检索结果-内蒙古大学图书馆

2010 IEEE International Conference on robotics and Biomimetics, ROBIO 2010

作者： Xiao, Yongqiang Du, Zhijiang You, Wei Li, Ruifeng School of Mechatronics Engineering State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 150080 China

ISBN: (纸本)9781424493173

This paper presents a new approach to establish a dynamic model of robot joints. The model is constructed by ideally dividing a robot joint into high-speed block and low-speed block and described with nonlinear characteristics such as friction, backlash and hysteresis. The friction behavior of two blocks is captured by the Generalized Maxwell-Slip model. The Preisach model is used to describe the hysteresis character of joints. Because the "congruency" assumption of hysteresis, which is needed in the Preisach model, is not strictly tenable in complex joints, so there construct the hysteresis model through Preisach model plus a nonlinear stiffness. A simple and effective method is developed to model the backlash behavior in joints. The integrated joint model of an industry robot built by our laboratory is established and simulation model is constructed in Simulink of Matlab. The validity of this model is demonstrated and a new avenue opened in this way. © 2010 IEEE.

关键词： Hysteresis

来源：评论

学校读者我要写书评

暂无评论

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

引用

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

来源：评论

学校读者我要写书评

暂无评论

Geometry stabilizing control of the extended nonholonomic double intergrator

Geometry stabilizing control of the extended nonholonomic do...

引用

2010 IEEE International Conference on robotics and Biomimetics, ROBIO 2010

作者： Peng, Yan Liu, Mei Tang, Zhijie Xie, Shaorong Luo, Jun School of Mechatronics Engineering and Automation Shanghai University Shanghai 200072 China State Key Laboratory of Robotics China

ISBN: (纸本)9781424493173

The extended nonholonomic double intergrator (ENDI) cannot be asymptotically stabilized by a continuous and time-invariant feedback controller since it violates the Brockett's condition. In this paper, a new continuous control scheme is proposed to stabilize the ENDI system with the drift. The dynamics of an ENDI system is enlarged to a higher dimensional space where a continuous but time-varying control law is designed for its stabilization. Furthermore, the drift involved in the ENDI can also be handled as an input perturbation by the proposed scheme. Besides the theoretical proofs, simulations conducted on the dynamics of a trimaran unmanned surface vehicle (USV) are also presented to demonstrate the validity and performance of the proposed method. © 2010 IEEE.

关键词： Unmanned surface vehicles

来源：评论

学校读者我要写书评

暂无评论

Novel Hilbert energy spectrum based features for speech emotion recognition

Novel Hilbert energy spectrum based features for speech emot...

引用

WASE International Conference on Information engineering, ICIE

作者： Li, Xin Li, Xiang School of Mechatronical Engineering and Automation Shanghai University State Key Laboratory of Robotics and System Shanghai China School of Mechatronical Engineering and Automation Shanghai University Shanghai China

ISBN: (纸本)9780769540801

In this paper, a novel feature called ECC is proposed via feature extraction of the Hilbert energy spectrum which describes the distribution of the instantaneous energy. The experimental results conspicuously demonstrated that ECC outperforms the traditional short-term average energy. Afterwards, further improvements of ECC were developed. TECC is gained by combining ECC with the Teager energy operator, and EFCC is obtained by introduced the instantaneous frequency to the energy. In the experiments, seven status of emotion were selected to be recognized and the highest 83.57% recognition rate was achieved within the classification accuracy of boredom reached up to 100%. The numerical results indicate that the proposed features ECC, TECC and EFCC can improve the performance of speech emotion recognition substantially. © 2010 IEEE.

关键词： Spectroscopy

来源：评论

学校读者我要写书评

暂无评论

Development of a pipe cleaning robot for air conditioning system

Development of a pipe cleaning robot for air conditioning sy...

引用

2010 IEEE International Conference on robotics and Biomimetics, ROBIO 2010

作者： Ye, Changlong Ma, Shugen Li, Huaiyong Yang, Junjun School of Mechatronics Engineering Shenyang Aerospace University 110136 Shenyang China State Key Laboratory of Robotics Shenyang Institute of Automation 110016 Shenyang China Department of Robotics Ritsumeikan University 525-8577 Kusatsu Japan

ISBN: (纸本)9781424493173

A pipe cleaning robot for central air-condition named PCV-1 is developed to adapt to the pipe environment. This robot consists of three parts: middle part and front part as well as back part. One part in the middle of the robot is the driving unit, which utilizes the spring mechanism to get the normal pressure and utilizes the active driving wheels to actuate the robot. The front part and back part are similar in structure. These two parts can modulate the turn angle of the robot to realize turn motion for the pipe adaptation. This robot can move in the vertical pipe beside in the horizontal pipe, which enables it move in the air conditioning pipe system. The movement capability of this robot was verified through experiments. © 2010 IEEE.

关键词： Robots

来源：评论

学校读者我要写书评

暂无评论

Slip-ratio-coordinated control of planetary exploration robots traversing over deformable rough terrain

Slip-ratio-coordinated control of planetary exploration robo...

