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2011 IEEE International Conference mechatronics and Automation(2011 IEEE机电一体化与自动化国际会议)

作者： Ping-Chun Xie Yu-Xian Gai Yan-Shen Wang Lian-Zheng Ge Department of Mechanical Engineering Harbin Institute of Technology at Weihai Weihai Shandong Provi State Key Laboratory of Robotics and System School of Mechatronics Harbin Institute of Technology Ha

Driving torques of a specific type of spot welding robot was simulated in RecurDyn, which provided useful information for motor selecting and gravity balancing. According to D-H parameters of the robot parts of the robot were modeled separately and then assembled to form the robot, in Pro/Engineer. Imported into RecurDyn and adding necessary constraints, the virtual prototype of the robot was constructed in RcurDyn for dynamic simulation. Time dependent torque variations of every joint were got by simulation, which facilitated motor selection. The spring for sustaining the gravity of robots links was also optimized through the simulation analysis of torques in Joint 2.

关键词： robot dynamic simulation RecurDyn gravity balance spring

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DESIGN OF A FINGER-TIP FLEXIBLE TACTILE SENSOR FOR DEXTEROUS ROBOT HAND AND THE CROSSTALK EFFECT ANALYSIS

DESIGN OF A FINGER-TIP FLEXIBLE TACTILE SENSOR FOR DEXTEROUS...

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The 2011 International Conference on Mechanical engineering and Technology

作者： Yuanfei Zhang Yiwei Liu Hong Liu Yue Jin State Key Laboratory of Robotics and System Harbin Institute of Technology Institute of Robotics and Mechatronics German Aerospace Center DLR College of Electromechanical Engineering China University of Petroleum

In this study, a structure of a thin and flexible tactile sensor using pressure conductive rubber is presented. The sensor can cover specific three-dimensional surface, has a total of 36 elements and can measure the pressure in the range 0-600 k Pa, approximately. In order to compare the performance of the voltage feedback methods and the zero potential method, which presented in the literature are applied to weaken the crosstalk effect in a resistive array, some simple circuits are structured based on these methods, respectively. Then the effect of some circuit parameters on measurement errors of each circuit is simulated and analyzed and the performance of the circuits to weaken the crosstalk effect is compared. According to the simulation results, the performance of the circuit based on the voltage feedback non-scanned-sampling-electrode method is the best than any others. Therefore, a tactile signal acquiring and processing circuit based on this method is design. At last, experimental results that the crosstalk affects the measurement errors of this circuit are given.

关键词： Dexterous robot hand Tactile sensor Crosstalk

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Brain-Computer Interface Design Using Signal Powers Extracted During Motor Imagery Tasks

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Chinese Journal of Biomedical engineering(English Edition) 2011年第4期20卷 139-149页

作者： HE Ke-ren WANG Xin-guang ZOU Ling MA Zheng-hua School of Information Science ＆ Engineering at the Changzhou University Changzhou 213164 China State Key Laboratory of Robotics and System （HIT） Harbin Institute of Technoigy Harbin 150001 China

Accurate classification of EEG left and right hand motor imagery is an important issue in brain-computer interface. Firstly, discrete wavelet transform method was used to decompose the average power of C3 electrode and C4 electrode in left-right hands imagery movement during some periods of time. The reconstructed signal of approximation coefficient A6 on the 6al level was selected to build up a feature signal. Secondly, the performances by Fisher Linear Discriminant Analysis with two different threshold calculation ways and Support Vector Machine methods were compared. The final classification results showed that false classification rate by Support Vector Machine was lower and gained an ideal classification results.

关键词： brain-computer interface motor imagery feature extraction pattern classification

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Approximate feedback linearization control for spatial 6-DOF hydraulic parallel manipulator

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Open Mechanical engineering Journal 2011年第1期5卷 117-123页

作者： Yang, Chifu Zheng, Shutao Peter, O. Ogbobe Huang, Qitao Han, Junwei State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China School of Mechanical and Electrical Engineering Harbin Institute of Technology Harbin 150001 China

Traditional feedback linearization approach (TFL) requires a priori knowledge of plant, which is difficult and the computational efficiency of controller is low due to the complex dynamics of spatial 6-DOF hydraulic parallel manipulator. In order to improve the tracking performance of spatial 6-DOF hydraulic parallel manipulator and to conquer the drawbacks of TFL, a novel approximate feedback linearization approach, non-model based method, is proposed in this paper. The mathematical model of spatial hydraulic parallel manipulator is established. The approximate feedback linearization control is designed for the parallel manipulator in joint space, with position and stored force in the previous time step are employed, as a learning tool to yield improved performance. Under Lyapunov theorems, the stability of the presented algorithm is confirmed in the presence of uncertainties. Simulation results show the proposed control is easy and effective to realize path tracking, and it exhibits excellent performance and high efficiency without a precision dynamics of plant. Furthermore, the presented algorithm is well suitable for most industrial applications. © Yang et al.

关键词： Computational efficiency

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Single Trial Detection of Visual Evoked Potential by Using EMD and Wavelet Filtering Method

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Chinese Journal of Biomedical engineering(English Edition) 2011年第3期20卷 115-118,124页

作者： HE Ke-ren ZOU Ling TAO Cai-lin MA Zheng-hua ZHOU Tian-tong School of Information Science ＆ Engineering Changzhou University Changzhou 213164 China State Key Laboratory of Robotics and System （HIT） Harbin Institute of Technoilogy Harbin 150001 China

Empirical mode decomposition(EMD) is a new signal decomposition method, which could decompose the non-stationary signal into several single-component intrinsic mode functions (IMFs) and each IMF has some physical meanings. This paper studies the single trial extraction of visual evoked potential by combining EMD and wavelet threshold filter. Experimental results showed that the EMD based method can separate the noise out of the event related potentials (ERPs) and effectively extract the weak ERPs in strong background noise, which manifested as the waveform characteristics and root mean square error (RMSE).

