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IEEE International Conference on robotics and Biomimetics

作者： Xuxian Yin Gang Shi Zhidong Wang Hongyi Li State Key Laboratory of Robotics Shenyang Institute of Automation (SIA) Chinese Academy of Sciences (CAS) Shenyang 110016 P. R. China and University of Chinese Academy of Sciences Beijing 100049 P. R. China State Key Laboratory of Robotics Shenyang Institute of Automation (SIA) Chinese Academy of Sciences (CAS) Shenyang 110016 P. R. China State Key Laboratory of Robotics Shenyang Institute of Automation (SIA) Chinese Academy of Sciences (CAS) Shenyang 110016 P. R. China and Dept. of Advanced Robotics Chiba Institute of Technology Chiba 2750016 Japan State Key Laboratory of Robotics Shenyang Institute of Automation (SIA) Chinese Academy of Sciences (CAS) Shenyang 110016 P. R. China and School of Mechanical Engineering & Automation Northeastern University Shenyang China

ISBN: (纸本)9781467396769

Functional near-infrared spectroscopy (fNIRS) is an emerging non-invasive optical technique which can measure cortical brain activities. This study describes the development of one-channel fNIRS system designed for brain-computer interface (BCI), six subjects participate in the experiment, the concentration changes of oxy-hemoglobin (HbO_2) and deoxy-hemoglobin (Hb) during mental arithmetic task are measured. And physiological noise in hemodynamic responses are reduced based on empirical mode decomposition (EMD). EMD is a data-driven and adaptive algorithm for analyzing non-stationary data. This method decomposes the original data into a set of intrinsic mode functions (IMFs). Noise can be eliminated by selecting appropriate IMFs. Compared with conventional butterworth filter, EMD achieves a higher contrast to noise ratio (CNR) in physiological noise reduction.

关键词： fNIRS BCI CNR

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Impact analysis of the force environment on the KDP crystal harmonic loss considering the frame surface topography

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Key engineering Materials 2014年 620卷 35-41页

作者： Wang, Heran Liu, Haitao Liang, Yingchun School of Mechanical Engineering Harbin Institute of Technology Harbin 150001 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China

ISBN: (纸本)9783038351856

The large diameter-thickness-ratio KDP crystals are the main optical element in Inertial Confinement Fusion (ICF) device to realize the harmonic generation, thus they need to maintain high quality surface figure, and therefore, research on the influence of force environment (including clamping force and gravity) on harmonic loss is quite necessary. In this paper, grinding mount surface topography is simulated by the fractal theory;contact and clamp FEM model is established;four parameters are proposed to present non-uniform clamping force;the mathematical model between crystal mechanical performance and the harmonic loss is established;and finally the impact of clamping force and gravity on the harmonic loss is obtained. The calculation results have guiding significance on the design of clamping force magnitude and configuration and crystal working gesture. © (2014) Trans Tech Publications, Switzerland.

关键词： Surface topography

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Attitude tracking control of a quadrotor based on linear active disturbance rejective control

Attitude tracking control of a quadrotor based on linear act...

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IEEE International Conference on Cyber Technology in automation, Control, and Intelligent Systems

作者： Jingdu Gao Yan Zhuang Jizhong Xiao Yiwen Zhao School of Control Science and Engineering Dalian University of Technology Dalian China Department of Electrical Engineering The City College City University of New York New York USA State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China

A quadrotor is a typical multiple-input multiple-output (MIMO), underactuated, strong coupled nonlinear system with parameter uncertainty and unmodeled disturbance. To track the desired attitude and height, a linear active disturbance rejection control (LADRC) approach is utilized for the quadrotor control. LADRC has the capacity of estimating and compensating the generalized disturbance, and reduce the system to a unit gain double integrator, which is easily implemented and robust to environment disturbances. A simplified dynamic model of quadrotor is established using Newton-Euler equations. The design of LADRC is verified through numerical simulation and compared with PID controller. Simulation results indicate the LADRC can be used to achieve good performance in tracking the desired attitude and height.

关键词： Mathematical model Control systems Observers Attitude control Aerodynamics Numerical models Propellers

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Construction and application of virtual roaming system based on virtools 4

Construction and application of virtual roaming system based...

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4th International Workshop of Advanced Manufacturing and automation, IWAMA 2014

作者： Nie, Jie Cong Zhang, Hong Rong Fei, Peng Wei Tian, Ying Zhong School of Mechatronic Engineering and Automation Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai University Shanghai China

ISBN: (纸本)9783038352532

This paper introduced a virtual roaming system which can be effectively used in studying ocean scenes based on 3ds max modeling tools and virtools development software. Establishing this system needs the following steps: building geometric model, making texture mapping, light treatment, importing model and designing interactive function. Taking jack-up offshore platform as an example, the system has three roaming modes including manual roaming with character, manual roaming without character and automatic roaming. Users can roam in this platform freely. The collision detection technology and the immersive technology were integrated into the system to improve the reality of it. The system also has a good visual effect and interactive function. © (2014) Trans Tech Publications, Switzerland.

关键词： Drilling platforms

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Design of PC remote monitoring system for standby generators 4

Design of PC remote monitoring system for standby generators

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4th International Workshop of Advanced Manufacturing and automation, IWAMA 2014

作者： Zhou, Chuan Hong Xiao, Jin Jie Ren, Wei School of Mechatronic Engineering and Automation Shanghai University Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai China

ISBN: (纸本)9783038352532

Currently, some problems exist in the process of using standby generators, such as low efficiency,high cost and late service of artificial overhaul and *** order to overcome problems, PC remote monitoring system is *** paper mainly introduces the structure composition,function,interface design and SQL Server database design of the *** addition, the function of communication between the PC remote server and signal monitoring device was tested and the effect was desired. © (2014) Trans Tech Publications, Switzerland.

