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270-degree arc-shaped piezoelectric energy converter in uniflow fluid environment

IOP Conference Series: Materials Science and engineering 2019年第1期531卷

作者： Ying Gong Xiaobiao Shan Zhengbao Yang Tao Xie State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China Department of Mechanical Engineering (MNE) City University of Hong Kong Tat Chee Avenue Kowloon Hong Kong SAR

Energy harvesting in uniflow fluid environment aims at ambient energy that can be used in water environment for monitor equipment. In this paper, we focus on coupling both bending vibration and torsional vibration to gain better power generation. A novel structure of energy converter(arc-shaped) was designed and manufactured. Meanwhile the influence of vibrator with and without a pelvic fin was tested. Mathematical analyse due to vibration phenomenon and experimental result are reported. The 270-degree arc-shaped ring size piezoelectric ceramic is verified capable of producing an effective voltage over 10 V with the power of 0.5 mW.

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Singularity-Robust Hybrid Visual Servoing Control for Aerial Manipulator

Singularity-Robust Hybrid Visual Servoing Control for Aerial...

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IEEE International Conference on robotics and Biomimetics

作者： Fengyu Quan Haoyao Chen Yanjie Li Yunjiang Lou Jian Chen Yunhui Liu School of Mechanical Engineering and Automation State Key Laboratory of Robotics and System China State Key Laboratory (SKL) of PhotoVoltaic Science and Technology (PVST) Trinasolar Co. Ltd Changzhou Jiangsu P.R. China Department of Mechanical and Automation Engineering Chinese University of Hong Kong Hong Kong P. R. China

ISBN: (纸本)9781728103785;9781728103778

Control of aerial manipulation has attracted increasing attention in robotics these years. It is still a challenge to precisely control the manipulator under the influence of dynamical motion coupling between the aerial platform and manipulator. In this paper we develop a hybrid visual servoing approach for aerial manipulators to complete aerial manipulations. The hybrid controller integrates both advantages of the image-based and position-based visual servoing controllers; it ensures the target features staying in the field of view as well as guaranteeing the global convergence of error. Furthermore, to address the singularity problem existing in the flexible aerial manipulator, a SVD-based variant damped least square solution is developed. Experiments are performed on a custom-built aerial manipulator which consists of a 6-DoF serial manipulator and a coaxial octocopter. The experimental results have illustrated the effectiveness of the proposed approach.

关键词： Manipulator dynamics Cameras Visual servoing End effectors Kinematics Convergence

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The Research on Sensorless Control of Permanent Magnet Synchronous using SMC and SMO

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IOP Conference Series: Materials Science and engineering 2020年第1期717卷

作者： Li Daoqi Xiong Xinhong Zhang Guoqing Zhang Yanhui Zuo Rui Feng Wei School of Logistics Engineering Wuhan University of Technology Wuhan 430070 China Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen 518055 China Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen 518055 China CAS Key Laboratory of Human-Machine-Intelligence Synergic Systems Shenzhen Institutes of Advanced Technology Shenzhen 518055 China

This work proposes a way to achieve the sensorless control of permanent-magnet synchronous motor using sliding mode controller (SMC) and Sliding Mode Observer(SMO). In this Paper, the SMC is designed to replace the speed control loop PI controller from the original permanent magnet synchronous motor control system with the sliding mode variable structure control theory. Combined with the modified SMO, the 'SMC and modified SMO' motor control system is proposed. Compared with the 'PI and modified SMO' mode, the performance of the motor control is increased substantially, the interference torque speed attenuation is decreased by 87.5%, and the speed control error was also reduced by 67.7%. There is no overshoot with the reaction speed, and significant improvement in response speed, anti-interference performance, control accuracy and observation precision are achieved. Overall, both the system control and observation performance are significantly improved.

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Design of PI Controller for PMSM using Chaos Particle Swarm Optimization Algorithm

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IOP Conference Series: Materials Science and engineering 2020年第1期717卷

作者： Zuo Rui Xiong Xinhong Chen Lianbo Guo Shifeng Zhang Yanhui Li Daoqi Feng Wei School of Logistics Engineering Wuhan University of Technology Wuhan 430070 China Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen 518055 China Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen 518055 China CAS Key Laboratory of Human-Machine-Intelligence Synergic Systems Shenzhen Institutes of Advanced Technology Shenzhen 518055 China

The proportional-integral-derivative (PID) controller parameters tuning is critical for improving the performance of permanent magnet synchronous motor (PMSM) systems. To improve the performance of particle swarm optimization (PSO) in the PID parameters tuning, the chaos particle swarm optimization (CPSO) is adopted to tune PI parameters in this work. The PMSM vector control system is selected as the research object, and its speed loop PI controller using CPSO algorithm is implemented. The optimal PI controller parameters are obtained using the CPSO algorithm with ten iterations. The simulation is conducted using MATLAB/Simulink to evaluate to the PI controller performance. Four performance indicators including overshoot, rise time, peak time and ITAE are used to evaluate the PI controller with CPSO, and the results suggest that the CPSO algorithm has better performance and stability compared with other tuning methods.

