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WRC Symposium on Advanced robotics and automation (WRC SARA)

作者： Tong Lv Yanhua Yang Li Chai Qingmin Li School of Information Science and Engineering Wuhan University of Science and Technology Wuhan China Engineering Research Center for Metallurgical Automation and Measurement Technology Wuhan University of Science and Technology Wuhan China Chuangze Intelligent Robot Co. Ltd China Chuangze-Wust Joint Laboratory Wuhan University of Science and Technology Wuhan China

In this study, a model predictive control (MPC) approach based on the extended state observer (ESO) is proposed for solving the tracking control problem of quadrotor helicopter with wind disturbances. To handle the quadrotor's measurement noise, the gain of ESO is optimized timely to generate the extended state based Kalman filter (ESKF). First, the quadrotor dynamic model considered the aerodynamic effects of lateral wind is built by the Newton-Euler approach. Then, based on the quadrotor's dynamic model subject to the wind disturbances, ESKF-based MPC controllers are designed for position tracking and stabilization of rotational movements. In addition, for the attitude control, the nonlinear dynamics are linearized by the feedback linearization strategy. The ESKF is used for estimating the quadrotor state and wind disturbances which can be compensated in the control inputs. Finally, the simulation results illustrate that the proposed controller effectively force the quadrotor track the reference trajectory in the presence of wind disturbances and measurement noise.

关键词： Noise measurement Helicopters Rotors Aerodynamics Pollution measurement Trajectory Attitude control

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Research on 3 dimensional reconstruction of CT images based on improved filtering algorithm 9

Research on 3 dimensional reconstruction of CT images based ...

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9th IEEE International Conference on Mechanical and intelligent Manufacturing Technologies, ICMIMT 2018

作者： Jiang, Guanwu Luo, Minzhou Chen, Saixuan Bai, Keqiang Department of Automation University of Science and Technology of China Hefei China Key Laboratory of Special Robot Technology of Jiangsu Province Hohai University Changzhou China School of Information Engineering Southwest University of Science and Technology Mianyang China Institute of Intelligent Manufacturing Technology Jiangsu Industrial Technology Research Institute Nanjing China

ISBN: (纸本)9781538642979

The 3D reconstruction of medical images is a hot spot in medical research. It is a comprehensive application of computer graphics, image processing, computer vision and human-computer interaction. Firstly, in this paper used an improved adaptive weighted median filter algorithm for CT image processing, greatly reduces the amount of data processing, and improve the process effect of the speckle noise and environmental noise. Then the automatic threshold segmentation algorithm and the improved iterative algorithm are used to realize the multi threshold image segmentation. Finally used the marching cubes algorithm and equivalent plane method three dimensional reconstruction of CT image. In this paper through VTK (Visualization Toolkit) and VC++ software to achieve the CT images three-dimensional reconstruction and greatly improve the accuracy and accuracy of medical diagnosis. © 2018 IEEE.

关键词： Diagnosis

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Experiment and Analysis of Thermal Error of Boring-Milling Center Spindle

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IOP Conference Series: Earth and Environmental Science 2020年第4期514卷

作者： Yue Zhao Yuanjun Xu Lin Tao Yuan Zhao Liaoning Key Laboratory of Information Physics Fusion and Intelligent Manufacturing for CNC Machine Fushun Liaoning 113122 China Shenyang Institute of Technology College of Mechanical and Vehicle Engineering Fushun Liaoning 113122 China SIASUN ROBOT & Automation Co. Ltd Shenyang 110169 China

Taking the spindle of the boring-milling machining center as the research object, analyzes the heat source of the spindle, and uses FILR infrared camera and API spindle analyzer measurement system to design a thermal error experimental detection scheme for the spindle system. The temperature field and thermal deformation of the spindle system. Understanding and grasping the thermal deformation of the spindle system under different operating conditions during operation provides basic data support for the optimization design and compensation of the spindle system.

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Design of Modular Humanoid Rehabilitation robot for Apoplectic Hemiplegia 29

Design of Modular Humanoid Rehabilitation Robot for Apoplect...

