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2012 IEEE Symposium on Electrical and Electronics Engineering, EEESYM 2012

作者： Wu, Zhijun Chen, Weishan Liu, Junkao Shi, Shengjun Liu, Yingxiang State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)9781467323659

This paper investigates the hydrodynamic performance of flapping caudal fin by means of numerical simulation. Dynamic simulations of caudal fin with heaving and pitching motion are conducted to determine the relationship between the maximum angle of attack and difference of phase angle in terms of thrust coefficient and propulsive efficiency under low frequency. Combing 20°30°maximum angle of attack with 70°90°difference of phase angle, outstanding propulsive efficiency can be obtained. In addition, qualitative analyses are made to the wake vortex spacing. This study shows that wake spacing has interaction with the thrust coefficient and the propulsive efficiency. © 2012 IEEE.

关键词： Angle of attack

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Dynamic dimensional synthesis of a precision 6-DOF parallel manipulator

Dynamic dimensional synthesis of a precision 6-DOF parallel ...

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

作者： Wu, Fangyong Wang, Lefeng Rong, Weibin Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China

ISBN: (纸本)9781467312776

This paper presents the dynamic dimensional synthesis of a 6-degree-of-freedom (6-DOF) precision parallel manipulator with 3 inextensible links. The dynamic model of the parallel manipulator is provided in detail based on the inverse kinematics. A novel global dynamic performance index of parallel manipulator defined by the maximum driving torque of a single active joint is proposed as the optimization objective function. General design requirements of parallel manipulators such as workspace, speed and accuracy are transformed into polynomial inequalities and combined into a compact linear matrix inequality, thus the dynamic dimensional synthesis is transformed into a max det optimization problem. A set of optimized dimensional parameters of the parallel manipulator is obtained for achieving a good dynamic performance throughout the entire workspace of the manipulator. © 2012 IEEE.

关键词： Manipulators

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Micromachined biosensor system for interstitial fluid sampling and glucose monitoring

Micromachined biosensor system for interstitial fluid sampli...

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

作者： Liu, Yaxin Huang, Bo Yao, Yufeng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)9781467312776

Continuous blood glucose monitoring is critically important for people with diabetes mellitus. In this paper, considering the long-term, flexible blood glucose monitoring demand, a biosensor system for interstitial fluid (ISF) ultrafiltration sampling and on-line monitoring of blood glucose is presented. The sensor system mainly consists of microfluidics base, silicon glucose sensor chip, and pressure supply module. It could harvest sufficient ISF quickly for glucose monitoring and discharge the used ISF after each measurement. The silicon glucose sensor chip is provided with diffusion control of the analyte through a porous silicon membrane into a silicon etched cavity containing the agarose immobilised enzyme. Experimental results show that the sensor system meets the needs of flexible ISF sampling, and its signal response time at increasing glucose concentrations is about 5s;The linear range is large enough to cover the required broad area of blood glucose (0.2 ∼ 20 mmol/L), the sensitivity is 9.76 nA/mmol. L-1, and the correlation coefficient is 0.9954. This glucose sensor chip has better reliability and stability, and it is easier to integrate into the sensor system for ISF sampling and subsequent glucose monitoring. © 2012 IEEE.

关键词： Glucose sensors

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Component synthesis vibration suppression method of two component forces for flexible spacecraft

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Journal of Harbin Institute of Technology(New Series) 2012年第6期19卷 1-5页

作者：齐乃明赵宝山赵立军赵志刚莫丽东 School of Astronautics Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin Institute of Technology Institute of Tianjin Astronautics Electromechanical Device

Considering the characteristics of two component forces on component synthesis vibration suppression （CSVS） method, two theorems on two component forces suppressing fractional multiple design frequency are given respectively. Meanwhile, the control force, which is composed by two arbitrary component forces with different initial time, can suppress certain frequencies for second-order undamped vibration system. Using the above theorems, control moment of jet attitude maneuver on flexible spacecraft is designed on the basis principle of CSVS method. The simulations validate the correctness and effectiveness of the orooosed method.

关键词： Vibration suppression CSVS Two component forces Attitude maneuver Jet control

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Kinematic analysis of jumping leg driven by artificial muscles

Kinematic analysis of jumping leg driven by artificial muscl...

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

作者： Zhong, Jun Fan, Jizhuang Zhao, Jie Zhang, Wei State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

This paper presents a jumping four-bar mechanism using pneumatic muscle actuators. The mechanism has three joints and each one is powered by one artificial muscle;jumping and restoring action is achieved by muscle contracting force and spring respectively. Kinematic analysis is performed in landing and airborne phase respectively. Vertical jumping simulation is performed according to the prototype parameters and results demonstrate the kinematic analysis and show the torques supplied by muscles can meet the jumping requirement. © 2012 IEEE.

关键词： Muscle

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Cross-coupling control of dexterous hand based on neuron networks

Cross-coupling control of dexterous hand based on neuron net...

