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2008 IEEE International Conference on robotics and Biomimetics, ROBIO 2008

作者： Quan, Qiquan Ma, Shugen Liu, Rongqiang Li, Bin Department of Robotics Ritsumeikan University Japan School of Mechatronics Engineering Harbin Institute of Technology China State Key Laboratory of Robotics Shenyang Institute of Automation China

ISBN: (纸本)9781424426799

This paper introduces a tracked robot that consists of the proposed crawler module, in which a planetary gear reducer is adopted as the power transmission device to give two different outputs with just one actuator. Compared with each module driven by two actuators, the module driven by just one actuator could perform a good impact absorption when a collision occurs with environment due to the fact that an output redundancy exists inside. To figure out what the advantage of our mechanism to the impact absorption is, impact analysis from the external components of the robot to its internal transmission parts is conducted and the results of impact effect to actuators in our mechanism are correspondingly derived in comparison with that in the conventional mechanism where each output is provided by one actuator. © 2008 IEEE.

关键词： Actuators

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A novel Hierarchical decomposition for multi-player pursuit evasion differential game with superior evaders 09

A novel Hierarchical decomposition for multi-player pursuit ...

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2009 World Summit on Genetic and Evolutionary Computation, 2009 GEC Summit - 1st ACM/SIGEVO Summit on Genetic and Evolutionary Computation, GEC'09

作者： Ze-su, Cai Li-ning, Sun Hai-bo, Gao State Key Laboratory Robotics and System Harbin Institute of Technology Harbin 150001 China School of Mechatronics Engeneering Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)9781605583266

In this paper, we consider a novel Hierarchical decomposition approach for multi-player pursuit evasion game (MPPEG) where some evaders' capability are higher than those of all pursuers. Differently from standards MPPEGs where the environment and the location of evaders is unknown and a probabilistic map is built based on the pursuer onboard sensor. In this paper, we study the number of pursuers which necessitates for the capture condition and the time of all evaders have been captured. A novel Cooperative in the coalition formation is used for pursuer in their pursuit strategies deriving to 1) Avoid collision among objects, 2) Reduce the distance between each pursuer and the evader over the evolution of game;3) Keep the pursuers' formation around the evader invariant during the pursuit process and enclose the superior evader. The validity of our method is illustrated by two simulation examples. Copyright 2009 ACM.

关键词： Game theory

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Fast and accurate humanoid robot navigation guided by stereovision

Fast and accurate humanoid robot navigation guided by stereo...

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2009 IEEE International Conference on mechatronics and Automation, ICMA 2009

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

ISBN: (纸本)9781424426935

Stair-climbing and moving object grasping both require high precision information feedback of the feature coordinate. This manuscript mainly describes how to process the information acquired from the stereovision system in a fast and accurate way and how to use the data to compensate the progressive error caused by the humanoid robot. From camera calibration to image processing to stereo match, every step in the whole vision information processing process plays an important role in getting high precision. Less time consuming can make the robot adapt to the changes of environment quickly, especially in dynamic environment. In this paper, two humanoid robot common tasks are chosen as experiments to verify the effectiveness of the proposed methods. Stair climbing experiment verifies the high precision in long distances and also by using the image information to compensate the progressive error caused by long distance walking and moving object grasping experiment verifies the less time consuming. ©2009 IEEE.

关键词： Anthropomorphic robots

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An in-pipe micro robot actuated by piezoelectric bimorphs

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Chinese Science Bulletin 2009年第15期54卷 2134-2142页

作者： LIU PinKuan WEN ZhiJie SUN LiNing State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai 200240 China Robotics Institute Harbin Institute of Technology Harbin 150001 China

A novel in-pipe micro robot providing stable and accurate locomotion inside a tubular structure with diameters ranging from 16 mm to 18 mm is presented in this paper. Driven by impulsive voltages, deflections of the piezoelectric bimorphs are generated and then converted into translational locomotion by the principle of the Impact Drive Mechanism (IDM). Theoretical analysis of the proposed system is performed based on a simplified mechanical model. Then dynamic simulations of the dynamic behavior are performed. Finally, an experiment is conducted to investigate the moving ability of this device. The results demonstrate that a maximum translational velocity of 3.5 mm/s can be obtained under an impulsive driving voltage with peak value at 50 V and frequency of 1100 Hz. Both theoretical analysis and experimental trials prove that the principle of IDM actuated by piezoelectric bimorphs is feasible and robust for achieving accurate locomotion of the micro robot in pipes with diameters of less than 20 mm.

关键词：管道微机器人压电双晶片驱动机构调制解调器平移运动实验测试管道直径管状结构

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Impact absorption of a dual-crawler-driven robot

Impact absorption of a dual-crawler-driven robot

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IEEE International Conference on robotics and Biomimetics

作者： Qiquan Quan Shugen Ma Rongqiang Liu Bin Li Department of Robotics Ritsumeikan University Japan School of Mechatronics Engineering Harbin Institute of Technology China State Key Laboratory of Robotics Shenyang Institute of Automation China

关键词： Absorption Actuators Crawlers robotics and automation Switches Gears Tracking Mobile robots Parallel robots Control systems

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Posture control of a dual-crawler-driven robot

Posture control of a dual-crawler-driven robot

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IEEE International Conference on robotics and Automation (ICRA)

作者： Qiquan Quan Shugen Ma Bin Li Rongqiang Liu Department of Robotics Ritsumeikan University Japan State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy and Sciences China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy and Sciences Shenyang China School of Mechatronics Engineering Harbin Institute of Technology China

This paper deals with a tracked robot that consists of the proposed crawler module, in which a planetary gear reducer is used as the power transmission device to give two different outputs with just one actuator. This under-actuated system could perform posture control through the interaction between the front and rear modules. On occasion, the posture that the front module is lifted up can make the robot overcome obstacles actively and easily. To find out the controllable postures, the static analysis of the robot has been conducted. In this paper, we provide the control strategy for performing the posture control, and propose the control methods including direct, indirect, and cooperative control to conduct the posture control. Experimental tests show the effectiveness of the control methods.

