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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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Optical flow based plane detection for mobile robot navigation

Optical flow based plane detection for mobile robot navigati...

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World Congress on Intelligent Control and Automation (WCICA)

作者： Zhongli Wang Jie Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China School of Electronic and Information Engineering Beijing Jiaotong University Beijing China

Dominant plane detection is an essential task for an autonomous navigation of mobile robots equipped with a vision system, as we assume that robots move on the dominant plane. In this paper, based on optical flow, the image motions of points which located in a plane were described by planar flow. After the parameters of planar flow are estimated, the distance error of image points can be used for detecting the plane region from monocular image sequence. The proposed method includes three steps. First, the robust optical flow is estimated between two consecutive images from the image sequence. Then a geometry constraint provided by planar flow is applied to detect the plane regions in optical flow. And finally, some iterative procedures can be used for improving the results. Compared with the feature point based method which sometimes is invalid because of the lacking of texture, the optical flow based method can detect the ground plane even if there are not much more image features in the plane region. Some experiments with outdoor images have been conducted.

关键词： Computer vision Image motion analysis Optical imaging Adaptive optics Feature extraction Estimation Optical variables control

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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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Design method of modular units for articulated in-pipe robot inspecting system

Design method of modular units for articulated in-pipe robot...

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2011 2nd International Conference on Digital Manufacturing and Automation, ICDMA 2011

ISBN: (纸本)9780769544557

A novel untethered autonomous motor driven in-pipe robot inspecting system has been designed in order to solve the internal defect inspection for long-distance pipeLine. Which includes motor driven traction robot and other multiple cyLindrical box modular units, the adjacent units are Linked by double hook joints and by three extended supporting wheels contacting the inner surface of pipe elastically to form the articulated multi-body system. Based on the virtual prototype technology, by means of the relations of structure and size for modular units and its connectors, to research the determine method of structure size meeting the needs of in-pipe robot inspecting system moved in elbow pipe. The method proposed this paper has been used in the design of engineering prototype, and whose structure size and mechanics performance have been proved can achieve the design indexes. © 2011 IEEE.

关键词： Machine design

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The application of real-time operating system QNX in the computer modeling and simulation

The application of real-time operating system QNX in the com...

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International Conference on Artificial Intelligence, Management Science and Electronic Commerce (AIMSEC)

作者： Mingxin Hou Fenglei Ni Minghe Jin Li Jiang Hong Liu Yue Jin Mingbo Hou State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China Institute of Robotics and Mechatronics German AeroSpace Center Munich Germany College of Electromechanical Engineering China University of Petroleum China Department of Electronic Engineering University of York UK

The objective of this study is to show the applications of the simulation implementation of QNX identified model combining with Matlab/Simulink platform, QNX C/C++ compiler and QNX real-time operating system. The HIT/DLR Hand II dexterous hand QNX real-time simulation model is generated by the Simulink platform and QNX C/C++ compiler link files. Moreover, this model can be implemented in the QNX real-time system. Simulations in the QNX real-time system show that the HIT/DLR Hand II dexterous hand QNX model which based on the methods in this research, was able to offer an attractive performance during both real-time simulation and feedback operations.

关键词： Mathematical model Real time systems Computational modeling Robots Operating systems Conferences Joints

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A novel optimal calibration algorithm on a dexterous 6 DOF serial robot-with the optimization of measurement poses number

A novel optimal calibration algorithm on a dexterous 6 DOF s...

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2011 IEEE International Conference on robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： Kui Sun Tian Li Yue Jin Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology (HIT) Harbin 150001 Chi College of Electromechanical Engineering China University of Petroleum Dongying 266555 China Institute of Robotics and Mechatronics German Aerospace Center DLR 82230 Wessling Germany

Normally, people always believe that the more measurement poses used in a robot calibration process, the more accurate result can be obtained. However, the accuracy improvement converges to a threshold after a number of measurement poses. Moreover, robot calibration is a time consuming process, too many poses would seriously complicate the process and consumedly increase the spending time. In this paper, an optimal measurement pose number searching method was proposed to improve the calibration method in time spending aspect. Optimal robot poses were added to an initial pose set one by one to establish a new pose set for the robot calibration. The root mean squares (RMS) of the end-effector pose errors after being calibrated by using these pose sets were calculated. The optimal number of the configuration set which correspond to the least RMS of pose error can then be obtained. This algorithm can get higher end-effector accuracy, meanwhile consume less time. The simulation on a serial robot manipulator with 24 unknown kinematic parameters shows that the end-effector pose accuracy after calibrated by the using of the optimal pose set is much better than the result before calibration, and is better than the using of a random pose set.

