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检索条件"机构=Laboratory of Control System and Robotics"

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Equivalent circuit simulation model of cantilevered piezoelectric bimorph energy harvester

Equivalent circuit simulation model of cantilevered piezoele...

引用

2011 International Conference on Mechanical Engineering, Materials and Energy, ICMEME 2011

作者： Wang, Hongyan Shan, Xiaobiao Xie, Tao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China College of Computer and Control Engineering Qiqihar University Qiqihar 161006 China

ISBN: (纸本)9783037853405

This paper presented an equivalent circuit simulation model of the cantilevered piezoelectric bimorph energy harvester for predicting the electrical power output of the energy harvester. The alternating voltage in the equivalent circuit model is identified from FE transducer model and the parameters of the resistance, capacitance and inductance in the equivalent circuit model are identified from FE actuator model. To valid the equivalent circuit simulation model, the power output values are compared with those obtained from the coupled piezoelectric-circuit finite element analysis. The results demonstrate the accuracy of the equivalent circuit simulation model. © (2012) Trans Tech Publications, Switzerland.

关键词： Equivalent circuits

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Complex impedance matching for power improvement of a circular piezoelectric energy harvester

Complex impedance matching for power improvement of a circul...

引用

2011 International Conference on Mechanical Engineering, Materials and Energy, ICMEME 2011

ISBN: (纸本)9783037853405

The impedance matching and the optimization of power from a circular piezoelectric energy harvester with a central-attached mass are studied. A finite element model is constructed to analyze the electrical equivalent impedance of the circular piezoelectric energy harvester. Furthermore, the complex conjugate matching load is used to extract the maximum output power of the energy harvester. The power output from complex conjugate matching load is compared with the power output from the resistive matching load and a constant resistance, separately. The results suggest that the complex conjugate matching can result in a significant increase of the output power for all frequencies. The effective bandwidth of the piezoelectric energy harvester is extended significantly. © (2012) Trans Tech Publications, Switzerland.

关键词： Finite element method

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Research on the Principle of Compiled-typed NC system

引用

10th Asia-Pacific Conference on Materials Processing (APCMP 2012)

作者： Zhou, Liang Ren, Yan Hai Lang, Yue Dong Liao, Zhi Rong State Key Laboratory of Robotics and System (HIT) Hei Longjiang Province China Harbin Institute of Technology Hei Longjiang Province China Beijing Aerospace Control Instrument Research Institute Beijing China

ISBN: (纸本)9783037853993

To solve the conflict between OS's real time property and NC system's open and universal property [1], a compiled-typed NC system is advanced based on analysis and research of the structure of modern NC systems. This kind of system can diminish the affection of the real-time OS's respond precision to machining with high speed and high precision and improve the frequency of interpolation sampling and respond precision. Motion control experiment and parametric curve direct interpolation experiment are finished by bonnet polishing machine tool with compiled-typed NC prototype system, proving that working principle of compiled-typed NC system is correct and validity.

关键词： NC system Compile USB ARM Real-time

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Easy control hydraulic rotary self-servo reconfigurable decoupling hydraulic joint

Easy control hydraulic rotary self-servo reconfigurable deco...

引用

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

作者： Jiang, Lin Zhao, Jie Wu, Wenchao Xiang, Xianbao Chen, Xinyuan Zhao, Hui Zeng, Liangcai State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China Key Laboratory of Metallurgical Equipment and Its Control Ministry of Education Wuhan University of Science and Technology Wuhan 430081 China

ISBN: (纸本)9781467312776

Aiming at the problems in hydraulic rotary self-servo, a easy control hydraulic rotary self-servo technology was proposed. The problems in hydraulic rotary self-servo were just as follows: the hydraulic servo valve radial force is imbalance, the hydraulic spool clamping force and friction are large, and the dynamic properties of the spool become deterioration. Based on easy control hydraulic rotary self-servo technology, the reconfigurable decoupling hydraulic joint was designed. And the decoupling properties of this new joint were analysed. This new joint has reconfigurable performance, omni-directional work space and movement decoupling performance. The omnidirectional work space and movement decoupling performance were verified by simulation experiment. © 2012 IEEE.

关键词： Reels

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A mobile robot self-localization approach based on unidirectional vision

A mobile robot self-localization approach based on unidirect...

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

作者： Wang, Ke Huo, Guanglei Zhao, Lijun Li, Ruifeng Wang, Wei Key Laboratory of Measurement and Control of CSE Ministry of Education Nanjing 210096 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province 150080 China Research Center of Information and Control Dalian University of Technology Dalian Liaoning Province 116024 China

ISBN: (纸本)9781467312776

This paper presents a self-localization system for mobile robot in large-scale indoor environments. For a structured corridor environment, the vision information is adopted to track the robot pose with a predefined hybrid metric-topological map. A nonlinear unidirectional camera model is developed to project the probabilistic map elements with uncertainty manipulation. Extended Information filters are deployed to estimate the robot pose. The proposed system can perform localization tasks on-the-fly, with the features of efficient map modeling and computational simplicity. Experimental results are provided to demonstrate the performance and effectiveness of the proposed techniques. © 2012 IEEE.

