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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Zhong, Lin Dong, Jiawei Liu, Jiabin Wang, Wei Wu, Riyue Wang, Shuqi Zhang, Tao Guangdong University of Technology State Key Laboratory of Precision Electronic Manufacturing Technology and Equipment Guangzhou China Guangdong University of Technology School of Electromechanical Engineering Guangzhou China Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9798350320831

The process of an object leaping out of the water is very similar to the jumping process of an aquatic animal during prey or avoid predators. The study of the process of an object leaping out of the water is beneficial to the design of robots jumping out of water. In this work, the free jump of a sphere out of the water is successfully simulated based on the Computational Fluid Dynamics (CFD) software Fluent, with User-Defined Functions to control the motion of the sphere, the volume of Fluid model, dynamic meshing, and Detached Eddy Simulation. The velocity of the sphere at the water-air interface and the height of the sphere leaping out from the water surface obtained from the numerical simulation are compared with experimental results. The maximum error between the experimental and the simulated results is 2.28% in the water-discharge velocity and 2.65% in the leaping height from the water surface. In addition, this paper model the dynamics of the sphere during the water discharge process. The paper also analyses the free deformation of water surface, the water film rupture process on the surface of the sphere, the variation of fluid drag on the sphere, and the variation of the fluid velocity field during the free ascent of the sphere after acquiring an initial velocity of 2.81 m/s. © 2023 IEEE.

关键词： Computer software

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Deploying dynamics experiment of tape-spring hinges for deployable mechanism 32

Deploying dynamics experiment of tape-spring hinges for depl...

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32nd Youth Academic Annual Conference of Chinese Association of Automation, YAC 2017

作者： Hui, Yang Ruipeng, Zhang Zhanwen, Fan Yan, Wang Rongqiang, Liu College of Electrical Engineering and Automation Anhui University Hefei230601 China China Electronics Technology Group Corporation No.38 Research Hefei230088 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

ISBN: (纸本)9781538629017

Flexible tape-spring hinges can be folded elastically and are able to self-deploy by releasing stored strain energy with fewer component parts and slight weights. Deploying dynamic experimental setup is designed and constructed to analyze the dynamic behaviors. A Phantom V12.1 high-speed camera was applied to record the deployment of the tape-spring hinge. Deployment dynamics behaviors of opposite-sense and equal-sense bending for single tape-spring (STS) hinge, single-layer tape-spring (SLTS) hinge, equal and non-equal thickness double-layer tape-spring (DLTS) hinge were investigated by experiments. © 2017 IEEE.

关键词： Strain energy

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Dynamics Analysis of a Symmetric 3-R(SRS)RP Multi-loop Mechanism 23rd

Dynamics Analysis of a Symmetric 3-R(SRS)RP Multi-loop Mecha...

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23rd IFToMM China International Conference on Mechanism and Machine Science and engineering, IFToMM CCMMS 2022

作者： Li, Chuanyang Qin, Zhongbao Hu, Changhua Liu, Rongqiang Liu, Ruiwei Song, Xiaoke PLA Rocket Force University of Engineering Xi’an710025 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China College of Naval Architecture and Ocean Engineering Guangzhou Maritime University GuangZhou510725 China School of Mechatronics and Vehicle Engineering East China Jiaotong University Nanchang330013 China

ISBN: (纸本)9789811993978

The 3-R(SRS)RP multi-loop Mechanism is regarded as one module of a multi-stage manipulator for space manipulation operations, such as capturing free-flying objects. The mechanism has two rotational and one translational degrees of freedom, as well as includes coupled kinematic chains, which can be constructed to the modular system for space operation. The dynamics analysis of the mechanism is the basis of its structural design and actuation control. In this paper, the twist shaping matrix between the twists of links and the input rate array is derived by decoupling the mechanism and motion analysis. Based on the Newton–Euler equation, the dynamics model of the mechanism is established. the theoretical values of actuation power consumption on the certain motion modes is calculated via programming, then being compared with the simulation values obtained through ADAMS model. The results are basically consistent, which verifies the correctness of the dynamics analysis of the mechanical system. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Dynamics

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Multi-legged ROV Crabster and an acoustic camera for survey of underwater cultural heritages: Preliminary performance experiments in sea

Multi-legged ROV Crabster and an acoustic camera for survey ...

