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2012全国压电和声波理论及器件技术研讨会

作者： Xiao-hui YANG Wei-shan CHEN Ying-xiang LIU Jun-kao LIU State Key Laboratory of Robotics and System Harbin Institute of Technology

A new linear ultrasonic motor using the 1st longitudinal and the 4th bending vibration modes of a bolt-clamped type transducer has been proposed and *** new motor with two feet employed only the bending PZT *** groups of PZT elements are clamped between the two exponential shape horns and the flange *** driving feet are located in the same side of the *** working principle of the proposed motor are *** the fabrication of a prototype,its admittance characteristics are measured using an impedance analyzer and the vibration modes are tested by a scanning laser Doppler ***,the mechanical ability of the prototype is tested.

关键词： Ultrasonic motor Bending PZT elements Admittance Vibration characteristics

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Influence of amplitude on locomotor batoid

Influence of amplitude on locomotor batoid

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第十一届全国水动力学学术会议暨第二十四届全国水动力学研讨会并周培源诞辰110周年纪念大会

作者： WU Zhi-jun CHEN Wei-shan State Key Laboratory of Robotics and System Harbin Institute of Technology

A bionic batoid model is developed and used to study how the amplitudes of the pectoral fins affect the computational model's propulsive *** design of the bionic model is based on a detailed analysis of pectoral fins locomotion of natural batoid *** pectoral fins of bionic model are made to execute the kinematics resembling the pectoral fins of a biological fish during rajiform swimming,which makes the fluid-structure interaction as similar as the biological *** simulations are conducted at 5 different amplitude indexes from 0.08 to 0.32 with undulating frequency at f=2.2 Hz and wave number of *** and dynamic parameters are recorded in three dimensions during the *** simulation results show that the swimming velocity of bionic batoid model increases with the increasing of amplitude value in general and also indicate that the outstanding steady forward swimming of bionic batoid emerges at the amplitude of 0.14 as the biological batoid choose.

关键词： Bionic batoid Pectoral fins Amplitude Dynamic simulation

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Research on the Principle of Compiled-typed NC system

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10th Asia-Pacific Conference on Materials Processing (APCMP 2012)

作者： Zhou, Liang Ren, Yan Hai Lang, Yue Dong Liao, Zhi Rong State Key Laboratory of Robotics and System (HIT) Hei Longjiang Province China Harbin Institute of Technology Hei Longjiang Province China Beijing Aerospace Control Instrument Research Institute Beijing China

ISBN: (纸本)9783037853993

To solve the conflict between OS's real time property and NC system's open and universal property [1], a compiled-typed NC system is advanced based on analysis and research of the structure of modern NC systems. This kind of system can diminish the affection of the real-time OS's respond precision to machining with high speed and high precision and improve the frequency of interpolation sampling and respond precision. Motion control experiment and parametric curve direct interpolation experiment are finished by bonnet polishing machine tool with compiled-typed NC prototype system, proving that working principle of compiled-typed NC system is correct and validity.

关键词： NC system Compile USB ARM Real-time

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system design of a dexterous lightweight robot arm with remote control

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High Technology Letters 2012年第3期18卷 248-255页

作者： Li, Tian Sun, Kui Jiang, Zainan Xie, Zongwu Liu, Hong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

This paper presents a novel remote controlled dexterous robot arm with 6 degrees of freedom (DOF). As a highly integrated mechatronics system, sensors and their signal processing system are integrated inside each joint. To lighten the weight, almost all mechanical parts are made of aluminum and the robot control system is placed outside. The modular concept is adopted during the robot design process for time and cost saving. Considering the much greater torque acted on the two shoulder joints, the joint shells are strengthened in the design to increase joint stiffness and suppress system vibration. Meanwhile, to simplify the maintenance, a new spring pins electronic connector is designed to disassemble every joint, connector and link independently without cutting any cables. The teleoperation technology enables the robot to offer more convenient service definitely for people's daily life. Virtual reality technology is used to solve the time delay problem during teleoperation. Finally, two typical daily chore experiments are implemented to prove the manipulation ability of the dexterous robot arm. Copyright © by HIGH TECHNOLOGY LETTERS PRESS.

关键词： Robotic arms

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EEG feature extraction and pattern recognition during right and left hands motor imagery in brain-computer interface

EEG feature extraction and pattern recognition during right ...

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2012 5th International Conference on Biomedical Engineering and Informatics, BMEI 2012

作者： Liu, Cheng Wang, Hailing Pu, Hui Zhang, Yi Zou, Ling School of Information Science and Engineering Changzhou University Changzhou Jiangsu 213164 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 150001 China

ISBN: (纸本)9781467311816

At present, it is an important issue to obtain accurate classification of EEG signal in brain-computer interface. We collected the EEG data which are recorded at a sampling rate of 250Hz by EGI-64 scalp electrodes placed according to the international 10/20 system. Firstly, discrete wavelet transform method is used to decompose the average power of the channel C3/C4 and P3/P4 in left and right hands imagine movement during the some experimental period of time. The reconstructed signal of approximation coefficient A6 on the sixth level is selected to build up a feature signal. Secondly, the performances by Fisher Linear Discriminant Analysis and Support Vector Machine methods are compared. The final classifications results show that correct classification rate by Support Vector Machine is higher and gain an ideal classification results, which can establish a basis of real-time BCI application. © 2012 IEEE.

关键词： Feature extraction

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A new 4M model-based Human-Machine Interface for lower extremity exoskeleton robot

A new 4M model-based Human-Machine Interface for lower extre...

