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Optimal-Switched H∞Robust Tracking for Maneuvering Space Target

IFAC-PapersOnLine 2016年第17期49卷 415-419页

作者： Li, Yuankai Zhang, Shuang Ding, Liang Shi, Zhiguo School of Aeronautics and Astronautics University of Electronic Science and Technology of China Chengdu611731 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China School of Computer and Communication Engineering University of Science and Technology Beijing Beijing100083 China

For maneuvering target tracking problem, robust filtering is an effective way to gain fast and accurate target trajectory in real time. The H∞filter (H∞F) is a conservative solution with infinite-horizon robustness, leading to excessive cost of filtering optimality and reduction of estimation precision. In order to retrieve the filtering optimality sacrificed by conservativeness of the H∞F design, in this paper, an optimal-switched filtering mechanism is developed and established on the standard H∞F to propose an optimal-switched H∞filter (OSH∞F). The optimal-switched mechanism adopts a switched structure that switches filtering mode between optimal and H∞robust by setting a switching threshold, and introduces an optimality-robustness cost function (ORCF) to on-line optimize the threshold such that the switching structure can be optimized. In the ORCF, a non-dimensional weight factor (WF) is used to quantify the ratio of the filtering robustness and optimality. As the only tunable parameter in the filter, when the WF is given, the proposed OSH∞F can obtain the optimal state estimates with filtering optimality and robustness kept at the WF-determined ratio. With the conservativeness of the H∞F optimized, the developed OSH∞F can be used as a generalized H∞F form. A simulation example of space target tracking has demonstrated the superior estimation performance of the OSH∞F compared with that of Kalman filter and other typical H∞filters. © 2016

关键词： Target tracking Clutter (information theory) Cost functions Kalman filters Switched filters Estimation performance Estimation precision Filtering mechanism Maneuvering target tracking Non dimensional weight Robust estimation Switching structures Switching thresholds

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Janus Microspheres: Janus Microdimer Surface Walkers Propelled by Oscillating Magnetic Fields (Adv. Funct. Mater. 25/2018)

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Advanced Functional Materials 2018年第25期28卷

作者： Tianlong Li Anning Zhang Guangbin Shao Mengshi Wei Bin Guo Guangyu Zhang Longqiu Li Wei Wang Key Lab for Microsystems and Microstructure Manufacturing Harbin Institute of Technology Harbin Heilongjiang 150001 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 150001 China School of Materials Science and Engineering Harbin Institute of Technology (Shenzhen) Shenzhen Guangdong 518055 China

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Real-time collision detection for manipulators based on fuzzy synthetic evaluation 13

Real-time collision detection for manipulators based on fuzz...

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13th IEEE International Conference on mechatronics and Automation, IEEE ICMA 2016

作者： Jing, Xia Wu, Guangxin Li, Chongyang Hong, Liu School of Mechanical Engineering Xi'An University of Science and Technology Xi'an Shaanxi Province710054 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province150001 China

ISBN: (纸本)9781509023943

To overcome the shortcoming that the collision detection method based on three-dimension model only depends on the shortest distance between components to determine collision, a novel collision detection method for manipulators is proposed to indicate how dangerous the current movement of the robot are to the surrounding objects. The method more comprehensively considers the effect of the shortest distance, motion state, braking performance of joints, robot control mode and the contact state on robot collision risk, obtains a robot collision risk index by using the fuzzy synthetic evaluation. At the same time, building the collision detection model by using sphere sweeping convex hulls (SSCH) improves the real-time of the collision detection. Finally, the proposed method is validated through simulations and experiments. © 2016 IEEE.

关键词： Manipulators

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Structure design and motion mode analysis of a six wheel-legged robot

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Beijing Hangkong Hangtian Daxue Xuebao/Journal of Beijing University of Aeronautics and Astronautics 2016年第1期42卷 59-71页

作者： Xu, Kun Zheng, Yi Ding, Xilun School of Mechanical Engineering & Automation Beijing University of Aeronautics and Astronautics Beijing100083 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China

