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2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Zhao, Zhijun Zhao, Jingdong Liu, Hong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

Different landing exploration modes of small bodies are discussed. A landing mechanism employed in the asteroid landing exploration is designed. It contains landing foot, landing gear, cardan, buffer mechanism, equipment base, anchor system, and so on. The landing mechanism could fold up to reduce space occupation in the spacecraft. It could fix itself on the landing slope under microgravity via the anchor system. The anchor system's penetrating and anchoring capability is examined in the frozen earth. The landing performance under microgravity is tested on the air-floating platform. Experiments show that the landing mechanism could perform landing under microgravity and anchoring itself firmly on the landing slope. © 2012 IEEE.

关键词： Microgravity

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Stability analysis of a tracked mobile robot in climbing stairs process

Stability analysis of a tracked mobile robot in climbing sta...

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2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Wang, Weidong Wu, Dongmei Wang, Qibin Deng, Zongquan Du, Zhijiang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 150001 China

ISBN: (纸本)9781467312776

Obstacle negotiation stability is essential to unmanned ground vehicle. The stability criterion which is proposed in this paper can provide the basis for analysing robot's stability. With analysing the interaction between the stairs and the tracked robot which is used in harsh environment, this paper presents two methods to judge the stability of the robot in climbing stairs process. Here the kinematic model is established with the D-H method. Using this model, the robot's ability of climbing stairs is analysed. With the model and the ability analysis method, a geometry stability analysis method which using the stability pyramid and a force stability analysis method which using the force between robot and stairs are proposed. At last, a simulation case and experiments illustrate the effectiveness of the proposed method for climbing stairs. © 2012 IEEE.

关键词： Kinematics

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Estimation of the number of narrowband signals in the presence of multipath propagation

Estimation of the number of narrowband signals in the presen...

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2012 IEEE 7th Sensor Array and Multichannel Signal Processing Workshop, SAM 2012

作者： Tao, Hao Xin, Jingmin Jiasong Wang Zheng, Nanning Sano, Akira Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University Xi'an 710049 China State Key Laboratory of Astronautic Dynamics Xi'an 710043 China Department of System Design Engineering Keio University Yokohama 223-8522 Japan

ISBN: (纸本)9781467310710

In this paper, we address with the problem of detection the number of narrowband signals impinging on a uniform linear array (ULA) in the presence of multipath propagation. Firstly, by forming a differencing matrix from the array covariance matrix to eliminate the effects of uncorrelated incident signals and additive noises, a combined matrix is constructed from this differencing matrix to decorrelate the coherence of signals. Since the number of coherent signals is revealed as the rank of this resultant matrix, a singular value based ratio criterion is proposed to estimate the number of coherent signals. Then, another singular value based ratio criterion is also presented to determine the number of uncorrelated signals from the array covariance matrix. The notable advantage of the proposed method is that it can detect more signals compared to some existing methods, and the number of signals resolved by our method can exceed the number of array sensors. © 2012 IEEE.

关键词： Additive noise

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STUDY ON THE VIBRATION COUPLING OF ULTRASONIC MOTOR USING LONGITUDINAL TRANSDUCERS

STUDY ON THE VIBRATION COUPLING OF ULTRASONIC MOTOR USING LO...

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2012全国压电和声波理论及器件技术研讨会

作者： Ying-xiang LIU Wei-shan CHEN Di LU Xiao-hui YANG Yu YAO State Key Laboratory of Robotics and System Harbin Institute of Technology School of Astronautics Harbin Institute of Technology

A linear ultrasonic motor using longitudinal vibration transducers with single foot was proposed,designed,fabricated and tested in a previous *** longitudinal vibrations of two orthogonal bolt-clamped transducers are superimposed to produce eUiptical movements on the driving ***,the operating principle of the proposed motor is *** longitudinal and bending vibrations of the transducers are gained by modal ***,the resonance frequencies and input impendence characteristics of the individual transducers and the motor are calculated respectively to gain the effect from the vibration *** study results state that the vibration coupling between the transducers make thenlongitudinal resonance frequencies have small increases and the electromechanical coupling factor of the vertical transducer has an obvious decrease after it is linked with the horizontal *** last,the coupling bending vibrations of the transducers are tested by using a scanning laser Doppler vibrometer.

