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IEEE International Conference on robotics and Biomimetics

作者： Shengxin Wang Yongsheng Gao Feiyun Xiao Wei Xin Jie Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin P.R. China

ISBN: (纸本)9781467396769

Tremor with a roughly sinusoidal profile impacts the individuals' living activities. Recently, Functional Electric Stimulation (FES) was intensively applied to activate the antagonist muscles with the anti-phase stimulation patterns for compensating the tremor. Considering the similarity between the rhythmic movements and the central neural oscillator, the Matsuoka model is introduced to reciprocally modulate the stimulations intensity of the antagonistic muscles. However, the nonlinear threshold function of the Matsuoka model complicates the system and limits the analysis. In this study, the linearly approximated method is employed to develop the explicit relationship between the model parameters and the frequency/amplitude of the sustained oscillation. The simulation results demonstrate that the output of roughly approximated oscillator is in accordance with that of the original oscillator. Besides, this study brings insight on the effect of the sensory feedback on the neural oscillator. Further, the treatment of tremor with the Matsuoka model as the feed-forward controller and the kinematic signals as the feedback is feasible.

关键词： Oscillators Neurons Muscles Analytical models Electromyography Vibrations Elbow

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The working principle and excitation method of a step peristalsis piezoelectric actuator

The working principle and excitation method of a step perist...

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SPAWDA Symposium on Piezoelectricity, Acoustic Waves, and Device Applications

作者： Dong-dong Shi Ying-xiang Liu Wei-shan Chen Jun-kao Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin P.R. China

A step peristalsis actuator using piezoelectric stacks is proposed, designed and analyzed. The proposed actuator contains four piezoelectric stacks located in U-shaped: the two horizontal piezoelectric stacks are used to push the runner, while the two vertical piezoelectric stacks are used to change the contact states between the two feet and the runner. And the working principle for bidirectional-linear-driving is discussed. According to the working principle, the exciting method is developed to obtain the sequence control signals of the piezoelectric stacks. It is found that the step peristalsis piezoelectric actuator can achieve the accuracy of nanometer and be used as a bidirectional actuator. At last, the driving power of the step peristalsis piezoelectric actuator is investigated by theoretical analysis and designed. At present, the proposed design can be used as a long-stroke, ultra-precision and bidirectional piezoelectric actuator.

关键词： Piezoelectric actuators Acoustic beams Electron tubes Acoustics Switches Piezoelectricity

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Traffic Sign Detection Based on Colour Standardization and HOG Descriptor

Traffic Sign Detection Based on Colour Standardization and H...

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2015 International Conference on Advanced Management Science and Information Engineering(AMSIE 2015)

作者： C.Y.Mu X.Ma Y.Wang C.T.Zhang State Key Laboratory of Robotics and System(HIT) Institute of Information and Communication Technology Beifang University of Nationalities

Traffic sign detection is one of difficult problems in recognition process of driver assistance *** this paper,colour standardization is used firstly to lower the computational load,which 24 bits of RGB image is converted to bit image only 8 *** interest colour component is extracted for filtering candidate region,which is selected by *** then HOG descriptor is used for detection characteristic of candidate ***,these descriptor features are as input of support vector machine(SVM) for shape *** results shown that this algorithm has an efficient computation by colour standardization which compared with classical colour space transform,and could defence of strong light,shadow,rainy days,occlusion by take advantage of HOG descriptor.

关键词： colour standardization HOG descriptor SVM traffic sign

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WORKING PRINCIPLE AND DESIGN OF A LINEAR ULTRASONIC MOTOR WITH RING-TYPE STATOR

WORKING PRINCIPLE AND DESIGN OF A LINEAR ULTRASONIC MOTOR WI...

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2015全国压电和声波理论及器件技术研讨会

作者： Ji-peng YAN Ying-xiang LIU Sheng-jun SHI Xiu-hua NI Huai-yin XIONG State Key Laboratory of Robotics and System Harbin Institute of Technology Shanghai Radio Equipment Research Institute

This paper presents a new idea for constructing ring-type linear ultrasonic *** stator of proposed motor contains two driving feet,sixteen pieces of piezoelectric ceramic plates and three rings-inner ring,middle ring and outer *** proposed ultrasonic motor forms elliptical movements on the driving feet by the superposition of stretching and bending vibration of the metal *** paper presents the working principle of proposed *** using FEM method,the proposed motor is designed and *** adjusting the structure parameters,the resonance frequencies of two working modes were tuned to be *** by transient analysis,the elliptical motion trajectories of nodes on the driving feet are obtained and verify the theoretical feasibility.

