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2011 2nd International Conference on Artificial Intelligence, Management Science and Electronic Commerce, AIMSEC 2011

作者： Hou, Mingxin Ni, Fenglei Jin, Minghe Jiang, Li Liu, Hong Jin, Yue Hou, Mingbo State Key Laboratory of Robotics and System Harbin Institute of Technology Heilongjiang Harbin 150080 China Institute of Robotics and Mechatronics German Aerospace Center Munich 82230 Germany College of Electromechanical Engineering China University of Petroleum China Department of Electronic Engineering University of York YO105NG United Kingdom

ISBN: (纸本)9781457705366

The objective of this study is to show the applications of the simulation implementation of QNX identified model combining with Matlab/Simulink platform, QNX C/C++ compiler and QNX real-time operating system. The HIT/DLR Hand II dexterous hand QNX real-time simulation model is generated by the Simulink platform and QNX C/C++ compiler link files. Moreover, this model can be implemented in the QNX20real-time system. Simulations in the QNX real-time system show that the HIT/DLR Hand II dexterous hand QNX model which based on the methods in this research, was able to offer an attractive performance during both real-time simulation and feedback operations. © 2011 IEEE.

关键词： Simulink

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Application of a novel capacitive sensor in precise positioning systems

Application of a novel capacitive sensor in precise position...

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IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Tao Chen Liguo Chen Mingqiang Pan Lining Sun Robotics and Microsystems Center Soochow University Suzhou China State Key Laboratory of Transducer Technology Chinese Academy and Sciences Shanghai China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

This paper presents a comb-finger capacitive displacement sensor used in nano-positioning system. The displacement sensor is designed to develop an integrated implementation platform and to achieve its closed-loop control. In the design, offset constant-tooth, combinations with S-type beams and flexible cantilevers have been adopted to enhance the position range and structure performance. Surface and bulk micromachining technology is employed to fabricate the sensor from a single crystal silicon wafer. Through testing of the nano-positioning stage, the capability of the sensor has been obtained. The results show that this method can achieve a detect range of 10 μm, with resolution of 5 nm.

关键词： Electrodes Robot sensing systems Capacitance Sensitivity Capacitive sensors Structural beams Silicon

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Complex indoor map building based on fusion of sequential Mb-ICP

Complex indoor map building based on fusion of sequential Mb...

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Chinese Control Conference (CCC)

作者： Ke Wang Lijun Zhao Ruifeng Li State Key Laboratory of Robotics and System Harbin Institute of Technology 150001 China Key Laboratory of Measurement and Control of CSE Ministry of Education Nanjing 210096 China

Towards complex indoor environment, this paper proposed a fusion method of sequential Mb-ICP scan matching for mobile robot map building. We firstly introduce the classic ICP scan matching method and its limitations for dealing with robot rotation. Based on a new metric space, Mb-ICP scan matching approach is analyzed. We then use Kalman Filter to fuse multiple sequential scan matching results of Mb-ICP. Experimental results are shown to validate the effectiveness of the proposed approach.

关键词： Buildings Iterative closest point algorithm Mobile robots Electronic mail Fuses Laboratories

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Master-slave control strategy for abdominal minimally invasive surgery robotic system

Master-slave control strategy for abdominal minimally invasi...

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IEEE International Conference on robotics and Biomimetics

作者： Yili Fu Ying Yu Shuguo Wang State Key Laboratory of Robotics and System Science Park Harbin Institute of Technology Harbin China Jiamusi University Jiamusi China

ISBN: (纸本)9781457721366

According to characteristics of abdominal minimally invasive robotic surgical tasks, based on performant industrial computer platform, an extended multifunctional hardware communicates with PCI-bus is designed, a master-slave control system is studied. In order to solve the problem of low responsivity caused by traditional inverse kinematics transformation method, a algorithm based on equivalent differential transformation suitable for real-time master-slave surgical robot control is put forward, and the accumulated error of the algorithm is eliminated by feedback mechanism. A fast trajectory planning method efficient in real-time master-slave surgical robot control is put forward to replace traditional trajectory prediction and off-line calculation. Finally, in order to avoid the impact on the accuracy of the system coursed by hand-trembling of operators, a digital filter is designed to help filtering the master manipulator signal.

