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检索条件"机构=Key Laboratory of Networked Control Systems State Key Laboratory of Robotics"

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A rotary ultrasonic motor using bending vibration transducers

A rotary ultrasonic motor using bending vibration transducer...

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作者： Liu, Yingxiang Chen, Weishan Liu, Junkao Shi, Shengjun State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China

A rotary ultrasonic motor using bending vibration transducers is proposed. In each transducer, two orthogonal bending vibrations are superimposed and an elliptical trajectory is generated at the driving foot. Typical output of the prototype is a no-load speed of 58 rpm and maximum torque of 95 N·m under an exciting voltage of 200 Vrms. © 2010 IEEE.

关键词： Transducers

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CPG based locomotion control of Pitch-Yaw connecting modular self-reconfigurable robots

CPG based locomotion control of Pitch-Yaw connecting modular...

引用

2010 IEEE International Conference on Information and Automation, ICIA 2010

作者： Cui, Xindan Zhu, Yanhe Zang, Xizhe Tang, Shufeng Zhao, Jie State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781424457021

Self-reconfiguration (SR) robots can take any form by connecting the modules in different configurations. The configurations formed by the modules have many degrees of freedom;therefore, designing a control method for whole body locomotion is more difficult than for the conventional robots. This paper utilizes central pattern generators (CPGs). Each neural oscillator of the network of CPGs works as a distributed joint controller of each module. Three kinds of snake-like configurations and their locomotion gaits have been summarized. Pitch-Yaw connecting snake-like configuration has the most flexibility, which is our research emphasis. Four moving gaits of the Pitch-Yaw have been controlled by the network of the CPG oscillators successfully, that is: worming, side winding, rolling and turning. All the locomotions have been simulated in ADAMS, the simulation experiment has verified the control method of CPGs we designed. ©2010 IEEE.

关键词： Modular robots

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Feature referenced tip localization enhanced by probability motion model for AFM based nanomanipulations

Feature referenced tip localization enhanced by probability ...

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IEEE International Conference on robotics and Biomimetics

作者： Shuai Yuan Lianqing Liu Zhidong Wang Ning Xi Yuechao Wang Zaili Dong Zhiyu Wang Zhibo Wang College of Information & Control Engineering of Shenyang Jianzhu University State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Department of Advanced Robotics Chiba Institute of Technology Department of Electrical and Computer Engineering Michigan State University

ISBN: (纸本)9781457721366

The spatial uncertainties of tip positioning due to the nonlinearity of the PZT scanner and thermal drift hinder the further application of the AFM based nanomanipulation. This paper brings forward feature referenced tip localization enhanced by probability motion model to reduce the spatial uncertainties. An improved motion model is probabilistically built by incorporating the PI model, the creep model and the thermal drift model. For calibrating the accurate model parameters, the statistical experiments are designed and performed. Then the tip position is optimally estimated by combining with a local scan based feature sensing method. The simulation and corresponding experiments are performed to illustrate the validity and feasibility of the calibrated parameters and the algorithm.

关键词： Atomic Force Microscopy terminal interface processor nonlinearity based model parameters Drift models

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Active and passive control algorithm for an exoskeleton with bowden cable transmission for hand rehabilitation

Active and passive control algorithm for an exoskeleton with...

引用

2010 IEEE International Conference on robotics and Biomimetics, ROBIO 2010

作者： Wang, Shuang Li, Jiting Zheng, Ruoyin State Key Laboratory of Virtual Reality Technology and Systems Robotics Institute Beihang University Beijing China

ISBN: (纸本)9781424493173

This paper investigates the control algorithm of an exoskeleton for hand rehabilitation, which accomplishes both active and passive rehabilitation training. In the passive mode control the PID control algorithm is executed in the velocity mode of the driver. In the active mode control, control architecture is proposed to deal with in both free space and constraint space. A resistance compensation control method is proposed to reduce the resistance in free space which is caused by the friction of the Bowden cable as well as the moment of inertial. To realize the compensation, force sensors are used to measure the force exerted by the human fingertip. A commercial driver, which could switch between the two control modes by a programmable digital switch rather than changing the physical connection manually, guarantees the realization of the required functions. The experiments are conducted to verify the proposed method, and the results show that in the active control mode, the maximum finger-exerted force with compensation is about two fifths of the force without compensation which means the resistance is greatly reduced. And in the passive mode, the maximum joint position error is about 1.2 degree, which satisfies the requirement in hand rehabilitation application. The experimental results demonstrate the validity of the proposed method. © 2010 IEEE.

关键词： Cables

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Pre-allocation and partition of buffers for deadlock control in flexible manufacturing systems

Pre-allocation and partition of buffers for deadlock control...

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International Conference on Mechatronics and Automation

作者： Zhang, Zhiming Wu, Weimin State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou 310027 China

ISBN: (纸本)9781424451418

In order to make a live flexible manufacturing system (FMS) in which resources and buffers are shared, Liu et al. used the buffer pre-allocation rule to greatly reduce deadlock states and proposed a buffer partition policy to forbid the remaining deadlock states. They also defined a subclass of Petri nets called resource-shared assembly net with buffers (RSANB) to characterize the rule and policy. Nevertheless, only one resource in the FMSs modeled by RSANB can be used in each step in their policy, so its modeling power is limited. This paper indicates that the buffer pre-allocation rule and buffer partition policy can also be used to prevent deadlocks in FMSs in which multiple resources can be used in each step. Subsequently, an extension of RSANB, called extended resource-shared assembly net with buffers (ERSANB), is defined to show the extended application of this rule and policy. Finally, its application is demonstrated by an FMS example. © 2010 IEEE.

