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第三十四届中国控制会议

作者： Wang Xiaochen Chen Weishan State Key Laboratory of Robotics and System Harbin Institute of Technology

ISBN: (纸本)9781467374439

To avoid the kinematics singularity and thus to implement high dynamic and large-angle maneuvering flight simulation,a kind of serial-parallel hybrid flight simulator are proposed featuring redundant manipulator *** direct kinematics of the serial-parallel hybrid flight simulator,a dual-Euler method is adopted to solve the expressions of attitude angles,thus computation singularity of all-attitude angles is *** inverse kinematics problem of the serial-parallel hybrid flight simulator,pseudo-inverse and gradient projection methods are used to obtain optimal velocity ***,a velocities compensation unit is *** some of the joint velocities are in saturation other joints compensate for the lack of the velocity and the velocity in the task space remains *** the compensation the task space error would *** proposed inverse kinematics algorithm can achieve desired position and attitudes,as well as can avoid kinematics singularity.

关键词： flight simulator serial-parallel manipulator kinematic singularity kinematics analysis compensation of velocity and acceleration

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AUV dead-reckoning navigation based on neural network using a single accelerometer 11

AUV dead-reckoning navigation based on neural network using ...

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11th ACM International Conference on Underwater Networks and systems, WUWNet 2016

作者： Xie, Yan-Xin Liu, Jun Hu, Cheng-Quan Cui, Jun-Hong Xu, Hongli State Key Laboratory of Robotics CAS No. 114 Nanta Street Shenhe District Shenyang China College of Computer Science and Technology Jilin University Changchun China Underwater Sensor Network Lab. University of Connecticut StorrsCT06269 United States Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China

ISBN: (纸本)9781450346375

The accuracy of the Autonomous Underwater Vehicles (AUVs) navigation system determines whether they can safely operate and return. Traditional Dead-reckoning (DR) relies on the inertial sensors such as gyroscope and accelerometer. A major challenge for DR navigation is from measurement error of the inertial sensors (gyroscope, accelerometer, etc.), especially when the AUV is near or at the ocean surface. The AUV's motion is affected by ocean waves, and its pitch angle changes rapidly with the waves. This rapid change and the measurement errors will cause great noise to the direction measured by gyroscopes, and then lead to a large error to the DR navigation. To address this problem, a novel DR method based on neural network (DR-N) is proposed to explore the time-varying relationship between acceleration measurement and orientation measurement, which leverages acoustic localization and neural network estimate timely pitch angle through the explored time-varying relationship. This method enables AUV's DR navigation with a single acceleration, without relying on both acceleration and gyroscope. Most importantly, we can improve the accuracy of AUV navigation through avoiding DR errors caused by gyroscope noise at the sea surface. Simulations show DR-N significantly improves navigation accuracy.

关键词： Accelerometers

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Indoor Place Recognition Based on Set Operation of keypoints Databases

Indoor Place Recognition Based on Set Operation of Keypoints...

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IEEE International Conference on Mechatronics and Automation

作者： Xuexiong Long Ke Wang Ruifeng Li Lijun Zhao State Key Laboratory of Robotics and system Harbin Institute of Technology Harbin No.92 Xidazhi Street Heilongjiang Province China

ISBN: (纸本)9781509023974

In this paper, we proposed a new algorithm based on independent keypoints databases for indoor place recognition. In analogy with set operation, a new kind of operations for keypoints sets are defined to describe the process of independent keypoints database establishment and place classification. To obtain the databases, keypoints are firstly extracted from sample images whose class are known, and then they are processed by set operation. A serious of experiments are conducted to test the influence from the parameters of the algorithm on the effect of the algorithm based on the INDECS database and verified that the algorithm is not sensitive to parameters and changing environment. Then an integrated experiment was developed to test the performance of this algorithm, and verified that it is a robust algorithm with high precision.

关键词： keypoints database set operation indoor place recognition keypoints match

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Rotating soft-Tail millimeter-scaled swimmers with superhydrophilic or superhydrophobic surfaces 6

Rotating soft-Tail millimeter-scaled swimmers with superhydr...

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6th IEEE RAS/EMBS International Conference on Biomedical robotics and Biomechatronics, BioRob 2016

作者： Xu, Tiantian Vong, Chi-Ian Wang, Ben Liu, Lianqing Wu, Xinyu Zhang, Li Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences China Shatin NT Hong Kong SAR Hong Kong State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Shenzhen Research Institute Chinese University of Hong Kong Shenzhen China Chow Yuk Ho Technology Centre for Innovative Medicine Chinese University of Hong Kong Hong Kong SAR Hong Kong

