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检索条件"机构=Shenzhen Key Lab for Advanced Motion Control Technology & Modern Automation Equipment"

共 19 条记录，以下是1-10 订阅

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High accurate 3D reconstruction method using binocular stereo based on multiple constraints

High accurate 3D reconstruction method using binocular stere...

引用

IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015

作者： Xiaojun, Wu Shenghua, Xiao Jingyang, Wei Shenzhen Key Laboratory for Advanced Motion Control and Modern Automation Equipment Shenzhen518055 China Shenzhen Graduate School Harbin Institute of Technology Shenzhen518055 China

ISBN: (纸本)9781467396745

In order to make an improvement of accuracy, completeness and robustness of the image based 3D reconstruction algorithm, we present a stereo matching approach under the condition of multi-resolution combined with multi-constraints to compute the 3D model of an object in this paper. In the first step, we build the image pyramid and stereo matching happens from the top level to the lowest level. In each level, we execute the following procedures: NCC matching, multi-constraints checking, re-matching and weighted median filter, disparity refinement. At last, we acquire an accurate and smooth disparity map in the bottom level. Combine with the calibration parameters, we can compute the 3D point cloud and use the Possion reconstruction method to generate the mesh model. The contributions of this paper are the proposal of choosing the pixel in the eight-neighborhood which has the highest match cost to guide the matching of center pixel during re-match, and design an anisotropic smoothing kernel to smooth the depth map and keep the detail at the same time in the disparity refinement. Experimental results show that the algorithm has the advantages of high precision, strong robustness and good model integrity. © 2015 IEEE.

关键词： Pixels

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Real-time visual hull computation based on GPU

Real-time visual hull computation based on GPU

引用

IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015

作者： Dafeng, Gong Xiaojun, Wu Shenzhen Graduate School Harbin Institute of Technology Shenzhen518055 China Shenzhen Key Laboratory for Advanced Motion Control and Modern Automation Equipment Shenzhen518055 China

ISBN: (纸本)9781467396745

A real time visual hull parallel computation method is proposed based on GPU. Firstly, an effective Octree data structure is built on GPU, which establishes the correspondence between voxels and the thread ID of CUDA. Secondly, for large-scale parallel data in the projection test of visual hull calculation, the convex hull of the projected vertices is accelerated to use the GPU programmable features. Finally, the redundant edge computation in marching cubes algorithm is reduced by building the edge lookup table. Then, parallel streaming data reduction based on prefix-sum excludes empty voxels from the lookup table, which can improve the computation effectively. Experimental results show that, for large-scale data, accurate visual hull can be efficiently reconstructed by the proposed algorithm on a common PC and GPU platform. © 2015 IEEE.

关键词： Graphics processing unit

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Position/force switching control based on velocity damping

Position/force switching control based on velocity damping

引用

2013 IEEE International Conference on Information and automation, ICIA 2013

作者： Long, Zhili Fang, Jiwen Zhao, Jiping Chao, Zhu Shenzhen Graduate School Harbin Institute of Technology Shenzhen 518055 China Shenzhen Key Lab for Advanced Motion Control Technology and Modern Automation Equipment Shenzhen 518055 China State Key Lab for Manufacturing Systems Engineering Xi'An Jiaotong University Shenzhen 710049 China Dongguan Huazhong University of Science Technology Manufacturing Engineering Institute Dongguan 523808 China

ISBN: (纸本)9781479913343

Stable and fast switching between displacement and pressure will directly affect precision and velocity of automated equipment. Switching control between displacement and pressure, which is based on the velocity damping, is proposed for motion switching of automated equipment. At first, the control models were established by analyzing displacement control and pressure control. To solve the shortage of direct switching between displacement and pressure, switching control based on the velocity damping is presented. The effectiveness of this method is verified by using piezoelectric sensor in experiment. Compared to direct switching control, the proposed switching control becomes more accurate and faster. The measurement data shows that the maximal impact force of control system is 0.4N and the amplitude of forces of fluctuations are within the range of ±0.03N. © 2013 IEEE.

关键词： control systems

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Error analysis of connection frame deformation considering magnetic force and thermal-structural coupling effects 14

Error analysis of connection frame deformation considering m...