关键词： Petri nets

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Research on ODMM obstacle avoidance fuzzy navigation based on ultrasonic-absolute-positioning

Research on ODMM obstacle avoidance fuzzy navigation based o...

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International Conference on Electrical and control Engineering, ICECE 2010

作者： Lin, Jiang Baiyan, Liu Xinyuan, Chen Hui, Zhao Jie, Zhao Jihong, Yan Key Laboratory of Metallurgical Equipment and its Control of Ministry of Education Wuhan University of Science and Technology Wuhan 430081 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China

ISBN: (纸本)9780769540313

The obstacle avoidance fuzzy navigation strategy based on ultrasonic absolute position was proposed to improve the navigation efficiency and precision of the omni-directional mobile manipulator (ODMM). Comparing with the conventional navigation strategies, the superiority of this strategy is that it can momently get the accuracy positioning of robot and it can adjust posture and speed. The method of fusion redundancy ultrasonic information (FRUI) can improve the absolute positioning accuracy of ODMM. Absolute position based on fusion redundancy ultrasonic information(FRUI) and fuzzy navigation based on driving experience were all applied to the ODMM navigation. This strategies include the move-to-goal behavior based on absolute position and obstacle avoidance fuzzy navigation based on absolute positioning. Finally the experiment had been performed, the experimental result proved that the obstacle avoidance fuzzy navigation algorithm based on ultrasonic absolute positioning was effective and the navigation efficiency and precision of ODMM were greatly improved. © 2010 IEEE.

关键词： Navigation

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Stereovision based obstacle detection approach for mobile robot navigation

Stereovision based obstacle detection approach for mobile ro...

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2010 International Conference on Intelligent control and Information Processing, ICICIP 2010

作者： Bai, Ming Zhuang, Yan Wang, Wei Research Center of Information and Control Dalian University of Technology Dalian Liaoning 116024 China State Key Laboratory of Robotics Institute of Automation Chinese Academy of Sciences Shenyang Liaoning 110016 China

ISBN: (纸本)9781424470488

An obstacle detection approach based on stereo vision is proposed for mobile robot navigation. The aim of the approach is to detect a real environment to allow a mobile robot to find a safe path even in complex scenarios. Our novelty is represented in terms of the two-stage perception structure. The detection stage infers the relationship between obstacles and a ground, and determines the region of interest. Based on this, the confirmation stage focuses on characterizing the contours and positions of obstacles and getting rid of most artefacts. The approach synthesizes the statistical information of projections and depth discontinuities in the region of interest to characterize obstacles. The detection-confirmation structure is robust to various lighting conditions, effective to negative obstacles, free to specular reflection effect, and real-time response to the interference from dynamic obstacles. Experimental results verified the effectiveness, reliability and real-time performance of the proposed approach. © 2010 IEEE.

关键词： Stereo vision

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CPG based locomotion control of pitch-yaw connecting modular self-reconfigurable robots

CPG based locomotion control of pitch-yaw connecting modular...

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International Conference on Information and Automation (ICIA)

作者： Xindan Cui Yanhe Zhu Xizhe Zang Shufeng Tang Jie Zhao State Key laboratory of Robotics and Systems Harbin Institute of Technology Harbin Heilongjiang China

Self-reconfiguration (SR) robots can take any form by connecting the modules in different configurations. The configurations formed by the modules have many degrees of freedom; therefore, designing a control method for whole body locomotion is more difficult than for the conventional robots. This paper utilizes central pattern generators (CPGs). Each neural oscillator of the network of CPGs works as a distributed joint controller of each module. Three kinds of snake-like configurations and their locomotion gaits have been summarized. Pitch-Yaw connecting snake-like configuration has the most flexibility, which is our research emphasis. Four moving gaits of the Pitch-Yaw have been controlled by the network of the CPG oscillators successfully, that is: worming, side winding, rolling and turning. All the locomotions have been simulated in ADAMS, the simulation experiment has verified the control method of CPGs we designed.

关键词： Joining processes Robots Strontium Oscillators robotics and automation Biological system modeling Mathematical model control systems Design methodology Turning

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Active and passive control algorithm for an exoskeleton with bowden cable transmission for hand rehabilitation

Active and passive control algorithm for an exoskeleton with...

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IEEE International Conference on robotics and Biomimetics

作者： Shuang Wang Jiting Li Ruoyin Zheng State Key Laboratory of Virtual Reality Technology and Systems Robotics Institute Beihang University Beijing China

ISBN: (纸本)9781424493197

关键词： Exoskeletons Fingers Force Immune system Joints Humans Torque

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Robust H∞ control of networked control systems with access constraints and packet dropouts

Robust H∞ control of networked control systems with access ...

引用

1st International Conference on Green Circuits and systems, ICGCS 2010

作者： Wu, Dongxiao Wu, Jun Chen, Sheng State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou 310027 China School of Electronics and Computer Science University of Southampton Highfield Southampton SO17 1BJ United Kingdom

ISBN: (纸本)9781424468775

We consider a class of networked control systems (NCSs) where the plant has time-varying norm-bounded parameter uncertainties, the network only provides a limited number of simultaneous accesses for the sensors and actuators, and the packet dropouts occur randomly in the network. For this class of NCSs with uncertainties and access constraints as well as packet dropouts, we derive sufficient conditions in the form of linear matrix inequalities that guarantee robust stochastic stabilisation and synthesis of H∞ controller. An example is provided to illustrate our proposed method. © 2010 IEEE.

关键词： networked control systems

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