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5th International Conference on Intelligent robotics and Applications, ICIRA 2012

作者： Guo, Zhao Fan, Yuanjie Zhang, Jianjun Yu, Haoyong Yin, Yuehong State Key Laboratory of Mechanism System and Vibration Institute of Robotics Shanghai Jiao Tong University 200240 Shanghai China Department of Bioengineering National University of Singapore 117576 Singapore

ISBN: (纸本)9783642335082

This paper presents a Human-Machine Interface (HMI) for controlling lower limb exoskeleton robot intelligently with the joint torque estimated by a new biomechanical model of skeletal muscle. Based on the Microscopic working Mechanism of Molecular Motor (4M) in sacromere, this 4M model is established to reveal the relation between the characteristics of sEMG signal and active contraction force of muscle fiber. We discuss the interaction mechanism between human body and exoskeleton via analyzing the dynamics of exoskeleton robot and knee joint respectively. The knee joint torque that generated by skeletal muscle can be predicted accurately with the 4M model via measuring the sEMG signals on muscle surface. An active strategy for controlling exoskeleton robot has been proposed to train the lower limb on human intention. Experimental results show that the operator can exercise harmoniously with the exoskeleton, which prove the validity of this theoretical biomechanical model. © Springer-Verlag Berlin Heidelberg 2012.

关键词： Muscle

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Planar region alignment based visual regulation for mobile robot

Planar region alignment based visual regulation for mobile r...

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

作者： Wang, Z.L. Liu, Y. Cai, B.G. Zhao, J. School of Electronic Information and Engineering Beijing Jiao Tong University Beijing 100044 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)9781467312776

It has been proved that, based on planar region alignment, camera ego-motion motion can be robustly estimated with a multistage approach in [24]. Based on this observation, a visual regulation approach based on planar region alignment is proposed. This paper is composed of two parts. In the first part, the image motion model of planar point is reviewed first, which will be used for camera motion estimation. Then a simple least square method for computing homography matrix H is introduced. The basic procedure of multistage motion estimation based on planar region alignment is summarized. In the second part, the kinematic model of monocular camera based mobile robot system is deduced with a constrained camera-robot configuration, the visual regulation control law is derived and the stability of the close loop system is analyzed in the sense of Lyapunov stability theory. The motion estimation experiment results are presented with real images, and simulation results show the convergence of the proposed visual regulation. © 2012 IEEE.

关键词： Motion estimation

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Fuzzy-sliding mode control for flexible-joint manipulator based on friction compensation

Fuzzy-sliding mode control for flexible-joint manipulator ba...

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

作者： Ni, Fenglei Liu, Yechao Dang, Jin State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China Guang Xi Yuchai Heavy Industry Company Limited Guang Xi Province China

ISBN: (纸本)9781467312776

For overcoming unknown external disturbance, the nonlinearity and uncertainty of the flexible joint manipulator, a novel robust controller is proposed based on fuzzy-sliding mode control and friction compensation. The fiction compensation based on model can effectively predict the friction amplitude and compensate the dynamic error. The external uncertain disturbance, nonlinear part of friction, parameters variation, modeling error and so on can be overcome by the fuzzy-sliding mode control. Experimental results on the platform of HIT four degrees of freedom flexible joint manipulator show that the proposed controller not only can realize good position tracking performance, independency to parameters fluctuation, but also have a strong anti-interference ability. © 2012 IEEE.

关键词： Controllers

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Planar region alignment based ego-motion estimation for mobile robot

Planar region alignment based ego-motion estimation for mobi...

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

作者： Wang, Z.L. Cai, B.G. Yi, F.Z. Liu, Y. Zhao, J. School of Electronic Information and Engineering Beijing Jiao Tong University Beijing 100044 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)9781467312776

The ego-motion estimation is a basic task in many operations of a mobile robot. An accurate and robust result of motion estimation can greatly improve the operation. In this paper, we assume the mobile robot with visual observer is moved on flat ground and a constrained camera-robot configuration is used to simplify the camera motion model. Based on the assumption and simplified camera-robot configuration, the 3D camera motion can be separately estimated by planar region alignment between two frames. Firstly, a detected 2D motion between two frames is used to align corresponding planar regions, such an alignment or registration removes the effects of camera rotation, and the resulting residual parallax displacement field between the two region-aligned images is an epipolar field centered at the FOE (Focus-of-Expansion). Then the camera translation can be recovered from the epipolar field. The camera rotation is recovered from the computed 3D translation and the detected 2D motion. The camera motion model is derived and expressed by two parts, the multistage process for ego-motion estimation is introduced. Some experiments with real images demonstrate the robustness of the motion estimation. And the factors which may affect the results are discussed. © 2012 IEEE.

关键词： Motion estimation

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A fast two-step marker-controlled watershed image segmentation method

A fast two-step marker-controlled watershed image segmentati...

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

作者： Han, Xianwei Fu, Yili Zhang, Haifeng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China Harbin Dongyu Agricultural Engineering Machinery Co. Ltd. Harbin 150090 China

ISBN: (纸本)9781467312776

A fast two-step marker-controlled watershed image segmentation method in CIELAB color space is presented in this paper. We choose a number of seed points distributed nearly uniformly as the makers to perform the first marker watershed segmentation step, and obtain superpixels of the input image. These markers have the minimal gradient in a 3 x 3 neighborhood, which is able to avoid placing them at an edge and to reduce the chances of choosing a noise pixel. After superpixels segmentation, we do not adopt the traditional region merging strategies based on the different features of the adjacent regions, but cluster the superpixels in a 5-D space composed of Lab color vector and the position coordinates of the superpixels to resolve the over-segmentation problem, which saves a lot of computation time. Experiments on various types of images demonstrate that our algorithm is faster than many other segmentation algorithms and very suitable for real-time applications. © 2012 IEEE.

关键词： Superpixels

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