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International Conference on Fluid Power and Mechatronics (FPM)

作者： Guangsheng Shi Lijun Zhao Ke Wang Yunfeng Gao Yihuan Liu State key laboratory of robotics and system Harbin Institute of Technology Harbin China

ISBN: (纸本)9781479987719

The 3D-object modeling has become one hottopic in robot vision field for robots locating, grabbing and dropping operation. In this paper, we propose an efficient method of object modeling based RGB-D camera (Kinect) that can help the robot to carry out operation task. Our method is divided into three stage: firstly, point clouds of scene containing object are captured from the camera and plane-segmentation to extract clusters of object; secondly, the preprocessed method is used to filter noise and outlier points; Points pair-wise alignment by way of our proposed pairs rejection strategy, global consistent alignment of the complete object and object-centered representation easy to manipulate. Besides, for the well-known loop closure problem, we optimize the pose and eliminate the accumulations base on the ICP improved algorithm. Finally, the proposed method is validated by the modeling of several household objects.

关键词： Three-dimensional displays Iterative closest point algorithm Cameras Robots Solid modeling Measurement Filtering algorithms

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Neural adaptive tracking control for wheeled mobile robots

Neural adaptive tracking control for wheeled mobile robots

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International Conference on Fluid Power and Mechatronics (FPM)

作者： Zhencai Li Yang Wang Xingguo Song Zhen Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781479987719

In this study, an adaptive control method is proposed by combining the tracking controller with neural torque controller for wheeled mobile robots. The kinematics and dynamics control laws are developed, and stability of control system is ensured by standard Lyapunov theory. For the trajectory tracking control of the wheeled mobile robot (WMR), we design an efficient neural network control that can manage the unmodeled extra disturbances and unstructured dynamics model of WMR. Especially, we have chosen radial basis function (RBF) neural networks to approximate the nonlinear function. By tuning the neural network weights, ensure the small tracking errors when WMR travels with the bounded input signals. Simulations illustrate the soundness of the proposed control theme for the desired tracking trajectory by Matlab-simulation.

关键词： Mobile robots Mathematical model Artificial neural networks Wheels Adaptation models Vehicle dynamics

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80-GHz Operation of an 8-Bit RSFQ Arithmetic Logic Unit

80-GHz Operation of an 8-Bit RSFQ Arithmetic Logic Unit

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IEEE International Superconductive Electronics Conference (ISEC)

作者： Yuki Ando Ryo Sato Masamitsu Tanaka Kazuyoshi Takagi Naofumi Takagi State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

We have designed and demonstrated an arithmetic logic unit (ALU) based on rapid single-flux-quantum (RSFQ) technology. The ALU has been developed toward demonstration of high-performance information processing using a general purpose microprocessor CORE e4. The target operation frequency of the ALU is 50 GHz. In this paper, we present the design and high- speed functionality test results of the ALU. The ALU can execute 10 instructions. We aimed at high frequency operation with precise timing design using logic gates synchronized to the clock signal. The ALU contains 1555 Josephson junctions (JJs) and occupies a circuit area of 0.53mm 2 . We have demonstrated the correct operation of the ALU using on-chip high-speed test. The estimated maximum operating frequency based on measurement results is 80 GHz.

关键词： Yttrium Clocks Frequency measurement Microprocessors Logic gates Superconductivity Timing

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Acoustic simulation of the slapping mode of piezoelectric micro-jet

Acoustic simulation of the slapping mode of piezoelectric mi...

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SPAWDA Symposium on Piezoelectricity, Acoustic Waves, and Device Applications

作者： Kai Li Jun-kao Liu Wei-shan Chen Lu Zhang Zi-li Huang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang CN State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin P. R. China

In order to analysis the fluid-structure coupling acoustic properties of a designed piezoelectric micro-jet which is worked at slapping mode, the inside acoustic situation created by the vibration of vibrator is analyzed in this paper depend on the finite element software ANSYS Workbench. The effect of the properties of the liquid and shell to the ejection performance of the micro-jet is analyzed according to the simulation. The natural frequency and vibration mode of the vibrator which is soaked in the water are obtained by the wet-model analysis. The frequency response curves of the displacement and force reaction of the piezoelectric vibrator and the pressure of the nozzle are gained by the harmonic analysis.

关键词： Liquids Impedance Acoustics Aluminum Force Resonant frequency Shape

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Development of a waterproof servo unit for amphibious robots

Development of a waterproof servo unit for amphibious robots

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IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent systems

作者： Yi Sun Siyu Huang Shugen Ma Qiquan Quan Department of Robotics Ritsumeikan University Japan State Key Laboratory of Robotics and System Harbin Institute of Technology China

ISBN: (纸本)9781479987313

Amphibious robots based on hybrid locomotion mechanisms have better environmental adaptability than conventional wheeled or tracked mobile robots, and therefore have great potentials to be valuable robotic assistant for aiding search and rescue operations after natural or industrial catastrophes, such as tsunami, floods, or mining disasters. However, their locomotion mechanisms and sensory circuitry are complex and vulnerable to water and dust contaminants, which prevents them from being practically used at disaster sites. In this paper, implementation of a waterproof servo unit is proposed as a simple and economic protection measure based on decentralized sealing strategy for two of the most vital components in amphibious robots, namely the servo motor and the absolute encoder. Crucial design considerations relating to waterproof function of the motor and accuracy of the encoder are discussed. Prototypes of the motor shield and the waterproof encoder are fabricated. Finally, the proposed idea and designs are verified by experiments.