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

作者： Gu, Haiwei Fan, Shaowei Zhang, Yuanfei Liu, Yiwei Jin, Minghe State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

In this paper, the author proposes a cross-coupling control approach based on neuron network, of which multiple parameters can be adjusted on line. According to the demand on the convergence of synchronization error in cross-coupling control, synchronization error item is introduced in this method to improve the performance function of BP (back propagation) neuron network, therefore it decreases synchronization error and meanwhile realizes the real-time adjustment of multiple parameters. The results of experiments show that compared with cross-coupling control method of which the parameters are stable, the method proposed in the paper holds the advantage that it can decrease position error and increase the stability of position tracking. © 2012 IEEE.

关键词： Backpropagation

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Stance control of the SLIP hopper with adjustable stiffness of leg spring

Stance control of the SLIP hopper with adjustable stiffness ...

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

作者： Yu, Haitao Li, Mantian Guo, Wei Cai, Hegao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

In this paper, a stance control strategy of the Spring Loaded Inverted Pendulum (SLIP) hopper with adjustable stiffness of leg spring is proposed. Due to the lack of a closed form analytic solution of SLIP dynamics, a novel perturbation method is developed to obtain the approximate analytic solution of the SLIP dynamics in stance phase, based on which the apex return map is also established. To compensate the energy variation between the current apex state and the desired apex state, a stiffness adjustment of leg spring in stance phase is presented. The deadbeat controller of the angle of attack is designed to track the regulated apex height and horizontal velocity in a single stride. Moreover, we illustrate through simulations that the SLIP hopper applied the proposed stance controller reveals high tracking accuracy and rapidly converges to regulated apex state. This work will benefit in both structure and adaptive controller design of legged bio-inspired robot. © 2012 IEEE.

关键词： Controllers

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Automatic function-isomorphic configuration recognition and control for UBot modular self-reconfigurable robot

Automatic function-isomorphic configuration recognition and ...

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

作者： Zhu, Yanhe Li, Ge Wang, Xiaolu Cui, Xindan State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

Versatility of configurations is a significant feature for modular self-reconfigurable robots. For an arbitrarily assembled typical configuration, it is not easy to find the control method quickly in case of the symmetries of the configuration and module shape. To solve this problem, a database with lots of known configurations has been established. All the configurations in the database have their own control methods which have been studied before. Therefore, the way for matching the new configuration to one existing configuration in the database is quite important in locomotion and self-reconfiguration control of the self-reconfigurable robotic system. A combined configuration recognition method based on Matlab graphisomorphism function and improved three-dimensional linked list of modules algorithm was proposed. Firstly we use graphisomorphism function to find the configurations sharing the same underlying graph structure, then use improved three-dimensional linked list algorithm to acquire the ID and gait mappings. The method has been verified by simulation and experiment. © 2012 IEEE.

关键词： Modular robots

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Improving the efficiency and effectiveness of estimating the ego motion of a stereo camera

Improving the efficiency and effectiveness of estimating the...

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

作者： Li, Xingdong Li, Mantian Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

Estimating the ego motion is a key problem for a mobile robot, its efficiency and precision are hard to be balanced. In this paper, a fast and accurate approach is proposed to estimate the ego motion of stereo camera. Firstly, two images from left and right cameras are rectified. secondly, a index is introduced to speed up the matching process to find corresponding point from right image for each point from left image. finally, a RANSAC structure based method is proposed, which eliminates the outliers before estimating the ego motion. Methods developed in this paper are validated using both real and synthetic data. © 2012 IEEE.

关键词： Cameras

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Study on the exciting mode of ultrasonic motor using bending vibration transducer

Study on the exciting mode of ultrasonic motor using bending...

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2012 IEEE 7th International Power Electronics and Motion Control Conference - ECCE Asia, IPEMC 2012

作者： Yang, Xiao-Hui Liu, Ying-Xiang Chen, Wei-Shan Liu, Jun-Kao State Key Laboratory of Robotics and System Harbin Institute of Technology 150001 Heilongjiang Province China

ISBN: (纸本)9781457720864

Ultrasonic motors (USM) are new type actuators that exhibit merits such as simple structure, high torque at low speed, compact size, quick response, quiet operation, self-locking when power off, no electromagnetic radiation and higher position accuracy. In the previous study, the authors proposed a new type USM using bending vibration mode. In that new design, elliptical trajectory vibrations are formed on the two driving feet by composing two orthogonal bending vibration modes of a piezoelectric-metal beam, that avoid the mode degeneration problem in the design process. In this paper, our research focuses on the exciting mode of bending vibration ceramics of the proposed motor. Firstly, the vibration characteristics of the proposed motor under different exciting modes by changing the imposed position of the electrode are obtained by transient analysis. Then, the exciting mode is adjusted by changing the imposed area of the electrode, and the vibration strengths of the driving feet are analyzed. Analysis results show that the PZT ceramic away from the neutral plane of the bending mode shape offers more contributions to the bending vibration of the motor under the same exciting voltage, while the PZT ceramic that near to the neutral plane give very few contribution. The study results of this paper can guide the design of general bending vibration transducer. © 2012 IEEE.

关键词： Electromagnetic waves

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