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IEEE International Conference on Mechatronics and Automation

作者： Yanjie Liu Haijun Han Lining Sun Kang Li Tao Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang University Hangzhou Zhejiang Province China

ISBN: (纸本)9781509023974

The online detection of end-effector motion states and wafer stick-slip on a wafer transfer robot is crucial in accessing the quality of trajectory planning and improving the performance of robotic control system. This paper presents a new integrated system for detecting end-effector motion states (position and velocity) and wafer stick-slip on a wafer transfer robot. The system mainly contains a custom-built position-sensing-detector (PSD) camera, an inertial module and a tactile sensor. The end-effector position measurement is achieved by the PSD camera, and the end-effector velocity is estimated by using a kinematic Kalman filter (KKF). The KKF fuses the outputs from the PSD camera and the inertial sensor with a tri-axis accelerator and a tri-axis gyroscope. The wafer stick-slip detection is built on the measurements of the electromagnetic-based tactile sensor. The experimental results show that the integrated system is capable of measuring the position with a repeatability of ± 0.023mm along the X-axis and ± 0.017mm along the F-axis, remarkably improving the accuracy of velocity measurement, and online detecting wafer stick-slip on the wafer transfer robot.

关键词： Cameras Robot vision systems Tactile sensors Estimation Position measurement

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Binocular Stereo Vision Based Obstacle Detection Method for Manipulator

Binocular Stereo Vision Based Obstacle Detection Method for ...

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2016 International Conference on Electrical Engineering and Automation（ICEEA2016）

作者： Xiao-xue ZHANG Qiang LIU Jin-guo LIU Tian ZHANG Zhi-yu NI School of Information and Control Engineering Liaoning Shihua University The State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of Sciences

An obstacle detection method is proposed based on binocular stereo vision for manipulator. Firstly, images are preprocessed after camera calibration such as graying and distortion correction. Then, aiming at the defect that feature points are extracted mixed with many edge response points by traditional SIFT(Scale Invariant Feature Transform) algorithm, we propose wavelet transform to extract the edge points, and compare the edge points with feature points to further eliminate unstable feature points. Finally, the effectiveness of the algorithm is verified by obstacle detection and obstacle avoiding experiments. The results demonstrate that the improved SIFT algorithm can remove the edge responses that the DOG operator generates effectively, and improve the stability and anti-noise ability of SIFT algorithm compared with traditional SIFT algorithm.

关键词： Binocular stereo vision Obstacle detection Manipulator

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Dynamics Analysis of Bionic Parallel Joint Mechanism for the Snake Robot

Dynamics Analysis of Bionic Parallel Joint Mechanism for the...

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第35届中国控制会议

作者： Chuncheng Wu Zhengcai Cao Qing Xiao Yili Fu Key Laboratory of Symbolic Computation and Knowledge Engineering of Ministry of Education Jilin University State Key Laboratory of Robotics and Systems Harbin Institute of Technology College of Information Science and Technology Beijing University of Chemical Technology

ISBN: (纸本)9781509009107

Joint mechanism is a key factor for a snake robot adjusting its postures adapted to clutter environments in search and rescue *** joint mechanisms in prior research simply consist of serially connected revolute joints,which are lack of great load carrying *** nature snake structure,a modular bionic parallel joint mechanism(BPJM) is proposed for the rescue snake *** analysis of the BPJM is necessary for its optimal design and control,providing the force and constraint that must be resisted by joints,links and *** reduce the dynamics computation load,Newton equation and Euler equation are combined by synchronizing the inertial force and inertial moment with the aid of screw ***,the dynamics equations for moving platform and links are formulated in a simplified *** friction at the joints and external force acting on BPJM,which actually affect the motion,are both considered in the ***,the virtual prototype is provided in order to visualize the joint mechanism and the numerical results from the dynamics analysis are given.

