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A novel Hierarchical decomposition for multi-player pursuit evasion differential game with superior evaders 09

A novel Hierarchical decomposition for multi-player pursuit ...

2009 World Summit on Genetic and Evolutionary Computation, 2009 GEC Summit - 1st ACM/SIGEVO Summit on Genetic and Evolutionary Computation, GEC'09

作者： Ze-su, Cai Li-ning, Sun Hai-bo, Gao State Key Laboratory Robotics and System Harbin Institute of Technology Harbin 150001 China School of Mechatronics Engeneering Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)9781605583266

In this paper, we consider a novel Hierarchical decomposition approach for multi-player pursuit evasion game (MPPEG) where some evaders' capability are higher than those of all pursuers. Differently from standards MPPEGs where the environment and the location of evaders is unknown and a probabilistic map is built based on the pursuer onboard sensor. In this paper, we study the number of pursuers which necessitates for the capture condition and the time of all evaders have been captured. A novel Cooperative in the coalition formation is used for pursuer in their pursuit strategies deriving to 1) Avoid collision among objects, 2) Reduce the distance between each pursuer and the evader over the evolution of game;3) Keep the pursuers' formation around the evader invariant during the pursuit process and enclose the superior evader. The validity of our method is illustrated by two simulation examples. Copyright 2009 ACM.

关键词： Game theory

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Topology optimization of a three-dimension compliant microgripper using multi-objective compliance

Topology optimization of a three-dimension compliant microgr...

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IITA International Conference on Control, Automation and systems Engineering

作者： Mahmoud Helal Liguo Chen Lining Sun Tao Chen The State Key Laboratory of Robotics and System Robotics Institute Harbin Institute of Technology

ISBN: (纸本)9781424445530

Micro and nano positioning stages are critically important to both the mechanical and electronic industries. Gripping micro objects are required for a wide range of important applications such as the assembly of micro-parts to obtain miniature systems or component assembly in electronics packages. An effective mechanical micro and nano manipulator should possess the ability to grasp objects of different shapes steadily with high positioning accuracy. A microgripper compliant mechanism is one of the key elements in micro-robotics and micro-assembly technologies for handling micro-objects without damage. Compliant mechanisms can play an important role in the design of micro- devices for micro-electro-mechanical systems (MEMS) applications. Compliant mechanisms are flexible structures, which can generate the desired motions by undergoing elastic deformation instead of through rigid linkage/joints as in rigid body mechanisms. The topology optimization methods search for an ideal material distribution of a structure. In this paper, topology optimization method is applied for designing a three-dimension compliant microgripper mechanism. The optimal topology configuration of the compliant microgripper mechanism is demonstrated. This compliant mechanism can be used to handle a wide range of micro and nano objects up to 400μm.

关键词： Topology optimization MEMS Compliant mechanism Microgripper Compliance

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GPRS based guard robot alarm system design

GPRS based guard robot alarm system design

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作者： Li, Maohai Sun, Lining Huang, Qingcheng Cai, Zesu Piao, Songhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China School of Computer Science and Technology Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)9780769540276

This paper presents a practical approach to design guard robot alarm system using GPRS technology. GPRS offers an interesting communications infrastructure for remotely accessing, controlling and interacting with robots in an integrated and highly portable manner, particularly in recent years the GPRS network provides wireless access of internet for mobile phone which becomes the most important and common terminal equipment. Therefore, in this paper the alarm information is designed to send to the user's mobile phone, and add man-made intervention to the system, thus achieves a more convenient and reliable alarm system. The system mainly consists of two parts: detection of abnormal and dangerous situation in domestic environment and sending the alarm information as MMS form to the user's phone via GPRS networks. Finally experiments show that the alarm system can accurately send alarm information to the user's mobile phone. The system is low-cost, flexible, reliable, and can be widely used. © 2010 Crown Copyright.

关键词： Cellular telephones

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Mobile self-reconfigurable robot based on modularity

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High Technology Letters 2009年第1期15卷 26-31页

作者： Zhong, Ming Guo, Wei Xu, Ji'an Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

A novel mobile self-reconfigurable robot is presented. This robot consists of several independent units. Each unit is composed of modular components including ultrasonic sensor, camera, communication, computation, and mobility parts, and is capable of simple self-reconfiguring to enhance its mobility by expanding itself. Several units can not only link into a train or other shapes autonomously via camera and sensors to be a united whole robot for obstacle clearing, but also disjoin to be separate units under control after missions. To achieve small overall size, compact mechanical structures are adopted in modular components design, and a miniature advanced RISC machines (ARM) based embedded controller is developed for minimal power consumption and efficient global control. The docking experiment between two units has also been implemented. Copyright © by High Technology Letters Press.