The research of hybrid locomotion robot has become one of the hottest spots of mobile robots. Wheel-legged robot which combines the advantages of wheeled robot and legged robot can be better adapted to complex environment. A new combination between wheels and legs is proposed and a new circumferential symmetry wheel-legged robot is designed. It can transit its locomotion mode by changing its configuration. Meanwhile, it reduces mechanism complication and avoids the fray of wheels while they are used as feet in legged motion mode. Because of its special structure, four typical "3+3" tripod gaits and the equivalent mechanisms in different walking gaits processes are presented and transition between them is analyzed. The forward and inverse kinematics models of single leg are built. Based on its structure, planning of motion mode transition from wheeled motion mode to legged motion mode and from legged motion mode to wheeled motion mode is given and simulated in software. Its wheeled motion mode and steering problem are analyzed and illustrated, and four steering models are built. Some tests with wheel-legged robot prototype are made to verify its ability of locomotion both in legged mode and wheeled mode and its capability of transition between different motion modes. © 2016, Beijing University of Aeronautics and Astronautics (BUAA). All right reserved.

关键词： Wheels

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Simulation of particle transportation trajectory in acoustic standing wave field

Simulation of particle transportation trajectory in acoustic...

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International Conference on Automation and Computing (ICAC)

作者： Huijuan Dong Shuai Liu Yingzi Guan Peng Zhang The State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China School of Mechatronics Engineering Harbin Institute of Technology Harbin China School of Astronautics Harbin Institute of Technology Harbin China

This work presents a model of a transducer array suitable for particle transportation. The transducer array is excited by sine function in voltage. The distributions of horizontal acoustic radiation forces are simulated using ANSYS and MATLAB-base program. The underlying motion equation is described in this paper. According to this equation, the motion trajectory of a levitated particle is calculated iteratively. It is pointed that the relative distance between the particle location and the potential well position can not be too long for stable transportation. Accordingly, the shortest modulation period for ultrasonic standing wave transportation is obtained.

关键词： Transportation Mathematical model Acoustics Acoustic arrays Trajectory Modulation

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Fuzzy-based trajectory-tracking control for WIP vehicles with coupled dynamics behaviors

Fuzzy-based trajectory-tracking control for WIP vehicles wit...

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International Conference on Advanced robotics and mechatronics (ICARM)

作者： Ming Yue Teng Ma Linjiu Wang Cong An State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China School of Automotive Engineering Dalian University of Technology Dalian China

ISBN: (纸本)9781509033652

It is difficult to make a wheeled inverted pendulum vehicle (WIP) follow an arbitrary desired trajectory while holding the inverted pendulum-like vehicle upright. In this paper, based on the presented coupled dynamic model with four independent coordinates, both the vehicle nonholonomic constraints and underactuated property are depicted. Then, by partial feedback linearization, the overall system is partitioned into an actuated subsystem with rotational and longitudinal motions and a tilt angle subsystem with driving by a virtual control input. Also, a fuzzy controller is constructed for the actuated subsystem since it has better adaptability, robustness, and fault tolerance characteristics. Besides, the sliding-mode control technique with adaptive laws is employed so as to strengthen the robustness of the control system.

关键词： Vehicles Vehicle dynamics Wheels Control systems Multiprotocol label switching Dynamics Acceleration

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Three-layer intelligence of planetary exploration wheeled mobile robots:Robint,virtint,and humint

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Science China(Technological Sciences) 2015年第8期58卷 1299-1317页

作者： DING Liang GAO HaiBo DENG ZongQuan LI YuanKai LIU GuangJun YANG HuaiGuang YU HaiTao State Key Laboratory of Robotics and System Harbin Institute of Technology School of Aeronautics and Astronautics University of Electronic Science and Technology of China Department of Aerospace Engineering Ryerson University

The great success of the Sojourner rover in the Mars Pathfinder mission set off a global upsurge of planetary exploration with autonomous wheeled mobile robots(WMRs),or *** WMRs are among the most intelligent space systems that combine robotic intelligence(robint),virtual intelligence(virtint),and human intelligence(humint) *** article extends the architecture of the three-layer intelligence stemming from successful Mars rovers and related technologies in order to support the R&D of future tele-operated robotic ***-layer human-machine interfaces are suggested to support the integration of humint from scientists and engineers through supervisory(Mars rovers) or three-dimensional(3D) predictive direct tele-operation(lunar rovers).The concept of multilevel autonomy to realize robint,in particular,the Coupled-Layer Architecture for Robotic Autonomy developed for Mars rovers,is *** challenging issues of intelligent perception(proprioception and exteroception),navigation,and motion control of rovers are discussed,where the terrains' mechanical properties and wheel-terrain interaction mechanics are considered to be ***-level virtual simulation architecture to realize virtint is *** technologies of virtint are summarized:virtual planetary terrain modeling,virtual intelligent rover,and wheel-terrain interaction *** generalized three-layer intelligence framework is also applicable to other systems that require human intervention,such as space robotic arms,robonauts,unmanned deep-sea vehicles,and rescue robots,particularly when there is considerable time delay.