ISBN: (纸本)9781509032877

Microswimmers capable of propulsion at low Reynolds numbers have great potential for numerous applications. Several kinds of artificial microswimmers, actuated by magnetic fields, with rigid helical tails have been developed. In previous works, we demonstrated that a magnetic swimmer with a soft tail could form a helical shape during rotation to propel itself at low Reynolds numbers. The advantage of compliant structures is that the high softness makes swimmers more adaptive in confined or complex environments. The interfacial friction drags are reduced by using superhydrophobic surfaces. Therefore, this paper aims to study the influence of surface and interface properties, particularly the hydrophilicity and hydrophobicity of the soft tail surface, on the swimming performance. For this, we compared the swimming performance of two millimeter-scaled swimmers with a superhydrophilic soft tail and a superhydrophobic soft tail, respectively, in viscous liquids. The two swimmers exhibit different dynamic morphologies and swimming performance with the same input parameters. The swimmer with a superhydrophobic soft tail shows higher swimming velocity than that with a superhydrophilic soft tail, except in pure glycerol. The present work provides useful informations for selecting surface coating of swimmers with soft tails at low Reynolds numbers. © 2016 IEEE.

关键词： Propulsion

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Design of Optimal PI Controller with Dead-zone Link for Low-order Processes with Time Delay

Design of Optimal PI Controller with Dead-zone Link for Low-...

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第28届中国控制与决策会议

作者： X.H.Li H.B.Yu P.Zeng L.X.Sun M.Z.Yuan C.Z.Zang J.Bian Key Laboratory of Industrial Control Network and System Shenyang Institute of Automation Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences

ISBN: (纸本)9781467397155

-in this paper,a design method of optimal proportionalintegral(PI) controller with dead-zone link is presented for loworder processes with time ***-loop system is the nonlinear control system with the dead-zone *** feedback system can be equivalently transformed into the linear switch system(LSS) or autonomous switch system(ASS).The optimal control problem is equivalently transformed into nonlinear constraint optimization(NLCO) problem via common Lyapunov functions(CLF) theorem and Lyapunov ***,optimal PI controller can be obtained by solving the NLCO *** results show effectiveness and usefulness of the proposed design method.

关键词： optimal PI controller dead-zone link Low-order process time delay LSS or ASS NLCO problem CLF theorem

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An integrated system of detecting end-effector motion states and wafer stick-slip on a wafer transfer robot

An integrated system of detecting end-effector motion states...

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IEEE International Conference on Mechatronics and Automation

作者： Yanjie Liu Haijun Han Lining Sun Kang Li Tao Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang University Hangzhou Zhejiang Province China

ISBN: (纸本)9781509023974

The online detection of end-effector motion states and wafer stick-slip on a wafer transfer robot is crucial in accessing the quality of trajectory planning and improving the performance of robotic control system. This paper presents a new integrated system for detecting end-effector motion states (position and velocity) and wafer stick-slip on a wafer transfer robot. The system mainly contains a custom-built position-sensing-detector (PSD) camera, an inertial module and a tactile sensor. The end-effector position measurement is achieved by the PSD camera, and the end-effector velocity is estimated by using a kinematic Kalman filter (KKF). The KKF fuses the outputs from the PSD camera and the inertial sensor with a tri-axis accelerator and a tri-axis gyroscope. The wafer stick-slip detection is built on the measurements of the electromagnetic-based tactile sensor. The experimental results show that the integrated system is capable of measuring the position with a repeatability of ± 0.023mm along the X-axis and ± 0.017mm along the F-axis, remarkably improving the accuracy of velocity measurement, and online detecting wafer stick-slip on the wafer transfer robot.

关键词： Cameras Robot vision systems Tactile sensors Estimation Position measurement

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RGBD-based parameter extraction for door opening tasks with human assists in nuclear rescue

RGBD-based parameter extraction for door opening tasks with ...

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International Conference on Advanced robotics and Mechatronics (ICARM)

作者： Jiajun Li Jianguo Tao Liang Ding Haibo Gao Zongquan Deng Yu Wu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China China Nuclear Power Technology Research Institute Shenzhen China

The ability to open a door is essential for robots to perform home-serving and rescuing tasks. A substantial problem is to obtain the necessary parameters such as the width of the door and the length of the handle. Many researchers utilize computer vision techniques to extract the parameters automatically which lead to fine but not very stable results because of the complexity of the environment. We propose a method that utilizes an RGBD sensor and a GUI for users to “point” at the target region with a mouse to acquire 3D information. Algorithms that can extract important parameters from the selected points are designed. To avoid large internal force induced by the misalignment of the robot orientation and the normal of the door plane, we design a module that can compute the normal of the plane by pointing at three non-collinear points and then drive the robot to the desired orientation. We carried out experiments on real robot. The result shows that the designed GUI and algorithms can help find the necessary parameters stably and get the robot prepared for further operations.

关键词： Robot sensing systems Three-dimensional displays Graphical user interfaces Cameras Computers Robot kinematics

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Fuzzy-based trajectory-tracking control for WIP vehicles with coupled dynamics behaviors

Fuzzy-based trajectory-tracking control for WIP vehicles wit...

