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A Self-organizing Cooperative Hunting by Swarm Robotic systems Based on Loose-preference Rule

Acta Automatica Sinica 2013年第1期39卷 57-68页

作者： Tian-Yun HUANG Xue-Bo CHEN Wang-Bao XU Zi-Wei ZHOU Zhi-Yong REN School of Control Science and Engineering Dalian University of Technology Dalian 116024 China School of Electronics and Information Engineering Liaoning University of Science and Technology Anshan 114051 China State Key Laboratory of Robotics System Harbin Institute of Technology Harbin 150080 China

A novel self-organizing approach to cooperative hunting by swarm robotic systems is put forward. Firstly, an individual autonomous motion planning is presented, and the cooperative hunting behaviors are mathematically described. According to decomposition of hunting behaviors, the loose-preference rule is established for the individuals to form the ideal hunting formation during the self-organizing process by the interaction between the target and individuals. Then, we employ the proposed rule to design the autonomous motion controller of the individuals. Finally, the stability of self-organizing system is analyzed by Lyapunov stability criteria. Simulations and experiments demonstrate the feasibility and effectiveness of the proposed approach to cooperative hunting by swarm robotic systems.

关键词： Swarm robotic systems self-organizing cooperative hunting loose preference leader emergence

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Enhancing pose accuracy of space robot by improved differential evolution

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Journal of Central South University 2012年第4期19卷 933-943页

作者：刘宇倪风雷刘宏徐文福 State Key Laboratory of Robotics and System Harbin Institute of Technology Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen Graduate School

Due to the intense vibration durirLg launching and rigorous orbital temperature environment, the kinematic parameters of space robot may be largely deviated from their nominal parameters. The disparity will cause the real pose （including position and orientation） of the end effector not to match the desired one, and further hinder the space robot from performing the scheduled mission. To improve pose accuracy of space robot, a new self-calibration method using the distance measurement provided by a laser-ranger fixed on the end-effector is proposed. A distance-measurement model of the space robot is built according to the distance from the starting point of the laser beam to the intersection point at the declining plane. Based on the model, the cost function about the pose error is derived. The kinematic calibration is transferred to a non-linear system optimization problem, which is solved by the improved differential evolution （DE） algoritlun. A six-degree of freedom （6-DOF） robot is used as a practical simulation example, and the simulation results show： 1） A significant improvement of pose accuracy of space robot can be obtained by distance measurement only; 2） Search efficiency is increased by improved DE; 3） More calibration configurations may make calibration results better.

关键词： space robot self-calibration laser ranger pose accuracy improved differential evolution

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An energy harvester combining a piezoelectric cantilever and a single degree of freedom elastic system

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Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2012年第7期13卷 526-537页

作者： Hong-yan WANG Xiao-biao SHAN Tan XIE State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001China College of Computer and Control Engineering Qiqihar UniversityQiqihar 161006China

This paper presents a type of vibration energy harvester combining a piezoelectric cantilever and a single degree of freedom (SDOF) elastic system. The main function of the additional SDOF elastic system is to magnify vibration displacement of the piezoelectric cantilever to improve the power output. A mathematical model of the energy harvester is developed based on Hamilton's principle and Rayleigh-Ritz method. Furthermore, the effects of the structural parameters of the SDOF elastic system on the electromechanical outputs of the energy harvester are analyzed numerically. The accuracy of the output performance in the numerical solution is identified from the finite element method (FEM). A good agreement is found between the numerical results and FEM results. The results show that the power output can be increased and the frequency bandwidth can be improved when the SDOF elastic system has a larger lumped mass and a smaller damping ratio. The numerical results also indicate that a matching load resistance under the short circuit resonance condition can obtain a higher current output, and so is more suitable for application to the piezoelectric energy harvester.

关键词： Piezoelectric cantilever Single degree of freedom elastic （SDOF） system Energy harvesting Finite element analysis（FEA）

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The optimization of obstacle-crossing and the simulation in ADAMS of the composite six-wheeled-legged robot

The optimization of obstacle-crossing and the simulation in ...

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2012 9th International Conference on Fuzzy systems and Knowledge Discovery, FSKD 2012

作者： Wang, Weidong Wu, Dongmei Dong, Wei Xie, Chun Sun, Pengfei State Key Laboratory of Robotics and System Robotics Institute Harbin Institute of Technology Harbin China

ISBN: (纸本)9781467300223

This paper establishes the spatial kinematic model of the composite six-wheeled-legged robot according to its spatial motion, and simplifies the special motion postures so as to do the motion planning [1]. Furthermore, taking the slope obstacle as a typical example, it makes the analysis for the postures in the process of crossing the obstacle and optimizes the key postures in order to improve its obstacle negotiation capability to the safest and steadiest level. Then the analysis and optimization are verified by the simulation of the robot's obstacle-crossing motion for the vertical obstacle, the ditch obstacle and the slope obstacle. © 2012 IEEE.

关键词： Motion planning

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Modeling and parameters identification of the cross roller guide way

Modeling and parameters identification of the cross roller g...