关键词： planetary exploration rovers robot intelligence virtual intelligence three-layer architecture

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A self-decoupling piezoresistive sensor for measuring microforce in horizontal and vertical directions

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Journal of Micromechanics and Microengineering 2016年第9期26卷

作者： Zhou, Jie Rong, Weibin Wang, Lefeng Gao, Peng Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China School of Electrical and Control Engineering Heilongjiang University of Science and Technology Harbin Heilongjiang China

This paper presents the design, fabrication and calibration of a novel two-dimension microforce sensor with nano-Newton resolution. The sensor, mainly composed of a clamped-clamped beam (horizontal detecting beam), an overhanging beam (vertical detecting beam) and a half-folded beam, is highly sensitive to microforces in the horizontal (parallel to the probe of the designed sensor) and vertical (perpendicular to the wafer surface) directions. The four vertical sidewall surface piezoresistors (horizontal piezoresistors) and two surface piezoresistors (vertical piezoresistors) were fabricated to achieve the requirements of two-dimension microforce measurements. Combining the sensor structure with Wheatstone bridge configurations, the microforce decoupling among the x, y, and z direction can be realized. Accordingly, the sensor is capable of detecting microforces in the horizontal and vertical directions independently. The calibration results verified that the sensor sensitivities at room temperature are 210.58 V N-1and 159.2 V N-1 in the horizontal and vertical directions, respectively. Additionally, the sensor's corresponding force resolutions are estimated at 2 nN and 3 nN in theory, respectively. The sensor can be used to measure the contact force between manipulating tools and micro-objects, in fields such as microassembly and biological assays. © 2016 IOP Publishing Ltd.

关键词： Calibration

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Model recovery of unknown objects from discrete tactile points

Model recovery of unknown objects from discrete tactile poin...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent mechatronics

作者： Haiwei Gu Yuanfei Zhang Shaowei Fan Minghe Jin Hua Zong Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China School of Electronics and Information Engineering Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781509020669

This paper presents a novel method for robot to reconstruct unknown object models from discrete tactile point clouds. In model recovery process, 6D tactile data which contain point positions and corresponding normal vectors are firstly clustered. Then geometric feature descriptors are used to extract geometric feature vectors from tactile data. The object feature vectors are used in object shape classification and unknown object models are recovered. Simulation and experiment show that the present approach can be used to recognize unknown object shapes from sparse and noisy tactile point clouds and reconstruct object model accurately.

关键词： Shape Three-dimensional displays Feature extraction Tactile sensors Image reconstruction Data collection

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Development of Kinect based teleoperation of Nao robot

Development of Kinect based teleoperation of Nao robot

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International Conference on Advanced robotics and mechatronics (ICARM)

作者： Chunxu Li Chenguang Yang Peidong Liang Angelo Cangelosi Jian Wan Center for Robotics and Neural Systems Plymouth University UK Zienkiewicz Centre for Computational Engineering Swansea University UK State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China School of Marine Science and Engineering Plymouth University UK

In this paper, an online tracking system has been developed to control the arm and head of a Nao robot using Kinect sensor. The main goal of this work is to achieve that the robot is able to follow the motion of a human user in real time to track. This objective has been achieved using a RGB-D camera (Kinect v2) and a Nao robot, which is a humanoid robot with 5 degree of freedom (DOF) for each arm. The joint motions of the operator's head and arm in the real world captured by a Kinect camera can be transferred into the workspace mathematically via forward and inverse kinematics, realitically through data based UDP connection between the robot and Kinect sensor. The satisfactory performance of the proposed approaches have been achieved, which is shown in experimental results.

关键词： Cameras Robot kinematics Image color analysis Head Robot vision systems

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