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Study on the large-scale assembly and fabrication method for SWCNTs nano device

Science China(Physics,Mechanics & Astronomy) 2013年第3期56卷 556-561页

作者： XU Ke TIAN XiaoJun WU ChengDong LIU Jian LI MengXin DONG ZaiLi State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of Sciences School of Information & Control Engineering Shenyang Jianzhu University School of Information Science and Engineering Northeastern University

The large-scale assembly and fabrication method for single-walled carbon nanotube(SWCNT) nano devices was *** of SWCNT field effect transistor(FET) was realized by floating potential dielectrophoresis *** simulation of floating potential distribution of the chip was performed by comsol multiphysics coupling *** hundred devices were assembled on the area of less than one square *** fabricated devices were characterized by atomic force microscopy and scanning electron *** experimental results showed that large-scale assembly had been realized,and the success rate of ideal assembly for SWCNT FET had been assessed.

关键词： large-scale single-walled carbon nanotube assembly floating potential dielectrophoresis

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Design of multichannel real-time data transceiver for wireless meter reading network

Design of multichannel real-time data transceiver for wirele...

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World Congress on Intelligent control and Automation (WCICA)

作者： Ting Yuan Shijie Cui Zhijun Shang Peng Zeng Haibin Yu Chuanzhi Zang Qiang Gao Ping Li Ming Guan Jing Zhang Panjin power supply company State Grid Liaoning electric power company limited Panjin China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China Electric power research institute State Grid Liaoning electric power company limited Shenyang China

Debugging and protocol conformance testing of power meter reading system which is based on wireless sensor network is complex, aiming at this problem, we develop a powerful, flexible use, convenient carrying multichannel real-time data monitoring and transmitting device in this paper. The hardware realization and working principle of multichannel synchronous data transceiver are introduced in detail. On this basis, its hardware scheme and software flow for wireless meter reading network are designed. The tests show that, the device is with good real-timeand high stability which is a good debugging and testing device for wireless meter reading network.

关键词： Field programmable gate arrays Wireless sensor networks Wireless communication Meter reading Radio frequency Synchronization Debugging

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Development of a nanomanipualtion system for handling nanowires

Development of a nanomanipualtion system for handling nanowi...

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14th Annual Conference and the 3rd International Conference of the Chinese Society of Micro-Nano Technology, CSMNT 2012

作者： Zhang, Shizhong Rong, Weibin Sun, Lining State Key Laboratory of Robotics and System Robotics Institute Harbin 150080 China MOE Key Laboratory of Micro-systems and Micro-structures Manufacturing Harbin Institute of Technology Harbin 150080 China

ISBN: (纸本)9783037857397

A compact and versatile nanomanipulation platform and its dirve-control system are being developed. This nanomanipulation sytem is aimed to handle nanowires (NWs) and fabricate nanostructures by NWs in a Scanning Electron Microscope (SEM). The excellent performance of the compact manipulator developed with corase and fine positioning in one unit has been demonstrated, which shows that the resolution is 8 nm and the steps are from 50 nm to 0.8 μm. For the power supply of the manipulator, a three-output driver is designed with a high-power integrated operational amplifier based on a mixed approach of voltage control and current control. The planar push-and-lift handling of NWs is carried out by the use of two tips to demonstrate the capability of the nanomanipulation sytem inside SEM. © 2013 Trans Tech Publications Ltd, Switzerland.

关键词： Nanowires

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Fabrication of single-walled carbon nanotube-based highly sensitive gas sensors

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Science China(Technological Sciences) 2013年第1期56卷 32-35页

作者： XU Ke TIAN XiaoJun WU ChengDong LIU Jian LI MengXin SUN Ying WEI FaNan School of Information & Control Engineering Shenyang Jianzhu University State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of Sciences School of Information Science and Engineering Northeastern University

A highly sensitive single-walled carbon nanotube(SWCNT)-based ammonia(NH3) gas detector is manufactured by orderly assembling SWCNT using the dielectrophoretical(DEP) *** force microscopy(AFM) and scanning electron microscopy(SEM) images revealed that SWCNTs were assembled between the *** were affected by the electrophoretic force which was carried out by the related theoretical analysis in a nonuniform electric *** SWCNT field effect transistors geometry was *** electrical performance of NH3 gas sensor with the SWCNT field effect transistors geometry was tested before and after the adoption of NH3 at room *** results indicated that the efficient assembly of SWCNT was obtained by the applied alternating current voltage with frequency of 2 MHz and amplitude of 10 *** SWCNTs-based gas sensor had high sensitivity to NH3,and the electrical conductance of NH3 gas sensor reduced two times after interaction with *** SWCNTs surface gas molecules were removed by means of ultraviolet ray irradiation for 10 ***,the fabricated NH3 gas sensor could be *** is a clear evidence that the adsorption of NH3 on the SWCNT channel is easy to be *** theoretical results are consistent with recent experiments.

关键词： single-walled carbon nanotube field effect transistor assembly dielectrophoresis ammonia gas sensor

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Sliding Mode control with Nonlinear Disturbance Observer for a Class of Underactuated System

Sliding Mode Control with Nonlinear Disturbance Observer for...

