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11th IEEE International Conference on mechatronics and Automation, IEEE ICMA 2014

作者： Haibo, Feng Yili, Fu Liyi, Li School of Electrical Engineering and Automation Harbin Institute of Technology Harbin Heilongjiang Province China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781479939787

The layout design of pipeline system is of great significance for improving the development cycle and quality of complex products. Thus, an optimization approach for the layout design of pipeline system in complex products is presented to address layout problem of pipeline system. In the approach presented, preprocessing model is constructed first, and then the parallel layout design method is proposed based on ant colony algorithm. Finally, simulation test and an example are performed to show effectiveness of the method. © 2014 IEEE.

关键词： Product design

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Kinematics analysis of a novel 5-DOF hybrid manipulator

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International Journal of Automation Technology 2015年第6期9卷 765-774页

作者： Guo, Wanjin Li, Ruifeng Cao, Chuqing Gao, Yunfeng State Key Laboratory of Robotics and System Harbin Institute of Technology 92 West Dazhi Street Nan Gang District Harbin150001 China School of Mechanical Engineering Nanjing University of Science and Technology Xiaolingwei 200 Nanjing210094 China Wuhu HIT Robot Technology Research Institute Co. TLD E Electronic Industrial Park JiuJiang District WuHu241007 China School of Construction Machinery Chang’an University China

Application of hybrid robotics is a continuously developing field, as hybrid manipulators have demonstrated that they can combine the benefits of serial structures and parallel mechanisms. In this paper, a novel 5-degree-of-freedom hybrid manipulator is designed. The structure of this manipulator and its kinematics analysis are presented. An innovative closedform solution was proposed to address the inverse kinematics problem. Additionally, the validity of the closed-form solution was verified via co-simulation using MATLAB and ADAMS. Finally, the reachable workspace of this manipulator was obtained for further optimizing the structure and motion control. © 2015, Fuji Technology Press. All rights reserved.

关键词： Inverse kinematics

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Online force optimization with input filter for robot hand based on EtherCAT

Online force optimization with input filter for robot hand b...

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2014 International Conference on Computational Intelligence and Industrial engineering(CIIE 2014)

作者： Mingxin Hou Li Jiang Hong Liu Zhaopeng Chen Harbin Institute of Technology School of Technology State Key Laboratory of Robotics and System Institute of Robotics and Mechatronics German Aerospace Center

The aim of this study is to present an online force optimization algorithm based on Lagrange multiplier for robot hand with Butterworth input filter under EtherCAT(Ethernet for Control Automation Technology) Master TwinCAT 3.1 platform. The integrated Butterworth filter proposed in the paper can be used effectively for filtering processing of joint torque signals obtained by torque sensor. In this research,the advantages of using these strategies as follow: they reduce the noise,they provide an online force optimization theory and are able to real-time adjust the fingertip force when the robot hand grasps objects. The proposed schemes are validated by online grasping experiments.

关键词： force optimization filter robot hand Lagrange Multiplier EtherCAT

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Back Cover: Room-Temperature Synthesis of Covalent Organic Frameworks with a Boronic Ester Linkage at the Liquid/Solid Interface (Chem. Eur. J. 51/2016)

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Chemistry – A European Journal 2016年第51期22卷 18632-18632页

作者： Chunhua Liu Yanxia Yu Prof. Dr. Wei Zhang Prof. Dr. Qingdao Zeng Prof. Dr. Shengbin Lei State Key Laboratory of Robotics and System (HIT) Harbin Institute of Technology Harbin 150080 P. R. China College of Chemistry Chemical Engineering and Materials Science Soochow University Suzhou 215123 P. R. China CAS Key Laboratory of Standardization and Measurement for Nanotechnology CAS Center for Excellence in Nanoscience National Center for Nanoscience and Technology (NCNST) Beijing 100190 P. R. China Department of Chemistry School of Science and Collaborative Innovation Center of Chemical Science and Engineering Tianjin University Tianjin 300072 P. R. China

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A practical distortion correcting method from fisheye image to perspective projection image

A practical distortion correcting method from fisheye image ...

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International Conference on Information and Automation (ICIA)

作者： Zhongli Wang Hedong Liang Xian Wu Yipeng Zhao Baigen Cai Chuanqi Tao Zhiyi Zhang Yinling Wang Shanwen Li Fengtian Huang Shuangfu Fu Feng Zhang State Key Laboratory of Robotics and System Harbin Institute of Technology China Beijing Engineering Research Center of EMC GNSS Technology for Rail Transportation Haidian Beijing China School of Electronics and Information Engineering Beijing Jiaotong University CSR Qindao Sifang Co. Ltd. Qindao Shandong Province China CSR Qindao Sifang Co.. Ltd. Shandong Province 266111 China

ISBN: (纸本)9781467391054

Fisheye camera is finding increasing number of applications in robotic vision, visual surveillance, and other fields. But the use of super-wide angle fish-eye lenses causes strong distortions in the resulting images. A method for the correction of fisheye distortion using only single images and linearity of imaged objects is presented. Spherical projection is a simple and effective method to transform a fisheye image to a perspective projection image. To use this method, the optic center of the fisheye image and the radius of the projecting sphere must be known in advance. The proposed algorithm is based on ellipse fitting. It requires only the possibility of the extraction of distorted image points from straight lines in the 3D scene. The mathematical model is introduced for the transformation. The method for finding out the optic center and the radius of the projection sphere is discussed. Contrary to most former algorithms, the algorithm discussed here does not depend on information about the real world coordinates of matching points. The correctness and effectiveness of the proposed method are demonstrated with real image.