关键词： Cameras

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Development of a continuum robot for colonoscopy

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High Technology Letters 2009年第2期15卷 115-119页

作者： Hu, Haiyan Li, Mantian Wang, Pengfei Feng, Yuan Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

A novel continuum robot for colonoscopy is presented. The aim is to develop a robot for colonoscopy which can provide the same functions as conventional colonoscope, but much less pain and discomfort for patient. In contrast to traditional rigid-link robot, the robot features a continuous backbone with no joints. The continuum robot is 300 mm in total length and 12 mm in diameter that is less than the average diameter of human colon (20 mm). The robot has a total of 4 DOF (degrees of freedom) and is actuated remotely by 6 hybrid step motors through super-elastic NiTi wires. Its shape can be changed with high dexterity, therefore ensuring its adaptability to the tortuous shape of human colon. The mechanical structure, kinematics and DSP-based control system are discussed;prototype experiments are carried out to validate the kinematics model and to show the motion performances.

关键词： Kinematics

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Singular perturbation control for flexible-joint manipulator

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Dianji yu Kongzhi Xuebao/Electric Machines and Control 2009年第3期13卷 436-441页

作者： Liu, Ye-Chao Liu, Yi-Wei Liu, Hong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China Institute of Robotics and Mechatronics German Aerospace Center Munich 82230 Germany

The traditional singular perturbation approach can only be used in the robot system with weak joint flexibility. In order to solve this problem, a joint flexibility compensator was designed, which can increase the equivalent joint stiffness. So the limitation for the singular perturbation approach was removed and it can be extended to the robot system with normal joint flexibility. Besides these, an adaptive control law was designed for the slow subsystem, which can guarantee the trajectory error asymptotical tracking. The proposed control strategy can be applied to the engineering systems conveniently without any joint flexibility limitation and does not need the link acceleration or jerk information. Finally, an experimental study on the flexible joint manipulator was executed and the results verify that whatever the PD, computed torque or adaptive control are used in the slow subsystem, the proposed singular perturbation strategy is more valid than the traditional one.

关键词： Control theory

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An Anthropomorphic Robot Hand Developed Based on Underactuated Mechanism and Controlled by EMG Signals

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Journal of Bionic Engineering 2009年第3期6卷 255-263页

作者： Da-peng Yang~1 Jing-dong Zhao~1 Yi-kun Gu~1 Xin-qing Wang~1 Nan Li~1 Li Jiang~1Hong Liu~(1,2) Hai Huang~3 Da-wei Zhao~41.state key laboratory of robotics and system,Harbin Institute of Technology,Harbin 150001,P.R.China2.Institute of robotics and Mechatronics,German Aerospace Center,Munich 82230,Germany3.College of Shipbuilding Engineering,Harbin Engineering University,Harbin 150001,P.R.China4.College of Automation,Harbin Engineering University,Harbin 150001,P.R.China [a]State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 P. R. China [b]Institute of Robotics and Mechatronics German Aerospace Center Munich 82230 Germany [c]College of Shipbuilding Engineering Harbin Engineering University Harbin 150001 P. R. China [d]College of Automation Harbin Engineering University Harbin 150001 P. R. China

When developing a humanoid myo-control hand,not only the mechanical structure should be considered to afford a high dexterity,but also the myoelectric (electromyography,EMG) control capability should be taken into account to fully accomplish the actuation *** paper presents a novel humanoid robotic myocontrol hand (AR hand Ⅲ) which adopted an underac- tuated mechanism and a forearm myocontrol EMG *** AR hand Ⅲ has five fingers and 15 joints,and actuated by three embedded *** can be found within each finger and between the rest three fingers (the middle finger,the ring finger and the little finger) when the hand is grasping *** the EMG control,two specific methods are proposed:the three-fingered hand gesture configuration of the AR hand Ⅲ and a pattern classification method of EMG signals based on a statistical learning algorithm-Support Vector Machine (SVM).Eighteen active hand gestures of a testee are recognized ef- fectively,which can be directly mapped into the motions of AR hand Ⅲ.An on-line EMG control scheme is established based on two different decision functions:one is for the discrimination between the idle and active modes,the other is for the recog- nition of the active *** a result,the AR hand Ⅲ can swiftly follow the gesture instructions of the testee with a time delay less than 100 ms.

