Engineering Harbin Institute of Technology Harbin Heilongjiang 150001 China School of Mechanical and Electrical Engineering China University of Mining and Technology Xuzhou Jiangsu 221116 China

ISBN: (纸本)9783642258985

Aiming at computing the force feel to be simulated at real time, thrust lever control loading system's simulation model is set by software called SimMechanics after its control mechanism being analyzed. The dynamic characteristics of control systems and model torque are studied based on the simulation model. Then the counter potential, primary element to cause the surplus torque, is pointed out according to the dynamic characteristics of control. To make the loading system not only flow the model torque precisely but also retrain surplus torque effectively, the low frequency of the current loop is designed due to frequency spectrum of counter potential and follow-up component in model torque, while the medium frequency is on basis of the step component in model torque. Finally, the reasonableness of the designed current loop is verified by computer simulation of the torque output by motor and loading torque. © 2011 Springer-Verlag.

关键词： Flight simulators

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Distributed path planning for a UAV communication chain by dual decomposition

Distributed path planning for a UAV communication chain by d...

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2012 2nd IFAC Workshop on Multivehicle systems, MVS 2012

作者： Grancharova, Alexandra Grøtli, Esten I. Johansen, Tor A. Institute of System Engineering and Robotics Bulgarian Academy of Sciences Acad. G. Bonchev str. Sofia 1113 Bulgaria Department of Engineering Cybernetics Norwegian University of Science and Technology 7491 Trondheim Norway

ISBN: (纸本)9783902823151

In this paper, a distributed approach to Model Predictive Control (MPC)-based path planning for a UAV (Unmanned Aerial Vehicle) communication chain under radio path loss constraints is proposed. It is based on the dynamic dual decomposition method and reformulates the centralized path planning optimization problem with coupled constraints into an equivalent distributed path planning optimization problem, where the resulting sub-problems are completely decoupled. The MPC-based optimization sub-problems are computed autonomously within each UAV, using convex quadratic programming and gradient iterations, with the requirement that each UAV communicates its current measured position and the computed optimal velocity trajectory to its neighbouring UAVs. © 2012 IFAC.

关键词： Antennas

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Kernel based empirical mode decomposition and its application in gait signal de-noise

Kernel based empirical mode decomposition and its applicatio...

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作者： Wen, Shiguang Wang, Fei Wu, Chengdong College of Information Science and Engineering Northeastern University Shenyang 110819 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)9789881725592

Gait signal analysis of quantitative has been a challenging task over the past decades for its non-linear and non-stationary nature. Empirical Mode Decomposition (EMD) is a data-driven signal analysis method developed by Norden. E. Huang, it is especially suitable for non-linear non-stationary signal processing. It has been successfully applied in many problems, but the envelop algorithm using traditional cubic spline interpolation by Norden. E. Huang have border swing problem and extra oscillations, it is because that the cubic spline interpolation couldn't adapt to the nature of the signal envelop, inspired by the ideas from machine learning, a new algorithm which is improved kernel ridge regression to estimate envelop of signal using the extrema is proposed in this paper. The new algorithm can used to recover the corrupted test signal. Numerical simulations show higher performance of the proposed algorithm than the traditional one. © 2011 Chinese Assoc of Automati.

关键词： Empirical mode decomposition

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Dynamic simulation and gravity balancing optimization of spot welding robot based on RecurDyn

Dynamic simulation and gravity balancing optimization of spo...

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2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011

作者： Wang, Yan-Shen Ge, Lian-Zheng Xie, Ping-Chun Gai, Yu-Xian Department of Mechanical Engineering Harbin Institute of Technology at Weihai Weihai Shandong Province 264209 China State Key Laboratory of Robotics and System School of Mechatronics Harbin Institute of Technology Harbin Heilongjiang Province 150001 China

ISBN: (纸本)9781424481149

Driving torques of a specific type of spot welding robot was simulated in RecurDyn, which provided useful information for motor selecting and gravity balancing. According to D-H parameters of the robot parts of the robot were modeled separately and then assembled to form the robot, in Pro/Engineer. Imported into RecurDyn and adding necessary constraints, the virtual prototype of the robot was constructed in RcurDyn for dynamic simulation. Time dependent torque variations of every joint were got by simulation, which facilitated motor selection. The spring for sustaining the gravity of robots links was also optimized through the simulation analysis of torques in Joint 2. © 2011 IEEE.