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Oceans MTS/IEEE Washington (Conference)

作者： Jin-Yeong Park Hyungwon Shim Hyuk Baek Seongyeol Yoo Bong-Huan Jun Pan-Mook Lee Marine Robotics Laboratory Ocean System Engineering Research Division Korea Research Institute of Ships & Ocean Engineering Daejeon Republic of Korea

ISBN: (纸本)9781467393744

In west coast of Korea peninsula, there are some offshore sites where ancient sunken shipwrecks have been discovered. These ships are supposed to carry an amount of artifacts what show lifestyle and culture of the day. In these areas, however, because of fast ocean currents and low visibility, underwater survey and excavation by divers are strictly restricted. Especially, optical cameras and human's visual inspection become defective. To overcome these conditions, use of unmanned underwater vehicles such like a ROV(Remotely Operated Vehicle) which is equipped with acoustic imaging devices has been raised. This paper describes preliminary performance experiments for survey of underwater cultural heritages using a ROV whose name is Crabster driven by six artificial legs with a high-resolution acoustic camera in sea. The Crabster uses the six articulated legs actuated by BLDC motors as its thrusters. Therefore, it moves on the sea floor without disturbances by propellers which are widely used as thrusters of any other general ROVs. In addition, The robot is expected to minimize shadow areas of acoustic imaging sensors by controlling its body posture precisely using the legs. In this paper, we introduce operations of Crabster and the acoustic imaging devices when we conducted from April to May in 2015. Using acoustic imaging devices, we could find dispersed potteries and iron caldrons. Mosaicked image to show surround of the robot is also included.

关键词： Crabster Underwater cultural heritage Acoustic camera Low visibility

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Landing Performance Simulation of an Asteroid Landing Mechanism

Landing Performance Simulation of an Asteroid Landing Mechan...

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IEEE International Conference on Information and Automation

作者： Zhijun Zhao Delun Li Baofeng Yuan Sheng Gao Jingdong Zhao Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System Engineering State Key Laboratory of Robotics and System Harbin Institute of Technology

ISBN: (纸本)9781467391054

Asteroid landing is a new research field in deep space exploration, which has important scientific and economic values in learning the origin of the solar system and exploring the asteroid. It is microgravity and little media properties are obtained on the asteroid surface, thus good landing performance is demanded to realize safe landing of the landing mechanism. Landing mechanism in the paper has three legs, and the damping device is located between the landing gear and the equipment base. Simulation method is introduced to analyze the landing performance of the landing mechanism. Landing performance of the landing mechanism on 30° landing slope with the largest landing velocity is simulated in three typical landing modes, and the landing performance is reflected by stability time of the landing gear and overloading acceleration of the equipment base. Landing simulation has important significance in learning landing performance and guiding the landing of the landing mechanism.

关键词： Asteroid Landing mechanism Landing performance Simulation

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Design and development of a shape measurement system for 3D construction printing with a manipulator

Design and development of a shape measurement system for 3D ...

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IEEE International Conference on Automation Science and engineering (CASE)

作者： Reina Nakanishi Hiroki Ogura Shinya Yamamoto Hiroyuki Abe Ryu Kikuchi Robotics Research Center Institute of Technology Shimizu Corporation Japan Center for Social System Engineering Institute of Technology Shimizu Corporation Japan

ISBN: (数字)9798350358513

ISBN: (纸本)9798350358520

We describe a 3D construction printing system comprising an industrial robot with a six-degrees-of-freedom manipulator and a pump that supplies mortar. Printing is realized by linking the manipulator to the pump. To measure and evaluate printed object shapes, we attached a time-of-flight camera with ±2-mm measurement accuracy to an end effector mounted on the manipulator, thereby acquiring point-cloud data for printed objects. Using software developed to control the manipulator, and an open-source robotics middleware suite as the robot operating system, we merge the obtained point clouds. After printing mortar objects, we use the developed system to measure their shapes. Experimental results show that point clouds for printed objects have errors of 0 to 10 mm, while data from a conventional stationary 3D laser scanner has measurement accuracy of ±1 mm. Although merged point clouds show increased errors, measurement times decreased to approximately one-sixth those of conventional scanners. The increased error is likely due to factors such as the manipulator’s weight and its installation at the end effector and the sensor. We use a total station to measure deflections to confirm the manipulator’s positioning accuracy.

