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Experiments on the relationship between the structural parameters of contraposition transducers and the acoustic levitation transportation trajectory

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Proceedings of Meetings on Acoustics 2019年第1期38卷

作者： Huijuan Dong Mingyang Sui Chuncheng Mao Guanyu Mu Jie Zhao 1School of Mechatronics Engineering Harbin Institute of Technology Harbin Hei Longjiang 150001 CHINA dhj@*** 2State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 150001 CHINA 954479126@*** ***@*** mu-guanyu@*** jzhao@***

Standing wave acoustic levitation transportation technique has been widely used in many research areas. In this work, two Langevin-type piezoelectric transducers’ central lines are mounted at a certain angle which is named a contraposition transducer array. The levitator developed in this work is constructed using the array and a reflector. Accordingly, a standing wave acoustic field is formed to levitate and transport particles by optimizing the angle between central lines of the two transducers, the distance between the two transducers’ output and their reflectors, the exciting phase differential on the two transducers. In this standing wave acoustic field, the trapped objects can be levitated and transported by modulating the exciting phase difference of the two transducers. In this work, the locations of the levitated particles are acquired by a high speed video camera and are clarified using the Hough Circle algorithm. The experiments carried out by the authors have demonstrated the effects of the levitator’s structure parameters (including the angle between central lines of the two transducers, the distance between the two transducers’ output and the reflector) on the transportation trajectory.

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Microfluidic Vortices: On-Chip Rotation ofCaenorhabditis elegansUsing Microfluidic Vortices (Adv. Mater. Technol. 1/2021)

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Advanced Materials Technologies 2021年第1期6卷

作者： Peng Pan John D. Laver Zhen Qin Yuxiao Zhou Ran Peng Lijun Zhao Hui Xie John A. Calarco Xinyu Liu Department of Mechanical and Industrial Engineering University of Toronto 5 King's College Road Toronto Ontario M5S 3G8 Canada Department of Mechanical Engineering McGill University 817 Sherbrooke Street West Montreal Quebec H3A 0C3 Canada Department of Cell & Systems Biology University of Toronto 25 Harbord St Toronto Ontario M5S 3G5 Canada State Key Laboratory of Robotics and System Harbin Institute of Technology 2 Yikuang Street Harbin 150001 China Institute of Biomedical Engineering University of Toronto 164 College Street Toronto Ontario M5S 3G9 Canada

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COMSOL-based simulations and experiments on the classifying trajectory of the mixed particles levitated in standing wave field

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Proceedings of Meetings on Acoustics 2019年第1期38卷

作者： Huijuan Dong Fanbin Meng Bin Lan Guanyu Mu Jie Zhao 1School of Mechatronics Engineering Harbin Institute of Technology Harbin Hei Longjiang 150001 CHINA dhj@*** 2State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 CHINA mengfanbin96@*** ***@*** mu-guanyu@*** jzhao@***

In this work, a standing wave acoustic field formed by using two contraposition transducers is used to classify the mixed powder. COMSOL-based simulations reveal the influence of the factors on the drop trajectories of the particles within an acoustic field. Then the experiments are carried out to demonstrate those obtained using COMSOL-based simulations. Finally, the separation experiments of the mixed powder of iron and dioxide silica are achieved, including the mixed powder both in the same diameter and the different diameter respectively.

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Deploying dynamics experiment of tape-spring hinges for deployable mechanism 32

Deploying dynamics experiment of tape-spring hinges for depl...

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32nd Youth Academic Annual Conference of Chinese Association of Automation, YAC 2017

作者： Hui, Yang Ruipeng, Zhang Zhanwen, Fan Yan, Wang Rongqiang, Liu College of Electrical Engineering and Automation Anhui University Hefei230601 China China Electronics Technology Group Corporation No.38 Research Hefei230088 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

ISBN: (纸本)9781538629017

Flexible tape-spring hinges can be folded elastically and are able to self-deploy by releasing stored strain energy with fewer component parts and slight weights. Deploying dynamic experimental setup is designed and constructed to analyze the dynamic behaviors. A Phantom V12.1 high-speed camera was applied to record the deployment of the tape-spring hinge. Deployment dynamics behaviors of opposite-sense and equal-sense bending for single tape-spring (STS) hinge, single-layer tape-spring (SLTS) hinge, equal and non-equal thickness double-layer tape-spring (DLTS) hinge were investigated by experiments. © 2017 IEEE.

关键词： Strain energy

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"Oh, the Places You'll Go" (as CSS President)!

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IEEE CONTROL systemS MAGAZINE 2016年第6期36卷 9-14页

作者： Doyle, Francis J., III State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China University of Patras Rio-Patras Greece

Presents the President's message for this issue of the publication.

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Topology Optimization Design of 6-DOF Lower Extremity Exoskeleton Leg for Load Carrying

Topology Optimization Design of 6-DOF Lower Extremity Exoske...

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2016 IEEE Advanced Information Management,Communicates,Electronic and Automation Control Conference(IMCEC 2016)

作者： Shun Ma Jinhui Yao Xiaolong Wei Yanhe Zhu Harbin Institute of Technology State Key Laboratory of Robotics and System Fire Brigade in Haidian District

ISBN: (纸本)9781509001668

This paper introduces a novel and light weight lower extremity exoskeleton,used for carrying heavy load in the individual soldier combat *** exoskeleton has six degree of freedom per leg,only one of which is powered by the *** order to provide a reference for the exoskeleton mechanical structure and drive unit,the mechanical topology is designed and analyzed by Adams software to make a optimization and derive the drive joint kinematic *** the safety and comfort for the wearers,a gravity balanced system has been designed in the hip joint to supply power for *** critical hardware arrangement aspects and control system are summarized.