关键词： Cameras Nonlinear distortion Lenses Three-dimensional displays Optical distortion Calibration

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25th Annual Computational Neuroscience Meeting CNS-2016, Seogwipo City, South Korea, July 2-7, 2016 Abstracts

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BMC NEUROSCIENCE 2016年第1期17卷 1-112页

作者： [Anonymous] Computational Neurobiology Laboratory The Salk Institute for Biological Studies San Diego USA UNIC CNRS Gif sur Yvette France The European Institute for Theoretical Neuroscience (EITN) Paris France ATR Computational Neuroscience Laboratories Kyoto Japan Krembil Research Institute University Health Network Toronto Canada Department of Physiology University of Toronto Toronto Canada Department of Medicine (Neurology) University of Toronto Toronto Canada Department of Physics University of New Hampshire Durham USA Department of Neurophysiology Nencki Institute of Experimental Biology Warsaw Poland Department of Theory Wigner Research Centre for Physics of the Hungarian Academy of Sciences Budapest Hungary Department of Mathematical Sciences KAIST Daejoen Republic of Korea Department of Mathematics University of Houston Houston USA Department of Biochemistry & Cell Biology and Institute of Biosciences and Bioengineering Rice University Houston USA Department of Biology and Biochemistry University of Houston Houston USA Grupo de Neurocomputación Biológica Dpto. de Ingeniería Informática Escuela Politécnica Superior Universidad Autónoma de Madrid Madrid Spain Department of Biological Sciences University of Southern California Los Angeles USA Center for Neuroscience Korea Institute of Science and Technology Seoul South Korea Department of Neurology Albert Einstein College of Medicine Bronx USA Center for Neuroscience KIST Seoul South Korea Department of Neuroscience University of Science and Technology Daejon South Korea Systems Neuroscience Group QIMR Berghofer Medical Research Institute Herston Australia Department of Psychology Yonsei University Seoul South Korea Department of Psychiatry Kyung Hee University Hospital at Gangdong Seoul South Korea Department of Psychiatry Veterans Administration Boston Healthcare System and Harvard Medical School Brockton USA Department of Electrical and Electronic Engineering The University of Melbourne Parkvil

A1 Functional advantages of cell-type heterogeneity in neural circuits Tatyana O. Sharpee A2 Mesoscopic modeling of propagating waves in visual cortex Alain Destexhe A3 Dynamics and biomarkers of mental disorders Mitsuo Kawato F1 Precise recruitment of spiking output at theta frequencies requires dendritic h-channels in multi-compartment models of oriens-lacunosum/moleculare hippocampal interneurons Vladislav Sekulić, Frances K. Skinner F2 Kernel methods in reconstruction of current sources from extracellular potentials for single cells and the whole brains Daniel K. Wójcik, Chaitanya Chintaluri, Dorottya Cserpán, Zoltán Somogyvári F3 The synchronized periods depend on intracellular transcriptional repression mechanisms in circadian clocks. Jae Kyoung Kim, Zachary P. Kilpatrick, Matthew R. Bennett, Kresimir Josić O1 Assessing irregularity and coordination of spiking-bursting rhythms in central pattern generators Irene Elices, David Arroyo, Rafael Levi, Francisco B. Rodriguez, Pablo Varona O2 Regulation of top-down processing by cortically-projecting parvalbumin positive neurons in basal forebrain Eunjin Hwang, Bowon Kim, Hio-Been Han, Tae Kim, James T. McKenna, Ritchie E. Brown, Robert W. McCarley, Jee Hyun Choi O3 Modeling auditory stream segregation, build-up and bistability James Rankin, Pamela Osborn Popp, John Rinzel O4 Strong competition between tonotopic neural ensembles explains pitch-related dynamics of auditory cortex evoked fields Alejandro Tabas, André Rupp, Emili Balaguer-Ballester O5 A simple model of retinal response to multi-electrode stimulation Matias I. Maturana, David B. Grayden, Shaun L. Cloherty, Tatiana Kameneva, Michael R. Ibbotson, Hamish Meffin O6 Noise correlations in V4 area correlate with behavioral performance in visual discrimination task Veronika Koren, Timm Lochmann, Valentin Dragoi, Klaus Obermayer O7 Input-location dependent gain modulation in cerebellar nucleus neurons Maria Psarrou, Maria Schilstra, Neil Davey, Benjamin Torben-Ni

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Analysis of the multi-finger dynamics for robot hand system based on EtherCAT

Analysis of the multi-finger dynamics for robot hand system ...

