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5th ACM Conference on Bioinformatics, Computational Biology, and Health Informatics, ACM BCB 2014

作者： Dong, Hui Chirikjian, Gregory S. State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Department of Mechanical Engineering Laboratory for Computational Sensing and Robotics Johns Hopkins University BaltimoreMD21218 United States

ISBN: (纸本)9781450328944

Small-angle x-ray scattering (SAXS) is an experimental biophysical method used for gaining insight into the structure of large biomolecular complexes. Under appropriate chemical conditions, the information obtained from a SAXS experiment can be equated to the pair distribution function, which is the distribution of distances between every pair of points in the complex. Here we develop a mathematical model to calculate the pair distribution function for a structure composed of several rigid components. We show that integrals of products of three spherical-Bessel functions arise naturally in this context. We then develop an algorithm for the efficient recursive computation of these integrals. Efficient and accurate models that relate the data acquisition process to the underlying structure are of interest because iterating such models provides a computational framework in which to solve the inverse problem of determining how constituent parts in a large structure should be assembled so as to be consistent with the experimental data. Copyright © 2014 ACM.

关键词： Data acquisition

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Resolution and precision measurement of a three dimension force sensor based on piezoresistive conductive ink

Resolution and precision measurement of a three dimension fo...

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11th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2014

作者： Liu, Yanjie Wu, Jiang Han, Haijun Liu, Tao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China Dep. of Intelligent Mechanical System Engineering Kochi University of Technology Kami Japan

ISBN: (纸本)9781479939787

In order to achieve the function of measuring friction on contacting surface between wafer and manipulator in real time, in this paper, we mainly measured the resolution and precision of the three dimension force sensor based on piezoresistive conductive ink. Resolution of tangential force improves with preload in normal direction increasing and the maximum resolution is less than 0.025 N with 0.8 N preload. Maximum error is about 30.62% because of low tangential stiffness of elastomer. The experiment results indicate that this sensor has characteristics of small volume, high flexibility and high resolution, which is prospective for using in wafer transfer system with improvement of higher precision in the future. © 2014 IEEE.

关键词： Flexible three dimension force sensor Resolution measurement

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Research on 3D reconstruction for robot based on SIFT feature

Research on 3D reconstruction for robot based on SIFT featur...

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2014 IEEE Workshop on Advanced Research and Technology in Industry Applications, WARTIA 2014

作者： Zhong, Qiubo Jie, Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China School of Electronic and Information Engineering Ningbo University of Technology Harbin China

ISBN: (纸本)9781479969890

On the basis of only visual and odometer, a robust perception model is established to extract environmental features through effective fixed scale feature-transformation method, and updated feature by unscented Kalman filtering. The scale invariant feature transform (SIFT) is studied for 3D reconstruction, and a fast feature matching algorithm based on SIFT is proposed. A map representation method using SIFT features is also propounded, which is more convenient for environment recognition, robot localization and makes the data association map building much easier as well than the maps using simple features such as Harris corners and edges. The results of experiment show that this method can improve the success rate and precision of robot localization. © 2014 IEEE.

关键词： Image reconstruction

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An inverse projective mapping-based approach for robust rail track extraction

An inverse projective mapping-based approach for robust rail...

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Congress on Image and Signal Processing, CISP

作者： Zhongli Wang Xian Wu Yan Yan Chunxiao Jia Baigen Cai Zhenhui Huang Guiguo Wang Tianbai Zhang State Key Laboratory of Robotics and System Harbin Institute of Technology China Beijing Engineering Research Center of EMC and GNSS Technology for Rail Transportation Beijing China School of Electronic Information and Engineering Beijing Jiao Tong University China CNR Tangshan Railway Vehicle Corporation Tangshan China

ISBN: (纸本)9781467390996

Rail track extraction from the image can be used to determine the train localization, or vision-based inspection of the rail, and some other driver supporting systems in railway. For the vision-based inspection, it is one of the most important tasks. But visual approach suffers from some common difficulties, the illumination change, shadow, weather effects, etc, which make the image processing for the successive procedures a very tough work, even in a sample application. In this paper, with a calibrated camera and based on inverse projective mapping (IPM), we can get a bird-view image or IPM image first. Then the IPM image is converted to an edge map with modified binary method. In order to extract the rail track, a Hough transformation is used detect the line segments in the edge map. Combined with some geometric constraints from the prior knowledge, the rail track can be robustly extracted. Some experiments with on-site image show the proposed method can works well.

