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67th International Astronautical Congress, IAC 2016

作者： Hu, Qingxi Li, Wanyuan Liu, Dali Zhang, Haiguang Yan, Biao Peng, Fujun Rapid Manufacturing Centre School of Mechatronical Engineering and Automation Shanghai University Mail Box 113 No. 99 Shangda Road Baoshan District Shanghai200444 China Key Laboratory Aerospace System Engineering Shanghai Shanghai201108 China Shanghai Key Laboratory of Intelligent Manufacturing and Robot Shanghai University Shanghai200444 China

Deployable membrane structure widely used in large spacecraft such as solar cell array, solar sail, which has the advantages of large area, light weight, small folded size, and can effectively reduce the cost of research and launch of the spacecraft. Getting inspiration by the ultralight structure ribs of leaves and wings in nature with excellent structural rigidity and strength, gradient structure strengthening ribs has been added on membranes to enhance their ability of resist tearing. The problem that spacecraft membranes is easier to be tore open has been mainly focused in this paper, and biomimetic strengthening ribs structure has been proposed for a space membrane structure which used interdisciplinary strengths, such as bionic technology, topological optimization technology, composite materials technology, and rapid prototyping. The optimization method and process method of biomimetic strengthening ribs has been studied. Through topology optimization, biomimetic ribs with good tensile and tear capacity has been obtained via ABAQUS. The topology optimization structure has been remodeled via three-dimensional model. Carbon fiber reinforced PEEK composites which having priority of thermal stability and good processing properties in strengthening ribs of membranes structure has been selected. FDM technology has been utilized to print the strengthening ribs of membranes. Deformation and tearing of two kinds of membranes with and without strengthening ribs has been compared by tear-resistance tests. Experimental results showed that membrane with biomimetic strengthening ribs structure has better mechanical properties, and has important significance to avoid membrane tear and ensure the spacecraft orbital lifetime. Copyright © 2016 by the International Astronautical Federation (IAF). All rights reserved.

关键词： Shape optimization

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Design of Control System on the Bidirectional Sealing Door for TECA

Design of Control System on the Bidirectional Sealing Door f...

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IEEE International Conference on Information and automation

作者： Daqing Wang Yuan Liu Yunjian Ge Buyun Wang Huibin Cao Jian Sun Yuxiang Sun Lifu Gao Department of Automation University of Science and Technology of China Robot Sensors and Human-Machine Interaction Laboratory Institute of Intelligent Machines Chinese Academy of Sciences

ISBN: (纸本)9781467391054

The Transfer Equipment Cask (TECA) is a key solution for Remote Handling (RH), and the bidirectional sealing door system (BSD) is the key component of the TECA. The control system of BSD is introduced in this paper. Moreover, the experiment on TECA indicates that the design of control system is feasible and the effect is satisfactory.

关键词： TECA The bidirectional sealing door Synchronous control system PID

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Empirical evidence of hurst exponent estimation wavelet based

Empirical evidence of hurst exponent estimation wavelet base...

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

作者： Luo, Bin Luo, Bin Zhao, Tong Zhou Zhao, Tong Zhou Li, De Hua Cai, Dun Bo Cai, Dun Bo School of Computer Science and Engineer Wuhan Institute of Technology Wuhan China Hubei Province Key Laboratory of Intelligent Robot Wuhan Institute of Technology Wuhan China School of Automation Huazhong University of Science and Technology Wuhan China

ISBN: (纸本)9783038353287

In this paper, we study long-range dependence of hydrological records with high frequent and massive data set. For detecting breakpoints, we apply the Evolutionary Wavelet Spectrum (EWS) to provide a segmentation of the original time series. And rescaled range analysis(R/S) for estimating the Hurst exponent that describe the long-range dependence phenomenon are used. The results affirm that the hydrological records have long-range dependent (LRD) behaviors. © 2014, Trans Tech Publications, Switzerland.

关键词： Water levels

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A High Accuracy Automatic Timing Method for Photo Finish Systems

A High Accuracy Automatic Timing Method for Photo Finish Sys...

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2014 IEEE International Conference on Progress in Informatics and Computing

作者： Jianfeng Li Yuman Nie Min Zhao Feng Shuang Bo Zhu Zhengmao Xie Zaijin Feng Department of Automation University of Science and Technology of China Robot Sensor and Human-Machine Interaction Laboratory Institute of Intelligent Machines Chinese Academy of Sciences

In this paper we proposed a high accuracy automatic timing method for photofinish systems, as manual detection is subjective and time-consuming. Athlete objects are detected and extracted automatically, effective interferences elimination algorithm is proposed for torsolocating and finish line detection. The effectiveness of this method is verified by 2511 samples from 390 track events' original image data, and it achieved the accuracy of 82.07% within a tolerance of 2 ms time error. The experiment results show the objectivity and accuracy.

关键词： automatic photo finish track timing line scan image processing body parts detection

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Autonomous position holding and point to point flying control of quadrotor UAVs

Autonomous position holding and point to point flying contro...

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World Congress on intelligent Control and automation (WCICA)

作者： M. Liu H. Liu X. Wei Laboratory of Robot Sensors and Human-Machine Interaction Institute of Intelligent Machines CAS Hefei China Department of Automation University of Science and Technology of China Hefei China

Position holding, also called hovering, is a key specification of rotor based aircraft. Its control problem for small quadrotor UAVs (unmanned aerial vehicles) is addressed in this paper. Given the flight dynamics of quadrotors, the P+D+DD based position holding control laws are presented. For the resultant two loop overall configuration, the outer loop controls the throttle magnitude required to reach the target position and generates the reference attitude command for the inner loop, while the inner attitude loop ensures that aircraft's thrust is orientated to the target. The control algorithm is validated via a serial of field tests on a platform developed, including position holding and point to point navigation, showing the effectiveness of the approaches. Some implementation issues, such as translation velocity estimation, its Kalman filter design and multiple sensor data fusion are also addressed.

