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Pressure dependence of Brillouin frequency shift in bare silica optical fibers

Chinese Optics Letters 2012年第10期10卷 20-22页

作者：顾海栋董惠娟张广玉何俊徐宁 Douglas.J.Brown School of Mechatronics Engineering Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin Institute of Technology Department of Electrical and Computer Engineering University of New BrunswickFrederictonNB E3B 5A3Canada

The effect of hydrostatic pressure （up to 28 MPa） on Brillouin frequency shift （BFS） within two types of bare, single-mode fibers is studied via Brillouin optical time domain analysis technique. Experimental results show a negative linear relation between pressure and BFS, with almost the same sensitivity in both types of fibers. The average value of experimental slopes is –0.742 MHz/MPa. This value is found to be well suited to theoretical analysis on the basis of data on bulk silica glass in previous reports. This preliminary evaluation may result in a new method for distributed pressure sensing along silica optical fiber.

关键词： Frequency shift keying Hydrostatic pressure Silica Time domain analysis

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Calibration and Mosaicing of Forward-Scan Sonar DIDSON Images

Calibration and Mosaicing of Forward-Scan Sonar DIDSON Image...

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International Conference on Intelligent Computation Technology and Automation, ICICTA

作者： Shaorong Xie Yuanyu Xu Jinbo Chen Wenjun Jin Jun Luo State Key Laboratory of Robotics Shanghai University Shanghai China School of Mechatronics Engineering and Automation Shanghai University Shanghai China

DIDSON (Dual-frequency identification sonar), a new generation of acoustic video cameras, is applied to research and detect the underwater environment in this paper. In order to solve the shortcomings of the DIDSON in underwater environment, we propose a real-time forward-scan sonar image mosaicing method and system. Through a series of processing to the DIDSON images, such as image registration, image matching and image fusion, a few DIDSON images with small viewing angle and low resolution have be mosaicing to be a large-scale and high resolution sonar image. This improves DIDSON's target detection and expand observing angle to detect bigger underwater targets.

关键词： Sonar Image resolution Acoustics Image registration Cameras Smoothing methods Image edge detection

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Biped robot push detection and recovery

Biped robot push detection and recovery

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International Conference on Information and Automation (ICIA)

作者： Awais Yasin Qiang Huang Qian Xu Weimin Zhang Key Laboratory of Biomimetic Robots and Systems Key Laboratory of Intelligent Control & Decision of Complex Systems Intelligent Robotics Institute School of Mechatronics Engineering Beijing Institute of Technology Beijing P.R. China

This paper presents a balance control approach for a biped robot by regulating COM position with the help of proper foot placement in response to external perturbation. The proposed approach detects present postural and stability state of robot through sensory data from Attitude and Heading Reference System (AHRS) and foot force sensors; and in case of external push, recovers the balance and posture of the robot by foot placement in appropriate direction. The foot placement is carried out using one of the alternative or rescue trajectories already available in the memory of the robot. The rescue trajectories are developed for both sagittal and lateral plane and the strategy for switching from current trajectory to the rescue trajectory and then back to the normal trajectory is discussed in detail. The proposed balance recovery approach is then implemented on a biped robot and is experimentally verified.

关键词： Trajectory Legged locomotion Robot sensing systems Foot Robot kinematics Current measurement

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Research on real time analysis and control method of material function quality for high performance work pieces

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Energy Education Science and Technology Part A: Energy Science and Research 2012年第SUPPL.2期30卷 323-328页

作者： Ji, Weixi Li, Xiaobing Cao, Yi Shan, Longyan School of Mechanical Engineering Jiangnan University Wuxi Jiangsu Province 214122 China State Key Laboratory of Fluid Power and Mechatronic Systems Hangzhou Zhejiang Province 310027 China State Key Laboratory of Robotics and System Harbin Heilongjiang Province 150080 China

