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World Congress on Intelligent Control and Automation (WCICA)

作者： Bin Li Dalong Tan Yuechao Wang Li Chen Shugen Ma Robotics Laboratory Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Department of Systems Engineering Lbaraki University Hitachi Japan

ISBN: (纸本)0780382730

Biological snakes' diverse locomotion modes and physiology make them supremely adapted for the ground. This paper discusses the biological snakes' locomotion mode on the diverse ground, and describes the development of a snake-like robot with the adaptability for the ground. The method to realize some locomotion modes is given. The method for detecting the characteristic of ground is proposed and identified in test.

关键词： Robots robotics and automation Laboratories Content addressable storage systems engineering and theory Physiology Testing

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Path planning of a snake-like robot based on serpenoid curve and genetic algorithms

Path planning of a snake-like robot based on serpenoid curve...

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World Congress on Intelligent Control and Automation (WCICA)

作者： Jinguo Liu Yuechao Wang Bin Ii S. Ma Robotics Laboratory Shenyang Institute of Automation Chinese Academy and Sciences China Robotics Laboratory of Chinese Academy of Sciences Shenyang Institute of Automation (SIA) China Robotics Lab. Chinese Acad. of Sci. China Department of Systems Engineering Ibaraki University JAPAN

The path of the snake-like robot has no repetition because its motion is influenced by manifold indeterminate factors such as ground condition, mechanism's vibration and motor voltage's variety. A novel path planning technique based on serpenoid curve and genetic algorithms (GAs) has been proposed to control the snake-like robot in Shenyang Institute of Automation (SIA, China). First, the ranges of the path and the curvature deviation have been calculated approximately and set as the bounds of genetic algorithms. Then using real time dual genetic algorithms, this path planning technique not only can decide the shortest path and the minimum curvature deviation, but also can limit the motion error's influence. Simulation results show that the results of the second layer of GAs are more available than that of the first layer of GAs and this novel technique is effective for the path planning of the SIA snake-like robot.

关键词： Path planning Genetic algorithms robotics and automation Automatic control Robot control Orbital robotics Motion control Laboratories Genetic engineering Manifolds

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Study on a "tactile mirror" for displaying static friction sensation with tactile perception feedback

Study on a "tactile mirror" for displaying static friction s...

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IEEE International Conference on robotics and Automation (ICRA)

作者： I. Fujimoto Y. Yamada T. Maeno T. Morizono Y. Umetani Intelligent Robotics Laboratory Toyota Technological Institute Nagoya Japan Department of Mechanical Engineering Keio University Yokohama Japan Intelligent Systems Laboratory Limited Minato Tokyo Japan

The goal of our study is development of a "tactile mirror" for displaying tactile perception information. A point of distinctive difference between a tactile mirror and conventional tactile displays is that a tactile mirror possesses a feedback mechanism for acquiring the contact state information on the finger pad concerning not force but tactile perception sensation. The primary development concerns human static friction sensation. First, a control method and the structure of a tactile mirror are described. Second, simulation results using FEM for contact analysis and a ANN(artificial neural network) for generating feedback signals are shown. Finally, experiments demonstrating that providing a feedback component accomplish accurate display of static friction sensation with a conventional type of tactile displays.

关键词： Mirrors Friction Displays Force feedback Neurofeedback State feedback Fingers Humans Analytical models Signal analysis

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Novel micro gripping, probing, and sensing devices for single-cell surgery

Novel micro gripping, probing, and sensing devices for singl...