关键词： Manipulators Master-slave Joints Kinematics Trajectory Surgery

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DESIGN OF A FINGER-TIP FLEXIBLE TACTILE SENSOR FOR DEXTEROUS ROBOT HAND AND THE CROSSTALK EFFECT ANALYSIS

DESIGN OF A FINGER-TIP FLEXIBLE TACTILE SENSOR FOR DEXTEROUS...

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The 2011 International Conference on Mechanical Engineering and Technology

作者： Yuanfei Zhang Yiwei Liu Hong Liu Yue Jin State Key Laboratory of Robotics and System Harbin Institute of Technology Institute of Robotics and Mechatronics German Aerospace Center DLR College of Electromechanical Engineering China University of Petroleum

In this study, a structure of a thin and flexible tactile sensor using pressure conductive rubber is presented. The sensor can cover specific three-dimensional surface, has a total of 36 elements and can measure the pressure in the range 0-600 k Pa, approximately. In order to compare the performance of the voltage feedback methods and the zero potential method, which presented in the literature are applied to weaken the crosstalk effect in a resistive array, some simple circuits are structured based on these methods, respectively. Then the effect of some circuit parameters on measurement errors of each circuit is simulated and analyzed and the performance of the circuits to weaken the crosstalk effect is compared. According to the simulation results, the performance of the circuit based on the voltage feedback non-scanned-sampling-electrode method is the best than any others. Therefore, a tactile signal acquiring and processing circuit based on this method is design. At last, experimental results that the crosstalk affects the measurement errors of this circuit are given.

关键词： Dexterous robot hand Tactile sensor Crosstalk

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Research on reconfigurable hydraulic robot configuration based on genetic algorithm

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International Review on Computers and Software 2011年第7期6卷 1301-1306页

作者： Lin, Jiang Hongwei, Zhang Xianbao, Xiang Xinyuan, Chen Jie, Zhao Key Laboratory of Metallurgical Equipment Control of Ministry of Education Wuhan University of Science and Technology Wuhan 430081 Hubei China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 Heilongjiang China

Aiming at problems of the discrete optimization configuration and large search space in reconfigurable hydraulic robot configuration, an improved genetic algorithm was proposed to solve the difficulties in reconfigurable hydraulic robot configuration design optimization. The joints sequence and joints kinds were used as two different discrete variables to express the discrete optimization configuration problem. The different combinations of the two discrete variables represented different configurations. The appropriate weighting factors of twelve basic movement joints were designated and analyzed. The seven kinds of performance, as well as position of joint in a configuration and function overlap of the joint were all considered in the weighting factors of twelve basic movement joints. Every configuration had a comprehensive weighted evaluation factor. Combining with improved genetic algorithm optimization ability, an optimal configuration with good weighted evaluation factor was obtained in the discrete and larger search space. Based on the above theory the simulation model was established, and the simulation results verified that the configuration design optimization theory of reconfigurable hydraulic robot based on improved genetic algorithm was correct. © 2011 Praise Worthy Prize S.r.l. - All rights reserved.

关键词： Genetic algorithms

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Dynamic Shared Control for Human-Wheelchair Cooperation

Dynamic Shared Control for Human-Wheelchair Cooperation

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2011 IEEE International Conference on robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： Qinan Li Weidong Chen Jingchuan Wang Department of Automation Shanghai Jiao Tong Universityand Key Laboratory of System Control and Information ProcessingMinistry of Education of ChinaShanghai 200240Chinaand State Key Laboratory of Robotics and System (HIT)Harbin 150001China

Shared control is a common used method for human and wheelchair cooperation. However, most of the previous shared control methods didn’t think much of the effect caused by the difference in the user’s control ability. The control weight of a user in these methods is irrelevant to the user’s capability or the driving conditions. In this paper, a dynamic shared control method is proposed to adapt wheelchair’s assistance to the variations of user performance and the environmental changes. Three evaluation indices including safety, comfort and obedience are designed to evaluate wheelchair performance in real time. A minimax multi-objective optimization algorithm is adopted to calculate the user’s control weight. The results of lab experiments and elderly home field tests show that this method can adapt the degree of wheelchair’s autonomy to the user’s control ability and it makes driving wheelchair much easier for elder people.