Because of the complexity of shaped surface structure of those critical high performance work pieces of high-end equipment, the requirement of those work pieces is very high. The main requirement of these parts is about their performance, combined with the processing requirements of integration of performance and geometric parameters. These work pieces have the characters of complex moulding surface and their raw materials are difficult to process, the material deformation has big resistance, also the structure property is very sensitive to parameters of thermal processing time, temperature, strength and so on. So when they are being deformed, it is very difficult to ensure the structure property of these parts, which is affected by several factors like material, thermal processing, geometric shape and so on, causing the result of high defective rate in production and low efficiency of machining. This paper comes up with a solution to set up an integrated life cycle information model of quality information for high performance work pieces. The idea changes from dispersive quality information processing to integrate manufacturing process oriented quality information management. Also the paper researches into mapping and integration of quality data and quality inspection standards. It finally provides basis of application technology for quality assurance of critical high performance parts through real time collecting, managing, analyzing, and evaluating of quality inspection data, thus realizing management and control of function quality in the deformation processes. © Sila Science. All Rights Reserved.

关键词： Deformation

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Structural analysis and design of round belt drive snake-like robot

Structural analysis and design of round belt drive snake-lik...

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IET International Conference on Information Science and Control engineering 2012 (ICISCE 2012)

作者： Xuandon Su Junyao Gao Zhengyang Zhao Qianying Wu Chengzu Huang Intelligent Robotics Institute Key Laboratory of Biomimetic Robots and Systems Ministry of education State Key Laboratory of “Intelligent control of complex systems and decision” School of Mechatronical Engineering Beijing Institute of Technology Nandajie Zhongguancun Haidian 100081 China

Twisting between adjacent modules drive is the main way to drive the snake-like robot. It is hard to build a mathematical model for the kind of snake-like robot and the control of it is very complex in the realistic environment. In purpose of developing a new kind of snake-like robot which is easy to model, a new way to drive snake-like robot which we call skin drive was invented. With this way, structure of snake-like robot can be very simple and easy to model. Besides control of snake-like robot can be simple. Eventually a snake-like robot was built and it is called round belt drive snake-like robot. Through some experiment and analysis, it is concluded that this new kind of snake-like robot is easy to model and easy to control and its structure is simple to build. In this paper, three important topics were analyzed and elaborated. They are round belt analysis and design, active pulley structure and guide pulley arrangement. Of course, some experiments were done to verify the round belt drive snake-like robot performance. Some experiment process and results were shown at the end in this paper.

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Simulation of near-field optical manipulator using the combination of a near-field scanning optical microscope probe and an atomic force microscope metallic probe

Simulation of near-field optical manipulator using the combi...

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作者： Liu, Binghui Yang, Lijun Wang, Yang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China School of Mechatronics Engineering Harbin Institute of Technology Harbin 150001 China

We propose a physical model to calculate the trapping force on a nanoparticle trapped by the system using the combination of a near-field scanning optical microscope (NSOM) probe and an atomic force microscope (AFM) metallic probe. Such a near-field trap is produced by evanescent illumination from the NSOM probe and light scattering at the tip of the AFM metallic probe. By using the Maxwell stress tensor through the electric field distribution obtained with the three-dimensional finite difference time domain (3-D FDTD) method, the dependence of the trapping force on the system parameters is discussed, and trapping properties including near-field distribution, trapping position, and the role of other forces versus trapping force are revealed. The results indicate that a particle down to tens of nanometers in size can be trapped toward the tip of an AFM probe with a lower laser intensity (∼1040 W/mm2) than that required by conventional optical manipulators (∼105 W/mm2). © 2011 American Institute of Physics.

关键词： Probes

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Tracking control of an electro-hydraulic shaking table system using a combined feedforward inverse model and adaptive inverse control for real-time testing

Tracking control of an electro-hydraulic shaking table syste...

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作者： Shen, G. Zheng, S.T. Ye, Z.M. Yang, Z.D. Zhao, Y. Han, J.W. State Key Laboratory of Robotics and System School of Mechatronics Engineering Harbin Institute of Technology Yikuang Street 2# Nangang District Harbin Heilongjiang Province 150001 China

An electro-hydraulic shaking table (EHST) is used for real-time replication of situations that occur in civil and architectural engineering, the automotive industry, and earthquake resistance testing. EHSTs are able to generate a large force at high speeds over a wide frequency range and this feature makes them invaluable in performing vibration tests. Unfortunately, due to the inherent dynamics of the EHST system's hydraulics, the output response of an EHST system displays magnitude attenuation and phase delays in response to displacement and acceleration commands. A feedforward inverse model (FFIM) combined with adaptive inverse control (AIC) is proposed to improve the tracking performance of the EHST following specified displacement and acceleration commands. The proposed control strategy utilizes a FFIM to extend the EHST system's frequency bandwidth and uses AIC based on a recursive least squares (RLS) algorithm to adaptively adjust the time domain drive signal of the EHST servo controller and improve the tracking accuracy. Experimental and simulation results demonstrate the effectiveness of the proposed combined control strategy. © Authors 2011.