关键词： Rescue snake robot Dynamics analysis Bionic parallel joint mechanism Screw theory Newton method

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Renewable-load matching dispatch for isolated power systems with intermittent renewable sources

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International Journal of Simulation and Process Modelling 2016年第3-4期11卷 270-280页

作者： Shen, Ying Zhao, Qianchuan Li, Mingyang Center for Intelligent and Networked Systems Department of Automation TNList Tsinghua University Beijing100084 China School of Control and Computer Engineering State Key Laboratory of Alternate Power Systems with Renewable Energy Sources North China Electric Power University Beijing102206 China

This paper proposes a renewable-load matching approach for dispatching generation resources in power systems with high renewable power penetrations. In order to utilise the capability of renewable resources to follow the load variations, the proposed matching approach is to restrict the output of renewable generators by a load-related bound in each dispatch time period. The dispatch problem is formulated to minimise the system cost comprising fuel, emission, and regulation costs as well as renewable power curtailment penalty. Compared with the traditional approach of treating renewable resources as negative loads, the proposed matching approach can significantly reduce the system cost by including the dynamic control of renewable power output. Moreover, the multi-objective function provides a way to study the trade-off among different costs in power systems with renewable resources. Solution is obtained by transforming the optimisation problem into its equivalent form and using local search algorithms. Simulations are implemented on a specific isolated power system with four generators to demonstrate the advantage of proposed approach. Copyright © 2016 Inderscience Enterprises Ltd.

关键词： Costs

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A framework for multi-session RGBD SLAM in low dynamic workspace environment

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CAAI Transactions on Intelligence Technology 2016年第1期1卷 90-103页

作者： Yue Wang Shoudong Huang Rong Xiong Jun Wu State Key Laboratory of Industrial Control and Technology Zhejiang University Hangzhou PR China Centre for Autonomous Systems Faculty of Engineering and IT University of Technology Sydney Australia

Mapping in the dynamic environment is an important task for autonomous mobile robots due to the unavoidable changes in the workspace. In this paper, we propose a framework for RGBD SLAM in low dynamic environment, which can maintain a map keeping track of the latest environment. The main model describing the environment is a multi-session pose graph, which evolves over the multiple visits of the robot. The poses in the graph will be pruned when the 3D point scans corresponding to those poses are out of date. When the robot explores the new areas, its poses will be added to the graph. Thus the scans kept in the current graph will always give a map of the latest environment. The changes of the environment are detected by out-of-dated scans identification module through analyzing scans collected at different sessions. Besides, a redundant scans identification module is employed to further reduce the poses with redundant scans in order to keep the total number of poses in the graph with respect to the size of environment. In the experiments, the framework is first tuned and tested on data acquired by a Kinect from laboratory environment. Then the framework is applied to external dataset acquired by a Kinect II from a workspace of an industrial robot in another country, which is blind to the development phase, for further validation of the performance. After this two-step evaluation, the proposed framework is considered to be able to manage the map in date in dynamic or static environment with a noncumulative complexity and acceptable error level.

关键词： Multi-session SLAM RGBD sensor Low dynamic mapping

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A self-decoupling piezoresistive sensor for measuring microforce in horizontal and vertical directions

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Journal of Micromechanics and Microengineering 2016年第9期26卷

作者： Zhou, Jie Rong, Weibin Wang, Lefeng Gao, Peng Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China School of Electrical and Control Engineering Heilongjiang University of Science and Technology Harbin Heilongjiang China

This paper presents the design, fabrication and calibration of a novel two-dimension microforce sensor with nano-Newton resolution. The sensor, mainly composed of a clamped-clamped beam (horizontal detecting beam), an overhanging beam (vertical detecting beam) and a half-folded beam, is highly sensitive to microforces in the horizontal (parallel to the probe of the designed sensor) and vertical (perpendicular to the wafer surface) directions. The four vertical sidewall surface piezoresistors (horizontal piezoresistors) and two surface piezoresistors (vertical piezoresistors) were fabricated to achieve the requirements of two-dimension microforce measurements. Combining the sensor structure with Wheatstone bridge configurations, the microforce decoupling among the x, y, and z direction can be realized. Accordingly, the sensor is capable of detecting microforces in the horizontal and vertical directions independently. The calibration results verified that the sensor sensitivities at room temperature are 210.58 V N-1and 159.2 V N-1 in the horizontal and vertical directions, respectively. Additionally, the sensor's corresponding force resolutions are estimated at 2 nN and 3 nN in theory, respectively. The sensor can be used to measure the contact force between manipulating tools and micro-objects, in fields such as microassembly and biological assays. © 2016 IOP Publishing Ltd.