关键词： Ultrasonic motor Longitudinal transducer Vibration coupling Input impendence

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Two-Dimensional Direction of Arrival Estimation Method for A Mixture of Noncoherent and Coherent Narrowband Signals

Two-Dimensional Direction of Arrival Estimation Method for A...

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IEEE Workshop on Signal Processing Advances in Wireless Communications

作者： Hao Tao Jingmin Xin Jiasong Wang Nanning Zheng Akira Sano Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University Xi'an 710049 China State Key Laboratory of Astronautic Dynamics Xi'an 710043 China Xi'an Jiaotong University Suzhou Academy Suzhou 215123 China Department of System Design Engineering Keio University Yokohama 223-8522 Japan

ISBN: (纸本)9781467355766

In this paper, we investigate the two-dimensional (2-D) direction-of-arrivals (DOAs) estimation of a mixture of non-coherent (including uncorrelated and correlated) and coherent narrowband signals impinging on a simple structured planar array consist of two parallel uniform linear arrays (ULAs), and a new oblique projection based method is proposed for estimating the DOAs of these mixed incident signals, where the computationally intensive eigendecomposition is avoided. In the proposed method, the 2-D DOAs of noncoherent and coherent signals are estimated separately, while the difficulties such as the separation of the noncoherent and coherent signals and the automatic pairing of the azimuth and elevation angles of same signal are overcame. Furthermore for overcoming the "saturation" problem encountered in estimation of coherent signals, an iterative alternate scheme is presented. The theoretical analysis and simulation results confirm the effectiveness of proposed method.

关键词： Direction Arrival Estimation

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Static stiffness analysis of a novel parallel manipulator

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key Engineering Materials 2012年 522卷 703-707页

作者： Li, Yunfeng Li, Changfeng Qu, Dongsheng Zou, Ling State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China Robotics Institute of Changzhou University Changzhou University Changzhou Jiangsu Province China

One novel 6-DOF parallel manipulator with hooke hinges is presented to provide precision positioning in this paper. The geometric parameters and spatial architecture of kinematic pairs will influence the system stiffness directly, which impact indirectly the characteristics such as supporting capacity, driving burden and so on. The elastic model of the single chain based on the stiffness equation is presented and the stiffness model of the whole structure is constructed via the principle of virtual work. The static stiffness properties of the manipulator are discussed and the problem of finding the minimum and maximum stiffness and the directions in which they occur for a manipulator in a given posture is addressed. An example is given and the results show that static stiffness properties can be used to guide the optimal design of the structure. © (2012) Trans Tech Publications, Switzerland.

关键词： Manipulators

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SEMG control of an upper limb rehabilitation robot based on boosting of neural networks

SEMG control of an upper limb rehabilitation robot based on ...

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2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Li, Qingling Song, Yu School of Mechanical Electronic and Information Engineering China University of Mining and Technology Beijing China State Key Laboratory of Robotics and System of HIT Harbin Institute of Technology Harbin China School of Electronic and Information Engineering Beijing Jiaotong University Beijing China

ISBN: (纸本)9781467312776

This paper presents a surface electromyography (sEMG) control strategy for robot-assisted upper limb rehabilitation after stroke which can make the rehabilitation robot follow the patient's intention. A new method for feature extraction is proposed aiming at non-stationary feature of sEMG firstly. And then, an ensemble classification method based on BP base classifier is brought forward to discriminate upper limb motions. Experimental results verify that the feature extraction method is superior to traditional ones with respect to recognition rate and convergence speed of classifier, and the ensemble classifier have stronger generalization ability and higher recognition accuracy than single neural network classifier. © 2012 IEEE.