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International Conference on Advanced robotics and Mechatronics (ICARM)

作者： Ming Yue Teng Ma Linjiu Wang Cong An State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China School of Automotive Engineering Dalian University of Technology Dalian China

ISBN: (纸本)9781509033652

It is difficult to make a wheeled inverted pendulum vehicle (WIP) follow an arbitrary desired trajectory while holding the inverted pendulum-like vehicle upright. In this paper, based on the presented coupled dynamic model with four independent coordinates, both the vehicle nonholonomic constraints and underactuated property are depicted. Then, by partial feedback linearization, the overall system is partitioned into an actuated subsystem with rotational and longitudinal motions and a tilt angle subsystem with driving by a virtual control input. Also, a fuzzy controller is constructed for the actuated subsystem since it has better adaptability, robustness, and fault tolerance characteristics. Besides, the sliding-mode control technique with adaptive laws is employed so as to strengthen the robustness of the control system.

关键词： Vehicles Vehicle dynamics Wheels Control systems Multiprotocol label switching Dynamics Acceleration

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Analysis on biomechanical characteristics of post-operational vertebral C5-C6 segments

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International Journal Bioautomation 2016年第1期20卷 99-114页

作者： Tian, Heqiang Zhu, Xuanxuan Zhao, Jun Su, Chunjian Mechanical and Electronic Engineering College Shandong University of Science and Technology Qingdao266590 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China

Both anterior cervical decompression and fusion (ACDF) and artificial cervical disc replacement (ACDR) have obvious advantages in the treatment of cervical spondylosis. To analyze the operation results, it is absolutely necessary to study the biomechanics of the movement range of post-operational vertebral C5-C6 segments, especially the biomechanical characteristics in cervical tissues in actual movements. In this study, using the human vertebral 3D graph gained by imaging diagnosis (CT), a vertebral solid model is established by the 3D reconstruction algorithm and reverse engineering technology. After that, with cervical soft tissue structure added to the solid model and set with a joint contact mechanism, a finite element model with a complete, accurate cervical C5-C6 kinematic unit is constructed, based on relevant physiological anatomical knowledge. This model includes vertebral segments, an intervertebral disc, ligament and zygopophysis in the cervical C5-C6 kinematic unit. In the created vertebral finite element model, the model is amended, referring to ACDF and ACDR, and the load and constraint are applied to a normal group, a fusion group and a displacement group, so as to analyze the biomechanical characteristics of the cervical vertebra after ACDF and ACDR. By comparing the finite element simulation results of different surgeries, this paper is intended to evaluate the functions and biomechanical behaviors of the post-operational vertebra, and explore the influence of the operation on the biomechanical stability of the cervical vertebra. This will provide theoretical guidance for implementation and optimization of ACDF and ACDR.

关键词： Biomechanics

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Three-layer intelligence of planetary exploration wheeled mobile robots:Robint,virtint,and humint

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Science China(Technological Sciences) 2015年第8期58卷 1299-1317页

作者： DING Liang GAO HaiBo DENG ZongQuan LI YuanKai LIU GuangJun YANG HuaiGuang YU HaiTao State Key Laboratory of Robotics and System Harbin Institute of Technology School of Aeronautics and Astronautics University of Electronic Science and Technology of China Department of Aerospace Engineering Ryerson University

The great success of the Sojourner rover in the Mars Pathfinder mission set off a global upsurge of planetary exploration with autonomous wheeled mobile robots(WMRs),or *** WMRs are among the most intelligent space systems that combine robotic intelligence(robint),virtual intelligence(virtint),and human intelligence(humint) *** article extends the architecture of the three-layer intelligence stemming from successful Mars rovers and related technologies in order to support the R&D of future tele-operated robotic ***-layer human-machine interfaces are suggested to support the integration of humint from scientists and engineers through supervisory(Mars rovers) or three-dimensional(3D) predictive direct tele-operation(lunar rovers).The concept of multilevel autonomy to realize robint,in particular,the Coupled-Layer Architecture for Robotic Autonomy developed for Mars rovers,is *** challenging issues of intelligent perception(proprioception and exteroception),navigation,and motion control of rovers are discussed,where the terrains' mechanical properties and wheel-terrain interaction mechanics are considered to be ***-level virtual simulation architecture to realize virtint is *** technologies of virtint are summarized:virtual planetary terrain modeling,virtual intelligent rover,and wheel-terrain interaction *** generalized three-layer intelligence framework is also applicable to other systems that require human intervention,such as space robotic arms,robonauts,unmanned deep-sea vehicles,and rescue robots,particularly when there is considerable time delay.

关键词： planetary exploration rovers robot intelligence virtual intelligence three-layer architecture

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