引用

2014 14th IEEE International Conference on Nanotechnology, IEEE-NANO 2014

作者： Zhang, Lufan Long, Zhili Fang, Jiwen Nian, Longsheng State Key Lab. for Manufacturing Systems Engineering Xi'an Jiaotong University Xi'an China Shenzhen Key Lab. for Advanced Motion Control and Modern Automation Equipments Harbin Institute of Technology Shenzhen Graduate School Shenzhen China Dongguan Huazhong University of Science and Technology Manufacturing Engineering Institute Dongguan China

ISBN: (纸本)9781479956227

Connection frame has been a key module in a macro-micro platform. The error of connection frame deformation must be taken into account for nano-positioning motion in working process. While working, the nano-positioning motion is affected by the two major deformation error sources: magnetic force and thermal structural coupling effects. These error models were built by response surface method. Each experiment result can be obtained by calculation of finite element method. Their input variables of orthogonal experiment design were imported to the commercial software ANSYS to calculate and obtain output. The response surface model was built by the input and output data. Based on these models, change trends of deformation errors with design parameters can be revealed. And an optimal model of total deformations errors would be built. Finally, the minimum error of connection frame deformation considering magnetic force and thermal structural coupling effect was calculated by genetic algorithm. The optimal solutions were obtained when the total error iterate to 15 times as follows, D=32mm, L1=80mm, R=64mm. The improvement of deformation error considering magnetic force, thermal-structural coupling force and high acceleration is 86.48%, 0.26%, 26.85% These results can provide a more accurate prediction of error analysis in more widely used cases and also offer a theoretical support for improving nano-positioning accuracy of macro-micro platform. © 2014 IEEE.

关键词： Deformation

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MWEDM constant tension control system

MWEDM constant tension control system

引用

IEEE Conference on Nanotechnology

作者： Ruining Huang Xianglong Fang Yunjiang Lou Harbin Institute of Technology Shenzhen Graduate School Shenzhen Key Lab for Advanced Motion Control and Modern Automation Equipments Shenzhen China Shenzhen Key Lab for Advanced Motion Control and Modern Automation Equipments Harbin Institute of Technology Shenzhen Graduate School Shenzhen China

ISBN: (纸本)9781479910267

To achieve higher accuracy of Micro Wire Electrical Discharge Machining (MWEDM) and solve the problem that the wire electrode is easy to broken, this paper studies the dual-motor optimal control of wire electrode constant tension system. Aiming to eliminate the tension measurement noise caused by the vibration of wire electrode etc., Kalman filtering algorithm is proposed to fuse tension and speed sensor. The accurate dual input dual output mathematical model of wire drawing and tension wheel is established, the minimum performance index which is the sum of the wire speed and tension squared error is achieved by optimal control, which make the accuracy of the tension improved greatly. The disturbance observer is employed for the actual processing environment to cancel the modeling error and interference. The simulation results show that the expected control performances are achieved.

关键词： Wheels Mathematical model Wire drawing AC motors Observers Electrodes

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Vision guided navigation based on dark regions and template matching for capsule endoscopies

Vision guided navigation based on dark regions and template ...

引用

International Conference on Information and automation (ICIA)

作者： Ying Zhao Yunjiang Lou Harbin Institute of Technology Key Lab for Advanced Motion Control and Modern Automation Equipments Shenzhen China

ISBN: (纸本)9781479913329

In this paper, a novel navigation based on vision for wireless capsule endoscopies is proposed. The algorithm based on dark regions was improved by setting the Region of Interest (ROI) to limit the search coverage around the last navigation point, introducing the morphology method to eliminate diverticula and vesicae and raising the concept of position weight to reckon navigation points in the case of lacking for valid dark regions. Besides that, we proposed the method based on template matching, which is common in industrial detection, to navigate when the method mentioned above fails. Finally, the two methods were fused and it's proved beneficial to both the success rate and the computation speed by simulation and experiments.

关键词： Navigation Endoscopes Image segmentation Image edge detection Algorithm design and analysis Visualization Three-dimensional displays

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A collision detection algorithm of Robot in off-line programming system

A collision detection algorithm of Robot in off-line program...

引用

International Conference on Information Science and technology (ICIST)

作者： Ruining Huang Taoyu Tang Yunjiang Lou Maolin Xiao Institute of Technology Shenzhen Graduate School and the Shenzhen Key Lab for Advanced Motion Control and Modern Automation Equipments Shenzhen China

In the off-line programming system, robot collision detection is one of the key technology and that was an important factor to improve virtual realistic system. In order to attain robot trajectory in the virtual environment, accurate and fast collision detection is requested. Aiming at this case, this paper adopts an accurate and fast collision detection algorithm based on space subdivision method. Through the using of hierarchical bounding box method and space decomposition method comprehensively, it can reduce the logarithm of triangles in the collision detection algorithm and increase the efficiency. One measure to be taken is to update moving objects' bounding boxes at any time, but don't change the stationary objects' bounding boxes which are built initially. Moreover, the distance threshold is also introduced, which make the collision detection more accurate. The simulation result shows that the detection method can meet the requirements of accuracy in complex virtual environment.