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Customer feedback gathering and management tools for product-service system design

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Procedia CIRP 2018年 67卷 577-582页

作者： Dimitris Mourtzis Ekaterini Vlachou Vasilios Zogopoulos Ravi Kumar Gupta Farouk Belkadi Adel Debbache Alain Bernard Laboratory for Manufacturing Systems and Automation (LMS) Department of Mechanical Engineering and Aeronautics University of Patras Rio Patras 26504 Greece Ecole Centrale de Nantes – LS2N UMR CNRS 6004 Nantes 44321 France Gizelis Robotics Robot system integration Schimatari Viotias 32009 Kormatzini Area Greece

Modern manufacturing industries are being shifted towards a new business model where low cost and high customer value solutions should be designed and provided. The use of advanced technology and mobile applications will support companies to approach customers, and extract and analyze their opinion. Towards that, this research work presents tools for customers’ feedback gathering and management to support efficient and accurate product and service designs. Mobile applications for customer feedback gathering on products and services and an importance-satisfaction analysis based on modular design approach are proposed. The tools are validated in a real case study from the robotics industry.

关键词： Feedback gathering Feedback management Mobile applications Product-service systems Design

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robotics-based micro-reeling of magnetic microfibers to fabricate helical structure for smooth muscle cells culture

Robotics-based micro-reeling of magnetic microfibers to fabr...

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2017 IEEE International Conference on robotics and Automation, ICRA 2017

作者： Sun, Tao Shi, Qing Wang, Huaping Liu, Xiaoming Hu, Chengzhi Nakajima, Masahiro Huang, Qiang Fukuda, Toshio Intelligent Robotics Institute Key Laboratory of Biomimetic Robots and System Ministry of Education School of Mechatronical Engineering Beijing Institute of Technology Beijing100081 China Department of Micro-Nano Systems Engineering Nagoya University Nagoya464-8603 Japan Institute of Robotics and Intelligent Systems ETH Zurich Tannenstrasse 3 Zurich8092 Switzerland

ISBN: (纸本)9781509046331

Helical structure assembled by hydrogel microfibers is significant for culture of smooth muscle cells. However, the helical structure is only fabricated at the macroscale, while the fabrication of helical microstructure is still a challenge due to the lack of assembly method. In this paper, we propose a robotics-based assembly method to handle such challenge. An electromagnetic needle (EMN) is employed as end-effector to magnetically reel the microfiber encapsulating magnetic nanoparticles around a micropillar, and a dual-ring structure is designed to keep the microfiber being attracted at the EMN tip. For enhancing the stability of tip attraction, the manipulation mode of anticlockwise pushing microfiber is established. Moreover, the interaction mechanism between EMN tip and microfiber is analyzed by developing a static force model, and then the key condition of stably reeling microfiber is concluded. Furthermore, a robotics-based motion trajectory of EMN tip is planned to achieve a smooth reeling process. Based on such planning, the size of dual-ring structure is further optimized to improve the success rate of reeling. Finally, the helical microstructure with there-turn coils is successfully fabricated. © 2017 IEEE.

关键词： Nanoparticles

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system Identification in Adaptive Inverse Control for Electrohydraulic Shaking Table Using Variable Tap-length NLMS Algorithm

System Identification in Adaptive Inverse Control for Electr...

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2017 5th International Conference on Mechanical, Automotive and Materials engineering（CMAME 2017）

作者： Man Wang Dacheng Cong Zhidong Yang Changhong Gao State Key Laboratory of Robotics and System School of Mechatronics EngineeringHarbin Institute of Technology

Adaptive inverse control（AIC） is an advanced control technology which can efficiently learn and control the severely nonlinear and real-time plant,such as the electrohydraulic shaking table（EST）.The foundation of AIC is the system identification of the plant via an adaptive *** traditional adaptive filter theory is known as a fixed tap-length（length of the weight vector） FIR（Finite impulse response） filter whose weights change by adaptive algorithm *** mismatch between plant and the fixed taplength will cause inaccuracy or compute *** paper introduce a variable tap-length NLMS（VTLNLMS） algorithm to find the optimum tap-length（OPTL） of the model of multi-DOF EST,then use AIC to improve the accuracy of time wave *** dynamics response nonlinear model of the EST is built to reflect the experimental *** nonlinear EST model and referred algorithm are simulated in MATLAB/*** show the AIC with OPTL is effective in the EST.

