检索结果-内蒙古大学图书馆

Pressure dependence of Brillouin frequency shift in bare silica optical fibers

Chinese Optics Letters 2012年第10期10卷 20-22页

作者：顾海栋董惠娟张广玉何俊徐宁 Douglas.J.Brown School of Mechatronics Engineering Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin Institute of Technology Department of Electrical and Computer Engineering University of New BrunswickFrederictonNB E3B 5A3Canada

The effect of hydrostatic pressure （up to 28 MPa） on Brillouin frequency shift （BFS） within two types of bare, single-mode fibers is studied via Brillouin optical time domain analysis technique. Experimental results show a negative linear relation between pressure and BFS, with almost the same sensitivity in both types of fibers. The average value of experimental slopes is –0.742 MHz/MPa. This value is found to be well suited to theoretical analysis on the basis of data on bulk silica glass in previous reports. This preliminary evaluation may result in a new method for distributed pressure sensing along silica optical fiber.

关键词： Frequency shift keying Hydrostatic pressure Silica Time domain analysis

来源：评论

学校读者我要写书评

暂无评论

Development of Chinese large-scale space end-effector

引用

Journal of Central South University 2011年第3期18卷 600-609页

作者：刘宏谭益松刘伊威介党阳高凯蔡鹤皋 State Key Laboratory of Robotics and System Harbin Institute of Technology

In order to achieve large tolerance capture and high stiffness connection for space payload operations,a Chinese large-scale space end-effector (EER) was *** flexible steel cables were adopted to capture the payload with large capture *** screw transmission mechanism and plane shape-constraint four bar linkage mechanism were utilized to connect the payload with high *** experiments show that capture tolerances in X,Y,Z,Pitch,Yaw,Roll directions are 100 mm,100 mm,120 mm,10.5°,10.5°,12°,*** maximum connection stiffness is 4 800 N·*** end-effector could meet the requirements for space large tolerance capture and high stiffness connection in the future.

关键词： large tolerance capture high stiffness connection end-effector flexible steel cable ball screw four bar linkage

来源：评论

学校读者我要写书评

暂无评论

Calculation of the intracellular elastic modulus based on an atomic force microscope micro-cutting system

引用

Chinese Science Bulletin 2012年第36期57卷 1868-1872页

作者： YU Miao WANG JingHe WANG HongXiang LIU Li YAN YongDa ZHANG JunJie LIANG YingChun DONG Shen State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China Center for Precision Engineering Harbin Institute of TechnologyHarbin 150001China The Fourth Department of Neurosurgery the First Affiliated Hospital of Harbin Medical UniversityHarbin 150001China

Better understanding of variations in the mechanical properties of cancer cells could help to provide novel solutions for the diagnosis,prevention,and treatment of *** therefore developed a calculation model of the intracellular elastic modulus based on the contact pressure between the silicon tip of an atomic force microscope and the target cells,and cutting *** cells(UACC-1598) and colon cancer cells(NCI-H716) were cut into sequential layers using an atomic force microscope silicon *** cutting area on the cells was 8μm×8μm,and the loading force acting on the cells was increased from 17.523 to 32.126μ*** elastic modulus distribution was measured after each cutting *** were significant differences in contact pressure and cutting depth between different cells under the same loading force,which could be attributed to differences in their intrinsic structures and mechanical *** differences between the average elastic modulus and surface elastic modulus for UACC-1598 and NCI-H716 cells were 0.288±0.08 kPa and 0.376±0.16 kPa,*** results demonstrate that this micro-cutting method can be used to measure intracellular mechanical properties,which could in turn provide a more accurate experimental basis for the development of novel methods for the diagnosis and treatment of various diseases.

关键词：原子力显微镜弹性模量计算模型实验基础细胞内切削系统力学性能变化接触压力

来源：评论

学校读者我要写书评

暂无评论

Motion control of an underactuated spherical robot: A hierarchical sliding-mode approach with disturbance estimation

Motion control of an underactuated spherical robot: A hierar...