关键词： Printing Point cloud compression Three-dimensional displays Accuracy Shape Mortar Shape measurement Measurement uncertainty Robot vision systems End effectors

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Embedded Digital Oscilloscope Based on STM32 and μC/OS-Ⅱ

Embedded Digital Oscilloscope Based on STM32 and μC/OS-Ⅱ

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第三届数字制造与自动化国际会议

作者： Shi-jian Guo-mian College of Electrical Engineering and Automation Specialty Nanyang Institute of Technology Lab of Autonomous Robot & Mechatronic System Institute of Robotics Beihang University

This paper introduces one design method of embedded digital oscilloscope based on STM32 and μC/OS-Ⅱ. The hardware adopts STM32 and the custom data buffer to realize the 2 channel data synchronizations. The software uses the μC/OS-Ⅱ platform to realize the multi-duty movement and the real-time processing. The test indicates that this embedded digital oscilloscope supports 2 channel inputs and the sampling frequency scope is 25Hz to 10MHz. Its input voltage is -3.6 V to +3.6 V and it has good man-machine interaction contact surface.

关键词： STM32 μC/OS-II digital oscilloscope embedded system

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Approximate feedback linearization control for spatial 6-DOF hydraulic parallel manipulator

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Open Mechanical engineering Journal 2011年第1期5卷 117-123页

作者： Yang, Chifu Zheng, Shutao Peter, O. Ogbobe Huang, Qitao Han, Junwei State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China School of Mechanical and Electrical Engineering Harbin Institute of Technology Harbin 150001 China

Traditional feedback linearization approach (TFL) requires a priori knowledge of plant, which is difficult and the computational efficiency of controller is low due to the complex dynamics of spatial 6-DOF hydraulic parallel manipulator. In order to improve the tracking performance of spatial 6-DOF hydraulic parallel manipulator and to conquer the drawbacks of TFL, a novel approximate feedback linearization approach, non-model based method, is proposed in this paper. The mathematical model of spatial hydraulic parallel manipulator is established. The approximate feedback linearization control is designed for the parallel manipulator in joint space, with position and stored force in the previous time step are employed, as a learning tool to yield improved performance. Under Lyapunov theorems, the stability of the presented algorithm is confirmed in the presence of uncertainties. Simulation results show the proposed control is easy and effective to realize path tracking, and it exhibits excellent performance and high efficiency without a precision dynamics of plant. Furthermore, the presented algorithm is well suitable for most industrial applications. © Yang et al.

关键词： Computational efficiency

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SLPA $^{\ast}$: Shape-Aware Lifelong Planning A $^{\ast}$ for Differential Wheeled Vehicles

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IEEE Transactions on Intelligent Transportation systems 2015年第2期16卷 730-740页

作者： Sangyol Yoon David Hyunchul Shim Unmanned System Research Group Department of Aerospace Engineering College of Engineering Korea Advanced Institute of Science and Technology Daejeon Korea Center of Field Robotics and the Department of Aerospace Engineering College of Engineering Korea Advanced Institute of Science and Technology Daejeon Korea

This paper presents modified A* and Lifelong Planning A* algorithms to facilitate more accurate path finding than existing methods, including the Minkowski sum for differential wheeled vehicles with shape constraints. We use a graphical method to check for obstructions without adding the outline of vehicles to obstacles. The method applies a procedure that enables vehicles to have forward movement with the smallest rotation possible, including their turning directions. Furthermore, we show that vehicles can pass through narrow passages because we accurately check for interference against obstacles using the graphical method. Consequently, we demonstrate via a series of simulations that our method can quickly replan a collision-free path while accurately taking into account the shape of vehicles.

关键词： Vehicles Shape Wheels Interference Heuristic algorithms Vehicle dynamics Planning

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Correction method for pixel response nonuniformity of CCD

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Guangxue Jingmi Gongcheng/Optics and Precision engineering 2008年第2期16卷 314-318页

作者： Cheng, Wan-Sheng Zhao, Jie Cai, He-Gao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China School of Electronic and Information Engineering Liaoning University of Science and Technology Anshan 114044 China

After analyzing the reasons related to the pixel nonuniformity in details, an algorithm based on least square method is presented to correct the pixel nonuniformity of a CCD. The grey level datum sets of each pixel are acquired on the cases of different irradiances, then a least square method is used to estimate the relation between irradiance and desired grey level data. The correct parameters of each pixel are computed, and the correct matrix is established. Finally, the pixel response uniformity is achieved by using the matrix to correct the grey level data of each pixel. The maximum deviation is 76.5 before correcting, while correcting by the proposed method, the maximum deviation is only 0.00108. The experimental results indicate that the method is effective to correct CCD nonuniformity.

关键词： Charge coupled devices

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