关键词： Adapative Inverse Control Electrohydraulic Shaking Table Variable Tap-length Nl MS Nonliner system system Identification

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Experiments on the relationship between the structural parameters of contraposition transducers and the acoustic levitation transportation trajectory

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Proceedings of Meetings on Acoustics 2019年第1期38卷

作者： Huijuan Dong Mingyang Sui Chuncheng Mao Guanyu Mu Jie Zhao 1School of Mechatronics Engineering Harbin Institute of Technology Harbin Hei Longjiang 150001 CHINA dhj@*** 2State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 150001 CHINA 954479126@*** ***@*** mu-guanyu@*** jzhao@***

Standing wave acoustic levitation transportation technique has been widely used in many research areas. In this work, two Langevin-type piezoelectric transducers’ central lines are mounted at a certain angle which is named a contraposition transducer array. The levitator developed in this work is constructed using the array and a reflector. Accordingly, a standing wave acoustic field is formed to levitate and transport particles by optimizing the angle between central lines of the two transducers, the distance between the two transducers’ output and their reflectors, the exciting phase differential on the two transducers. In this standing wave acoustic field, the trapped objects can be levitated and transported by modulating the exciting phase difference of the two transducers. In this work, the locations of the levitated particles are acquired by a high speed video camera and are clarified using the Hough Circle algorithm. The experiments carried out by the authors have demonstrated the effects of the levitator’s structure parameters (including the angle between central lines of the two transducers, the distance between the two transducers’ output and the reflector) on the transportation trajectory.

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Weight estimation system using surface EMG armband

Weight estimation system using surface EMG armband

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2017 IEEE International Conference on Industrial Technology, ICIT 2017

作者： Oboe, Roberto Tonin, Alessandro Yu, Koyo Ohnishi, Kouhei Turolla, Andrea Department of Management and Engineering Univerisity of Padova Vicenza Italy Laboratory of Kinematics and Robotics .R.C.C.S. Fondazione Ospedale San Camillo Venice Italy Department of Information Engineering University of Padova Padova Italy Department of System Design Engineering Keyo University Hiyoshi Kouhoku Yokohama Japan

ISBN: (纸本)9781509053209

Knowing the force exerted by a human operator while he/she is performing a specific task is important in many different field. For instance, limiting or optimizing the effort in sport activities allows for the development of specific training patterns for athletes, while knowing the effort made by a worker when he/she lifts a weight is important from the point of view of the safety. The effective effort is not only related to the net force/torque generated, but also to the force generated by each muscle. This aspect is the most crucial to be evaluated, as a non properly designed/handled exercise/task can lead to an excessive muscle strain and, in turn, to injuries. In this paper we report some preliminary results obtained by using low-cost wearable sensors in the estimation of the weight lifted by a human operator, through the simultaneous measurement of motion (via inertial sensors) and the muscles activations (via surface ElectroMyoGraphy - sEMG). The armband has 8 sEMG sensors and a 9-DoF inertial sensor, it has electrically safe setup with low voltage battery and Bluetooth protocol. The relationship between the EMG and inertial signals and the exerted force was made using a biarticular model of the arm. The model was used in order to have a theoretical value of the shoulder and elbow torques performing a weightlifting standardized tests. The value was then compared with the one estimated by the identification of a model and by means of a neural network. In both cases, the results show the relationship between signals and torque, but, in both cases, the results are affected by error. Nevertheless, even if it doesnt accurately estimate the weight lifted, both the presented techniques highlight the possibility of developing a classification of the exerted force that, calibrating the system for each person, can identify whether the weight lifted is light or heavy. © 2017 IEEE.

关键词： Wearable sensors

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COMSOL-based simulations and experiments on the classifying trajectory of the mixed particles levitated in standing wave field

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Proceedings of Meetings on Acoustics 2019年第1期38卷

作者： Huijuan Dong Fanbin Meng Bin Lan Guanyu Mu Jie Zhao 1School of Mechatronics Engineering Harbin Institute of Technology Harbin Hei Longjiang 150001 CHINA dhj@*** 2State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 CHINA mengfanbin96@*** ***@*** mu-guanyu@*** jzhao@***

In this work, a standing wave acoustic field formed by using two contraposition transducers is used to classify the mixed powder. COMSOL-based simulations reveal the influence of the factors on the drop trajectories of the particles within an acoustic field. Then the experiments are carried out to demonstrate those obtained using COMSOL-based simulations. Finally, the separation experiments of the mixed powder of iron and dioxide silica are achieved, including the mixed powder both in the same diameter and the different diameter respectively.

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