引用

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

作者： Liu, Baoyin Yue, Ming Liu, Rong School of Automotive Engineering Dalian University of Technology Dalian Liaoning Province 116024 China School of Electronic and Information Engineering Dalian University of Technology Dalian Liaoning Province 116024 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province 150001 China

ISBN: (纸本)9781467312776

The inner suspension of a spherical robot undergoes an underactuated state which will be difficult for the underactuated system control, when the robot is rolling ahead. To resolve this underactuated control problem, an adaptive hierarchical sliding mode control scheme is proposed. The spherical robot system is separated as shell subsystem and inner suspension subsystem according to the movement. Then a pair of first layer sliding surfaces is defined for each subsystem, by which the equivalent control law is derived to ensure states of each subsystem approaching to their own sliding mode surface. Based on the first layer sliding surface, a second layer surface is defined correspondingly, through which a total control law is given to make sure that all states can converge to their desired value via Lyapunov stability theorem. Meanwhile, considering the unavoidable and uncertain disturbance in the unstructured exploration environment, an adaptive hierarchical sliding mode control scheme is adopted to estimate the uncertain disturbances in real-time. Finally, the simulation results demonstrate the controller's adaptability and validity. © 2012 IEEE.

关键词： Spheres

来源：评论

学校读者我要写书评

暂无评论

Tactile Sensor Based Varying Contact Point Manipulation Strategy for Dexterous Robot Hand Manipulating Unknown Objects

Tactile Sensor Based Varying Contact Point Manipulation Stra...

引用

IEEE/RSJ International Conference on Intelligent robotics and systems

作者： Yuan-Fei Zhang Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 P.R. China Institute of Robotics and Mechatronics German AerospaceCenter DLR 82230 Wessling Germany

ISBN: (纸本)9781467317375

A tactile sensor based varying contact point manipulation strategy that utilizes the mathematical models based on the assumption of fixed contact points is proposed to manipulate unknown objects with rolling contact for dexterous robot hand. In this strategy, fingertip tactile sensor is utilized to detect contact position and to update the size parameters about the finger end-link when rolling occurs. Experimental results show that the strategy can effectively improve the rolling contact manipulation performance when dexterous robot hand manipulates unknown objects.

关键词： dexterous improve manipulation

来源：评论

学校读者我要写书评

暂无评论

Research on real time analysis and control method of material function quality for high performance work pieces

引用

Energy Education Science and Technology Part A: Energy Science and Research 2012年第SUPPL.2期30卷 323-328页

作者： Ji, Weixi Li, Xiaobing Cao, Yi Shan, Longyan School of Mechanical Engineering Jiangnan University Wuxi Jiangsu Province 214122 China State Key Laboratory of Fluid Power and Mechatronic Systems Hangzhou Zhejiang Province 310027 China State Key Laboratory of Robotics and System Harbin Heilongjiang Province 150080 China

Because of the complexity of shaped surface structure of those critical high performance work pieces of high-end equipment, the requirement of those work pieces is very high. The main requirement of these parts is about their performance, combined with the processing requirements of integration of performance and geometric parameters. These work pieces have the characters of complex moulding surface and their raw materials are difficult to process, the material deformation has big resistance, also the structure property is very sensitive to parameters of thermal processing time, temperature, strength and so on. So when they are being deformed, it is very difficult to ensure the structure property of these parts, which is affected by several factors like material, thermal processing, geometric shape and so on, causing the result of high defective rate in production and low efficiency of machining. This paper comes up with a solution to set up an integrated life cycle information model of quality information for high performance work pieces. The idea changes from dispersive quality information processing to integrate manufacturing process oriented quality information management. Also the paper researches into mapping and integration of quality data and quality inspection standards. It finally provides basis of application technology for quality assurance of critical high performance parts through real time collecting, managing, analyzing, and evaluating of quality inspection data, thus realizing management and control of function quality in the deformation processes. © Sila Science. All Rights Reserved.

关键词： Deformation

来源：评论

学校读者我要写书评

暂无评论

NUMERICAL SIMULATION OF BATOID LOCOMOTION

引用

Journal of Hydrodynamics 2011年第5期23卷 594-600页

作者： CHEN Wei-shan WU Zhi-jun LIU Jun-kao SHI Sheng-jun ZHOU Yang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

The hydrodynamics of batoid swimming motions is investigated using the three-dimensional simulation of a self-propelled body in still water. The kinematics of batoid swimming is characterized by large amplitude undulations of the pectoral fins while the middle part of the body remains straight. The majority of the thrust is generated by pectoral fins. Linear and quadratic amplitude variations are used for the pectoral fins in analyzing the locomotion of the batoid. Navier-Stokes equations are used to solve the unsteady fluid flow. A user defined function and a dynamic mesh method are applied to track the batoid locomotion. The mean swimming velocities of 1.6 BL/s and 1.3 BL/s are achieved, respectively, with thrust coefficients of 0.13 in and 0.095 in the dynamical simulation, where BL/s is the body length per second. The maximum propulsive efficiency 19% is achieved when the frequency of the undulation is 2.2 Hz in both amplitude variations.