引用

2010 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Liang Ding Haibo Gao Zongquan Deng Zhen Liu State Key Laboratory of Robotics and System School of Mechatronics Engineering Harbin Institute of Technology Harbin Heilongjiang China

Wheeled exploration robots are prone to slip during locomotion on deformable rough planetary terrain, which leads to loss of velocity and extra consumption of energy. Experimental results show that the power required for driving a wheel is an increasing function of its slip ratio; further, the tractive efficiency decreases rapidly after it reaches a peak value when the slip ratio is between 0.05 and 0.2. In this study, wheel-soil interaction terramechanics, which considers the slip ratio as an important state variable, is applied to analyze the quasi-static equations of a planar robot system. The slip ratios of wheels are controllable, but the degree of freedom is the number of wheels minus 1. A generalized algorithm for distributing the slip ratios of all the wheels of a robot to optimize the energy consumption is presented. Experimental and simulation results show that the “equal slip ratio” is at least a sub-optimal solution for optimizing energy consumption. Further, a more robust control method has been developed; this methods aims to equalize the slip ratios of all the wheels while maintaining a constant body velocity on rough terrains, without solving the values of the slip ratios. This method is verified by controlling a virtual four-wheeled robot using dynamics simulations.

关键词： Wheels Mobile robots Robot kinematics Energy consumption Soil Angular velocity

来源：评论

学校读者我要写书评

暂无评论

Speech emotion recognition using improved robust features for intelligent emotional robot

Speech emotion recognition using improved robust features fo...

引用

2010 International Conference on Artificial Intelligence, ICAI 2010

作者： Li Xiang, A. Li Xin, B. School of Mechatronical Engineering and Automation Shanghai University Shanghai China State Key Laboratory of Robotics and System HIT Harbin Heilongjiang China Shanghai Key Laboratory of Power Station Automation Technology Shanghai China

ISBN: (纸本)9781601321480

Speech emotion recognition is an important issue in the development of human-robot interactions (HRI). This paper describes the realization of emotional interaction for an intelligent emotional robot, focusing on speech emotion recognition. Accordingly, a series of novel robust features for emotion recognition is proposed. Those features, which derived from the Hilbert-Huang transform and empirical mode decomposition, have the characteristics of multi-resolution, self-adaptability and high precision of distinguish ability. In the experiments, seven status of emotion were selected to be recognized and the highest 83.57% recognition rate was achieved within the classification accuracy of boredom reached up to 100%. The numerical results indicate that the proposed features are robust and the performance of speech emotion recognition is improved substantially.

关键词： Hilbert-Huang transform

来源：评论

学校读者我要写书评

暂无评论

Local shape patch based object detection

Local shape patch based object detection

引用

2010 IEEE International Conference on Information and Automation, ICIA 2010

作者： Du, Zhijiang Chen, Guodong Sun, Lining Ji, Junhong Xie, Ming State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China School of Mechanical and Aerospace Engineering Nanyang Technological University Singapore 637553 Singapore

ISBN: (纸本)9781424457021

We present a novel object detection framework that uses the local shape patches features combining the interclass global features information. A supervised local model learning architecture is proposed: a novel interest point descriptor is proposed and applied to detect the local shape patches, the local shape patches are formed by chains of several connected contour segments. Then the object local contour parts model are learned from a small set of training images. In order to make the local contour patch model is invariant to rotation and translation, the local contour patch descriptor is represented by modified shape context. By adding the edge orientation information and interclass global information, the power of differentiating mismatches is increased, especially detecting the objects existing similar parts. Both experiments on image feature point matching and object detection comparing with other feature descriptors are carried out in order to validate the proposed method. ©2010 IEEE.

关键词： Object detection

来源：评论

学校读者我要写书评

暂无评论

Modeling and simulating the nonlinear characters of robot joints

Modeling and simulating the nonlinear characters of robot jo...

引用

IEEE International Conference on robotics and Biomimetics

作者： Yongqiang Xiao Zhijiang Du Wei You Ruifeng Li School of Mechatronics Engineering and State Key Laboratory of Robotics and System Harbin Harbin Institute of Technology Harbin Heilongjiang China

ISBN: (纸本)9781424493197

This paper presents a new approach to establish a dynamic model of robot joints. The model is constructed by ideally dividing a robot joint into high-speed block and low-speed block and described with nonlinear characteristics such as friction, backlash and hysteresis. The friction behavior of two blocks is captured by the Generalized Maxwell-Slip model. The Preisach model is used to describe the hysteresis character of joints. Because the “congruency” assumption of hysteresis, which is needed in the Preisach model, is not strictly tenable in complex joints, so there construct the hysteresis model through Preisach model plus a nonlinear stiffness. A simple and effective method is developed to model the backlash behavior in joints. The integrated joint model of an industry robot built by our laboratory is established and simulation model is constructed in Simulink of Matlab. The validity of this model is demonstrated and a new avenue opened in this way.

关键词： Friction Solid modeling Joints Hysteresis Mathematical model Robots Force

来源：评论

学校读者我要写书评

暂无评论

Design and analysis of a kind of biomimetic continuum robot

Design and analysis of a kind of biomimetic continuum robot

引用

2010 IEEE International Conference on robotics and Biomimetics, ROBIO 2010

作者： Zhao, Qiang Gao, Fang Northeast Forestry University State Key Laboratory of Robotics and System/Computer School Harbin Institute of Technology Harbin Heilongjiang 150000 China Mechtronical Engineering School Harbin Institute of Technology Harbin Heilongjiang 150001 China

ISBN: (纸本)9781424493173

Continuum robot is a new kind of bionic robot, and it is the beneficial supplement to the traditional joint-type robot. This paper presented a design scheme of Hook Joint type continuum robot, and fully discussed its structure and mechanism connection mode. An exponential product based matrix transformation is used to describe the position and orientation of the end-effector. The forward kinematics is also discussed in this paper. Numerical examples are completed with Matlab M language and simulation results indicate the validity of the proposed analysis method. © 2010 IEEE.

关键词： Machine design

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：