关键词： robotics and automation Crawlers Actuators Mobile robots Control systems Switches Gears Motion control Stability Automatic generation control

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Integrating positioning X-Y stage based on bulk micromachining

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Guangxue Jingmi Gongcheng/Optics and Precision engineering 2009年第2期17卷 333-340页

作者： Wang, Jia-Chou Rong, Wei-Bin Li, Xin-Xin Sun, Li-Ning Ma, Li State Key Laboratory of Transducer Technology Shanghai Institute of Microsystem and Information Technology Chinese Academy of Sciences Shanghai 20050 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China School of Mechanical and Electronic Engineering and Automation Shanghai University Shanghai 200072 China

In order to realize the miniaturized nano-positioning stage, a novel 2-DOF Single Crystal Silicon (SCS) nano-positioning micro X-Y stage with the function of displacement detection is successfully developed by using silicon bulk-micromachining;the X-Y stage is drived by an electrostatics comb actuator. The theories of electromechanical coupling and energy conservation are used to analyze electrostatic actuated mechanism, X-Y stage static characteristic and X-Ystage dynamic characteristic. Some failure modes of X-Y stage are also presented and the electromechanical side instability and the stable travel range of comb-drive actuators are investigated. The stable travel range depends on the finger gap spacing, the initial finger overlap and the spring stiffness ratio of the compliant suspension. Additionally, by taking into account the effect of the air damping on the X-Ystage dynamic characteristic, the maximum velocity, stable travel range and critical driving voltage are given to an experiment on closed-loop control. The experimental results indicate that the analyzed characteristics are useful in the design and control of the micro X-Ystage. Under 30 V driving voltage, the single-axis displacement output is 10 μm, and the closed-loop step response is only 2.5 ms.

关键词： Electrostatics

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Speed sensorless direct torque control of 3-level inverter-fed induction motor drive based on optimized switching table

Speed sensorless direct torque control of 3-level inverter-f...

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Annual Conference of Industrial Electronics Society

作者： Yongchang Zhang Zhengming Zhao Jianguo Zhu Wei Xu D. G. Dorrell School of Electrical Mechanical and Mechatronics Systems Sydney University of Technology NSW Australia State Key Laboratory of Power System Department of Electrical Engineering Tsinghua University China

Three-level neutral-point-clamped (NPC) inverters are very appropriate for high-power adjustable-speed drive applications. Direct torque control is characterized by the merits of fast response, simple structure and strong robustness to motor parameters variations. This paper presents a 3-level inverter-fed direct torque controlled (DTC) induction motor (IM) drive based on optimized switching table. The problems of high voltage jump, smooth vector switching and neutral point balance are investigated and solved by introducing appropriate intermediate vectors. Furthermore, a speed-adaptive flux observer is employed to enhance the performance of the system by estimating the state variables including the stator flux and state current. Large starting current, which can occur in conventional DTC drives, is controlled effectively by introducing pre-excitation of the stator flux. Both simulation and experimental results are presented to verify the effectiveness of the proposed schemes introduced in this paper.

关键词： Torque control Induction motor drives Stators Inverters Variable speed drives Robust control Induction motors Voltage Observers state estimation

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The research on a novel PZT actuated precise tilt positioning system

The research on a novel PZT actuated precise tilt positionin...

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IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Bing Shao Liguo Chen Weibin Rong Min Xu Changhai Ru School of Material Science and Engineering Harbin Institute of Technology China State Key Laboratory of Robotics and System Harbin Institute of Technology China Automation College Harbin Engineering University China

The need for precise fast positioning technique draws attention on space inter-satellite optical communication. This paper presents a novel PZT actuated precise tilt positioning system (PTPS), which consists of the control module, the PZT driving module, the precise tilt positioning mechanism (PTPM), and the precise displacement measure module. It provides a fast and precise control in tilt movements. Firstly, the structure analysis and design of PTPM are accomplished. Then the control module is developed and the current/ voltage composite driving method is investigated in detail. Finally, following the experimental results which confirm the validity of the design and theoretical analysis of the PFPS.

关键词： Actuators Communication system control Materials science and technology Space technology Voltage Microwave communication robotics and automation Optical fiber communication Control systems Position measurement

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Binaural Sound Localization Based on Detection of Multi-band Zero-Crossing Points

Binaural Sound Localization Based on Detection of Multi-band...

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International Workshop on Intelligent Networks and Intelligent systems (ICINIS)

作者： Cong-qing Li Shi-jie Dai Fang Wu He Huang Li-xin Sun Li-ying Sun School of Mechanical Engineering Hebei University of Technology Tianjin China Tianjin Institute of Urban Construction Tianjin China State Key Laboratory of Robotics and System Harbin Institute of Technology (HIT) Harbin China

A method of binaural sound localization based on detection of multi-band zero-crossing points generated from binaural filter-band outputs is presented. In the presented method, the ITD values are estimated by a histogram weighted by the estimated source noise rate(SNR) computed from the variances of ITD samples. As a result, the method provides an accurate estimate of sound source direction and is more robust to noise. To verify the validity of the method, simulations for sound localization are performed under the condition of white noise. The simulation results show that the method is able to provide an accurate estimate of sound source direction and is more robust to noise while offering significantly less computational complexity compared to the conventional cross-correlation based methods.

关键词： Acoustic noise Noise robustness Signal to noise ratio Computational complexity Working environment noise Frequency Intelligent networks Computational modeling Sun Humans

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