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World Congress on Intelligent Control and Automation (WCICA)

作者： Shigong Jiang Hongpeng Liu Wei Wang State Key Laboratory of Robotics and System (HIT) Harbin Institute of Technology Harbin China School of Mechatronical Engineering Beijing Institute of Technology Beijing China School of Electrical Engineering and Automation Harbin Institute of Technology Harbin China

By analyzing the hybrid property of Microgrid in detail, a mixed logical dynamical model is set up with Hybrid theory. The energy in DC bus capacitor is chosen as state variable, the system functions and constraints with continuous state variables, input control variables, logical variables and auxiliary variables are presented. Based on the MLD model, model predictive control theory is applied for the purpose of reducing the batteries switching times between charge and discharge, the DC bus voltage fluctuation is compressed simultaneously. The quadric form objective function is designed and optimal input control variable sequence is achieved by mixed integer quadratic programming method. A simulation prototype is established, simulation results testify the proposed method can both suppress DC bus voltage fluctuation and decrease switching times of battery energy storage system.

关键词： Microgrids Batteries Predictive control Switches Discharges (electric) Voltage control

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U-Pendant: A universal teach pendant for serial robots based on ROS

U-Pendant: A universal teach pendant for serial robots based...

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IEEE International Conference on robotics and Biomimetics

作者： Yongzhuo Gao Yanyu Su Wei Dong Weidong Wang Zhijiang Du Xueshan Gao Yu Mu Harbin Institute of Technology Harbin Heilongjiang CN State Key Laboratory of Robotics and System Harbin Institute of Technology (HIT) Harbin China School of Mechatronical Engineering Beijing Institute of Technology Beijing China

ISBN: (纸本)9781479973989

Many corporations have produced various teach pendants. However, most of these products are exclusive in terms of communication protocols and robot programming languages. Therefore, programs and teach pendant are usually not exchangeable between robots. To tackle this problem, we present U-Pendant, an open source universal teach pendant for serial robots based on Robot Operating system (ROS), a meta-operating system with a number of robotic applications shared online, and Yet Another Robot Controller (YARC), a universal kinematic controller for serial robots. We design and implement essential functionality and interactivity of teach pendants on U-Pendant. Several demonstrations are made to show the universality and functional superiority of U-Pendant. The source code and hardware design have been made publicly accessible for the community.

关键词： Robot kinematics Service robots Education Robot sensing systems Joints Kinematics

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Force feedback time prediction based on neural network of MIS Robot with time delay

Force feedback time prediction based on neural network of MI...

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IEEE International Conference on robotics and Biomimetics

作者： Y. Ning L. L. Han Z. R. Xiao B. G. Liu Department of Electrical Engineering State Key Laboratory of Robotics and System (HIT) Henan University of Technology Zhengzhou China Department of Mechanical & Electrical Engineering Henan University of Technology Zhengzhou China School of Cicil Engineering & Architecture Henan University of Technology Zhengzhou China

ISBN: (纸本)9781479973989

Robotic technology is enhancing surgery through improved precision, stability, and dexterity. In manual MIS, the surgeon is separated from the operation area, which is reached by long instruments. In image-guided procedures, image prediction technique based on visual reality technology has solved time-delay problem of image information between master and slave manipulator of teleoperation system effectively in many application fields. However, time-delay of force feedback information which is transmitted from communication link is also inconvenient to the operator's working and makes a bad influences on the system's stability and transparency. In this paper, the start and stop time of feedback force torque can be predicted by using RBF neural network technology when the slave manipulator is interacting with the environment, such that the force feedback information can synchronize with the predictive image. Simulation results show excellence of the proposed scheme.

