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Simulation and experiment research of non-contact micro-liquid reagent dispensing

Advance Journal of Food Science and Technology 2013年第5期5卷 514-521页

作者： Yufeng, Yao Shizhou, Lu Yaxin, Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China State Key Laboratory for Manufacturing Systems Engineering Xi'an Jiaotong University Xi'an 710049 China

With the development of biological analytical techniques and high throughput screening techniques, a large number of automated biological agents dispensing systems are widely used in the field of life science research. Non-contact dispensing method characterizedby its small dispensing volume, high dispensing precision and quick service speed which satisfies the requirements of biological agent's distribution, becomes the mainstream dispensing method used in reagent dispensing systems. However, the difficult control way, complex system of non-contact dispensing method and its vulnerable dispensing process, which can be easily affected by characteristics of the agent, have hindered the application and development of the method. In this study, simulation model of the separation process ofmicro scale biological reagent are constructed in order to solve the above problems. The prerequisites of the non-contact dispensing method, the relationship between dispensing volume and precision and characteristics of reagents, formation of system and control parameters are researched through theoretical analysis and numerical simulations. The experiment results are quite consistent with the simulation results;therefore it well verifies the reliability of the modeling and simulation method and also lays a firm theoretical foundation for the system design of non-contact micro-liquid reagent distribution and control optimization © Maxwell Scientific Organization, 2013.

关键词： Numerical methods

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Near-field source localization with partly sensor gain and phase uncertainties

Near-field source localization with partly sensor gain and p...

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IEEE Workshop on Signal Processing Advances in Wireless Communications (SPAWC)

作者： Weiliang Zuo Jingmin Xin Guangmin Wang Jiasong Wang Nanning Zheng Akira Sano Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University Xi'an China State Key Laboratory of Astronautic Dynamics Xi'an China Department of System Design Engineering Keio Univerity Yokohama Japan

In this paper, we consider the source localization for the multiple near-field narrowband signals impinging on a uniform linear array (ULA) with partly gain and phase uncertainties. By dividing the ULA into two overlapped symmetric subarrays and assuming that they have partly unknown gain and phase responses but correspondingly identical, a new modified generalized ESPRIT based method is presented, in which the direction of arrival (DOA) and range are estimated separately. Moreover, we prove that the proposed method is equivalent to the spectral Fresnel-region rank reduction (FR-RARE) [15] method, but more computationally efficient than it. The simulations demonstrate the effectiveness of the proposed method.

关键词： Direction-of-arrival estimation Arrays Estimation Conferences Signal to noise ratio Vectors

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U-Pendant: A universal teach pendant for serial robots based on ROS

U-Pendant: A universal teach pendant for serial robots based...

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IEEE International Conference on robotics and Biomimetics

作者： Yongzhuo Gao Yanyu Su Wei Dong Weidong Wang Zhijiang Du Xueshan Gao Yu Mu Harbin Institute of Technology Harbin Heilongjiang CN State Key Laboratory of Robotics and System Harbin Institute of Technology (HIT) Harbin China School of Mechatronical Engineering Beijing Institute of Technology Beijing China

ISBN: (纸本)9781479973989

Many corporations have produced various teach pendants. However, most of these products are exclusive in terms of communication protocols and robot programming languages. Therefore, programs and teach pendant are usually not exchangeable between robots. To tackle this problem, we present U-Pendant, an open source universal teach pendant for serial robots based on Robot Operating system (ROS), a meta-operating system with a number of robotic applications shared online, and Yet Another Robot Controller (YARC), a universal kinematic controller for serial robots. We design and implement essential functionality and interactivity of teach pendants on U-Pendant. Several demonstrations are made to show the universality and functional superiority of U-Pendant. The source code and hardware design have been made publicly accessible for the community.

关键词： Robot kinematics Service robots Education Robot sensing systems Joints Kinematics

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Attitude Coordinated Tracking of Multiple Spacecraft with Control Input Saturation

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IFAC Proceedings Volumes 2014年第3期47卷 9203-9208页

作者： Qingling Wang Huijun Gao Jiahu Qin Changbin Yu State Key Laboratory of Robotics and System (HIT) Harbin Institute of Technology Harbin China Australian National University Canberra Australia University of Science and Technology of China King Abdulaziz University Jeddah Saudi Arabia Shandong Computer Science Center Jinan China

The attitude coordinated tracking problem of multiple spacecraft with control input saturation is studied in this paper. We first construct a decentralized attitude coordinated tracking algorithm with input saturation, such that spacecraft can track a time-varying desired trajectory and align their attitudes. We then introduce a novel auxiliary dynamical systems to present an attitude coordinated tracking algorithm with input saturation and without angular velocity measurements. Throughout this paper, the information flow between spacecraft is assumed to be undirected. Finally, design examples are given to show the effectiveness of the proposed attitude coordinated tracking algorithms.

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Augmented Acceleration Feedback Control of Parallel Manipulators

Augmented Acceleration Feedback Control of Parallel Manipula...

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第三十二届中国控制会议

作者： SHANG Weiwei CONG Shuang Department of Automation University of Science and Technology of China State Key Laboratory of Robotics and System(HIT)

ISBN: (纸本)9781479900305

＜正＞The acceleration feedback is applied to the motion control of parallel manipulators to restrain the trajectory disturbances,and thus improve the trajectory tracking *** acceleration signals are estimated based on the constraint equation of the parallel manipulator,and the dynamic model is established in the active joint *** acceleration feedback is combined with the dynamic model compensation,and a new augmented acceleration feedback（AAF） controller is proposed. The closed-loop system controlled by the AAF controller is proven to be Lyapunov stable,and the exponential stability can be proved further by analyzing the cross term in the Lyapunov *** trajectory tracking experiments of the planar parallel manipulator by using the AAF controller are carried out and the experimental results are compared with the traditional APD controller.