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2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Liu, Yanjie Song, Lei Liu, Niuniu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781467312776

The cross roller guide way used in high-acceleration and high-precision motion platform of chip packaging equipment has an important effect on the dynamic performance of the platform. In this paper, the cross roller guide way is simplified to a five degree-of-freedom system and the theoretical model is built according to its working conditions. An experimental system is established and the stiffness and damping of the guide way are identified by a modal testing. By the method of finite element analysis (FEA), the first five mode shapes of the guide way are calculated and they give a more comprehensive description of the vibration characteristics of the cross roller guide way, compared with the traditional double degree-of-freedom model. © 2012 IEEE.

关键词： Finite element method

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Theory analysis of a new absolute position sensor based on electromagnetism

Theory analysis of a new absolute position sensor based on e...

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International Conference on Automatic Control and Artificial Intelligence, ACAI 2012

作者： Zhang, Zijian Ni, Fenglei Liu, Hong Jin, Minghe State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781849195379

Rotating angle of joint is an important factor in control field of robot arm. In the paper, a new sensor to test the absolute rotating angle of robot arm joints is designed. Firstly, structure of the magnetic field emitter is presented. Secondly, the generating process of signals sine and cosine is introduced. Then, working principle of the senor is described. At last, a new encoder is designed. The emitter working together with the encoder can test the absolute rotating angle and the calculation process is given in the paper. At the end of the paper, advantages of the sensor are listed.

关键词： Signal encoding

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Design of tactile sensor for measuring orthocenter deviation and friction in wafer transmission process

Design of tactile sensor for measuring orthocenter deviation...

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2012 2nd International Conference on key Engineering Materials, ICKEM 2012

作者： Wu, Jiang Liu, Yanjie Han, Haijun Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9783037853825

In order to raise position accuracy and stability in wafer transmission process, a tactile sensing system which can measure both deviation of wafer to manipulator and friction acting on wafer simultaneously is introduced. Analysis on kinetic model abstracted from sensing system is made, and following algorithms are applied: micro displacement is calculated through pressure values acting on different sensing units, and meanwhile friction is calculated from relative velocity between permanent magnet and inductance. Through simulation, indicators of sensing unit are established. This sensing system has the capacity of detecting deviation ranging 0-5 mm with resolution 0.05 mm and measure friction ranging 0-0.64 N. The results indicate that this sensing system meets the requirements in orthocenter deviation and friction measurement in wafer transmission process. © (2012) Trans Tech Publications.

关键词： Friction

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Simulation and experiments on magnetic microforces for magnetic microrobots applications

Simulation and experiments on magnetic microforces for magne...

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International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M-NANO)

作者： Lefeng Wang Mohamed Dkhil Aude Bolopion Patrick Rougeot Stéphane Régnier Michaël Gauthier Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China AS2M department FEMTO-ST Institute Besançon France Institut des Système Intelligents et de Robotique (ISIR) Paris France

Magnetic microrobots have a wide variety of applications in micro/nano-manipulation, micro/nano sensing and biomedical fields. Untethered magnetic microrobots are usually driven by a group of electromagnetic coils. To control the magnetic microrobots trajectory it is of utmost importance to know the magnitude of the magnetic force applied on them. In this paper finite element simulations are proposed to derive the magnetic field produced by an iron core coil. A three dimensional static magnetic analysis is also performed to simulate the magnetic force applied on a magnetic microrobot. The simulation results are validated by experimental measurements. A teslameter is used to measure the magnetic field on the central axis of the coil. A magnetic microrobot (less than 400 × 400 μm 2 ) is fabricated and glued to a force sensor to measure the magnetic force applied on it. The measurement results are in good agreement with the simulation and show the effectiveness of the magnetic simulation.

关键词： Coils Magnetic fields Magnetic field measurement Assembly Magnetic cores Force measurement Micromagnetics

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A real-time controller development framework for high degrees of freedom systems

A real-time controller development framework for high degree...

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2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Zhou, Yang Wang, Bin Jiang, Li Liu, Hong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)9781467312776

Recently, the rapid development of high DOFs systems such as humanoids raises the need for a common and real-time control platform. Most works of control platforms focus mainly on software by C/C++. However, the lack of realtime becomes the limitation on controlling such complex robotic systems. In this paper, we present a real-time controller development framework for high DOFs systems. To take the best advantage of Hardware Description Language (HDL), a distributed field programmable gate arrays (FPGAs) controller network is provided. This framework also consists of robotic middleware and programming environment. The proposed scheme allows control of a wide class of robotic systems in hard real-time. A control platform under the framework is designed and applied on several mechatronic systems. Experiments are presented to show the performance on current computing hardware. © 2012 IEEE.

关键词： Real time control

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A rotary magnetorheological fluid damper for pathological tremor suppression

A rotary magnetorheological fluid damper for pathological tr...

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2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Yang, Tao Gao, Yongsheng Zhao, Jie Wang, Shengxin Zhu, Yanhe State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)9781467312776

This study explores the development of a new configuration of rotary magnetorheological fluid damper (MR damper) for pathological tremor suppression. In order to be attached to portable rehabilitation robot developed for practical application in robot assisted therapy, the proposed MR damper aims for design of compact size, light weight and enough output torque (about 4.5 Nm). An approach to form serpentine magnetic path by employing an offset electromagnetic coil and an asymmetric rotor is utilized to obtain a large radius and high area utilization rate of the magnetorheological fluid layer (thickness

关键词： Serpentine

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