关键词： Lower extremity exoskeleton Mechanism topology Simulation Optimization Gravity balanced system

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Image-based visual tracking of a moving target for a quadrotor

Image-based visual tracking of a moving target for a quadrot...

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Asian Control Conference

作者： Dongliang Zheng Hesheng Wang Weidong Chen Department of Automation Ministry of Education of China Shanghai China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781509015740;9781509015733

In this paper, the control problem of a quadrotor tracking a moving target is investigated. The method is based on image-based visual servoing (IBVS) scheme. The target is assumed to be moving with unknown, time varying and bounded linear velocity, linear acceleration, and angular velocity and acceleration of the yaw angle. First, appropriate moment features defined in a rotated image plane are chosen as image features, and a decoupled image feature dynamics is achieved. Then, using these features, a nonlinear controller is proposed for the quadrotor to track a moving target. The controller is proved uniformly ultimately bounded (UUB) by means of Lyapunov analysis. With this image-based control formulization, several state variables are not needed by the controller. These variables are: the depths of the point features which are usually needed in traditional IBVS schemes, the relative position between the quadrotor and the moving target, the velocity of the moving target, and the translational velocity of the quadrotor itself. Finally, several simulations of a quadrotor tracking a moving target are conducted to validate this method.

关键词： Cameras Visualization Target tracking Visual servoing Task analysis Stability analysis

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Suppression of mechanical resonance in digital servo system considering oscillation frequency deviation

Suppression of mechanical resonance in digital servo system ...

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Annual Conference of Industrial Electronics Society

作者： Yangyang Chen Ming Yang Kun Hu Dianguo Xu Frede Blaabjerg State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Department of Energy Technology Aalborg University Aalborg Denmark

High-stiffness servo system is easy to cause mechanical resonance in elastic coupling servo system. Although on-line adaptive notch filter is effective in most cases, it will lead to a severer resonance when resonance frequency deviated from the natural torsional frequency. To explain this phenomenon, an improved discrete system model is proposed. This paper quantitatively analyzes the influence of damping, discretization and current loop time constant on mechanical oscillation frequency. A conclusion is drawn that the most effective notch frequency is the natural torsional frequency when resonant frequency is deviate. Simulation and experimental results verify the accuracy and effectiveness of the theoretical analysis.

关键词： Notch filters Continuous time systems Damping

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M/T method based incremental encoder velocity measurement error analysis and self-adaptive error elimination algorithm

M/T method based incremental encoder velocity measurement er...

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Annual Conference of Industrial Electronics Society

作者： Yangyang Chen Ming Yang Jiang Long Dianguo Xu Frede Blaabjerg State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Department of Energy Technology Aalborg University Aalborg Denmark

For motor control applications, the speed loop performance is largely depended on the accuracy of speed feedback signal. M/T method, due to its high theoretical accuracy, is the most widely used in incremental encoder adopted speed measurement. However, the inherent encoder optical grating error and A/D conversion error make it hard to achieve theoretical speed measurement accuracy. In this paper, hardware caused speed measurement errors are analyzed and modeled in detail; a Single-Phase Self-adaptive M/T method is proposed to ideally suppress speed measurement error. In the end, simulation and experiment show the advantages and verify the validity of the proposed method.

关键词： TV Frequency measurement Velocity measurement Hardware Adaptive optics Optical variables measurement Gratings

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A review of the end-effector of large space manipulator with capabilities of misalignment tolerance and soft capture

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Science China(Technological Sciences) 2016年第11期59卷 1621-1638页

作者： FENG Fei TANG LiNa XU JianFeng LIU Hong LIU YiWe State Key Laboratory of Digital Manufacturing Equipment and Technology Huazhong University of Science and Technology (HUST) Wuhan 430074 China Shanghai Aerospace Equipments Manufacturer Shanghai 200245 China State Key Laboratory of Robotics and System Harbin Institute of Technology (HIT) Harbin 150080 China

The space manipulator which has advantages of high dexterity and universality, is used to the space capturing usually. According to the different types of mechanical interfaces of targets, the on orbit capturing operation includes capturing of cooperative target and capturing of uncooperative target. The performances of the famous large space manipulators named space shuttle remote manipulator system(SRMS), the space station remote manipulator system(SSRMS) and the Europe robotic arm(ERA) are reviewed and studied respectively. Moreover, the space manipulators being developed by China for space station is also surveyed. Based on the performance analysis of the large space manipulators and end-effectors, which are adapted to the construction and daily maintenance for the large space structure such as the space station, the basic requirements of large misalignment tolerance capability, soft capturing capability and hard docking capability for the end-effector of large space manipulator are proposed in this paper. According to these requirements, the capture mechanism and methods that can enable the end-effector to have the capability of misalignment tolerance and soft capturing are presented. The development trend and key technologies of the large space manipulators and the end-effectors are also reviewed.

关键词： space station large space manipulator end-effector large misalignment tolerance soft capture on-orbit capturing

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