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第三十二届中国控制会议

作者： HUANG Jian DING Feng WANG Yongji State Key Laboratory of Robotics and System Harbin Institute of Technology Department of Control Science and Engineering Huazhong University of Science and Technology

ISBN: (纸本)9781479900305

In this study,a sliding mode controller based on nonlinear distnrbance observer is investigated to control a class of underactnated system which is in cascaded *** using strict feedback,the underactnated system is presented as a special cascade normal form convenient for controller design.A sliding mode controller is designed to stabilize underactnrated plant directly and drive the variables to the sliding *** order to improve performance and robustness,a nonlinear disturbance observer was designed to compensate for external disturbances and model *** theoretical results axe illustrated by simulations on the *** simulation results show that the sliding mode controller with nonlinear disturbance observer can suppress the disturbance effectively.

关键词： underactuated system cascaded form sliding mode control nonlinear disturbance observer

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Two types of coaxial self-balancing robots

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Journal of Central South University 2013年第11期20卷 2981-2990页

作者：高学山戴福全李潮全 School of Mechatronical Engineering Beijing Institute of Technology State Key Laboratory of Robotics and System (Harbin Institute of Technology) School of Mechanical and Automotive Engineering Fujian University of Technology Navigation and Control Institute of China North Industries Group Corporation

Two types of coaxial self-balancing robots(CSBR)were proposed,one can be used as a mobile robot platform for parts transporting in unmanned factory or as an inspector in dangerous areas,and the other can be used as a personal transporter ridden in *** designing and control structures as well as control strategies were described and compared in order to get a general way to develop such robots.A state feedback controller and a fuzzy controller were designed for the robot using DC servo motors and the robot using torque motors,*** experiments indicate that the robots can realize various desired operations smoothly and agilely at the velocity of 0.6 m/s with an operator of 65 ***,the robustness of the controllers is revealed since these controllers can stabilize the robot even with unknown external disturbances.

关键词： mobile robots service robots mechatronic systems robot dynamics control of robotic systems

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Research on the application of WIA industrial wireless technology in the substation auxiliary control system

Research on the application of WIA industrial wireless techn...

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Chinese control Conference (CCC)

作者： Ting Yuan Shijie Cui Qingqi Zhao Zhijun Shang Peng Zeng Qiang Gao Ping Li Tao Wang Gang Wang State Grid Liaoning Electric Power Company Limited Panjin Power Supply Company Panjin China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang Liaoning CN Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China State Grid Liaoning Electric Power Supply CO. Ltd. Shenyang China State Grid Liaoning Electric Power Company Limited Electric Power Research Institute Shenyang China

This paper presents a new substation auxiliary control system communication scheme based on WIA industrial wireless technology. The structure and operation principle are introduced, and the technical difficulties and solutions of the WIA industrial wireless technology in substation auxiliary control system application are analyzed from the network protocol and hardware design. The validity of the schema has been verified through the practical application in the pilot project.

关键词： Substations control systems Wireless communication Wireless sensor networks Monitoring Temperature sensors Interference

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Design and its visual servoing control of an inspection robot for power transmission lines

Design and its visual servoing control of an inspection robo...

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2013 IEEE International Conference on robotics and Biomimetics, ROBIO 2013

作者： Zhao, Dezheng Yang, Guodong Li, En Liang, Zize State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China

ISBN: (纸本)9781479927449

A bi-branchiate robot is presented for the inspection of the high-voltage power transmission lines. With a symmetrical mechanical structure, the robot can roll along the power lines and negotiating all the obstacles in the lines to complete the inspection work. A hierarchical structure based on modular approach are used to design the control system of the robot. A combination mode composed of teleoperation via RF module and local intelligence based on visual servoing is developed to control the inspection robot. Using an image feature acquisition method based on Otsu adaptive threshold, the position and width of the power line in image plane are extracted as the basis of controller design. Experiments of obstacle negotiation and automatic line grasping in laboratory prove the effectiveness of the proposed robot prototype and the relative control method. © 2013 IEEE.

关键词： Inspection

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controllability Analysis of networked control systems with Packets Loss

Controllability Analysis of Networked Control Systems with P...

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第三十二届中国控制会议

作者： LIN Hong SU Hongye XU Yong State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Department of Information and Technology Concord University College Fujian Normal University

ISBN: (纸本)9789881563835

The problem of controllability and control strategy for a class of networked control systems (NCSs) with packets loss are studied in this paper. A probabilistic controllability conception is proposed for these systems. In order to analyze the probabilistic controllability and relevant properties, a representation of the initial state by a group of constructive base of linear space is introduced. Based on this representation the affects to control system caused by packets loss can be expressed by system substates. A control strategy is developed to guarantee, the controllability of NCSs, and the minimum control steps property of this control strategy is discussed as well. Finally, a necessary and sufficient condition of probabilistic controllability for NCSs with packets loss is represented.

关键词： controllability, networked control systems, Packets loss, Minimum control steps

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Mobile Robot Map Building in Eigenspace - A PCA-based Approach

Mobile Robot Map Building in Eigenspace - A PCA-based Approa...

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第25届中国控制与决策会议

作者： Ke Wang Lijun Zhao Ruifeng Li State Key Laboratory of Robotics and Systems Harbin Institute of Technology Key Laboratory of Measurement and Control of CSE Ministry of Education

ISBN: (纸本)9781467355339

Detection and compression of the environmental information incrementally is useful when the mobile robot needs to continuously update its perception database online. In this paper, we propose an incremental subspace fusion method for abstract map building of mobile robot. We firstly adopt PCA to preprocess the panoramic images taken from omnidirectional camera at corresponding location, which can optimally extracts the local map features formed in the subspace and reduces the uncorrelated features. This enables robot to memorize the environmental features incrementally when it travels in an unknown environment. Experimental results are shown finally.

关键词： Map Building, Mobile robot, Principle Component Analysis, Incremental Map Fusion, Appearance-based modeling

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