关键词： Calibration

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Towards multi-functional light-weight long-term real-time coastal ocean observation system 11

Towards multi-functional light-weight long-term real-time co...

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11th ACM International Conference on Underwater Networks and systems, WUWNet 2016

作者： Jiang, Zhenfeng Ma, Yanming Chen, Jiali Wang, Zigeng Peng, Zheng Liu, Jun Han, Guitao Smart Ocean Industry Research Institute Nantong Jiangsu226000 China Computer Science and Engineering Department University of Connecticut StorrsCT06269 United States Computer Science Deparment City College of New York NY10031 United States Computer Science and Technology Department Jilin University Changchun Jilin130012 China State Key Laboratory of Robotics Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China

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The structure design and analysis of a wheel-track robot

The structure design and analysis of a wheel-track robot

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IEEE International Conference on Mechatronics and Automation

作者： Dengqi Cui Wenzeng Guo Han Dong Xueshan Gao School of Mechatronical Engineering Beijing Institute of Technology Beijing China State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China

ISBN: (纸本)9781509023974

This paper mainly introduces the system components of the wheel-track robot, mainly comprising a body structure and control system. Through the analysis of the driving power and the power of the selection of crawling, motor drive of the robot is chose. Variable structure adopts a screw rod transmission mechanism and the screw rod transmission structure is designed, and the simulation in variable structure verifies the screw drive design principle of rationality. Finally, variable structure of the robot in expansion and contraction experiments were carried out. Experimental results show that the correctness of the variable structure.

关键词： Conferences Mechatronics Automation Three-dimensional displays

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Research of the low impact space docking mechanism based on impedance control strategy

Research of the low impact space docking mechanism based on ...

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IEEE/ASME International Conference on Mechtronic and Embedded systems and Applications, MESA

作者： Zenghui Xie Gangfeng Liu Changle Li Ge Li Jie Zhao Liyi Li State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China School of Electrical Engineering and Automation Harbin Institute of Technology Harbin China

ISBN: (纸本)9781509061914

In order to solve the violent collision and energy consumption problems of conventional space docking mechanism in the docking process, we developed a set of low impact docking mechanism based on impedance control. The docking mechanism adopts the peripheral docking type, the active end of which is a 6-UPS parallel mechanism which is driven by six electric cylinders installed on the fixed platform. For the purpose of the safety of the docking mechanism in the process of docking buffer, we need to monitor the contact force between the active end and environment, so tension-pressure sensor is installed on the end of each electric cylinder. This paper designed a kind of highly efficient force coupling algorithm to convert the six separate force into a six-dimensional integral contact force and then established the dynamic relationship between the contact force and the adjustment of the position and posture to ensure the contact force in the docking process not appear large overshoot. Finally, we completed the compliant docking experiments, which proved that the scheme of low impact docking mechanism is feasible and that the docking mechanism can finish the expected mission.

关键词： Force Fasteners Mobile communication Couplings Impedance Space vehicles Force sensors

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Optimization of the impedance controller for the low impact docking

Optimization of the impedance controller for the low impact ...

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International Conference on Information and Automation (ICIA)

作者： Gangfeng Liu Zenghui Xie Ge Li Changle Li Jie Zhao Liyi Li State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China School of Electrical Engineering and Automation Harbin Institute of Technology Harbin China

ISBN: (纸本)9781509041039

In order to make full use of the ability of the low impact docking mechanism to reduce the contact force in the docking process, the impedance control strategy is designed. And then a kind of parameter adjusting flow is proposed for the impedance controller based on the influence rules of the target impedance. To perform a low impact docking mission unaware of the initial position error and orientation error, two kinds of control strategies including integral impedance controller (IIC) and distributed impedance controller (DIC) are proposed, and a co-simulation of the control strategies using the MATLAB and ADAMS software are carried out to seek out the advantages and disadvantages of these strategies. The conclusions are drawn that the DIC is superior to the IIC, which lay the theoretical foundation for the subsequent docking experiments.

关键词： Force Impedance Damping Torque MATLAB Kinematics Couplings

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