关键词： Collision avoidance Robots Joints Binary trees Programming Virtual environments Algorithm design and analysis

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Parasitic motion Based Optimal Design of Parallel Manipulators

Parasitic Motion Based Optimal Design of Parallel Manipulato...

引用

第15届中国系统仿真技术及其应用学术会议（15th CCSSTA2014）

作者： Zhang Song-zhen Lou Yun-jiang Liao Bin Key Lab for Advanced Motion Control Technology and Modern Automation Equipments Harbin Institute of Technology Shenzhen Graduate School

Parasitic motion is widely believed a drawback of lower mobility parallel *** researchers tried to eliminate or reduce it by kinematic optimization or by special architectural ***,the parasitic motion enables the implementation of a higher degrees-of-freedom(DoF)motion task with a lower DoF parallel manipulator to a certain *** contrast to the traditional elimination of parasitic motion,in this paper we first propose to take advantage of parasitic motion/By the example of planar five-bar parallel manipulator,we demonstrate to maximize the parasitic rotation so that it is able to accomplish planar manipulation of workpieces with their orientations in a given *** new design concept will lead to lower cost,lower complexity of kinematics and control.

关键词： Parallel Manipulator Parasitic motion Optimal Design

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Dynamics and Optimal Design of a 3-DoF Parallel Manipulator for Pick-and-Place Applications

Dynamics and Optimal Design of a 3-DoF Parallel Manipulator ...

引用

第17届中国系统仿真技术及其应用学术年会（17th CCSSTAE 2016）

作者： Lou Yun-jiang Liao Bin Key Lab for Advanced Motion Control Technology and Modern Automation Equipments School of Mechatronics Engineering and AutomationHarbin Institute of Technology(Shenzhen)

Robot acceleration is the bottleneck for high-speed pick-and-place *** this paper,the extreme acceleration at null velocity is proposed to characterize the acceleration *** dynamic model of the V3 robot is developed for computing the extreme *** each subchain of the robot is comparable to a cantilever beam structure,its bending deflection may be considerable and thus leads to manipulation *** bending stiffness is thus proposed characterized by the bending *** the acceleration and the bending stiffness with kinematic indices of velocity,accuracy,and dexterity,the optimal design problem is formulated to maximize the dextrous workspace having specified good *** optimal structure shows greatly improved performance in workspace,velocity,acceleration,and accuracy.

关键词： Dynamics Bending Deflection Pick-and-Place Optimal Design Parallel Manipulator

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Modeling and simulation of magnet-guided active endoscopic capsules manipulated by robots

Modeling and simulation of magnet-guided active endoscopic c...

引用

International Conference on Information and automation (ICIA)

作者： Guangzeng Chen Xun Wang Yunjiang Lou Shenzhen Key Lab for Advanced Motion Control and Modern Automation Equipments Harbin Institute of Technology Shenzhen Graduate School Shenzhen China

The rising use of wireless endoscopy capsules for the medical examination of the digestive tube has brought about an innovative step of medical experience. However, proceeding only by means of gravity and visceral peristalsis greatly restricts its clinical application, since their location, posture, and velocity cannot be controlled. The technology described in this paper uses an external magnetic field which is generated by two cuboidal extern permanent magnets (EPM) to drive the endoscopy capsule with one cuboidal permanent magnet (IPM) inside. EPM1 and EPM2 are fixed on the end-effector of two robots respectively. By changing the relative postures of robots, the interaction force and torque between IPM and EPMs change so that the endoscopy capsule can be controlled for full degree of freedom. In this paper, the interaction magnetic force components and torque components are analytically calculated based on Ampere molecular current hypothesis, Dipole theory and BiotSavart's law. The exact 3D analytical expressions are obtained and used for calculating the magnetic forces and torques, shape optimization and velocity control directly rather than ordinary numerical methods.

关键词： Torque Magnetic flux Magnetic fields Magnetic forces Permanent magnets Magnetization Mathematical model

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