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International Conference on Natural Computation (ICNC)

作者： Mingxin Hou Li Jiang Minghe Jin Hong Liu Zhaopeng Chen School of Technology State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Institute of Robotics and Mechatronics German Aerospace Center Munich Germany

ISBN: (纸本)9781479951529

A multi-finger dynamics model has been presented in this study, which contains a single finger dynamics model equation and a restraint equation between fingers based on Lagrangian multiplier controller. To validate the model, an EtherCAT master and slave platform has been developed based on FPGA. Meanwhile, the multi-finger dynamics algorithm has been designed in the TwinCAT. Finally, the experiments demonstrate this strategy can be implemented and operated by online grasping object.

关键词： Thumb Mathematical model Robots Equations Joints Heuristic algorithms

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New triangulation method for surface scattered points

New triangulation method for surface scattered points

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IEEE International Conference on mechatronics and Automation

作者： Xuehe Zhang Ge Li Jie Zhao Zhenxiu Hou State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China School of Mechatronics Engineering Harbin Institute of Technology Harbin Heilongjiang China

Triangulations for surface scattered points are used in the field of three-dimensional reconstruction widely. In order to reconstruct surface fast and efficiently, a combination triangulation algorithm was proposed. The triangulation method includes three steps: firstly, the scattered points were carved into many regions by the Axis-Aligned Bounding Box algorithm, then searched k-Neighbor points of each scattered points and constructed its tangent plane, transformed 3D triangulation into 2D triangulation. Secondly, direct triangulation were carried out according to the criterion of different side rule; the angle of two normal vectors maximized rule; the threshold distance rule of semisphere and the internal minimal angle maximized rule. Finally, each region were connected or spliced by 3D Delaunay circumsphere rule. Experiment results shows that the combination algorithm can triangulate the scattered points precisely and efficiently.

关键词： Three-dimensional displays Vectors Algorithm design and analysis Surface reconstruction Indexes Least squares approximations Partitioning algorithms

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Research on the control strategy of SEM based micro/nano tele-operation system

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Yi Qi Yi Biao Xue Bao/Chinese Journal of Scientific Instrument 2014年第11期35卷 2448-2457页

作者： Zhou, Jie Rong, Weibin Xu, Jinpeng Sun, Lining State Key laboratory Robotics and System Harbin Institute of Technology Harbin150080 China School of Electrical and Control Engineering Heilongjiang University of Science and Technology Harbin150022 China

In order to improve the tele-presence and stability of a scanning electron microscopy (SEM) based micro/nano tele-operation system, a sliding mode based impedance control scheme was proposed. Such a scheme features that impedance control strategy was applied to master to fulfill compliant control and sliding mode based impedance control strategy was adopted to slave to solve the parameter uncertainty problem. Tracking differentiator technology was integrated to the master/slave control strategy to obtain the derivative control signal of the micro/nano teleoperation system. Under the circumstance of low band and large gain of force feedback (105), the stability condition of micro/nano teleoperation system was derived from Liewellyn criterion. The good robustness and accurate force tele-presence of the proposed sliding mode control approach were verified by simulation and experimental results. The maximum displacement error is less than 0.5 μm during the location tracking process. The operator can precisely perceive 1 μN contact force from the slave. ©, 2014, Science Press. All right reserved.

关键词： Sliding mode control

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Implementation and test of human-operated and human-like adaptive impedance controls on Baxter robot

Implementation and test of human-operated and human-like ada...

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15th Annual Conference on Advances in Autonomous robotics systems, TAROS 2014

作者： Liang, Peidong Yang, Chenguang Wang, Ning Li, Zhijun Li, Ruifeng Burdet, Etienne Centre for Robotics and Neural Systems School of Computing and Mathematics Plymouth University United Kingdom MOE Key Lab. of Autonomous System and Network Control College of Automation Science and Engineering South China University of Technology China State Key Laboratory of Robotics and System Harbin Institute of Technology China Department of Computer Science and Engineering Chinese University of Hong Kong Hong Kong Department of Bioengineering Imperial College of Science Technology and Medicine London United Kingdom

ISBN: (纸本)9783319104003

This paper presents an improved method to teleoperate impedance of a robot based on surface electromyography (EMG) and test it experimentally. Based on a linear mapping between EMG amplitude and stiffness, an incremental stiffness extraction method is developed, which uses instantaneous amplitude identified from EMG in a high frequency band, compensating for non-linear residual error in the linear mapping and preventing muscle fatigue from affecting the control. Experiments on one joint of the Baxter robot are carried out to test the approach in a disturbance attenuation task, and to compare it with automatic human-like impedance adaptation. The experimental results demonstrate that the new human operated impedance method is successful at attenuating disturbance, and results similarly to as automatic disturbance attenuation, thus demonstrating its efficiency. © 2014 Springer International Publishing.

关键词： Stiffness

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