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IEEE International Conference on mechatronics and Automation

作者： Chen Guodong Ming Xie Zeyang Xia Lining Sun Junhong Ji Zhijiang Du Wang Lei 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 Technology China

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.

关键词： Humanoid robots Navigation Feedback Robot vision systems Cameras Calibration Image processing Information processing Robot kinematics Legged locomotion

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A Novel Method of Binaural Sound Localization Based on Dominant Frequency Separation

A Novel Method of Binaural Sound Localization Based on Domin...

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Congress on Image and Signal Processing, CISP

作者： Cong-qing Li Fang Wu Shi-jie Dai Li-xin Sun He Huang 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 novel method of binaural sound localization based on the dominant frequency separation is proposed. In this method, the ITD values is estimated by using the property for sound signals to keep their dominant frequency components unchanged in the frequency domain. To verify the validity of the suggested method, the test of the dominant frequency separation is made. Firstly, in frequency domain, the separation of the mixed signal of two signals is made by applying this method and the separated result is satisfactory. Secondly, the test of single sound source localization and that of two simultaneous sound sources localization are performed respectively under our test condition. The experimental results show that the proposed method is able to provide a valid estimation of sound source directions and offer less computational complexity.

关键词： Frequency domain analysis Acoustic testing Computational complexity Microphones Frequency estimation Performance evaluation Sun Laboratories Robots Fast Fourier transforms

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Active modeling based course control of Unmanned Surface Vehicles

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ICIC Express Letters 2009年第3期3卷 579-584页

作者： Peng, Yan Huang, Qingjiu He, Yuqing Han, Jianda State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Nanta street 114 Shenyang 110016 China School of Mechatronics Engineering and Automation Shanghai University Shanghai 200072 China Department of Mechanical and Control Engineering Tokyo Institute of Technology 2-12-1-13-11 O-okayama Meguro-ku Tokyo 152-8552 Japan

Model uncertainties and external disturbances extensively exist in UnmannedSurface Vehicle (USV) systems, which will greatly deteriorate the autonomousability. In this paper, a, new kind, of robust controller design strategy based,on active modeling technique is proposed, to attenuate the uncertaintiespre-described, in the coarse control of USV systems. Firstly, with detailed,analysis, the uncertainties are introduced, into the new-designed, coarsedynamics model by using the concept of modeling errors;Secondly, Kalman filteris used to estimate simultaneously the modeling errors, which is subsequentlyused, to design the robust controller;Finally, the new strategy is tested withrespect to the unmanned trimaran vehicles system-Tri-0601 to show thefeasibility and validity of it. ICIC International © 2009.

关键词： Kalman filters

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Mobility performance analysis of lunar rover based on terramechanics

Mobility performance analysis of lunar rover based on terram...

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2008 IEEE/ASME International Conference on Advanced Intelligent mechatronics, AIM 2008

作者： Zhang, Peng Deng, Zongquan Hu, Ming Gao, Haibo State Key Laboratory of Robotics and System School of Mechatronics Engineering Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)9781424424955

In order to analyze the performance of lunar rover, drawbar pull and motion resistance are analyzed in this paper based on terramechanics. The relationships between configuration parameters (like wheel width, wheel bases et al.) and mobility performance parameters are obtained from the analysis. Meanwhile, the sensitive factors of the motion resistance are found. Then main performance evaluation metrics and indexes of mobility performance are presented, based on which performance comparison of LER-1 and ALR (a new configuration lunar rover) locomotion systems is performed. The method of evaluating mobility performance of lunar rover by simulation is introduced. The analysis results indicate that the new locomotion system configuration ALR has good mobility performance. The study results can apply to the design of planetary exploration rovers for reference. © 2008 IEEE.

关键词： Wheels

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The growth of stem cells within β-TCP scaffolds in a fluid-dynamic environment

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Materials Science and engineering C 2008年第1期28卷 164-170页

作者： Xu, Shanglong Li, Dichen Xie, Youzhuan Lu, Jianxi Dai, Kerong School of Mechatronics Engineering University of Electronic Science and Technology Chengdu China State Key Laboratory of Mechanical Manufacture System Engineering Xi'an Jiaotong University Xi'an China Department of Orthopaedic Surgery Ninth People's Hospital Shanghai Jiao Tong University School of Medicine Shanghai China

A three-dimensional dynamic perfusion system was developed to provide mass transport and nutrient supply to permit the cell proliferation during the long-term culture inside a β-tricalcium phosphate (β-TCP) scaffold. Also the flow field throughout the scaffold was studied. The porous cylindrical scaffold with a central channel was seeded with the sheep mesenchymal stem cells (MSCs). Then the cell-seeded scaffolds were continuously perfused with the complete α-MEM medium by a peristaltic pump for 7, 14 and 28 days, respectively. Histological study showed that the cell proliferation rates were different throughout the whole scaffolds and the different cell coverage was shown in different positions of the scaffold. Unoccupied spaces were found in many macropores. A computational fluid dynamics (CFD) modeling was used to simulate the flow conditions within perfused cell-seeded scaffolds to give an insight into the mechanisms of these cell growth phenomena. Relating the simulation results to perfusion experiments, the even fluid velocity (approximately 0.52 mm/s) and shear stress (approximately 0.0055 Pa) were found to correspond to increased cell proliferation within the cell-scaffold constructs. Flow speeds were between 0.25 and 0.75 mm/s and shear stresses were between 0.003 and 0.008 Pa in approximately 75% of the regions. This method exhibits novel capabilities to compare the results obtained for different perfusion rates or different scaffold microarchitectures. It may allow specific fluid velocities and shear stresses to be determined to optimize the perfusion flow rate, porous scaffold architecture and distribution of in vitro tissue growth. © 2007 Elsevier B.V. All rights reserved.