关键词： Monitoring

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Study on the workshop production environment remote monitoring system 4

Study on the workshop production environment remote monitori...

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4th International Workshop of Advanced Manufacturing and automation, IWAMA 2014

作者： Liu, Chao Liu, Li Lan Yuan, Zi Long Liu, Xue Wei Shanghai University Shanghai Key Lab of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai China

ISBN: (纸本)9783038352532

In view of the problem of complex cabling and the difficulty of real time monitoring of the workshop, the wireless network technology, the LabVIEW software and Internet technology are used in this paper to realize the hardware system network, the real time monitoring of temperature and humidity, dust, noise in the workshop, and the web publishing and remote monitoring of the system respectively. In this way, the informatization management level of workshop has been improved, and thus the workshop intelligent control ability can be improved. © (2014) Trans Tech Publications, Switzerland.

关键词： Informatization

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Research and implementation of real-time scheduling management of WIP in the workshop based on RFID 4

Research and implementation of real-time scheduling manageme...

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4th International Workshop of Advanced Manufacturing and automation, IWAMA 2014

作者： Yuan, Zi Long Liu, Li Lan Liu, Xue Wei Chen, Cheng Shanghai University Shanghai Key Lab of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai China

ISBN: (纸本)9783038352532

According to the problem of being hard to achieve precise management of production in the actual production environment, RFID tags are used to identity production materials and RFID readers are placed at some important workstations and warehouse channels, to gain products information in real-time, automatically and accurately. On the basis, the paper uses J2EE programming to design the real-time scheduling management system of WIP (work-in-process), and realizes the closed-loop control of production. The system has been successfully applied to Shanghai Key Laboratory of Intelligent Manufacturing and robotics, and satisfactory results are obtained. © (2014) Trans Tech Publications, Switzerland.

关键词： Production control

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Process knowledge representation of aircraft assembly based on ontology 4

Process knowledge representation of aircraft assembly based ...

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4th International Workshop of Advanced Manufacturing and automation, IWAMA 2014

作者： Yu, Ting Ting Cai, Hong Xia Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronics Engineering and Automation Shanghai University Shanghai China

ISBN: (纸本)9783038352532

In aviation industry, it’s urgent to build a scientific and effective knowledge system with high scalability to change the fact that the data is rich while the knowledge is deficient. We constructed the knowledge ontology of aircraft assembly with cyclic acquisition and seven step methods based on ontology thought. Then, we obtained the potential relationship related to process and abstract process ontology through logic reasoning. Finally, OWL is applied for ontology formal description to realize knowledge standardization and normalization. It’s meaningful to reuse, share the assembly process knowledge and further reasoning in the aviation field. © (2014) Trans Tech Publications, Switzerland.

关键词： Knowledge representation

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Smartphone remote control system for standby generator set based on android 4

Smartphone remote control system for standby generator set b...

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4th International Workshop of Advanced Manufacturing and automation, IWAMA 2014

作者： Zhou, Chuan Hong Xuan, Zhao School of Mechatronic Engineering and Automation Shanghai University Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai China

ISBN: (纸本)9783038352532

Due to adopt manual startup standby generator set in society,operating personnel can't immediately start the standby generator set after the power failure *** at this problem,a scheme of the standby generator set smartphone remote control system based on Android was ***,the hardware platform of system was introduced and overall remote control system was *** on this, the application software was developed by Android SDK,which was consisted of four modules,The realization of functionality and interface of every module were analyzed in *** research results indicate that the system is easy operation, friendly interface,and has good stability and availability. © (2014) Trans Tech Publications, Switzerland.

关键词： Smartphones

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Design of a high-mobility multi-terrain robot based on eccentric paddle mechanism

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robotics and biomimetics 2016年第1期3卷 8页

作者： Yi Sun Yang Yang Shugen Ma Huayan Pu Department of Robotics Ristumeikan University 1-1-1 Noji Higashi Kusatsu Shiga 525-8577 Japan. Department of Robotics Ristumeikan University 1-1-1 Noji Higashi Kusatsu Shiga 525-8577 Japan Department of Mechanical and Aerospace Systems Engineering Tokyo Institute of Technology Ookayama Megoru-ku Tokyo 152-8552 Japan. School of Mechatronic Engineering and Automation Shanghai University 149 Yanchang Road Shanghai China.

Gaining high mobility on versatile terrains is a crucial target for designing a mobile robot toward tasks such as search and rescue, scientific exploration, and environment monitoring. Inspired by dextrous limb motion of animals, a novel form of locomotion has been established in our previous study, by proposing an eccentric paddle mechanism (ePaddle) for integrating paddling motion into a traditional wheeled mechanism. In this paper, prototypes of an ePaddle mechanism and an ePaddle-based quadruped robot are presented. Several locomotion modes, including wheeled rolling, legged crawling, legged race-walking, rotational paddling, oscillating paddling, and paddle-aided rolling, are experimentally verified on testbeds with fabricated prototypes. Experimental results confirm that paddle's motion is useful in all the locomotion modes.

关键词： Eccentric paddle mechanism Multi-terrain locomotion ePaddle

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