关键词： batoid fish undulation pectoral fin dynamical simulation

来源：评论

学校读者我要写书评

暂无评论

Analysis and Application of the Singularity Locus of the Stewart Platform

引用

Chinese Journal of Mechanical Engineering 2011年第1期24卷 133-140页

作者： MA Jianming HUANG Qitao XIONG Haiguo HAN Junwei State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

The direct use of the determinant of Jacobian matrix being equal to zero for the singularity analysis is generally difficult which is due to complexity of the Jacobian matrix of 6-DOF parallel manipulators,especially for Stewart ***,several scholars make their great contribution to the effective solution of this problem,but neither of them find the right *** paper gives a brief analysis of the kinematics of the Stewart platform and derives the Jacobian matrices of the system through the velocity *** the basis of the traditional classification of singularities,the second type of singularity is *** assumption of any three of the six variables of the Stewart platform as constant is made,then the analytical expression of singularity locus equation of the second type singularity which contains another three pose variables is *** singularity locus is represented in the three-dimensional space through the derived *** correctness and validity of the proposed method are verified through ***,the singularity analysis of an electric Stewart platform in its desired workspace and reachable workspace is ***,one can easily identify whether singularity exists in a given workspace of a Stewart platform and determine whether the existed singularity can be avoided through the proposed *** proposed method also provides theoretical principle for the design and application of the Stewart platform and has great significance for the trajectory planning and control.

关键词： parallel manipulator Stewart platform Jacobian matrix singularity locus workspace

来源：评论

学校读者我要写书评

暂无评论

Planar region alignment based ego-motion estimation for mobile robot

Planar region alignment based ego-motion estimation for mobi...

引用

IEEE International Conference on Mechatronics and Automation

作者： Z. L. Wang B. G. Cai F. Z. Yi Y. Liu J. Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China School of Electronic Information and Engineering Beijing Jiaotong University Beijing China

ISBN: (纸本)9781467312752

The ego-motion estimation is a basic task in many operations of a mobile robot. An accurate and robust result of motion estimation can greatly improve the operation. In this paper, we assume the mobile robot with visual observer is moved on flat ground and a constrained camera-robot configuration is used to simplify the camera motion model. Based on the assumption and simplified camera-robot configuration, the 3D camera motion can be separately estimated by planar region alignment between two frames. Firstly, a detected 2D motion between two frames is used to align corresponding planar regions, such an alignment or registration removes the effects of camera rotation, and the resulting residual parallax displacement field between the two region-aligned images is an epipolar field centered at the FOE (Focus-of-Expansion). Then the camera translation can be recovered from the epipolar field. The camera rotation is recovered from the computed 3D translation and the detected 2D motion. The camera motion model is derived and expressed by two parts, the multistage process for ego-motion estimation is introduced. Some experiments with real images demonstrate the robustness of the motion estimation. And the factors which may affect the results are discussed.

关键词： Cameras Robot vision systems Motion estimation Robustness Mobile robots Transmission line matrix methods Computer vision

来源：评论

学校读者我要写书评

暂无评论

A robust multistage ego-motion estimation

A robust multistage ego-motion estimation

引用

Congress on Image and Signal Processing, CISP

作者： Z. L. Wang B. G. Cai X. L. Du S. Ou J. Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China School of Electronic Information and Engineering Beijing Jiaotong University Beijing China

In this paper, we assume the platform with visual observer is moved on flat ground and a constrained camera-platform configuration. The constrained camera-platform is used to simplify the camera motion model. Based on the assumption and simplified camera-platform configuration, the 3D camera motion can be separately estimated by planar region alignment between two frames. Firstly, a detected 2D motion between two frames is used to align corresponding planar regions, such an alignment or registration can removes the effects of camera rotation, and the resulting residual parallax displacement field between the two region-aligned images is an epipolar field centered at the FOE (Focus-of-Expansion). Then the camera translation can be recovered from the epipolar field. The camera rotation is recovered from the computed 3D translation and the detected 2D motion. The camera motion model is derived and represented by two parts, and a multistage ego-motion estimation process is introduced. Some experiments with real images demonstrate the robustness of the proposed motion estimation method.

关键词： Cameras Motion estimation Robustness Transmission line matrix methods Computer vision Robot vision systems Estimation

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：