关键词： Kinematics Robots Calibration Joints Observability Jacobian matrices Indexes

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Gain-Scheduling Control of a 6-DOF Single-wheeled Pendulum Robot Based on DIT Parameterization

Gain-Scheduling Control of a 6-DOF Single-wheeled Pendulum R...

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2011 IEEE International Conference on robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： Jizhuang Fan HongZhe Jin Jie Zhao JangMyung Lee State Key Laboratory of Robotics and System Science Garden of HITNO.2Street YiKuangDistrict NanGa School of Electrical Engineering Pusan National Univercity BusanKorea 609735

ISBN: (纸本)9781612843865

This article presents the nonlinear dynamics and the posture stabilization control scheme for the single-wheeled pendulum robot (SWPR). Considering the maneuverability of SWPR, the steering is realized through the control for the inertia pendulum (IP) installed horizontally on the middle part of robot body. The feature of the control system modeling consists in a technique for which the posture stabilization control design is based on the parameterization of the dynamic interactions (DIT) between the lateral dynamics, the longitudinal dynamics, and the rotational dynamics. Simulation results showed the feasibility of the SWPR model and the control algorithm.

关键词： Single-wheeled pendulum robot Model reduction Parameterization Posture stabilization Gain scheduling

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Data-driven based 3-D fuzzy logic controller design using nearest neighborhood clustering and linear support vector regression

Data-driven based 3-D fuzzy logic controller design using ne...

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IEEE International Conference on Fuzzy systems (FUZZ-IEEE)

作者： Xianxia Zhang Ye Jiang Tao Zou Chenkun Qi Guitao Cao Shanghai Key Laboratory of Power Station Automation Technology School of Mechatronics and Automation Shanghai University Shanghai China College of Information Engineering Zhejiang University of Technology Hangzhou China School of Mechanical Engineering State Key Laboratory of Mechanical System and Vibration Shanghai Jiaotong University Shanghai China Software Engineering Institute East China Jiao Tong University Shanghai China

Three-dimensional fuzzy logic controller (3-D FLC) is a novel FLC developed for spatially distributed parameter systems. In this study, we are concerned with data-based 3-D FLC design. A nearest neighborhood clustering algorithm is employed to extract fuzzy rules from input-output data pairs, and then an optimization algorithm based on geometric similarity measure is used to reduce the obtained rule base. The consequent parameters are estimated using linear support vector regression. Finally, a catalytic packed-bed reactor is taken as an application to demonstrate the effectiveness of the 3-D FLC.

关键词： Clustering algorithms Fuzzy sets Partitioning algorithms Vectors Support vector machines Optimization Inductors

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Design and Control of a Coupling Mechanism-Based Prosthetic Hand

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Journal of Shanghai Jiaotong university(Science) 2010年第5期15卷 571-577页

作者：王新庆刘伊威姜力杨大鹏李楠刘宏黄海 State Key Laboratory of Robotics and System Harbin Institute of Technology Institute of Robotics and Mechatronics German Aerospace Center Key Laboratory of Science and Technology for National Defence of Autonomous Underwater Vehicle Harbin Engineering University

A five-fingered,multi-sensory and biomimetic hand is *** cambered palm is specially designed by utilizing the knowledge of *** position of each finger is arranged according to human hand *** finger with three phalanges could fulfill flexion-extension movement *** the fingers are designed using coupling link *** location of the thumb is designed by maximizing interaction area between the thumb and other *** opposite thumb could grasp along a cone surface,while maintaining its *** hardware architecture is divided into control system and human-machine interaction *** mechanical parts,sensors and motion control systems are integrated in the hand *** addition,a skin-like glove is designed,which makes the hand more *** to our primary experimental results,the hand can accomplish several grasp modes by applying an intuitive surface electromyography control *** success rate of 10 modes is up to 90%.

关键词： prosthetic hand coupling mechanism electromyography control support vector machine (SVM)

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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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