关键词： Ultrasonic motor Linear driving Ring-type Axial bending mode Radial stretching mode

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Hybrid impedance control of 7-DOF redundant manipulator with dual compliant surface

Hybrid impedance control of 7-DOF redundant manipulator with...

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IEEE International Conference on Mechatronics and Automation

作者： Minghe Jin Cheng Zhou Yechao Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin P.R. China

ISBN: (纸本)9781479970995

A control strategy based on the hybrid impedance control of 7-DOF manipulator is investigated to achieve force control and obstacle avoidance. And the redundancy resolution method is improved, the kinematic related function (arm angle) of manipulator is considered as the additional user-specified task, and a damping coefficients matrix is introduced, hence a singularity-robust inverse kinematics at acceleration level is proposed. The obstacle avoidance control of redundant manipulator is implemented in obstacle avoidance compliant surface. Furthermore, a virtual torque reacted on the additional compliant surface is introduced by artificial potential functions of obstacle, The control strategy based on the non-contact impedance control is adopted to deal with virtual contact. And a numerical simulation system based on Matlab/Simulink is built to verify the control strategy, the simulation results demonstrate the validity and feasibility of the proposed control strategy.

关键词： Manipulators Impedance Force Force control Surface impedance Redundancy Joints

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A Simulation Study on Nerve Block by Electrical Stimulation with High Frequency 2015

A Simulation Study on Nerve Block by Electrical Stimulation ...

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Proceedings of the international Convention on Rehabilitation Engineering & Assistive Technology

作者： Bin Zhang Pete B. Shull Dingguo Zhang State Key Laboratory of Mechanical System and Vibration Institute of Robotics Shanghai Jiao Tong University China

High frequency alternating current (HFAC) stimulation is a technique that can cure some pathological problems of unwanted sensation or muscle activities resulted from unfavorable hyperactivity of neurons. It's capable of blocking undesirable nerve conduction and shutting down unwanted neural pathway. This paper presented simulation work of nerve block by HFAC with both the McNeal axon model and the Hodgkin-Huxley (HH) membrane model. Results obtained from the established model were shown after explaining the simulation method. Some meaningful conclusion about the characteristics of electrical nerve block (the block threshold and the continuous firing phenomenon) was drawn at the end of the paper. Our positive simulation results indicated the possible clinical application of electrical nerve block.

关键词： High Frequency alternating current McNeal axon model Electrical nerve block Hodgkin-Huxley model Nerve simulation

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ANALYSIS OF A NOVEL LONGITUDINAL-BENDING HYBRID ULTRASONIC MOTOR USING VIBRATION COUPLING

ANALYSIS OF A NOVEL LONGITUDINAL-BENDING HYBRID ULTRASONIC M...

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2015全国压电和声波理论及器件技术研讨会

作者： Ying-xiang LIU Chun-hong LI Wei-shan CHEN Xiu-hua NI Jun-kao LIU State Key Laboratory of Robotics and System Harbin Institute of Technology Shanghai Radio Equipment Research Institute

A novel longitudinal-bending(L-B)hybrid ultrasonic motor using vibration coupling is *** with the previous L-B ultrasonic motors,only longitudinal PZT plates are used;and the longitudinal-bending hybrid vibrations of the motor are excited *** boundary condition is applied on one side surface of the flange,which locates at the wave node of a longitudinal *** working principle of the motor is *** using finite element method,comparison between the proposed ultrasonic motor with fixed boundary condition and a transducer with free boundary condition are developed by modal analysis,harmonic analysis and transient *** is found that the longitudinal-bending hybrid vibrations can be produced by the longitudinal piezoelectric elements under a fixed boundary condition of the *** should be noted that the bending vibration is not generated by the bending piezoelectric elements,but excited by a vibration coupling effect under an unsymmetrical boundary *** change of the boundary condition also shows minute effects on the resonance frequency and the electromechanical coupling *** elliptical movements are formed on the two end tips of the *** motions can push the runners linearly by frictional forces if preloads are applied.