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第29届中国控制与决策会议

作者： Shuai Li Jian Li Siqi Li Guodong Li Yu Mu The Bionic Robot and System Key Laboratory School of Mechatronical EngineeringBeijing Institute of Technology Key Laboratory for Intelligent Control and Decision on Complex Systems School of AutomationBeijing Institute of Technology

ISBN: (纸本)9781509046584

Stroke is mainly caused by the brain damage due to the acute cerebral vascular disease and its primary disease,which can make upper limb or lower limb on one side of the body *** rehabilitation training is the most effective way to regain the Activities of Daily Living(ADL).Based on the concept of humanoid and modular design,this paper outlines the design process of humanoid ***,kinematics and dynamics are calculated in different coordinate frames,which makes simulation and control algorithms are more complex and not intuitive,for the forked-tree structure rehabilitation robot,a modified geometric description method of DH parameters is proposed to solve the problem of inconsistent frames,the whole body Jacobian matrix of this structure is derived and used for the inverse kinematics,and the singular configurations of redundant manipulator are *** important design criteria of humanoid robot is discussed,and the realization of the mechanical design is ***,the experimental results show that the humanoid robot can effectively carry out multiple parts rehabilitation training.

关键词： Rehabilitation robot Humanoid robot Modularity Singularity Geometric Representation

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Impedance Control with New Inner Torque loop for Compliant Joints and Its Performance Analysis 36

Impedance Control with New Inner Torque loop for Compliant J...

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第36届中国控制会议

作者： Yin Ke Jian Li Zonglin Huang Shuai Li Guodong Li The Bionic Robot and System Key Laboratory School of Mechatronic EngineeringBeijing Institute of Technology Key Laboratory for Intelligent Control and Decision on Complex Systems School of AutomationBeijing Institute of Technology Beijing Jingwei Hirain Technologies

ISBN: (纸本)9781538629185

For the purpose of enhancing compliance of robot joint,an impedance control strategy with new inner torque controller is *** inertia of the motor can be scaled down thanks to this new type of torque *** of different position（motor-side position 9 and link-side position q） feedback strategies are explored through theoretical deviation,simulation and static stiffness *** expressions of static stiffness under both position feedback strategies are obtained with validity verified by Simulink *** with 9 feedback strategy,static stiffness can exceed spring stiffness under q feedback strategy with high desired stiffness,which means wider variation range of static stiffness and this benefits robot applications that require wider variation range of impedance,such as rehabilitation robots and collaborative ***,several experiments with the compliant joint prototype verify the developed controllers and show the efficiency of the proposed control approach in terms of compliant behavior.

关键词： Compliant joint Impedance control Static stiffness

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Design of five axis welding robot based on leadshine control system

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IOP Conference Series: Materials Science and Engineering 2019年第1期533卷

作者： Zhao Yongguo Li Minglei Wang Peng Han Yuanda Institute of Automation Qilu University of Technology(Shandong Academy of Science)Shandong Provincial Key Laboratory of Robot and Manufacturing Automation Technology Jinan China School of Electrical Engineering of Qilu university of technology(shandong academy of science) Jinan China Shandong Naikan Intelligent Equipment Co. Ltd Dezhou China

The five-axis welding robot based on leadshine control system can accomplish various welding tasks in industry, and can accomplish arc welding and linear welding and other welding types. When welding, the machine has small chattering and high welding accuracy. In this paper, the D-H linkage coordinate system and kinematics forward and inverse solutions of the robot are analyzed, and the reachable space of the robot is calculated by Monte Carlo method. The hardware system of the robot is also summarized in more detail in this paper. Using SimMechanics tools to model the robot. Then using MATLAB function to validate the model, recording the difference between theoretical data and simulation data, and judging the correctness of the theory according to the difference.

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An improved filtering algorithm for the CT image processing

An improved filtering algorithm for the CT image processing

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2017 IEEE International Conference on Applied System Innovation, ICASI 2017

作者： Jiang, Guanwu Luo, Minzhou Chen, Saixuan Bai, Keqiang Department of Automation University of Science and Technology of China Hefei 230026 China Key Laboratory of special robot technology of Jiangsu Province Changzhou213000 China Institute of Intelligent Manufacturing Technology Jiangsu Industrial Technology Research Institute Nanjing211800 China School of Information Engineering Southwest University of Science and Technology Mianyang621010 China

ISBN: (纸本)9781509048977

CT medical image processing for denoising requirements are very strict. The application is limited for traditional Wiener filtering algorithm and median filtering algorithm, each algorithm has a significant effect on a certain noise, and it can't meet the needs of practical applications for other noise or mixed noise and unable to meet the needs of practical application. This paper presents an improved algorithm based on Wiener filtering and median filtering. © 2017 IEEE.