关键词： Spot welding

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Design and analysis of a kind of biomimetic continuum robot

Design and analysis of a kind of biomimetic continuum robot

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2010 IEEE International Conference on robotics and Biomimetics, ROBIO 2010

作者： Zhao, Qiang Gao, Fang Northeast Forestry University State Key Laboratory of Robotics and System/Computer School Harbin Institute of Technology Harbin Heilongjiang 150000 China Mechtronical Engineering School Harbin Institute of Technology Harbin Heilongjiang 150001 China

ISBN: (纸本)9781424493173

Continuum robot is a new kind of bionic robot, and it is the beneficial supplement to the traditional joint-type robot. This paper presented a design scheme of Hook Joint type continuum robot, and fully discussed its structure and mechanism connection mode. An exponential product based matrix transformation is used to describe the position and orientation of the end-effector. The forward kinematics is also discussed in this paper. Numerical examples are completed with Matlab M language and simulation results indicate the validity of the proposed analysis method. © 2010 IEEE.

关键词： Machine design

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Potential damage threats to downstream optics caused by Gaussian mitigation pits on rear KDP surface

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High Power Laser Science and engineering 2020年第4期8卷 59-67页

作者： Hao Yang Jian Cheng Zhichao Liu Qi Liu Linjie Zhao Chao Tan Jian Wang Mingjun Chen State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China Research Center of Laser Fusion China Academy of Engineering PhysicsMianyang 621900China

To determine whether a potassium dihydrogen phosphate(KDP)surface mitigated by micro-milling would potentially threaten downstream optics,we calculated the light-field modulation based on angular spectrum diffraction theory,and performed a laser damage test on downstream fused *** results showed that the downstream light intensification caused by a Gaussian mitigation pit of 800μm width and 10μm depth reached a peak value near the KDP rear surface,decreased sharply afterward,and eventually kept stable with the increase in downstream *** solved peak value of light intensification exceeded 6 in a range 8–19 mm downstream from the KDP rear surface,which is the most dangerous for downstream *** damage sites were then induced on the fused silica surface in subsequent laser damage *** the distance downstream was greater than 44 mm with a downstream light intensification of less than 3,there were no potential damage threats to downstream *** study proves that a mitigated KDP surface can cause laser damage to downstream optical components,to which attention should be paid in an actual *** this work,we find that the current manufacturing process and the mitigation index still need to be *** research methods and calculation models are also of great reference significance for related studies like optics mitigation and laser damage.

关键词： downstream threats KDP laser damage micro-milling mitigation

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Dense 3D Reconstruction of Non-cooperative Target Based on Pose Measurement 9th

Dense 3D Reconstruction of Non-cooperative Target Based on...

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9th International Forum on Digital Multimedia Communication, IFTC 2022

作者： Wang, Jiasong Wang, Hao Zhao, Yongen Yuan, Ronghao Xu, Fan Changchun Institute of Optics Fine Mechanics and Physics Chinese Academy of Sciences Changchun130000 China Aerospace System Engineering Shanghai Shanghai Engineering Research Center of Space Robotics Shanghai201109 China School of Mechatronics Engineering Harbin Institute of Technology Harbin150000 China

ISBN: (纸本)9789819908554

To accurately identify the three-dimensional (3D) structure information of non-cooperative targets in on-orbit service tasks, this paper proposed a 3D reconstruction method combining pose measurement and dense reconstruction. Firstly, based on the depth camera, the Iterative Closest Point (ICP) algorithm is used to realize the pose measurement between each frame of the non-cooperative target. Then, the loopback detection based on the bag-of-words method is adopted to eliminate the cumulative error of pose measurement. At the same time, the sparse 3D model of the non-cooperative target can be obtained by combining feature point extraction and matching. Furthermore, secondary sampling is performed in the tracking and local mapping threads by increasing the dense mapping thread. Then, the loop thread is used to update the pose in turn. After the global pose optimization, a more accurate 3D reconstruction model can be obtained. By using point cloud optimization, the accurate dense 3D reconstruction model of a non-cooperative target is constructed. Finally, numerical simulations and experiments verify the accuracy and effectiveness of the proposed method. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Iterative methods

