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Annual Conference of the IEEE Industrial Electronics Society

作者： Yanjun Cao Yuquan Leng Jinyun Sun Yang Zhang Weimin Ge State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang Institute of Automation Shenyang China and University of Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang Institute of Automation School of Mechanical Engineering Tianjin University of Technology

ISBN: (纸本)9781479917631

An improved unit module of a novel mobile self-assembling modular robotic system is presented in this paper. Two continuous rotational DoFs are used in each module to implement both valuable self-locomotion and flexible reconfiguration. To achieve efficient exploration, unit module can implement two-dimensional locomotion independently and freely in a range of surface conditions in real world, even in environments with certain terrain challenges. With the help of three active connection mechanisms (ACMs), the module has greatpotential in assembling and reconfiguration toform complex three-dimensional structures. Preliminary locomotion tests in different environments demonstrate its effective mobility and potential applications for exploration. Several useful and easy realized configurations are explained with simulations at last.

关键词： Exploration Mobile Locomotion Modularity Environments Reconfiguration Real number

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A Behavior-based Architecture for Multi-Robot Chemical Source Localization and its Implementation with Evolutionary Computation

A Behavior-based Architecture for Multi-Robot Chemical Sourc...

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IEEE International Conference on robotics and Biomimetics

作者： Meng-Li Cao Qing-Hao Meng Wei Li Ying-Jie Liu Ming Zeng Institute of Robotics and Autonomous Systems School of Electrical Engineering and Automation Tianjin University Tianjin 300072 China Institute of Robotics and Autonomous Systems School of Electrical Engineering and Automation Tianjin University Tianjin 300072 China and Department of Computer and Electrical Engineering California State University Bakersfield CA 933311 USA

ISBN: (纸本)9781467396769

Chemical source localization (CSL) is significant for the protection of public security. In typical CSL problems, a collaborative group of multiple robots are expected to perform better than a single robot. This paper proposes a behavior-based multi-robot chemical source localization (BbMR-CSL) architecture. It includes three group behaviors, i.e., the chemical finding, chemical source tracing (CST), and chemical source declaration behaviors, among which the CST behavior is further divided into two individual behaviors. A hierarchical behavior selection method is designed for coordinating the behaviors in the BbMRCSL architecture. Then, a method framework is also proposed for combining evolutionary computation (EC) with the BbMRCSL architecture. Based on the proposed framework, three typical EC algorithms (i.e., the genetic algorithm, the artificial bee colony algorithm (ABC), and the global-best-guided ABC) are implemented in the BbMR-CSL architecture. The resulting behavior-based CSL methods were tested and compared in a simulated filamentous plume environment.

关键词： CSL significant protection

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Iterated Square Root Unscented Kalman Filter and Its Application in Deep Sea Vehicle Navigation

Iterated Square Root Unscented Kalman Filter and Its Applica...

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第27届中国控制与决策会议

作者： Xiulian Wang Kaizhou Liu Yanping Lin Ben Liu Yang Zhao Shengguo Cui Xisheng Feng School of Information Science and Engineering Shenyang Ligong University State Key Laboratory of Robotics Shenyang Institute of AutomationCAS

It is of vital importance to develop a high accuracy and fast convergence algorithm in deep sea navigation system,since location is essential for the sake of scientific survey and safety in very hazard *** Kalman Filter(UKF) is the type of filter,which is designed in order to overrun this ***,in case of state estimation of the Human Occupied Vehicle(HOV) via the sensor data obtained from a Long Baseline(LBL) acoustic positioning system,a Doppler Velocity Log(DVL),a depth sensor and a motion sensor,where the nonlinearity degree of dynamic model is high and the operating environment is complex,UKF may give inaccurate *** this study an iterated square root Unscented Kalman Filter(ISRUKF) is *** iterated measurement update procedure is included to increase the approximation accuracy of nonlinear state estimates,and a square root version of UKF is conducive to guarantee numerical stability of the *** with the UKF and square root Unscented Kalman Filter(SRUKF),used in deep-sea vehicle navigation system,the ISRUKF algorithm has potential advantages in convergence speed and location *** experiment researches have been conducted by using the data obtained from previous sea trial to demonstrate its superiority.