关键词： Feature extraction

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Square-root cubature FastSLAM algorithm for mobile robot simultaneous localization and mapping

Square-root cubature FastSLAM algorithm for mobile robot sim...

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2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Song, Yu Li, Qingling Kang, Yifei Yan, Deli School of Electronic and Information Engineering Beijing Jiaotong University Beijing China State Key Laboratory of Robotics and System of HIT Harbin Institute of Technology Harbin China School of Mechanical Electronic and Information Engineering China University of Mining and Technology Beijing China

ISBN: (纸本)9781467312776

In this paper, we derive a new SRCFastSLAM algorithm to SLAM problem, which is the square-root edition of our previously proposed Cubature FastSLAM. The main contribution lies that: 1) in SRCFastSLAM, the particles for SLAM implementation are assembled by means and covariance square-root factors (rather than covariances) of the robot state and the feature landmarks;2) Due to the covariance square-root factors are directly propagated in our SLAM process, the time-expensive Cholesky decompositions on covariance matrixes are avoided, also the symmetry and positive (semi) definiteness of the covariance matrixes are preserved. The performance of the proposed algorithm is investigated and compared with FastSLAM2.0 and UFastSLAM using a serial simulation. Results show that the proposed SRCFastSLAM outperforms FastSLAM2.0 and UFastSLAM in precision and reduces the computational cost of the CFastSLAM obviously. © 2012 IEEE.

关键词： robotics

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Localizability estimation for mobile robots based on probabilistic grid map and its applications to localization

Localizability estimation for mobile robots based on probabi...

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International Conference on Multisensor Fusion and Integration for Intelligent systems (MFI)

作者： Zhe Liu Weidong Chen Yong Wang Jingchuan Wang State Key Laboratory of Robotics and System (HIT) Harbin China Department of Automation and Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Jiaotong University Shanghai China

A novel approach to estimate localizability for mobile robots is presented based on probabilistic grid map (PGM). Firstly, a static localizability matrix is proposed for off-line estimation over the priori PGM. Then a dynamic localizability matrix is proposed to deal with unexpected dynamic changes. These matrices describe both localizability index and localizability direction quantitatively. The validity of the proposed method is demonstrated by experiments in different typical environments. Furthermore, two typical localization-related applications, including active global localization and pose tracking, are presented for illustrating the effectiveness of the proposed localizability estimation method.

关键词： Covariance matrix Estimation Heuristic algorithms Iterative closest point algorithm Mobile robots Indexes

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Fuzzy control and connected region marking algorithm-based SEM nanomanipulation

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Mathematical Problems in Engineering 2012年第1期2012卷

作者： Li, Dongjie Rong, Weibin Sun, Lining You, Bo Zou, Yu Xiao, Wanzhe State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China School of Automation Harbin University of Science and Technology Harbin 150080 China

The interactive nanomanipulation platform is established based on fuzzy control and connected region marking (CRM) algorithm in SEM. The 3D virtual nanomanipulation model is developed to make up the insufficiency of the 2D SEM image information, which provides the operator with depth and real-time visual feedback information to guide the manipulation. The haptic device Omega3 is used as the master to control the 3D motion of the nanopositioner in master-slave mode and offer the force sensing to the operator controlled with fuzzy control algorithm. Aiming at sensing of force feedback during the nanomanipulation, the collision detection method of the virtual nanomanipulation model and the force rending model are studied to realize the force feedback of nanomanipulation. The CRM algorithm is introduced to process the SEM image which provides effective position data of the objects for updating the virtual environment (VE), and relevant issues such as calibration and update rate of VE are also discussed. Finally, the performance of the platform is validated by the ZnO nanowire manipulation experiments. © 2012 Dongjie Li et al.

关键词： Zinc oxide

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