关键词： EMD wavelet threshold ERP single trial extraction

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Kinematic and dynamic optimizations of the redundant manipulator via local degrees of freedom

Kinematic and dynamic optimizations of the redundant manipul...

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International Conference on Mechanic Automation and Control engineering (MACE)

作者： Yushu Bian Zhihui Gao Min Liu State Key Laboratory for Robotics and System Harbin Institute of Technology Harbin China School of Mechanical Engineering and Automation Beihang University Beijing China

In order to conquer the difficulty of simultaneous optimizations on kinematic and dynamic indices of the redundant manipulator, a new type of redundant manipulator with local degrees of freedom is proposed. Redundant degrees of freedom are used to optimize kinematic index, and local degrees of freedom are used to optimize dynamic index. The corresponding optimization method is suggested. As a result, the kinematic and dynamic indices of the redundant manipulator can be optimized simultaneousely. Some simulations are carried out, and the optimization method is verified to be effective.

关键词： Manipulator dynamics Moment methods Kinematics Optimization Jacobian matrices

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Research on Auditory Display Technology Based on Visual Information

Research on Auditory Display Technology Based on Visual Info...

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International Conference on Multimedia and Signal Processing (CMSP)

作者： Xianchun Meng Shijie Dai Yuhong Liu Biao Xiang Zhidong Liu Zhi Lv School of Mechanical Engineering Hebei University of Technology Tianjin China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

A new recognizing obstacle method based on the visual information with the different voice was proposed in this paper, which overcame the flaw of the former ETA system to be unable to distinguish the outside obstacle concrete information. This method extraction goal object's color and the shape characteristic, with the established database retrieval math, distinguishes the goal object and then sends out the corresponding pronunciation. After a period of time's training, the blind person can skilled listen to the sound to know the obstacle information.

关键词： Image color analysis Feature extraction Shape Pixel Mutual information Object recognition Colored noise

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Research on state-guided teleoperation assistance method

Research on state-guided teleoperation assistance method

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International Conference on Computer Science and Service system (CSSS)

作者： Xizhe Zang Jie Zhao Qingxin Meng State Key Laboratory of Robotics and System Harbin Institute of Technology Heilongjiang 150080 China School of Mechanical and Electrical Engineering Harbin Engineering University 150001 China

Toward the Internet-based robotic tasks, a state-guided teleoperation assistance method is presented. According to this method, the whole task can be identified into several states to direct the execution of teleoperation, through state definition, state recognition and state display. After building up an Internet-based teleoperation system centered on data fusion, the remote manipulations of medical treatment are accomplished finally. The experiment demonstrates that introduction of the assistance method alleviates the difficulties such as network time-delay effectively and operation efficiency, improving the global capacity of system.

关键词： Robots Grippers Sensor fusion Sensor systems Force

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Simultaneous perturbation stochastic approximation based scaling factor tuning for 3-D fuzzy logic controller

Simultaneous perturbation stochastic approximation based sca...

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2011 8th International Conference on Fuzzy systems and Knowledge Discovery, FSKD 2011, Jointly with the 2011 7th International Conference on Natural Computation, ICNC'11

作者： Zhang, Xianxia Qin, Jingjing Zhao, Dongya Zheng, Yi Qi, Chenkun Cao, Guitao Shanghai Key Laboratory of Power Station Automation Technology School of Mechatronics and Automation Shanghai University Shanghai 200072 China College of Mechanical and Electronic Engineering China University of Petroleum Dongying 257061 China GE Global Research-Shanghai Real-time Controls and Instrumentation Laboratory Shanghai Jiao Tong University Shanghai 200240 China School of Mechanical Engineering State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai 200240 China Software Engineering Institute East China Normal University Shanghai 200062 China

ISBN: (纸本)9781612841816

Three-dimensional fuzzy logic controller (3-D FLC) is a new FLC which was developed recently for spatially-distributed systems. In this paper, we present a novel scaling factors online tuning method for 3-D FLC, which can improve the performance of the system without models. The simultaneous perturbation stochastic approximation (SPSA) optimization algorithm is used to adjust the scaling factors by using spatial performance criterion, which can offer a tradeoff between simplicity of implementation, speed of convergence and quality of the final solutions. A catalytic packed-bed reactor is presented as an example to demonstrate the effectiveness of the proposed method. The simulation results show that the system has a better performance and higher disturbance rejection ability by using proposed method. © 2011 IEEE.

关键词： Disturbance rejection

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Scheme design of extended configuration for in-pipe robot adapting mechanism

Scheme design of extended configuration for in-pipe robot ad...

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International Conference on Measuring Technology and mechatronics Automation

作者： Chen, Jun Chen, Tao Deng, Zongquan State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 15001 China School of Naval Architecture Harbin Institute of Technology at Weihai Weihai Shandong 264209 China Linyi Entry-Exit Inspection and Quarantine Bureau Linyi Shandong 276034 China School of Mechtronic Engineering Harbin Institute of Technology Harbin Heilongjiang 15001 China

ISBN: (纸本)9780769542966

The configuration design of in-pipe robot adapting mechanism has a significant impact on its motion performance. By analyzing the operation principle and structure composition of adapting mechanism, the four-bar linkage is chosen as basic unit to make topological combination, the two kinds of linkage combination including input of prismatic pair are presented, the configuration schemes that meet the given design constraints are also synthesized, and the application examples of specific mechanisms are given. Which provides a new method for configuration extended design of in-pipe robot adapting mechanism. © 2011 IEEE.

关键词： Topology

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