关键词： Sensors Global Positioning System Acceleration Attitude control Kalman filters Estimation Accelerometers

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robot Control Design Based On Smartphone

Robot Control Design Based On Smartphone

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第25届中国控制与决策会议

作者： Xiao Lu Wenjun Liu Haixia Wang Qia Sun Key Laboratory for Robot & Intelligent Technology of Shandong Province Shandong University of Science and Technology Institute of Automation Chinese Academy of Science

ISBN: (纸本)9781467355339

Internet of things is a new technology system that consists of a number of information technologies, and it's an important part of developing mordern sevice industry. The advent of Internet of things is changing the previous tradition networks. Based on Internet of things, smartphone of Android system is connected with service-oriented robots by wireless communication, where it is programmed based on TCP socket, thus, smartphone controlling service robot can be realized. The robot can be controlled by the system to sing, dance, and so on according to the command, and the characteristics are visual and portable, and the motion control of the robot can be realized well.

关键词： Smartphone, robot, wireless network

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Application of a Hand-Eye Self-Calibration Technique in robot Vision

Application of a Hand-Eye Self-Calibration Technique in Robo...

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第25届中国控制与决策会议

作者： Haixia Wang Xianghua Fan Xiao Lu Key Laboratory for Robot & Intelligent Technology of Shandong Province Shandong University of Science and Technology Institute of Automation Chinese Academy of Science

ISBN: (纸本)9781467355339

The Lei's method is studied and analyzed from another angle in this paper. And this method is applied on the MOTOMAN-SV3X robot vision platform after being improved. Firstly, the mathematical model of the hand-eye vision positioning system is re-formulized, in which the camera intrinsic parameters matrix and the hand-eye relation rotation matrix are combined into an integral parameters matrix which is the so-called constant matrix. Then, the constant matrix can be calibrated directly by four translation motion (any three of them are not coplanar). The method doesn't require the known reference object, and it can be realized by any two image points of the environment, which reduces the error caused by solving the parameters of the two parts individually. At the same time, a new calibration method of the hand-eye position vector is proposed, where only two motions with rotation is needed, and it is simpler and higher in accuracy.

关键词： Hand-eye vision systems, Self-calibration, Hand-eye calibration, Camera calibration

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Application of Screw Axis Identification Method for Serial robot Calibration In The Service robot

Application of Screw Axis Identification Method for Serial R...

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第25届中国控制与决策会议

作者： Haixia Wang Qia Sun Wenjun Liu Xiao Lu Key Laboratory for Robot & Intelligent Technology of Shandong Province Shandong University of Science and Technology Institute of Automation Chinese Academy of Science

ISBN: (纸本)9781467355339

A screw axis identification (SAI) method for serial robot calibration is applied in the service robot. The proposed method is newly introduced by Wang and can be operated easily. The self-designed service robot is a head-eye robot consisting of a binocular camera fixed on the head and two arms with four-degree of freedom. The binocular camera is used to calibrate the parameters of the arms joints. Then the kinematic model of the robot can be built by these parameters. Finally, by comparing the nominal angle values of the joints with the calculated values, a group of error values within 1 are achieved, which can meet the requirement of the further research of the robot about grabbing objects. Therefore, the SAI method which can automatically calibrate parameters has great efficiency and can be calibrated easily, which makes an identified contribution to the spreading of the robot application.

关键词： screw axis identification, head-eye, service robot

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Design of a novel gait simulator for rehabilitation training

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Sensors and Transducers 2013年第3期150卷 90-96页

作者： Liu, Yongjiu Song, Quanjun Wang, Buyun Liu, Yanyang Nie, Yuman Wang, Hui Shuang, Feng Robot Sensors and Human-Machine Interaction Laboratory Institute of Intelligent Machines Chinese Academy of Sciences Hefei 230027 Anhui China Department of Automation University of Science and Technology of China Hefei 230031 Anhui China

Aiming at helping patients bring back some of their lost physical capabilities due to injury or illness, this paper presents a novel gait simulator for their rehabilitation training. It can simulate the normal gait trajectory approximately and guide the patient's feet to follow the preset trajectory repetitively. The gait simulator was developed based on an end-effector structure equipped with electrical servo motor driver. In addition, corresponding control strategies, including passive training mode and speed adaptation training mode, were conducted for the control of the gait simulator. Furthermore, a number of experiments were carried out for healthy subjects and patients to test its stability and flexibility. Experimental results demonstrate that this developed gait simulator has reached designed object and has shown promising prospects as a tool of gait rehabilitation training for people with low limb impairments. © 2013 IFSA.

关键词： Trajectories

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Develop monitoring system with Java media frame

Develop monitoring system with Java media frame

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2012 2nd International Conference on Materials Engineering for Advanced Technologies, ICMEAT 2012

作者： Junwu, Xu Junling, Liang Hubei Provincial Key Laboratory of Intelligent Robot Wuhan Institute of Technology Wuhan 430073 China School of Automation s Wuhan university of technolog Wuhan 430073 China

ISBN: (纸本)9783037855874

This paper describes research in the use of The Java Media Framework (JMF) to develop Monitoring applications. This paper introduces the structure of JMF library and describes the implementation of algorithms in our library. The Java Media Framework (JMF) is a recent API for Java dealing with real-time multimedia presentation and effects processing. JMF handles time-based media, media which changes with respect to time. Examples of this are video from a television source, audio from a raw-audio format file and animations. © (2013) Trans Tech Publications, Switzerland.

关键词： Multimedia services

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