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Conference Proceedings - 26th Annual International Conference of the IEEE engineering in Medicine and Biology Society, EMBC 2004

作者： Li, Wen J. Xi, Ning Centre for Micro and Nano Systems Chinese University of Hong Kong Shatin N.T. Hong Kong Robotics and Automation Laboratory Department of Electrical Engineering Michigan State University East Lansing MI United States Micro/Nano Robotics Automations Lab. Shenyang Institute of Automation Chinese Academy of Sciences Shenyang Liaoning China Chinese University of Hong Kong Michigan State University Shenyang Institute of Automation

Several novel devices under development in our laboratories to ultimately realize a micro robotic system for single cell nano-scale probing, injection, imaging and surgery is described in this paper. Thus far, we have 1) developed MEMS polymer grippers that can be actuated under water with very large deflection and are capable of gripping 500um embryonic cells in water with ∼2V input;2) developed a probe-etching technique to controllably shape fiber probes into various tip geometries, Le., fibers with initial diameter of 125um were sharpened into tips with angles ranging from <2.7 - 9.7° and with nano-scale tip diameters of <1um;3) developed a novel PVDF force sensing system with resolution in the sub-uN range for applications in bio-manipulation, bio-injection, and potentially single cell surgery. Details of these technologies are discussed in this paper.

关键词： Medical imaging

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Studies on lateral rolling locomotion of a snake robot

Studies on lateral rolling locomotion of a snake robot

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IEEE International Conference on robotics and Automation (ICRA)

作者： Li Chen Yuechao Wang Shugen Ma Bin Li Graduate School of Chinese Academy of Sciences China Robotics Laboratory Shenyang Institute of Automation Shenyang China Department of Systems Engineering Ibaraki University Hitachi Japan

A reconfigurable modular snake robot has been developed, which can not only move on a plane but aIso achieve some f-dimensional motions while reconfigured. Control equations of 3-dimensional locomotion were established by the composition of two bending motions in mutual orthogonal plane. Three types of lateral rolling locomotion, flapping, linear rolling and curved rolling, were achieved by controlling the amplitudes and the number of two waves in the two bending motions. Using the three types of locomotion the snake robot can realize net lateral translation, alternation of its contact base and rolling over some obstacles. The lateral rolling locomotion obtains its driving force through the interaction with the environment. The rolling shape and its direction depend on the transferring direction and phase difference of the two waves respectively.

关键词： Robots DC motors Orbital robotics robotics and automation Motion control Metalworking machines Laboratories systems engineering and theory Equations Shape

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Application of uncertain variables in an adaptive decision system for a complex of operations

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systems Science 2004年第3期30卷 85-94页

作者： Orski, Donat Sugisaka, Masanori Institute of Control and Systems Engineering Wroclaw University of Technology Wybrzeze Wyspiańskiego 27 50-370 Wroclaw Poland Artificial Life and Robotics Laboratory Department of Electrical and Electronic Engineering Oita University 700 Dannoharu Oita 870-1192 Japan

The paper concerns a decision plant consisting of parallel operations, which are described by relational models with unknown parameters. The unknown parameters are assumed to be values of uncertain variables characterized by certainty distributions given by an expert. The solution of a decision problem and, consequently, performance of the knowledge-based decision system is very sensitive to the forms and parameters of certainty distributions. In the paper, it is shown how application of an adaptation process, consisting in step by step changing of parameters in certainty distributions based on current performance evaluation, may improve performance of a decision system under consideration. An illustrative example and results of simulations are included.

关键词： Uncertain systems

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Modular hybrid Petri nets for studying multi-operational production systems where parts follow multiple alternative processes

Modular hybrid Petri nets for studying multi-operational pro...

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IEEE International Conference on robotics and Automation (ICRA)

作者： G.J. Tsinarakis K.P. Valavanis Intelligent Systems and Robotics Laboratory Department of Production Engineering and Management Technical University of Crete Chania Greece Department of Computer Science and Engineering University of South Florida Center for Robot-Assisted Search and Rescue Tampa FL USA

This work presents a modular hybrid timed Petri net (MHTPN) methodology used to study multi-operational production systems in which parts are used for the production of different product types. This research generalizes work presented in Tsinarakis, GJ et al., (2003) that studied production systems where all parts of the same type were used for the production of a type of final products following a common route. 3 fundamental system modules are derived; their MHTPN models are defined, followed by modules synthesis to obtain the overall system Petri net. For any topology, system's nodes and invariants are calculated. Applicability of the method is illustrated through an analytical example.

