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2011 IEEE International Conference on robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： Lingzhi Liu Guanyang Liu Yuru Zhang Weidong Guo Keke Lu Moyuan Zhou State Key Laboratory of Virtual Reality Technology and Systems Robotics InstituteBeihang UniversityChina

ISBN: (纸本)9781612843865

In this paper we study on haptic collaboration in a maze game over computer network. Two players located at separated places operate each haptic device to collaboratively finish the game task. Herein, a new collaboration mode of manipulation – separate DOF control is proposed for the first time. Separate DOF control here means each player controls one DOF of an object or a task independently in collaborative virtual environment. Mutual guidance is also proposed which provides guidance force to each player. We setup an experiment to evaluate its efforts on cooperation performance and co-presence. Twelve participants did the experiment. The results revealed that this collaboration mode is effective. Ten of the twelve participants believed that they performed well in the experiment and thought the collaboration way was very interesting. The presented results motivated a new haptic collaboration mode in the fields of game design, education and cooperative assembly.

关键词： control networked Evaluation Hunting Game theory Game animals DEPTH OF FIELD Guidance Mazes haptic device Players Haptic Device Component

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Complex indoor map building based on fusion of sequential Mb-ICP

Complex indoor map building based on fusion of sequential Mb...

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Chinese control Conference (CCC)

作者： Ke Wang Lijun Zhao Ruifeng Li State Key Laboratory of Robotics and System Harbin Institute of Technology 150001 China Key Laboratory of Measurement and Control of CSE Ministry of Education Nanjing 210096 China

Towards complex indoor environment, this paper proposed a fusion method of sequential Mb-ICP scan matching for mobile robot map building. We firstly introduce the classic ICP scan matching method and its limitations for dealing with robot rotation. Based on a new metric space, Mb-ICP scan matching approach is analyzed. We then use Kalman Filter to fuse multiple sequential scan matching results of Mb-ICP. Experimental results are shown to validate the effectiveness of the proposed approach.

关键词： Buildings Iterative closest point algorithm Mobile robots Electronic mail Fuses Laboratories

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Multiple Rehabilitation Motion control for Hand with an Exoskeleton

Multiple Rehabilitation Motion Control for Hand with an Exos...

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2011 IEEE International Conference on robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： Shuang WANG Jiting LI Ruoyin ZHENG Zhongyuan CHEN Yuru ZHANG State Key Laboratory of Virtual Reality Technology and Systems Robotics InstituteBeihang UniversityBeijingChina

This paper investigates the control algorithm of an exoskeleton for hand rehabilitation, which can realize the active, passive, and assisted rehabilitation motion. The active mode is accomplished with the force control algorithm during which the resistance is compensated in free space and the virtual interactive force is rendered to the finger in constraint space. The passive mode is realized by the position controller given the desired motion trajectory. The assisted mode is implemented in the customized positions by switching between the active and passive modes according to the predefined action procedure. The experiments are conducted to verify the proposed method, and the results show that the different rehabilitation motion are successfully accomplished and the maximum joint position error is less than 1.2 degree, which satisfies the requirement in hand rehabilitation application. The results demonstrate the validity of the proposed method.

关键词： Fingers Exoskeletons Joints Force Immune system Humans Actuators

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Robust control of gantry crane system with hoisting:A new solution based on wave motion

Robust control of gantry crane system with hoisting:A new so...

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2011年中国智能自动化学术会议

作者：杨唐文秦勇韩建达 Institute of Information Science Beijing Jiaotong University State Key Laboratory of Rail Traffic Control and Safety Beijing Jiaotong University State Key Laboratory of Robotics Shenyang Institute of Automation

Large load swing of a gantry crane,due to cable flexibility and rapid movement,needs to be ***,a wave-based approach interprets the cable motion as two superposed traveling *** combine position and active swing control, the trolley motion and load hoisting are carefully designed here,and a practical approach is adopted to design hoisting motions in the upward and downward manoeuvres,counteracting their reverse effects on the load swing.A robust control algorithm,based on the model of the crane system,is proposed to realize the trolley and hoisting motions,allowing for load variations and parameter *** new solution to motion control of a gantry crane works very well,and is stable and adaptive to large load *** demonstrated in the simulation experiments,it lands the load rapidly and exactly at target and stops it dead,with nearly zero swing.

关键词： gantry crane systems robust control hoisting mechanical wave concepts

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Research on reconfigurable hydraulic robot configuration based on genetic algorithm

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International Review on Computers and Software 2011年第7期6卷 1301-1306页

作者： Lin, Jiang Hongwei, Zhang Xianbao, Xiang Xinyuan, Chen Jie, Zhao Key Laboratory of Metallurgical Equipment Control of Ministry of Education Wuhan University of Science and Technology Wuhan 430081 Hubei China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 Heilongjiang China

Aiming at problems of the discrete optimization configuration and large search space in reconfigurable hydraulic robot configuration, an improved genetic algorithm was proposed to solve the difficulties in reconfigurable hydraulic robot configuration design optimization. The joints sequence and joints kinds were used as two different discrete variables to express the discrete optimization configuration problem. The different combinations of the two discrete variables represented different configurations. The appropriate weighting factors of twelve basic movement joints were designated and analyzed. The seven kinds of performance, as well as position of joint in a configuration and function overlap of the joint were all considered in the weighting factors of twelve basic movement joints. Every configuration had a comprehensive weighted evaluation factor. Combining with improved genetic algorithm optimization ability, an optimal configuration with good weighted evaluation factor was obtained in the discrete and larger search space. Based on the above theory the simulation model was established, and the simulation results verified that the configuration design optimization theory of reconfigurable hydraulic robot based on improved genetic algorithm was correct. © 2011 Praise Worthy Prize S.r.l. - All rights reserved.