关键词： Image enhancement

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Influence of AC Electrothermal Flow on the Dielctrophoretic Behaviors of Micro-nano Particles

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Jixie Gongcheng Xuebao/Journal of Mechanical Engineering 2017年第14期53卷 202-208页

作者： Yan, Zizi Li, Shanshan Li, Minghao Zhang, Minghang Li, Tiejun Dai, Shijie School of Mechanical Engineering Hebei University of Technology Tianjin300130 China Institute of Robot and Automation Hebei University of Technology Tianjin300130 China Key Laboratory of Intelligent Sensing and Human-Machine Integration in Hebei Province Hebei University of Technology Tianjin300130 China

Taking the case of interdigital electrode array, finite element models of symmetric/asymmetric physical field and travelling wave field are established respectively to solve the distribution of electric field, flow field, temperature and dielectrophoretic forces. The influence of AC electrothermal flow and the convective mass transfer process on the dielctrophoretic behaviors of micro-nano particles are presented herein. It is shown that the convection and mass transfer are enhanced due to the vortex generated by symmetric/asymmetric interdigital electrode array. As a result, the particles far away from the electrodes are transported towards the strong dielectrophoretic regions, enlarging the effective regions of dielectrophoresis. There is no obvious vortex and convections in the travelling wave flow field, but the dissipation of dielectrophoretic force is much slower than symmetric/asymmetric array, making the particles being trapped efficiently. The particles suspended at certain height (60 times of electrode height) can be affected by dielectrophoretic forces, improving the manipulating and transporting abilities for micro-nano particles. © 2017 Journal of Mechanical Engineering.

关键词： Electrophoresis

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Non-rigid feature matching for image retrieval using global and local regularizations

Non-rigid feature matching for image retrieval using global ...

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IEEE International Conference on Multimedia and Expo (ICME)

作者： Yong Ma Huabing Zhou Jun Chen Jingshu Shi Zhongyuan Wang Electronic Information School Wuhan University Wuhan China Hubei Provincial Key Laboratory of Intelligent Robot Wuhan Institute of Technology Wuhan China School of Automation China University of Geosciences Wuhan China Shenzhen Middle School Shenzhen China Computer School Wuhan University Wuhan China

ISBN: (纸本)9781509060689

In this paper, we propose a probabilistic method for feature matching of near-duplicate images undergoing non-rigid transformations. We start by creating a set of putative correspondences based on the feature similarity, and then focus on removing outliers from the putative set and estimating the transformation as well. This is formulated as a maximum likelihood estimation of a Bayesian model with latent variables indicating whether matches in the putative set are inliers or outliers. We impose the non-parametric global geometrical constraints on the correspondence using Tikhonov regularizers in a reproducing kernel Hilbert space. We also introduce a local geometrical constraint to preserve local structures among neighboring feature points. The problem is solved by using the Expectation Maximization algorithm, and the closed-form solution of the transformation is derived in the maximization step. Moreover, a fast implementation based on sparse approximation is given which reduces the method computation complexity to linearithmic without performance sacrifice. Extensive experiments on real near-duplicate images for both feature matching and image retrieval demonstrate accurate results of the proposed method which outperforms current state-of-the-art methods, especially in case of severe outliers.

关键词： Image retrieval Kernel Robustness Maximum likelihood estimation Probabilistic logic Cost function

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A self-calibration method for robot based on geometric constraints

A self-calibration method for robot based on geometric const...

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2016 IEEE International Conference on Information and automation, IEEE ICIA 2016

作者： Shi, Jingfei Zhang, Hongsheng Liu, Yuan Wang, Daqing Gao, Lifu Robot Sensors and Human-Machine Interaction Laboratory Institute of Intelligent Machines Chinese Academy of Sciences Hefei Anhui230031 China Department of Automation University of Science and Technology of China Hefei Anhui China College of Power Engineering Chong Qing University Chongqing China

ISBN: (纸本)9781509041022

Focusing on the self-localization problems of the seeds sampling robot system during the operation process, this paper proposes a self-calibration method of industrial robot. It is based on geometric constraints of points in the coordinate system of the seed sampling box, which realizes the automatic acquisition of the absolute coordinates of robot target points by using the homogeneous coordinate transformation matrix and solves the self-localization problems. The test results show that the absolute value of the relative difference of theoretical coordinates and the actual coordinates is less than 5‰, which means the method is correct and practicable and can meet the requirements of practical work. It is easy to implement and it has advantages of low cost and high accuracy, which is of great significance to solve the self-localization of the workpiece. © 2016 IEEE.

关键词： Industrial robots

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