关键词： Manipulators Force feedback Force Biological neural networks Delay effects

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Vision-based Semantic Unscented FastSLAM for mobile robot

Vision-based Semantic Unscented FastSLAM for mobile robot

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World Congress on Intelligent Control and Automation (WCICA)

作者： Letian Liu Xiaorui Zhu Yongsheng Ou State Key Laboratory of Robotics and System (HIT) Harbin Institute of Technology Shenzhen Graduate School Harbin Institute of Technology Shenzhen Graduate School Shenzhen Guangdong China Department of Mechanical Engineering and Mechanics Chinese Academy of Science Bethlehem Guangdong China

This paper proposes a vision-based Semantic Unscented FastSLAM (UFastSLAM) algorithm for mobile robot combing the semantic relationship and the unscented FastSLAM. The landmarks are detected by a binocular vision, and the semantic observation model can be created by transforming the semantic relationships into the semantic metric map. Semantic Unscented FastSLAM can be used to update the localization of the landmarks and robot pose even when the encoders inherits large accummative errors that may not be corrected by the loop closure detection of the vision system Experiments have been carried out to demonstrate that the Semantic Unscented FastSLAM algorithm can achieve much better performance in indoor autonomous survalience than Unscented FastSLAM.

关键词： Semantics Measurement Simultaneous localization and mapping Vectors Estimation

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Haptic interfaces for the rescue walking robots motion in the disaster areas

Haptic interfaces for the rescue walking robots motion in th...

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UKACC International Conference on Control (CONTROL)

作者： Luige Vladareanu Octavian Melinte Adrian Bruja Hongbo Wang Xiaojie Wang Shuang Cang Hongnian Yu Zeng-Guang Hou Xiao-Liang Xie Robotics and Mechatronics Department Institute of Solid Mechanics C-tin Mille 15 Bucharest 1 ROMANIA School of Design Engineering and Computing Boumemouth University Poole Dorset UK Parallel Robot and Mechatronic System Laboratory of Hebei Province University Qinhuangdao CHINA State Key Laboratory of Management and Control for Complex Systems Beijing P.R.CHINA

In the recent years haptic interfaces became a reliable solution in order to solve problems which arise when humans interact with the environment. If in the research area of the haptic interaction between human and environment there are important researches, a innovative approach for the interaction between the robot and the environment using haptic interfaces and virtual projection method is presented in this paper. In order to control this interaction we used the Virtual Projection Method where haptic control interfaces of impedance and admittance will be embedded. The obtained results, validated by simulations assure stability, stiffness, high maneuverability and adaptability for rescue walking robots in order to move in disaster, dangerous and hazardous areas.

关键词： Haptic interfaces Legged locomotion Robot sensing systems Impedance Force

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Two types of coaxial self-balancing robots

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Journal of Central South University 2013年第11期20卷 2981-2990页

作者：高学山戴福全李潮全 School of Mechatronical Engineering Beijing Institute of Technology State Key Laboratory of Robotics and System (Harbin Institute of Technology) School of Mechanical and Automotive Engineering Fujian University of Technology Navigation and Control Institute of China North Industries Group Corporation

Two types of coaxial self-balancing robots(CSBR)were proposed,one can be used as a mobile robot platform for parts transporting in unmanned factory or as an inspector in dangerous areas,and the other can be used as a personal transporter ridden in *** designing and control structures as well as control strategies were described and compared in order to get a general way to develop such robots.A state feedback controller and a fuzzy controller were designed for the robot using DC servo motors and the robot using torque motors,*** experiments indicate that the robots can realize various desired operations smoothly and agilely at the velocity of 0.6 m/s with an operator of 65 ***,the robustness of the controllers is revealed since these controllers can stabilize the robot even with unknown external disturbances.

关键词： mobile robots service robots mechatronic systems robot dynamics control of robotic systems

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Multi-channel data acquisition and CAN communication system based on single-chip microcomputer

Multi-channel data acquisition and CAN communication system ...