关键词： humanoid hand underactuated mechanism EMG control suppon vector machine

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Theoretical analysis and experimental study of Ultrasonic Vibration Microdissection technology

Theoretical analysis and experimental study of Ultrasonic Vi...

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IEEE International Conference on Mechatronics and Automation

作者： Liguo Chen Yaxin Liu Tao Chen Lining Sun State Key Laboratory of Robotics and System Robotics Institute Harbin Institute of Technology Harbin China

Molecular techniques are transforming our understanding of cellular function and the origin of disease. However, accurate molecular analysis methods will be limited if the input DNA, RNA, or protein is not derived from pure population of cells or is contaminated by the wrong cells. So a novel Ultrasonic Vibration Microdissection (UVM) method was proposed to procure pure population of targeted cells from tissue sections for subsequent analysis. In the last two years, an ultrasonic vibration microdissection system for molecular analysis of tissue had been developed in our laboratory. In this system, a multilayer piezoelectric actuator is used to actuate a sharp microneedle vibrating with high frequency and low amplitude to cut the tissue. In this paper, we focus on the ultrasonic vibration microdissection principle and various parameters on the impact of cutting effect. It is helpful for setting the system parameters, thus as vibration amplitude and frequency, properly to get the ideal cutting effect. Finally, contrast experiments were carried out, and the experiment results show agreement with the analyses results. It indicates that the embedded tissue can be quickly and precisely cut with the ultrasonic vibration microdissection method under the proper parameters.

关键词： Frequency Needles Microscopy Laser beam cutting Laboratories Glass Oscillators robotics and automation Nonhomogeneous media Piezoelectric actuators

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Piezoelectrically driven silicon microgrippers integrated with sidewall piezoresistive sensor

Piezoelectrically driven silicon microgrippers integrated wi...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Tao Chen Liguo Chen Lining Sun State Key Laboratory of Robotics and System Robotics Institute Harbin Institute of Technology Harbin China

This paper presents the design, fabrication, and application of an piezoelectrically driven microgripper integrated sidewall piezoresistive force sensor for measuring the gripping force. Surface and bulk micromachining technology is employed to fabricate end-effectors and sensor of the microgripper from a single crystal silicon wafer. Vertical sidewall surface piezoresistor etching technique is used to form the side direction sensors. The end-effectors of the gripper are four-bar structures. Two fixed cantilever beams integrated with piezoresistive sensor are designed to sense the gripping force, and a piezoelectrically driven microactuator is designed to provide the force to operate the other two movable bars. The piezoelectrically driver adhered with the silicon end-effectors generates a linear horizontal motion 9 mum, which is amplified to 30 mum at the bar tip of the microgripper. Then the range of the operation is 25 mum - 140 mum. Testing results verify that the vertical sidewall surface piezoresistor etching technique is effective. The sensitivity of the piezoresistive sensors is better than 72 V/N, and the resolution is better than 3 muN.

关键词： Silicon Grippers Piezoresistance Force sensors Force measurement Etching Fabrication Micromachining Structural beams Microactuators

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Analysis on Simplified Engineering Model and Vibration Feature of Spherical Micromanipulator

Analysis on Simplified Engineering Model and Vibration Featu...

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2009 IEEE International Conference on robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

作者： Pengfei Wang Haiyan Hu Mantian Li Lining Sun tate Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbinChina State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbinChina

ISBN: (纸本)9781424447749

A spherical micromanipulator achieves rotations with 3-DOFs of the micro-ball with the relative displacements brought by the frictions between the ruby balls and the micro-ball on the top of piezoelectric tubes. The two-masses simplified engineering model of the stick-slip principle is established under the condition of simplifying spherical higher pair joints. The model of forced vibration and self-excitation oscillation on stick-slip movement is established by dividing the two-masses simplified engineering model and the composite theory of the forced vibration and self-excitation oscillation is presented. The model is demonstrated by simulations. The experiment is also done, and the validity of the model is further proved by the results. At last, the defects of simple driving are discussed, which provides reference to micromanipulator control.

关键词： Micromanipulator Spherical Stick-slip Vibration features

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