关键词： Petri nets Production systems Topology Fluid dynamics Assembly Intelligent robots Hybrid intelligent systems Laboratories Production engineering engineering management

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Fault detection and identification for robot manipulators

Fault detection and identification for robot manipulators

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IEEE International Conference on robotics and Automation (ICRA)

作者： M.L. McIntyre W.E. Dixon D.M. Dawson I.D. Walker Department of Electrical & Computer Engineering Clemson University Clemson SC USA Robotics and Energetic Systems Group Oak Ridge National Laboratory Oak Ridge TN USA Department of Electrical & Computer Engineering Clemson University Clemson SC

Several factors must be considered for robotic task execution in the presence of a fault, including: detection, identification, and accommodation for the fault. In this paper, a prediction error based dead-zone residual function and nonlinear observers are used to detect and identify a class of actuator faults. Advantages of the proposed fault detection and identification methods are that they are based on the nonlinear dynamic model of a robot manipulator (and hence, can be extended to a number of general Euler Lagrange systems), they do not require acceleration measurements, and they are independent from the controller. A Lyapunov-based analysis is provided to prove that the developed fault observer converges to the actual fault.

关键词： Fault detection Fault diagnosis Robots Manipulator dynamics Accelerometers Medical robotics Acceleration Electrical fault detection US Department of Energy Contracts

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Novel micro gripping, probing, and sensing devices for single-cell surgery

Novel micro gripping, probing, and sensing devices for singl...

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Annual International Conference of the IEEE engineering in Medicine and Biology Society (EMBC)

作者： W.J. Li Ning Xi Centre for Micro and Nano Systems Chinese University of Hong Kong New Territories Hong Kong China Micro/Nano Robotics and Automations Laboratory Shenyang Institute of Automation Chinese Academy and Sciences Shenyang Liaoning China Robotics and Automation Laboratory Department of Electrical Engineering Michigan State University East Lansing MI USA

Several novel devices under development in our laboratories to ultimately realize a micro robotic system for single cell nanoscale probing, injection, imaging and surgery is described in this paper. Thus far, we have 1) developed MEMS polymer grippers that can be actuated under water with very large deflection and are capable of gripping 500/spl mu/m embryonic cells in water with /spl sim/2 V input; 2) developed a probe-etching technique to controllably shape fiber probes into various tip geometries, i.e., fibers with initial diameter of 125 /spl mu/m were sharpened into tips with angles ranging from <2.7-9.7/spl deg/ and with nanoscale tip diameters of <1/spl mu/m; 3) developed a novel PVDF force sensing system with resolution in the sub-/spl mu/N range for applications in bio-manipulation, bio-injection, and potentially single cell surgery. Details of these technologies are discussed in this paper.

关键词： Surgery Shape control Laboratories Robot sensing systems Nanoscale devices Micromechanical devices Polymers Grippers Embryo Force control

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Study on a snake-like robot adapting to the ground

Study on a snake-like robot adapting to the ground

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WCICA 2004 - Fifth World Congress on Intelligent Control and Automation, Conference Proceedings

作者： Li, Bin Tan, Dalong Wang, Yuechao Chen, Li Ma, Shugen Robotics Laboratory Shenyang Institute of Automation CAS 114 Nanta Street Shenyang 110016 China Department of Systems Engineering Ibaraki University 4-12-1 Nakanarusawa-Cho Hitachi 316-8511 Japan

Biological snakes' diverse locomotion modes and physiology make them supremely adapted for the ground. This paper discusses the Biological snakes' locomotion mode on the diverse ground, and describes the development of a snake-like robot with the adaptability for the ground. The method to realize some locomotion modes is given. The method for detecting the characteristic of ground is proposed and identified in test.

关键词： Mobile robots

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