关键词： Mobile robots

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Kinematics analysis and trajectory planning of a multiarm medical robot assisted maxillofacial surgery

Kinematics analysis and trajectory planning of a multiarm me...

引用

6th International Conference on Complex Medical Engineering, CME 2012

作者： Chen, Chao Duan, Xing-Guang Wang, Xing-Tao Zhu, Xiang-Yu Li, Meng Intelligent Robotics Institute Key Laboratory of Biomimetic Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex System School of Mechatronical Engineering Beijing Institute of Technology #5Zhongguancun South Street Haidian Beijing China China

ISBN: (纸本)9781467316163

As the complex anatomical structure of the maxillofacial region, the surgery in this area is high risk and difficult to implement. Then, a multi-arm medical robot assisted maxillofacial surgery using optical navigation was proposed in this paper, which can improve surgical precision and make the doctors away from the heavy manual work. In this paper, the medical robot system and mechanical structure of the robot were introduced. Forward kinematics and inverse kinematics were analysed. Then trajectory planning using quintic polynomial interpolation for smoothly motion was adopted, and rectilinear motion in Cartesian space was adopted. The kinematics was validated and the workspace of the robot was calculated by simulations. Finally, the robot model was established and an experiment was carried out which proved the robot run smoothly and positioned accurately. © 2012 IEEE.

关键词： Inverse kinematics

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Development of the Ground control Station for a quadrotor unmanned aerial vehicle based on Java programming

Development of the Ground Control Station for a quadrotor un...

引用

31st Chinese control Conference, CCC 2012

作者： Yang, Liu Bin, Xian Fu, Wang Shibo, Liu Xun, Gu Tianjin Key Laboratory of Process Measurement and Control Institute of Robotics and Autonomous System Tianjin University Tianjin 300072 China

ISBN: (纸本)9789881563811

The four-rotor unmanned aerial vehicle (UAV), known as quadrotor UAV, has been a hot area for the research of unmanned aerial vehicles. Ground control Station (GCS), as an essential part of quadrotor UAV system, plays a very important role in applications of quadrotor UAV. Most ordinary GCS are stand alone ones, and lack extending abilities. Considering this defect and the real requirements of monitoring and control of UAV, this paper provides a new GCS based on VC++ and Java programming techniques. The major novelty of this GCS is of the Web access to real-time flight data. Plus, the proposed GCS posses the standard functions, such as data receiving in real time, storing the data and displaying the data. Experiment results are provided to show that the GCS operates well, with good human-machine interaction and extending abilities. © 2012 Chinese Assoc of Automati.

关键词： Unmanned aerial vehicles (UAV)

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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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Research on the ground control system of quadrotor unmanned aerial vehicles

Research on the ground control system of quadrotor unmanned ...

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World Congress on Intelligent control and Automation (WCICA)

作者： Tingting Zhao Bin Xian Yungao Yang Fang Guo Guoping Huang The Institute of Robotics and Autonomous System the Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering and Automation Tianjin University 300072 China

The quadrotor unmanned aerial vehicle (UAV) has been a focus for unmanned aerial vehicles. Ground control system (GCS) is an important part of the quadrotor UAV flight control system, and it can promote the flight performance and safety of quadrotor UAVs. In this paper, a quadrotor UAV GCS is designed and implemented, and the GCS realizes the following functions, including receiving and storing of the flight data, the real-time localization utilizing the customization of electronic maps like MapX and Google Earth, the visual display of flight states via virtual instruments and the waypoint planning. Outdoor experiments have been done to verify the GCS's performance. It can be concluded that the proposed GCS in this paper can work stably, and it can guarantee the integrity of the flight data, the accuracy of the instruments display and map localization.

关键词： Google Earth Sockets Unmanned aerial vehicles XML HTML Automation

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Development of real-time flight simulator for quadrotor

Development of real-time flight simulator for quadrotor

引用

International Conference on Advanced Computer Science and Information system (ICACSIS)

作者： Joga D. Setiawan Yuhanes D. Setiawan Mochammad Ariyanto Agus Mukhtar Agus Budiyono Laboratory of Control System and Robotics Faculty of Engineering Diponegoro University Indonesia Smart Robot Center AeroSpace Engineering Department Konkuk University South Korea

The purpose of this research is to build a real-time flight simulator for quadrotor systems and verify if the simulator runs in real time. The simulator was constructed by writing the mathematical models of quadrotor dynamic in MATLAB/Simulink. Using xPC Target software environment, three PCs were set up to work in sync to make the simulation run in real time. This paper shows several simulation results of the quadrotor dynamic in three flight directions. These results validate the stable performance of PD controller being used. At the same time it can be revealed that the simulation runs in real time by observing the percentage processing usage of the computer as function of simulation time. The simulator can be very useful for researchers to understand the character of the quadrotor system being developed and for pilots to complete a mission using the quadrotor system.

关键词： Solid modeling Computational modeling Mathematical model Real-time systems Computers Propellers PD control

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