关键词： deep sea navigation system Human Occupied Vehicle(HOV) Unscented Kalman Filter(UKF) square root Unscented Kalman Filter(SRUKF) iterated square root Unscented Kalman Filter(ISRUKF)

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Improving convergence of ICP for registering RGB-D images using hierarchical index

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Journal of Computational Information Systems 2015年第1期11卷 27-35页

作者： Li, Xingdong Wang, Pengfei Zha, Fusheng Li, Mantian Guo, Wei Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China School of Electrical Engineering and Automation Harbin Institute of Technology Harbin China

Relative 6 DOF pose transformation is necessary for registering two RGB-D images. Although the Iterative Closest Point (ICP) algorithm has been widely used to solve the relative pose, it would be enhanced significantly if the characteristic of its application object has been fully considered. This paper concentrates on improving the convergence of ICP for estimating the pose transformation between two RGB-D images, and the divergence problem is avoided. A hierarchical index is proposed to search corresponding point used by ICP. A measurement of convergence rate is firstly proposed for comparison. ©, 2014, Journal of Computational Information Systems. All right reserved.

关键词： Iterative methods

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Energy-efficient control of a screw-drive pipe robot with consideration of actuator's characteristics

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robotics and biomimetics 2016年第1期3卷 11页

作者： Peng Li Shugen Ma Congyi Lyu Xin Jiang Yunhui Liu School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen Graduate School ShenZhen 518055 China Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Shatin Hong Kong China. Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China Department of Robotics Ritsumeikan University Shiga-ken 525-8577 Japan. School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen Graduate School ShenZhen 518055 China.

Pipe robots can perform inspection tasks to alleviate the damage caused by the pipe problems. Usually, the pipe robots carry batteries or use a power cable draining power from a vehicle that has many equipments for exploration. Nevertheless, the energy is limited for the whole inspection task and cannot keep the inspection time too long. In this paper, we use the total input energy as the cost function and a more accurate DC motor model to generate an optimal energy-efficient velocity control for a screw-drive pipe robot to make use of the limited energy in field environment. We also propose a velocity selection strategy that includes the actual velocity capacity of the motor, according to the velocity ratio [Formula: see text], to keep the robot working in safe region and decrease the energy dissipation. This selection strategy considers three situations of the velocity ratio [Formula: see text] and has a wide range of application. Simulations are conducted to compare the proposed method with the sinusoidal control and loss minimization control (minimization of copper losses of the motor), and results are discussed in this paper.

关键词： Energy-efficient control In-pipe robot Optimal velocity strategy

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Novel multi-interface USB prototype device for merging commonly used peripheral devices

Novel multi-interface USB prototype device for merging commo...

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International Conference on Industrial Instrumentation and Control (ICIC)

作者： Siddharth Kaul Parth Maheta R J Rajesh Rashmi Ranjan Das Control and Automation School of Electrical Engineering VIT University Vellore Tamil Nadu Robotics and Control Division School of Electrical Engineering VIT University Vellore Tamil Nadu

The Universal Serial Bus (USB) Specification allows combination of different USB components into a single device. This creates a composite device and each component is recognized as an independent device. The aim of the paper is to introduce a novel concept to combine some commonly used USB classes in a single device to create a composite device that functions in multiple ways. The paper shows some ways of combining two different USB classes using available Real Time Operating System (RTOS). The paper explains the implementation of USB Human Interface Device class and USB Mass Storage Device the classes used in the two most commonly used peripheral devices, using available stack libraries and clearly explains the important aspects in implementing the said classes. The prototype device mentioned will function both as a pointing device and a storage device.

关键词： Robots Universal Serial Bus Mice Ice

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Kinematic analysis and simulation of a new-type robot with special structure

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Advances in Manufacturing 2014年第4期2卷 295-302页

作者： Shuai Guo Hua-Wei Li Jian-Cheng Ji Zhi-Fa Ming Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronics Engineering and AutomationShanghai University

Common methods, such as Denavit-Hartenberg （D-H） method, cannot be simply used in kinematic analysis of special robots with hybrid hinge as it is difficult to obtain the main parameters of this method. Hence, a homogeneous transformation theory is presented to solve this problem. Firstly, the kinematics characteristic of this special structure is analyzed on the basis of the closed-chain theory. In such a theory, closed chains can be transformed to open chains, which makes it easier to analyze this structure. Thus, it will become much easier to establish kinematics equations and get the solutions. Then, the robot model can be built in the Simmechanics （a tool box of MATLAB） with these equation solutions. It is necessary to design a graphical user interface （GUI） for robot simulation. After that, the model robot and real robot will respectively move to some spatial points under the same circumstances. At last, all data of kinematic analysis will be verified based on comparison between data got from simulation and real robot.