关键词： Shafts Magnetic noise Magnetic shielding Magnetic levitation Magnetic circuits Accuracy Robots

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Towards deformation control of soft tissues based on visual servo for flexible needle insertion applications

Towards deformation control of soft tissues based on visual ...

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IEEE International Conference on Mechatronics and Automation

作者： Zhenzhou Yi Wei Dong Zhijiang Du State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang China

ISBN: (纸本)9781479970995

In this paper, a new deformation control algorithm for the soft tissue is applied to flexible needled insertion, which can simplify the needle insertion. Considering that the parameters of soft tissue are hard to obtained, we adopt the uncalibrated visual servo control to design the deformation control algorithm for no priori-knowledge soft tissue. Thus, we can obtain the target shift for the deformation control by a new method of needle trajectory planning. Finally, a detailed experiment of deformation control with target shift planning has been conducted to validate the feasibility of the new technique.

关键词： Trajectory Needles Planning Jacobian matrices Deformable models Cameras Mathematical model

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Design of real-time and open control system for Chinese space manipulator joint based on RTX

Design of real-time and open control system for Chinese spac...

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IEEE International Conference on robotics and Biomimetics

作者： Tian Zou Fenglei Ni Chuangqiang Guo Weisi Ma Hong Liu State Key Laboratory of Robotics and System (HIT) China DJI Innovations Shenzhen China

ISBN: (纸本)9781467396769

Due to the real-time requirements of the manipulators control, the dedicated control systems are required, which has the disadvantages of the high cost, complexity and lack of flexibility. The control software cannot be modified according to the user's expectation in the application of new algorithms or secondary development for the close framework. To overcome the above shortcomings, the paper is to construct an open architecture manipulator host control system based on the traditional Windows system by extending RTX. The host control system communicates with the manipulators by the high serial data bus. Most of the control algorithms of the manipulator run on the host control system, and the vector control of the motor is located in the joint. Experiment results indicate that the RTX system achieves the deterministic control of the manipulator with high real-time performance on the same computer, takes the advantage of rapid prototype development of software, open architecture, better compatibility and real-time performance, which improves the efficiency in the development of manipulator and the application of new control algorithms.

关键词： Real-time systems Manipulators Control systems Process control Instruction sets Torque

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Design and kinematic analysis of a parallel robot with Remote Center of Motion for Minimally Invasive Surgery

Design and kinematic analysis of a parallel robot with Remot...

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IEEE International Conference on Mechatronics and Automation

作者： Zhenchuan Zhang Hongjian Yu Zhijiang Du State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang CN

ISBN: (纸本)9781479970995

A Remote Center of Motion (RCM) Robot can imitate medical operative of surgeons in Minimally Invasive Surgery (MIS) and improve surgical precision. Compared to serial robots, parallel robots are more compact, more isotropic and have better rigidity and accuracy. A design of a new type of RCM parallel robot is proposed in this paper, which including the robot mechanical structure, kinematics and optimization design. The workspace of the mechanism is derived from the inverse kinematics. The global performance index (GPI) is used as the performance evaluation index to optimize the structure design by the algorithm of Particle Swarm Optimization (PSO). The results of the paper are used to analysis the performance of robot to confirm the structure design, and prepare for prototype machining.

关键词： Lead Instruments Joints Kinematics Robots Mobile communication Surgery

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Research progress on the interconnection of carbon nanotubes

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Carbon 2016年 100卷 710-710页

作者： Li-jun Yang Jian-lei Cui Yang Wang Xue-song Mei Wen-jun Wang Hui Xie State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China State Key Laboratory of Advanced Welding and Joining Harbin Institute of Technology Harbin 150001 China State Key Laboratory for Manufacturing System Engineering Xi’an Jiaotong University Xi'an 710049 China

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Robotic cognitive behavior control based on biology-inspired Episodic memory

Robotic cognitive behavior control based on biology-inspired...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Dong Liu Ming Cong Yu Du Xiaodong Han Intelligent Robotics Group State Key Laboratory of Robotics and System (HIT) China University of British Columbia Vancouver Canada

ISBN: (纸本)9781479969241

This paper proposes a framework called Episodic memory-driving Markov decision processes (EM-MDPs) for incremental self-learning of robotic experience and cognitive behavior control under uncertainty. The framework simulates the organization process of episodic memory by introducing the neuron stimulation mechanism. Firstly, episode model is built, and the activation and stimulation mechanism of state neurons is proposed based on cognitive neuroscience. Secondly, episodic self-learning is also proposed by utilizing sparse distributed memory (SDM) through Hebbian rules, to realize memory real-time storage, incremental accumulation and integration. Finally, a robotic cognitive behavior control approach is established. Neuron synaptic potential is introduced for event localization. Robot can evaluate the past events sequence, predict the current state and plan the desired behavior. Two main challenges in robot behavior control under uncertainty are addressed in the paper: high computational complexity and perceptual aliasing. The proposed system is evaluated in several real life environments for mobile robot. The applicability and the usefulness of the developed method are validated by the results obtained.

关键词： Neurons Trajectory Robot kinematics Planning Uncertainty Robot sensing systems

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