关键词： Rails Image edge detection Image segmentation Cameras Rail transportation Detectors Robustness

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A Direct Swing Constraint-based Trajectory Planning Method for Underactuated Overhead Cranes

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自动化学报 2014年第11期40卷 2414-2419页

作者： WANG Peng-Cheng FANG Yong-Chun JIANG Zi-Ya Institute of Robotics and Automatic Information System (IRAIS) Nankai University Tianjin 300071 China Tianjin Key Laboratory of Intelligent Robotics Nankai University Tianjin 300071 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016. China

This paper proposes a novel swing constraint-based trajectory planning method for nonlinear overhead crane systems. To enhance the efficiency and security of the transportation process, some desired trajectories are designed to achieve the following merits： 1） leading the trolley to reach the destination sufficiently fast; 2） keeping the payload swing in an acceptable domain; 3） eliminating the residue swing when the trolley stops at the desired position. Specifically, the trajectories are divided into three stages. For each stage, the desired curve of the swing angle is directly constructed in accordance with anti-swing and zero-residual swing requirements, based on which the trolley trajectory is then obtained by analyzing the nonlinear kinematics of the crane system. An optimization mechanism is introduced to make intelligent compromises among the indices of transportation time, maximal swing angle, and so on. Both simulation and experimental results are provided to demonstrate the performance of the proposed direct swing constraint-based trajectory planning method.

关键词：桥式起重机基于约束 Swing 欠驱动规划法非线性运动学载荷摆动轨迹规划

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Design of in-pipe 3SPR/3RPS parallel manipulator and its kinestatics analysis

Design of in-pipe 3SPR/3RPS parallel manipulator and its kin...

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

作者： Yi Lu Jingjing Yu Chunping Sui Jianda Han College of Mech Eng Yanshan University Qinhuangdao Parallel robot and mechatronic system laboratory of Hebei province Hebei P. R. China Department of Mechatronics Heibei Normal University of Science & Technology Qinhuangdao Hebei P. R. China State Key Laboratory of Robotics Shenyan Institute of Automation Liaoning PR China

An in-pipe robot must be able to adapt to the various geometric changes of pipes and have large enough load carrying capacity in order to move freely in industry pipe and drag heavy load. A novel in-pipe 3SPR/3RPS type parallel manipulator is proposed and its kinematics is analyzed in this paper. First, an in-pipe parallel manipulator with multi-foot is designed, and its principle and characteristics are explained. Second, the kinematics formulae are derived for solving the displacement, velocity and acceleration of foot mechanism and parallel manipulator. Third, the statics formulae are derived for solving the active force of the foot mechanism and the active/constrained forces of the parallel manipulator. Finally, an analytic example is given for solving kinematics and statics of the in-pipe parallel manipulator and analytic solutions are verified by simulation solution.

关键词： Foot Force Legged locomotion Kinematics Manipulators

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Study on the fuzzy sliding mode control of the quadruped robot's hydraulic driving unit

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ICIC Express Letters 2014年第9期8卷 2373-2382页

作者： Quan, Lingxiao Kong, Xiangdong Xu, Yancui Yu, Bin Li, Mantian School of Mechanical Engineering Yanshan University No. 438 Hebei Ave. Qinhuangdao 066004 China State Key Laboratory of Robotics and System Harbin Institute of Technology No. 92 West Da-Zhi Street Harbin 150001 China

The hydraulic Quadruped Robot (BigDog) always uses the hydraulic drive unit to control the motions of every joint. The symmetric servo-valve of high performance controls the symmetric servo cylinder in the hydraulic drive unit. This kind of drive mode has the advantages of large power volume ratio, fast response, etc. Because of its obvious nonlinearity and unknown parameters, the control effect is not good. According to the disadvantages of hydraulic drive unit, this paper firstly proposes a Sliding Mode Control strategy based on the Exponential Approach Law to improve the robustness of hydraulic drive unit position control. However, the existence of chattering of this strategy can lead to lower control precision and stimulate high frequency dynamic characteristic of the system, so as to damage the system performance. To restrain chattering effect on the performance of the system effectively, a fuzzy controller is used to adjust the Exponential Approach Law parameter to optimize control results. The research results show that the Fuzzy Sliding Mode Control can guarantee good robustness and dynamic performance of the system, and it can largely reduce chattering of system and improve the system steady-state accuracy. © 2014 ISSN 1881-803X.