关键词： Mixed hinge structure Homogeneoustransformation Kinematic analysis Kinematic simulation

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Research on Error Correction methods for the Integrated Navigation System of Deep-sea Human Occupied Vehicles

Research on Error Correction methods for the Integrated Navi...

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Oceans MTS/IEEE Washington (Conference)

作者： Kaizhou Liu Yan Huang Yang Zhao Shengguo Cui Xiaohui Wang Guanqun Wang State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences School of Information Science & Engineering Northeastern University

ISBN: (纸本)9781467393744

Because electromagnetic wave attenuates fast in water, some land navigation equipment cannot be used underwater, so Long Base Line, Doppler Velocity Log and Motion sensor become the main mean of navigation and positioning for HOV. This paper puts forward the corresponding errors compensation methods for the instruments and system that mainly used underwater in order to improve the navigation and positioning accuracy. In this paper, UKF is selected as filtering algorithm to fuse the data after compensation. At last, the numerical experiments showed that the propose approach here is applicable and effective.

关键词： HOV (Human Occupied Vehicle) Integrated Navigation System LBL (Long Base Line) Motion Sensors DVL (Doppler Velocity Log) UKF (Unscented Kalman Filter)

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Optimized topographical labeling for identification of unknown nucleic acids

Optimized topographical labeling for identification of unkno...

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IEEE International Conference on Nano/Micro Engineered and Molecular Systems (NEMS)

作者： Miu-Ling Lam Bin Chen Ting-Hsuan Chen Centre for Robotics and Automation School of Creative Media Department of Mechanical and Biomedical Engineering City University of Hong Kong Hong Kong

ISBN: (纸本)9781467366960

Detection of nucleic acid biomarker has particular importance for disease diagnosis and environmental safety. Yet the identification of low-abundant nucleic acids with unknown sequence remains extremely challenging. Previously we reported a strategy to identify short cDNA molecules using nicking endonucleases that create sequence-specific topographical labels visible by AFM. As such, the identity of the unknown cDNA molecules can be determined based on the labeling patterns composed by the locations of and the spacing between the labels. Here, in order to improve the accuracy, we optimized all possible combinations from total 8 types of nicking endonucleases. The results showed that, based on an optimized combination, NtBsmAI + NtBstNBI + NtAlwI, the average accuracy was improved to 97.1 ± 5.6% as compared with the average accuracy of 51.2 ± 34.4% where only one type of nicking endonuclease was used. More importantly, this improved accuracy is applicable to more than over 85% of human mRNA transcripts. Together, our study suggests an optimization strategy for detecting nucleic acid with unknown sequence using AFM-based measurement, with applications for identifying pathogen and disease at single molecule level.

关键词： Accuracy Labeling DNA Diseases Biochemistry Databases Libraries

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Method for detecting gaze direction based on eyes moving trend

Communications in Computer and Information Science

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Communications in Computer and Information Science 2014年 461卷 72-81页

作者： Zhao, Qijie Shao, Hui Zhang, Xudong Tu, Dawei School of Mechatronics Engineering and Automation Shanghai University China Shanghai Key Laboratory of Manufacturing Automation and Robotics Shanghai China

ISBN: (纸本)9783662452820

Eye gaze plays a very important role in identifying human’s attention, so it has been considered to be applied in human computer interaction, and one of the main factors in hindering eye gaze application is the complexity of systems and detection method of gaze direction. To build up an eye gaze tracking human-computer interaction system with simple infrastructure and good usability, a kind of gaze direction evaluating approach based on eyes moving trend has been proposed, and the eyes image and feature information are respectively captured and extracted with a Web camera and a computer, and the quantity of eyes moving trend is defined by the ratio of the distances from iris center to the both corners in one eye. Moreover, the image processing algorithms have been provided to detect the characteristics in the image of eyes area, and the eye corners equivalent position detection method has been put up with respect to the shape of eye corners. Some experiments have been done in the test system, and the results show that the proposed methods and algorithms can meet the communication demands for different subjects in multi type work conditions;after completing the initialization, the subjects can freely interact with the computer in a certain work range, and there is no need to frequently calibrate the work parameters, so the limitations to the subjects have been decreased and the system is easy to use, furthermore, it provides a new way for eye gaze tracking technology applied for caring the old and the disability. © Springer-Verlag Berlin Heidelberg 2014.

关键词： Human computer interaction

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