关键词： Genetic algorithms

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Assembly and fabrication of single-wall carbon nanotube field effect transistor using dielectrophoresis method

Assembly and fabrication of single-wall carbon nanotube fiel...

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9th Chinese International Nanoscience and Technology Symposium and the Nano-Products Exposition

作者： Xu, Ke Dong, Zaili Tian, Xiaojun Liu, Jian Wu, Chengdong State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China Graduate University of the Chinese Academy of Sciences Beijing 100039 China School of Information and Control Engineering Shenyang Jianzhu University Shenyang 110168 China

On account of their sizes and unique properties, single-wall carbon nanotubes are candidates for a number of building blocks in nanoscale electronics. With respect to the assembly of carbon nanotube field effect transistor, the dielectrophoresis technology is adopted, which assembles SWCNTs between the microelectrodes, SWCNTs are affected by the electrophoretic force which is carried out by the related theoretical analysis in a nonuniform electric field. The driving electric field of dielectrophoresis is simulated by the comsol software. According to the simulation results, a number of the experiments are done. The applied alternating current voltage has a frequency of 2MHzand an amplitude of 10 V. It turns out that the required experimental parameters of the efficient assembly of SWCNT are obtained. AFM scanning and electrical properties of SWCNTs show that the method can achieve the effective assembly of carbon nanotube field effect transistor. SWCNTs are driven in the microelectrode gap, having a good arrangement of uniform orientation and assembly results, and proportional to the arrangement density along the electrode width direction and the duration of DEP. As a result, it also provides an effective method of assembly and fabrication for other one-dimensional nanomaterials assembly of nanoelectronic devices. Copyright © Taylor & Francis Group, LLC.

关键词： Electrophoresis

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Stabilization on A Class of networked control systems with Random Communication Delay

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IFAC Proceedings Volumes 2011年第1期44卷 3245-3249页

作者： Tao Sun Hongye Su Zhengguang Wu State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou 310027 P.R. China

Abstract This paper is concerned with the stabilization problem of wireless networked control systems with network-induced delays of time-varying Markovian characterization. The effects of the sample rate changing on the network induced delay is the main topic. At first place, the time delay matrices changing stochastically and arbitrarily are considered. A state feedback controller is designed to guarantee the resulting close-loop system stochastically stable. Following that, a bridge is built to give out a uniform work. A numerical example is presented to illustrate the effectiveness and potential of the developed theoretical results.

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Robust control of gantry crane system with hoisting: A new solution based on wave motion

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Zhongnan Daxue Xuebao (Ziran Kexue Ban)/Journal of Central South University (Science and Technology) 2011年第SUPPL. 1期42卷 288-292页

作者： Yang, Tang-Wen Qin, Yong Han, Jian-Da Institute of Information Science Beijing Jiaotong University Beijing 100044 China State Key Laboratory of Rail Traffic Control and Safety Beijing Jiaotong University Beijing 100044 China State Key Laboratory of Robotics Shenyang Institute of Automation Shenyang 110016 China

Large load swing of a gantry crane, due to cable flexibility and rapid movement, needs to be controlled. Herein, a wave-based approach interprets the cable motion as two superposed traveling waves. To combine position and active swing control, the trolley motion and load hoisting are carefully designed here, and a practical approach is adopted to design hoisting motions in the upward and downward manoeuvres, counteracting their reverse effects on the load swing. A robust control algorithm, based on the model of the crane system, is proposed to realize the trolley and hoisting motions, allowing for load variations and parameter uncertainties. This new solution to motion control of a gantry crane works very well, and is stable and adaptive to large load variations. As demonstrated in the simulation experiments, it lands the load rapidly and exactly at target and stops it dead, with nearly zero swing.

关键词： Robust control

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Complex indoor map building based on fusion of sequential Mb-ICP

Complex indoor map building based on fusion of sequential Mb...

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作者： Wang, Ke Zhao, Lijun Li, Ruifeng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China Key Laboratory of Measurement and Control of CSE Ministry of Education Nanjing 210096 China

ISBN: (纸本)9789881725592

关键词： Mobile robots

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A Convex Optimization Approach for Online Human Walking Motion Adaptation

A Convex Optimization Approach for Online Human Walking Moti...

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Workshop on Digital Media and Digital Content Management (DMDCM)

作者： Qing Tang Rong Xiong Jian Chu Changjiu Zhou State Key Laboratory of Industrial Control Technology University of Zhejiang Hangzhou China ARICC(Advanced Robotics and Intelligent Control Centre) Singapore polytechnics Singapore

For human-like locomotion, applying human motion capture data (HMCD) to the humanoid robot is a nature way. However, adapting HMCD online is a non-trivial problem. Not only because achieving both kinematic similarity and dynamic stability is difficult but also because such an optimization problem is intractable. This paper proposes an online adaptation approach using convex optimization for humanoid's walking motion, where the optimal objectives of kinematic similarity and dynamic stability can be simultaneously considered and easily balanced. With an inverted pendulum model based dynamics formulation of zero moment point (ZMP) in the framework of Lie group, the optimal objectives and constraints on both kinematics and dynamics are formulized into a second order cone programming problem. The simulation experiments show that the proposed method is promising for adapting HMCD online as well as simultaneously achieving and balancing the kinematic similarity and dynamic stability.

关键词： Joints Kinematics Mathematical model Equations Humanoid robots Dynamics Optimization

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