关键词： Position control

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Real-time filtering method based on neuron filtering mechanism and its application on robot speed signals

Real-time filtering method based on neuron filtering mechani...

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3rd International Conference on Computer Engineering and Network, CENet 2013

作者： Gao, Wa Zha, Fusheng Song, Baoyu Li, Mantian Wang, Pengfei Jiang, Zhenyu Guo, Wei State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150006 China Department of Mechanical Design Harbin Institute of Technology Harbin 150006 China

ISBN: (纸本)9783319017655

In order to implement the real-time filtering and tracking of robot signals with high efficiency, a novel real-time filtering method based on neuron filtering mechanism is developed in this paper. By considering the ubiquity of resonance in mammal and combining the mechanism of neural information processing, the derived details and the feasible parameter criterion under minimum error variance condition are given. For illustration, the application on quadruped robot is discussed. The quadruped robot feet speed signals are processed by developed real-time filtering method and Kalman filtering algorithm, respectively, and the computation time of both methods is tested. Experiment results show that the performance of developed real-time filtering method is better than that of Kalman filtering algorithm, not only in filtering and tracking performance but also in filtering speed. The novel real-time filtering method based on neuron filtering mechanism can effectively implement the real-time filtering and tracking with regard to robot signals. © 2014 Springer International Publishing Switzerland.

关键词： Neurons

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Analysis and experiments of the arc heating for fiber fused biconical taper technology

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Zhongguo Jiguang/Chinese Journal of Lasers 2015年第3期42卷 0305003-1-0305003-1-0305003-8页

作者： Zhang, Wei Rong, Weibin Yang, Wei Wang, Lefeng Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology HarbinHeilongjiang150080 China School of Electrical Engineering and Automation Harbin Institute of Technology HarbinHeilongjiang150001 China

The heating temperature is one of the key factors in the fiber fused biconical taper manufacture, which can affect the component performance. In order to improve the temperature stability and controllability in the heating region, the high-voltage arc heating device is presented and arc heating, heating region temperature and fiber preheating are studied. The high-frequency high voltage power source, in which the current and frequency can be adjusted independently, and electrodes are designed. The closed-loop controls of the voltage and current are applied to ensure the success of the arc ignition and the stability of the arc discharge current, and the discharge process is analyzed. The temperature detection device in which the infrared camera is adopted to measure the heating region temperature by the ceramic rod is designed. Through the analysis of experimental data, the relationships among the frequency, arc control voltage, arc current, heating distance and arc region temperature are determined. According to experiments and computation results, the temperature of the arc center region can reach 1635℃ within the stability of 2.37℃. Based on the established heating model for fine fibers with the diameter of 80 μm, the preheating time is computed by the transient analysis of the ANSYS software. It is shown that the temperature of the heating region can reach the stability by 25 s. ©, 2015, Science Press. All right reserved.

关键词： Temperature measurement

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An Elbow Biomechanical Model and Its Coefficients Adjustment

An Elbow Biomechanical Model and Its Coefficients Adjustment

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2014 IEEE 5th International Conference on Software Engineering and Service Science

作者： Jie Bai Yongsheng Gao Shengxin Wang Jie Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology

Through the establishment of the elbow biomechanical model,it can provide theoretical guide for rehabilitation therapy on the upper limb of the human body.A biomechanical model of the elbow joint can be built by the connection of muscle force model and elbow *** there are many undetermined coefficients in the model like the optimal joint angle and optimal muscle force which are usually specified as the experimental parameters of other *** of the individual differences,there is a certain deviation of the final *** this end,the RMS value of the deviation between the actual angle and calculated angle is considered.A set of coefficients which lead to the minimum RMS value will be chosen to be the optimal *** direct search method and the conjugacy search method are used to get the optimal parameters,thus the model can be more accurate and mode adaptability.

关键词： elbow biomechanical model RMS direct search conjugacy search

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