关键词： Wheelchairs Trajectory Safety Velocity control Indexes Senior citizens Manuals

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Approximate feedback linearization control for spatial 6-DOF hydraulic parallel manipulator

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Open Mechanical Engineering Journal 2011年第1期5卷 117-123页

作者： Yang, Chifu Zheng, Shutao Peter, O. Ogbobe Huang, Qitao Han, Junwei State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China School of Mechanical and Electrical Engineering Harbin Institute of Technology Harbin 150001 China

Traditional feedback linearization approach (TFL) requires a priori knowledge of plant, which is difficult and the computational efficiency of controller is low due to the complex dynamics of spatial 6-DOF hydraulic parallel manipulator. In order to improve the tracking performance of spatial 6-DOF hydraulic parallel manipulator and to conquer the drawbacks of TFL, a novel approximate feedback linearization approach, non-model based method, is proposed in this paper. The mathematical model of spatial hydraulic parallel manipulator is established. The approximate feedback linearization control is designed for the parallel manipulator in joint space, with position and stored force in the previous time step are employed, as a learning tool to yield improved performance. Under Lyapunov theorems, the stability of the presented algorithm is confirmed in the presence of uncertainties. Simulation results show the proposed control is easy and effective to realize path tracking, and it exhibits excellent performance and high efficiency without a precision dynamics of plant. Furthermore, the presented algorithm is well suitable for most industrial applications. © Yang et al.

关键词： Computational efficiency

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Message from ICME 2011 general chairs

Message from ICME 2011 general chairs

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IEEE International Conference on Multimedia and Expo (ICME)

作者： Irene Cheng Gabriel Fernandez Haohong Wang 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 Japan

On behalf of the Organizing Committee, it is our great pleasure to welcome you to the 2011 IEEE International Conference on Multimedia and Expo (ICME 2011). ICME is sponsored by four IEEE societies: Signal Processing, Circuits and systems, Computer and Communications. It is the premier forum for the presentation of the latest advances in multimedia technologies, systems, and applications from both the research and development perspectives. ICME 2011 is the twelve in the series that has been held annually since 2000, after New York, Tokyo, Lausanne, Baltimore, Taipei, Amsterdam, Toronto, Beijing, Hannover, New York City and Singapore. We are glad that from July 11 th to 15 th , 2011 Barcelona will be the home of the latest research in multimedia technologies.

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Numerical Study of a Dielectrophoresis Separation Device at Multiple Frequencies

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Procedia Engineering 2011年 15卷 341-345页

作者： Baoyu Song Deli Liu Lining Sun Liguo Chen Department of Mechanical Design Harbin Institute of Technology Harbin 150001 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China Robotics and Microsystems Center Soochow University Suzhou 215021 China

This paper presents a novel dielectrophoresis (DEP) chip for lateral separation of cells/particles at multiple frequencies. DEP force was enabled by interdigitated electrodes fabricated in the access channel. The non-uniform electric field distribution in the micro-channel is solved through finite element analysis. To improve the effectiveness of separation, the shape of insulators is optimized and other parameters such as the width of the electrodes are studied by introducing parameter K which can stand for the DEP force imposed on cells/particles. It is proved that planar electrodes can take place of 3D electrodes under certain condition. Furthermore functions realized by 3D electrodes can also be achieved by simple planar electrodes.

关键词： Lab-On-Chip Dielectrophoresis Particle focusing

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