关键词： parallel manipulator acceleration feedback dynamic model trajectory tracking

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Increasing the accuracy and the repeatability of position control for micromanipulations using Heteroscedastic Gaussian Processes

Increasing the accuracy and the repeatability of position co...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Yanyu Su Wei Dong Yan Wu Zhijiang Du Yiannis Demiris State Key Laboratory of Robotics and System Harbin Institute of Technology China Agency for Science Technology and Research Institute for Infocomm Research Singapore Department of Electrical & Electronic Engineering’ Imperial College London United Kingdom

Many recent studies describe micromanipulation systems by using complex Analytic Forward Models (AFM), but such models are difficult to build and incapable of describing unmodelable factors, such as manufacturing defects. In this work, we propose the Enhanced Analytic Forward Model (EAFM), an integrated model of the AFM and the Heteroscedastic Gaussian Processes (HGP). The EAFM can compensate the shortfalls of the AFM by training the HGP on the residual of the AFM. This also allows the HGP to learn the repeatability of the micromanipulation system. Based on the EAFM, we further contribute an optimal position controller for improving the accuracy and the repeatability. This optimal EAFM controller is implemented and tested on a three degree-of-freedom micromanipulator based micromanipulation system. Two sets of real-world experiments are carried out to verify our method. The results demonstrate that the controller using EAFM can statistically achieve higher accuracy and repeatability than solely using the AFM.

关键词： Fasteners Micromanipulators Analytical models Noise Calibration Capacitance Accuracy

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Sine swept vibration control based on offline iteration technique

Sine swept vibration control based on offline iteration tech...

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2013 5th International Conference on Intelligent Human-Machine systems and Cybernetics, IHMSC 2013

作者： Yin, Liyi Zhang, Lianpeng Cong, Dacheng Han, Junwei State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9780769550114

Sine swept vibration experiment using traditional PID control strategy represents poor accuracy. For this reason, this paper proposes the error compensation control strategy Based on multiple offline iteration. The proposed strategy applies the H1 estimator method to identify the system frequency response function (FRF) and then combines the identified FRF, Fast Fourier Transform (FFT) and inverse Fast Fourier Transform (IFFT) technique to correct the input sine swept signal to implement the sine swept test. The error of the expected output signal and the experiment output signal is calculated and corrected using FFT, IFFT and FRF to compensate the input signal. The updated input signal is used to implement the sine swept test again and so on, until the output signal meets the accuracy requirement. The procedure of the proposed control strategy is programmed using the software MATLAB/Simulink and then compiled to a real-time PC with Microsoft Visual *** for implementation. Simulation results, backed up by corresponding experimental ones, demonstrate that the proposed control strategy achieves satisfactory accuracy with offline iteration twice. © 2013 IEEE.

关键词： Fast Fourier transforms

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Impedance control of dual-arm systems based on the object with senseless force

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2013 International Conference on Advances in Materials Science and Manufacturing Technology, AMSMT 2013

作者： Jiang, Li Zhou, Yang Wang, Bin Yu, Chao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9783037857984

A novel approach to impedance control based on the object is proposed to control dual-arm systems with senseless force. Considering the motion of the object, the statics and dynamics of the dual-arm systems are modeled. Extending the dynamics of dual-arm system and the impedance of object to the operational space, impedance control with senseless force is presented. Simulations on a dual-arm system are carried out to demonstrate the performance of the proposed control scheme. Comparing with position control, results of numerical simulations show that the proposed scheme realizes suitable compliant behaviors in terms of the object, and minimizes the error of the relative position between the manipulators even without force sensors. © (2013) Trans Tech Publications, Switzerland.

关键词： Position control

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Embedded motion controller design based on RTEX network

Embedded motion controller design based on RTEX network

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2013 5th International Conference on Intelligent Human-Machine systems and Cybernetics, IHMSC 2013

作者： Li, Ruifeng Lin, Shiyao Chen, Jian State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9780769550114

Adopting embedded framework and network communication mode, a kind of multi-axis embedded motion controller hardware platform design for the Panasonic A5N drive is proposed, which is Based on the modular control core (ARM + FPGA) and can adapt to the new real-time network RTEX. The processes of controller's functional design, hardware design and software design are explained in detail. Up to now, the motion controller's hardware platform have been completed and verified by communication experiments, position and velocity control experiments, and the results of which show that the controller have good scalability, reliability, flexibility and openness and could well meet the needs of the multi-axis robot's motion control. © 2013 IEEE.

关键词： Field programmable gate arrays (FPGA)

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An experiments based modeling method for Pneumatic Artificial Muscle

An experiments based modeling method for Pneumatic Artificia...

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2013 IEEE International Conference on robotics and Biomimetics, ROBIO 2013

作者： Jizhuang, Fan Jun, Zhong Leitao, Jiao Jie, Zhao Yulong, Qiu Wei, Zhang Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9781479927449

The Pneumatic Artificial Muscle (PAM) provides many advantages over conventional actuators, especially pneumatic cylinders. It provides light weight, simple structure, high output force to weight ratio, low cost and so on. Despite of these advantages, there are also challenges in using a PAM actuator, such as the behavior of nonlinearity and high hysteresis. To get optimum design and usage, it is significant to find a good way to model the PAM. In this paper, an experiments based modeling method for pneumatic artificial muscle is proposed. This model is a polynomial model and the form of results is simple. At the same time, the parameters are easy to be obtained. Validation experiments are carried out in this paper. The experimental results show the feasibility and correctness of this method. Meanwhile, its simple structure is convenient for further design of PAM control system. © 2013 IEEE.

关键词： Muscle

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