关键词： Cell growth

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Mobility Performance Analysis of Lunar Rover Based on Terramechanics

Mobility Performance Analysis of Lunar Rover Based on Terram...

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2008 IEEE/ASME International Conference on Advanced Intelligent mechatronics, Pages 1-476

作者： Peng Zhang Zongquan Deng Ming Hu Haibo Gao State Key Laboratory of Robotics and System School of Mechatronics Engineering Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)9781424424948

关键词： mobility performance performance evaluation locomotion system terramechanics lunar rover

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Damping parameters measurement and preisach modeling of extra vehicular activity glove based on exoskeleton mechanism

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Hsi-An Chiao Tung Ta Hsueh/Journal of Xi'an Jiaotong University 2008年第7期42卷 891-894+899页

作者： Fang, Honggen Shi, Shicai Liu, Hong Li, Tanqiu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China Institute of Robotics and Mechatronics German Aerospace Center Munich 82230 Germany Institute of Space Medicine and Medical Engineering Beijing 100094 China

By combination of parallelogram link and gear, a new type of exoskeleton mechanism is developed. As placed on the back of extra vehicular activity (EVA) glove in an external way, this mechanism is able to drive the EVA glove finger to extent or flex like human finger grasp *** force sensor located at the tip of exoskeleton mechanism measures the EVA glove damping force during flexion or extension. The force reaches even to 10 N and the hysteresis of the force approaches to 31%.To predict the force which corresponds to an angular displacement of EVA glove and simulate the human factors performance metrics of extra vehicular activity, an unified Preisach numerical calculating strategy is presented by recording the number of vertices of the interface line in discrete Preisach plane and getting a series of first order reversal curves. A distance-weighted interpolation is chosen to evaluate at the points belonging to the Preisach plane except the discrete grid points. The proposed method is validated by the experiments.

关键词： Damping

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Modified strategy to inertia weight in PSO for searching threshold of Otsu rule

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Guangxue Jingmi Gongcheng/Optics and Precision engineering 2008年第10期16卷 1907-1912页

作者： Cheng, Wan-Sheng Zang, Xi-Zhe Zhao, Jie Cai, He-Gao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China School of Electronic and Information Engineering Liaoning University of Science and Technology Anshan 114044 China

In order to searching the best threshold of Otsu rule rapidly, a modified strategy to the inertia weight in Particle Swarm Optimization (PSO) is introduced. The strategy correlates the inertia weight in PSO with the globally best position and the individual best position in particle swarm and modifies the inertial weight by the distance between the best individual position and the globally best position. With the reduction of the distance between the globally best position and the individual best position, the inertia weight of the individual particle will be reduced, vice versa. The experimental results indicate that this algorithm decreases computational work and improves average convergence rate by 21.0726% as compared with that of traditional methods. It can speed up on-line image segmentation using this method.

关键词： Image segmentation

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Correction method for pixel response nonuniformity of CCD

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Guangxue Jingmi Gongcheng/Optics and Precision engineering 2008年第2期16卷 314-318页

作者： Cheng, Wan-Sheng Zhao, Jie Cai, He-Gao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China School of Electronic and Information Engineering Liaoning University of Science and Technology Anshan 114044 China

After analyzing the reasons related to the pixel nonuniformity in details, an algorithm based on least square method is presented to correct the pixel nonuniformity of a CCD. The grey level datum sets of each pixel are acquired on the cases of different irradiances, then a least square method is used to estimate the relation between irradiance and desired grey level data. The correct parameters of each pixel are computed, and the correct matrix is established. Finally, the pixel response uniformity is achieved by using the matrix to correct the grey level data of each pixel. The maximum deviation is 76.5 before correcting, while correcting by the proposed method, the maximum deviation is only 0.00108. The experimental results indicate that the method is effective to correct CCD nonuniformity.

关键词： Charge coupled devices

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Soft Actuators and Robots Enabled by Additive Manufacturing

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Control, robotics, and Autonomous systems 1000年第1期6卷 31-63页

作者： Dong Wang Jinqiang Wang Zequn Shen Chengru Jiang Jiang Zou Le Dong Nicholas X. Fang Guoying Gu 1Robotics Institute School of Mechanical Engineering State Key Laboratory of Mechanical System and Vibration and Meta Robotics Institute Shanghai Jiao Tong University Shanghai China email: guguoying@*** 3Current affiliation: Department of Mechanical Engineering The University of Hong Kong Hong Kong Special Administrative Region email: nicxfang@hku.hk 2Department of Mechanical Engineering Massachusetts Institute of Technology Cambridge Massachusetts USA

Soft robotic systems are human friendly and can mimic the complex motions of animals, which introduces promising potential in various applications, ranging from novel actuation and wearable electronics to bioinspired robots operating in unstructured environments. Due to the use of soft materials, the traditional fabrication and manufacturing methods for rigid materials are unavailable for soft robots. 3D printing is a promising fabrication method for the multifunctional and multimaterial demands of soft robots, as it enables the personalization and customization of the materials and structures. This review provides perspectives on the manufacturing methods for various types of soft robotic systems and discusses the challenges and prospects of future research, including in-depth discussion of pneumatic, electrically activated, magnetically driven, and 4D-printed soft actuators and integrated soft actuators and sensors. Finally, the challenges of realizing multimaterial, multiscale, and multifunctional 3D-printed soft robots are discussed.

关键词： soft robots additive manufacturing 4D printing integrated soft actuators and sensors

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