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Combined studies of surface evolution and crack healing for the suppression of negative factors during CO_(2) laser repairing of fused silica

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Chinese Optics Letters 2021年第4期19卷 44-49页

作者： Chao Tan Linjie Zhao Mingjun Chen Jian Cheng Zhaoyang Yin Qi Liu Hao Yang Wei Liao State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China Research Center of Laser Fusion China Academy of Engineering PhysicsMianyang 621900China

In order to reveal the evolution mechanism of repaired morphology and the material's migration mechanism on the crack surface in the process of CO_(2) laser repairing surface damage of fused silica optics, two multi-physics coupling mathematical models with different scales are developed, respectively. The physical problems, such as heat and mass transfer,material phase transition, melt flow, evaporation removal, and crack healing, are analyzed. Studies show that material ablation and the gasification recoil pressure accompanying the material splash are the leading factors in forming the Gaussian crater with a raised rim feature. The use of low-power lasers for a long time can fully melt the material around the crack before healing, which can greatly reduce the size of the residual air layer. Combined with the experimental research, the methods to suppress the negative factors(e.g., raised rim, deposited debris, air bubbles) in the CO_(2) laser repairing process are proposed.

关键词： CO_(2)laser repairing fused silica crack healing surface evolution

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Intent Inference of Driver Deceleration Behavior by Using Unscented Kalman Filter Integrated with Conventional Artificial Neural Network Model 2nd

Intent Inference of Driver Deceleration Behavior by Using Un...

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2nd International Conference on Human Interaction and Emerging Technologies: Future Applications, IHIET-AI 2020

作者： Suzuki, Hironori Wakabayashi, Sho Department of Robotics Nippon Institute of Technology 4-1 Gakuendai Saitama Miyashiro3458501 Japan Graduate School of Mechanical System Engineering Nippon Institute of Technology 4-1 Gakuendai Saitama Miyashiro3458501 Japan

ISBN: (纸本)9783030442668

Early brake pedal operation and corresponding vehicle deceleration are crucial to mitigating rear-end collision risks. In this paper, a mathematical model, hereafter referred to as the deceleration intention inference system (DIIS), was developed to facilitate determining the intent inferences of driver deceleration behaviors. More specifically, a conventional neural network model was integrated into an unscented Kalman filter in an effort to describe the deceleration intentions that can be expected to occur a few seconds later. The numerical examples provided herein show that our proposed model is capable of inferring driver intentions more precisely than the conventional approach. © The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG 2020.

关键词： Kalman filters

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Numerical simulation of double hypervelocity impacts on the satellite propellant tank with baffle protection

Numerical simulation of double hypervelocity impacts on the ...

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2014 International Conference on Manufacturing Technology and Electronics Applications, ICMTEA 2014

作者： Zhang, Chao Xu, Xiao Hui Zhu, Yan He Yao, Zhi Hui State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China The Eighth Academy of China Aerospace Science and Technology Corporation Shanghai China College of Mechanical Engineering of Harbin Institute of Technology Harbin China

ISBN: (纸本)9783038353287

The space debris of centimeter-size could pierce through the satellite shell and cause a first impact to the shell protection and a second impact to the internal structure. This paper focuses on the double hypervelocity impacts of the satellite propellant tank with baffle protection. The simplified 2D axisymmetric analysis model has been built and the double impact damaging effects were simulated based on the SPH algorithm. Three different speeds of the centimeter-size pill (10km/s, 7km/s and 5km/s) were selected and the simulation results turned out to be consistent with the empirical formula of the ground experiments, which proved the effectiveness of the simulation results. The average velocity changing curve showed that the residual energy of the fragment cloud decreased significantly after the second impact. As a result, the double-layer or multilayer protective structure is of great significance and should be prioritized for the satellite shell design. © (2014) Trans Tech Publications, Switzerland.

关键词： Satellites

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