关键词： Ultrasonic motor Longitudinal vibration Bending vibration Vibration coupling Boundary condition

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Landing Performance Simulation of an Asteroid Landing Mechanism

Landing Performance Simulation of an Asteroid Landing Mechan...

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IEEE International Conference on Information and Automation

作者： Zhijun Zhao Delun Li Baofeng Yuan Sheng Gao Jingdong Zhao Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System Engineering State Key Laboratory of Robotics and System Harbin Institute of Technology

ISBN: (纸本)9781467391054

Asteroid landing is a new research field in deep space exploration, which has important scientific and economic values in learning the origin of the solar system and exploring the asteroid. It is microgravity and little media properties are obtained on the asteroid surface, thus good landing performance is demanded to realize safe landing of the landing mechanism. Landing mechanism in the paper has three legs, and the damping device is located between the landing gear and the equipment base. Simulation method is introduced to analyze the landing performance of the landing mechanism. Landing performance of the landing mechanism on 30° landing slope with the largest landing velocity is simulated in three typical landing modes, and the landing performance is reflected by stability time of the landing gear and overloading acceleration of the equipment base. Landing simulation has important significance in learning landing performance and guiding the landing of the landing mechanism.

关键词： Asteroid Landing mechanism Landing performance Simulation

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High-performance wall-climbingrobot for inspection and maintenance

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Journal of Beijing Institute of Technology 2014年第3期23卷 383-389页

作者：邵洁高学山戴福全宗成国白阳郭文增李军 Intelligent Robotics Institute Beijing Institute of Technology State Key Laboratory of Robotics and System(HIT)

A wall-climbing robot that can continuously work on many types of wall surfaces has been developed. This robot based on low-vacuum adsorption principle consists of a locomotion mecha- nism, a sealing device, a fluid machine and a detecting system. The adsorption force is analyzed in details and its influencing factors are given. The robot prototype, which has the features of high ad- hesion efficiency, light body in weight, small size in structure and good capability in payload, is test- ed in outdoor and indoor environments. Through the experiments, the influences of the impeller slit and the seal clearance are discussed. In addition, the robot functions such as adsorption perform- ance, locomotion performance and wall adaptability are tested by experiments. The experiments have verified that the robot not only can climb on many types of wall surfaces, but also has outstand- ing locomotion ability and payload capacity.

关键词： wall-climbing robot low-vacuum adsorption adsorption force impeller slit seal clear-ance

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Experiments and simulations of the standing wave acoustic field produced by two transducers mounted in contraposition

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Proceedings of Meetings on Acoustics 2017年第1期32卷

作者： Huijuan Dong Longfei Jia Yingzi Guan Jie Zhao 1School of Mechatronics Engineering Harbin Institute of Technology Harbin Hei Longjiang 150001 CHINA dhj@*** 2Chongqing Vocational College of Transportation Chongqing CHINA ***@*** 3School of Astronautics Harbin Institute of Technology Harbin Hei Longjiang 150001 CHINA guanyz@*** 4The State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Hei Longjiang 150001 CHINA jzhao@***

Acoustic standing wave levitation transmission technique has been widely used in many research areas. In this work, two Langevin-type piezoelectric transducers’ output are assembled face to face at a certain angle. Each transducer’s output acts as both its radiator and another transducer’s reflector. The authors termed it as contraposition transducer array. Standing acoustic wave in the cavity between the radiator and the reflector is formed when optimizing the angle between the central lines of the two transducers, the distance of the cavity, and the phase differential of the generator being used to excite the two transducers. Accordingly, the object during the acoustic field can be levitated, moved and manipulated. Not only the standing acoustic field pressure is theoretically derived, but also its potential location is Ansys-programmed simulated and illustrated. As a result, the restrictions are detailed which are necessary to form the standing acoustic wave. The corresponding experiments are carried out to demonstrate the proposed method by the authors. Finally, the influences of geometrical parameters and exciting phase differential on the formed acoustic field are numerically simulated.

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