关键词： Earthquake engineering

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Servo system of 6 DOF electro-hydraulic shaking table

Servo system of 6 DOF electro-hydraulic shaking table

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2011 3rd International Asia Conference on Informatics in Control, Automation and robotics, CAR 2011

作者： Yin, Liyi Ye, Zhengmao Shen, Gang Han, Junwei State Key Laboratory of Robotics and System School of Mechatronics Engineering Harbin Institute of Technology Harbin Heilongjiang 150001 China School of Mechanical and Electrical Engineering China University of Mining and Technology Xuzhou Jiangsu 221116 China

ISBN: (纸本)9783642258985

Electro-hydraulic shaking table (EHST) is a useful experimental apparatus to real-time replicate the desired acceleration vibration signal for evaluating the performance of the tested specimen structural systems. A three axis six degree-of-freedom (DOF) EHST system with eight hydraulic actuators is presented in the paper. A decouple control method is employed to lower the acceleration couple among the six DOF. The procedure of the decouple controller is programmed in MATLAB/Simulink, and then compiled to a real-time PC with Microsoft Visual *** for implementation. The experimental results demonstrate that a better tracking performance with the improved servo controller is achieved in experiments by using actual EHST. © 2011 Springer-Verlag.

关键词： Hydraulic actuators

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Study of thrust lever control loading system in flight simulator

Study of thrust lever control loading system in flight simul...

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2011 3rd International Asia Conference on Informatics in Control, Automation and robotics, CAR 2011

作者： Zhao, Jinsong Ye, Zhengmao Shen, Gang Han, Junwei State Key Laboratory of Robotics and System School of Mechatronics Engineering Harbin Institute of Technology Harbin Heilongjiang 150001 China School of Mechanical and Electrical Engineering China University of Mining and Technology Xuzhou Jiangsu 221116 China

ISBN: (纸本)9783642258985

Aiming at computing the force feel to be simulated at real time, thrust lever control loading system's simulation model is set by software called SimMechanics after its control mechanism being analyzed. The dynamic characteristics of control systems and model torque are studied based on the simulation model. Then the counter potential, primary element to cause the surplus torque, is pointed out according to the dynamic characteristics of control. To make the loading system not only flow the model torque precisely but also retrain surplus torque effectively, the low frequency of the current loop is designed due to frequency spectrum of counter potential and follow-up component in model torque, while the medium frequency is on basis of the step component in model torque. Finally, the reasonableness of the designed current loop is verified by computer simulation of the torque output by motor and loading torque. © 2011 Springer-Verlag.

关键词： Flight simulators

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Design of a 23-DOF small humanoid robot with ZMP force sensors

Design of a 23-DOF small humanoid robot with ZMP force senso...

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2011 3rd International Asia Conference on Informatics in Control, Automation and robotics, CAR 2011

作者： Yasin, Awais Xu, Qian Chen, Bo Lu, Qiushi Khan, M. Waqas Key Laboratory of Biomimetic Robots and Systems Beijing Institute of Technology Ministry of Education Beijing China Intelligent Robotics Institute School of Mechatronics Engineering Beijing Institute of Technology 5 Nandajie Zhongguancun Haidian Beijing 100081 China

ISBN: (纸本)9783642258985

This paper presents a design of a 23-DOF small humanoid robot with force sensors for zero moment point (ZMP) measurement. Piezoresistive strain gauges are used under the feet of the robot to measure ground reaction force which is used to locate ZMP under the robot foot support area. The robot also uses gyroscope and acceleration sensor for motion *** robot developed is capable of all directional walking, running and performing different kung fu like *** specifications, joints distribution, walking planning of the robot, ZMP measurement scheme and vibration control using gyro sensor are discussed in this paper. © 2011 Springer-Verlag.

关键词： Anthropomorphic robots

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