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Multi-objective optimization on dynamic performance for a planar parallel mechanism with NSGA-II algorithm

Jiqiren/Robot 2010年第2期32卷 271-277页

作者： Kong, Minxiu Chen, Lin Du, Zhijiang Sun, Lining Harbin Institute of Technology Harbin 150080 China State Key Laboratory of Robotics and System Harbin 150080 China

For a high-speed and high-acceleration planar parallel mechanism, a design for control (DFC) approach is proposed for the optimization of the mechanism structure. Several evaluation indexes of kinematics and dynamics performance are established for the object functions and constraints, and then a standard multi-objective optimization problem can be formed. The dimension synthesis is carried out by solving the multi-objective optimization with NSGA-II (non-dominated sorting genetic algorithm-II) algorithm. The final result shows that the mechanism with the optimized parameters can eliminate the systematic coupling and enhance the dynamic performance greatly, which provides a solid mechanism hardware platform for designing the high-speed control system.

关键词： Multiobjective optimization

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Development of a robot system assisting artificial cervical disc replacement surgery

Development of a robot system assisting artificial cervical ...

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IEEE International Conference on robotics and Biomimetics

作者： Heqiang Tian Dongmei Wu Zhijiang Du Junlin Ma Lining Sun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and System (HIT) Harbin 150080 China

ISBN: (纸本)9781424493197

The problems such as inadequate precision, excessive radiation, over fatigue and other issues urgently need to be resolved in the cervical artificial disc replacement surgery. In this paper, a medical robot system has been developed to replace the fixture system used in the cervical artificial disc replacement surgery. Firstly, the medical robot mechanical design with an active parallel head and a passive serial body assisting the artificial cervical disc replacement surgery is proposed. Then, the workspace analysis and control system design of the parallel robot are presented. Finally, the surgical navigation technologies such as surgical planning, surgical navigation and positioning, and the grinding trajectory planning technologies involved in the robot system assisting the cervical artificial disc replacement surgery are described. It can be seen that the robot-assisted cervical artificial disc replacement surgery has opened up a new way for the cervical disease treatment.

关键词： Surgery Robot kinematics Planning Brushless motors Optical imaging Biomedical optical imaging

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Local shape patch based object detection

Local shape patch based object detection

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2010 IEEE International Conference on Information and Automation, ICIA 2010

作者： Du, Zhijiang Chen, Guodong Sun, Lining Ji, Junhong Xie, Ming State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China School of Mechanical and Aerospace Engineering Nanyang Technological University Singapore 637553 Singapore

ISBN: (纸本)9781424457021

We present a novel object detection framework that uses the local shape patches features combining the interclass global features information. A supervised local model learning architecture is proposed: a novel interest point descriptor is proposed and applied to detect the local shape patches, the local shape patches are formed by chains of several connected contour segments. Then the object local contour parts model are learned from a small set of training images. In order to make the local contour patch model is invariant to rotation and translation, the local contour patch descriptor is represented by modified shape context. By adding the edge orientation information and interclass global information, the power of differentiating mismatches is increased, especially detecting the objects existing similar parts. Both experiments on image feature point matching and object detection comparing with other feature descriptors are carried out in order to validate the proposed method. ©2010 IEEE.

关键词： Object detection

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Novel Hilbert energy spectrum based features for speech emotion recognition

Novel Hilbert energy spectrum based features for speech emot...

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WASE International Conference on Information Engineering, ICIE

作者： Li, Xin Li, Xiang School of Mechatronical Engineering and Automation Shanghai University State Key Laboratory of Robotics and System Shanghai China School of Mechatronical Engineering and Automation Shanghai University Shanghai China

ISBN: (纸本)9780769540801

In this paper, a novel feature called ECC is proposed via feature extraction of the Hilbert energy spectrum which describes the distribution of the instantaneous energy. The experimental results conspicuously demonstrated that ECC outperforms the traditional short-term average energy. Afterwards, further improvements of ECC were developed. TECC is gained by combining ECC with the Teager energy operator, and EFCC is obtained by introduced the instantaneous frequency to the energy. In the experiments, seven status of emotion were selected to be recognized and the highest 83.57% recognition rate was achieved within the classification accuracy of boredom reached up to 100%. The numerical results indicate that the proposed features ECC, TECC and EFCC can improve the performance of speech emotion recognition substantially. © 2010 IEEE.

关键词： Spectroscopy

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Investigation of Magnetic Coupling of Phases in a Novel Transverse Flux Machine by Consideration of Self- and Mutual- Inductance

Investigation of Magnetic Coupling of Phases in a Novel Tran...

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Biennial Institute of Electrical and Electronics Engineers Conference on Electomagnetic Field Computation

作者： Qian Wang Jibin Zou Xinghe Fu Xintong Jiang State Key Laboratory of Robotics and System Harbin Institute of Technology

ISBN: (纸本)9781424470594

This paper performs an analysis on the magnetic coupling of phases for a novel transverse flux machine (TFM) by comparison of the values of self- and mutual- inductance. It is shown that the proposed TFM inherits the merit of magnetic decoupling of phases as in traditional TFM, and thus can readily achieve fault-tolerant operation and high-precision control.