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2013 2nd International Conference on Manufacturing engineering and Process, ICMEP 2013

作者： Wang, Jian Ping Jiao, Guo Tai State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China School of Mechatronic Engineering North University of China Taiyuan 030051 China

ISBN: (纸本)9783037857076

Aimed at the problem that the traditional data acquisition system design with low efficiency and high cost. It is proposed that the C8051F040 microcontroller is based on the integrated A/D converter and CAN controller;utilize dynamic control simulation input quantity into the built-in A/D converter, process and store the data through the micro-processing unit, and use integrated CAN controller to transmit the data. From schematic's design to the board's development, we have achieved the functions that acquisition of multi-channel data combined with CAN network communication through hardware and software debugging. The design of this product is small, powerful and wide used. It has good application and development prospects. © (2013) Trans Tech Publications, Switzerland.

关键词： Data acquisition

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A new algorithm for wireless sensor network based on NS-2

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Journal of Measurement Science and Instrumentation 2013年第3期4卷 272-275页

作者：焦国太孟庆丰 State Key Laboratory of Robotics and System Harbin Institute of Technology College of Mechatronics Engineering North University of China Robotics Research Center North University of China

Considering wireless sensor network characteristics,this paper uses network simulator,version2(NS-2)algorithm to improve Ad hoc on-demand distance vector(AODV)routing algorithm,so that it can be applied to wireless sensor *** studying AODV routing protocol,a new algorithm called Must is brought *** paper introduces the background and algorithm theory of Must,and discusses the details about how to implement Must *** last,using network simulator(NS-2),the performance of Must is evaluated and compared with that of *** results show that the network using Must algorithm has perfect performance.

关键词： wireless sensor networks routing protocol network simulator, version 2 （NS-2） Must algorithmCLC number：TN926 Document code：AArticle ID：1674-8042（2013）03-0272-04

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Assembly sequence planning based on assembly knowledge database

Assembly sequence planning based on assembly knowledge datab...

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2nd International Conference on Information engineering and Applications, IEA 2012

作者： Li, Rong Tian, Ying School of Automobile and Traffic Engineering Heilongjiang Institute of Technology Harbin 150050 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150050 China School of Mechanical Engineering Tianjin University Tianjin 300072 China

ISBN: (纸本)9781447148494

An assembly sequence planning method based on assembly knowledge is put forward. Three types of the assembly knowledge were defined, and the knowledge database was established, which include products' part designing knowledge, joining knowledge, and assembly rule knowledge. According to all of the knowledge, assembly model was building and simplified. Supported by above knowledge assembly model, by firing the state matrix, all the feasible sequence can be obtained. Then, the sequences of the joining were acquired from the knowledge database, which were insert into the feasible sequence, and the assembly sequence were obtained. Finally, a simple case is provided to illustrate the effectiveness of the proposed method. © 2013 Springer-Verlag.

关键词： Petri nets

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Study on simulation of multimodule space station intra-vehicular navigation: a survey

Study on simulation of multimodule space station intra-vehic...

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2013 International Conference on Biomedical engineering and Environmental engineering (ICBEEE 2013)

作者： Lei Zhu Yingxue Yao State Key Laboratory of Robotics and System (HIT) School of Mechanical and Electrical Engineering Harbin Institute of Technology

Simulation is a reasonable approach and important basis for studies and trainings of astronauts' multimodule space station intra-vehicular navigation. Based on the introduction of the main simulation effect required, the research progress of multimodule space station intra-vehicular navigation simulation was summarized and analyzed from three aspects: limitations of traditional intra-vehicular activity(IVA) simulation methods, development of virtual reality(VR)-based multimodule space station intra-vehicular navigation simulation, and shortcomings existing in the VR-based simulation methods. Research production and deficiency in areas of the obligatory and/or automatic spatial updating verification and the effect of subjects' posture on the navigation simulation were studied emphatically. At last, the research directions in future were pointed out.

关键词： multimodule space station IVA navigation simulation of intravehicular navigation obligatory and/or automatic spatial updating

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