关键词： Phase magnetic coupling Inductance Fault tolerance Transverse machine fine control

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An effective algorithm for needle tip displacement compensation in robot-assisted percutaneous surgery

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High Technology Letters 2010年第3期16卷 306-310页

作者： Sun, Yinshan Wu, Dongmei Du, Zhijiang Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

This paper presents an automatic compensation algorithm for needle tip displacement in order to keep the needle tip always fixed at the skin entry point in the process of needle orientation in robot-assisted percutaneous surgery. The algorithm, based on a two-degree-of-freedom (2-DOF) robot wrist (not the mechanically constrained remote center of motion (RCM) mechanism) and a 3-DOF robot arm, firstly calculates the needle tip displacement caused by rotational motion of robot wrist in the arm coordinate frame using the robotic forward kinematics, and then inversely compensates for the needle tip displacement by real-time Cartesian motion of robot arm. The algorithm achieves the function of the RCM and eliminates many mechanical and virtual constraints caused by the RCM mechanism. Experimental result demonstrates that the needle tip displacement is within 1 mm in the process of needle orientation. © by High Technology Letters Press.

关键词： Needles

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Influence of axial length ratio of stator segment on performance of tubular transverse flux linear machine

Influence of axial length ratio of stator segment on perform...

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14th Biennial IEEE Conference on Electromagnetic Field Computation, CEFC2010

作者： Mei, Zhao Zou, Ji-Bin Jiang, Xin-Tong Fu, Xing-He Sadarangani, Chandur State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China Dept. Electrical Machines and Power Electronics KTH Teknikringen 33 10044 Stockholm Sweden

ISBN: (纸本)9781424470594

In this paper the influence of axial length ratio of stator segment on performance of tubular transverse flux linear machine (TTFLM) is investigated. The following issues have been emphasized: cogging force, winding flux, and back-EMF. The special topology of TTFLM requires 3-D finite element analysis to accurately predict the machine performance. However, equivalent 2-D finite element analysis is performed, which is more visual from physical view and faster from computing time than 3-D finite element analysis. © 2010 IEEE.

关键词： Finite element method

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Laser range finder based moving object tracking and avoidance in dynamic environment

Laser range finder based moving object tracking and avoidanc...

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2010 IEEE International Conference on Information and Automation, ICIA 2010

作者： He, Fujun Du, Zhijiang Liu, Xiaolei Ta, Yueyue State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China Department of Mechanical Science and Technology Daqing Petroleum Institute Daqing Heilongjiang Province China

ISBN: (纸本)9781424457021

The mobile robot that works in dynamic environment must have strong ability of avoiding obstacles especially moving objects and move to it original goal. To achieve the goal, the dynamic polar coordinate environment model based on laser range finder is set up, which can not only simplify the environment description but also improve the responding ability. Based on these data a moving object tracking model is also set up, which take into account the influence of moving platform, may obtain better tracking effect. The robot may anticipate the collision possibility, collision time and position from tracking algorithm, and then three obstacle avoiding policy is presented for robot to choose according to the collision estimation. The experiment shows good moving object avoiding result. ©2010 IEEE.

关键词： Mobile robots

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Dynamics and motion control of a two pendulums driven spherical robot

Dynamics and motion control of a two pendulums driven spheri...

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2010 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Bo Zhao Mantian Li Haitao Yu Haiyan Hu Lining Sun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

This paper deals with the dynamics and motion control of a spherical robot designed for reconnaissance and unstructured hostile environment exploration. The robot in this paper has three DOFs and two inputs, of which the nature is a nonlinear and underactuated system with nonholonomic dynamic constraints. The improved construction of two pendulums offers novel motion principle of spherical robot, which is moving simultaneously actuated by both eccentric moment and inertial moment generated by the two pendulums. Meanwhile the mobility is enhanced when the robot behaves dynamically. The emphasis is placed on the linear motion and turning in place motion control. The dynamic model of linear motion is formulated on the basis of Lagrange equation, and a smooth trajectory planning method is proposed for linear motion. A feedback controller is constructed to ensure the accurate trajectory planning. Turning in place motion is an indispensable element of omni directional locomotion which can enhance the mobility of spherical robots. The dynamic model of turning in place motion is derived on the theory of moment of momentum, and a stick-slip principle is analyzed. The two motion control methods are validated by both simulations and prototype experiments.

关键词： Robots Turning Dynamics Trajectory Planning Mathematical model

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Teleoperation system of Internet-Based Multi-Operator Multi-Mobile-Manipulator

Teleoperation System of Internet-Based Multi-Operator Multi-...

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International Conference on Electrical and Control Engineering (ICECE)

作者： Liang Ma Jihong Yan Jie Zhao Zhifeng Chen Hegao Cai State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

A teleoperation system of Internet-based Multi-Operator Multi-Mobile-Manipulator is proposed in this paper. The system consists of master sides and slave side, which has the characteristics of mobility, cooperation, distribution, fault tolerance, redundancy etc.. In master sides, with the aid of Distributed Virtual Environment and multi-video image, operators use the haptic interface device to control the remote robots via Internet. The 9-DOF mobile-manipulators which combine the mobility of the omnidirectional mobile plat and the manipulability of the manipulator are located in the slave side. Modules of ultrasonic location and ultrasonic/infrared distance measurement are arranged on the mobile-manipulators, and six-axis force sensors are fixed on the wrist of mobile-manipulators. Six video cameras are installed in slave side to provide the operators multi-video image. A network server collects the information of the sensors by WLAN and sends them to operators through net. With the aid of real-time multi-video image and feedbacks, operators could control the robots to complete the task. Finally, the effectiveness of the teleoperation system is illustrated by experiments that the operators control the robots to complete the role of delivering and transporting via Internet, and achieve loose coordination, mobile tight coordination and operated tight coordination teleoperation.

关键词： Robot kinematics Internet Robot sensing systems Fuels Manipulators Conferences

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