检索结果-内蒙古大学图书馆

作者： Liang, Zhongchao Chen, Jie Wang, Yongfu Ding, Liang Gao, Haibo Deng, Zongquan School of Mechanical Engineering and Automation Northeastern University Shenyang110819 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China

The lunar surface is a complicated and unknown terrain, and hence, astronauts must be trained to travel on that surface by using a prototype vehicle on the Earth's terrain. However, the gravity of the Earth is six times that of the Moon;thus, the acceleration of a prototype vehicle on the Earth will differ from that of a manned lunar rover on the Moon, when the same acceleration handling input is provided. To obtain the same acceleration in the prototype vehicle on the Earth as that obtained on the Moon, an imitation handling ratio describing the relationship between the acceleration handling input and the wheel rolling speed is proposed in order to replicate the lunar gravitational conditions on the Earth. First, a whole-vehicle acceleration model was established based on the mechanical model of a deformable wheel with a mesh surface. Thereby an acceleration imitation algorithm was derived. A prototype vehicle for use on the Earth is proposed for the purpose of imitating the manned lunar rover under four different vehicle conditions. Fitted functions were used in order to obtain the imitation handling ratio. Finally, experiments were conducted to verify the imitation method;the results revealed that the prototype vehicle on the Earth could effectively approximate the same accelerations experienced by a manned lunar rover, when equivalent acceleration handling inputs were provided. © 1967-2012 IEEE.

关键词： Lunar missions

来源：评论

学校读者我要写书评

暂无评论

Multi-Objective Optimization of Less-Rare-Earth Interior Permanent Magnet Synchronous Machines Used for Electric Vehicles

Multi-Objective Optimization of Less-Rare-Earth Interior Per...

引用

International Conference on Electrical Machines and systems (ICEMS)

作者： Weinan Wang Mingqiao Wang Jiaxu Guo Yong Liu Ping Zheng Zhenxing Fu School of Electrical Engineering & Automation Harbin Institute of Technology Harbin China School of Electrical Engineering & Automation State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781728133997

The less-rare-earth interior permanent-magnet synchronous machines (LRE-IPMSM), which have the advantages of high electromagnetic performance and low cost, draw more and more attention nowadays in the field of the electric vehicles. The requirements of the machines used for electric vehicles include high torque and high efficiency. Hence, the multi-objective optimization is crucial to LRE-IPMSM. In this paper, firstly, the effects of the permanent magnet (PM) thickness and width on the torque and efficiency are studied. Then, the PM widths are selected as the optimization variables based on the performance analysis. Lastly, the optimized design is obtained by the multi-objective optimization analysis.

关键词： Torque Optimization Electric vehicles Permanent magnet machines Synchronous machines

来源：评论

学校读者我要写书评

暂无评论

A Design and Ealuation of Hand-held Mechatronic Laparoscopic Surgical Robot

A Design and Ealuation of Hand-held Mechatronic Laparoscopic...

引用

2018 International Conference on Control and Robots, ICCR 2018

作者： Xue, Renfeng Du, Zhijiang Yan, Zhiyuan Ren, Bingyin State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China School of Mechatronics Engineering Harbin Institute of Technology Harbin150001 China

ISBN: (纸本)9781538682432

This paper presents a new hand-held mechatronic laparoscopic surgical robot, which is intuitie and ergonomic as its accurate master-slae motion mapping and precise position control. The displacement transmission characteristics of cable-pulley system in laparoscope surgical robot is modelled which considers the bending rigidity of the cable. Based on the model, a position compensation algorithm of feedforward control is presented to reduce the tracking errors. To erify the effectieness and alue for real clinical application, position compensation and suturing experiments are performed. Experiments results show position tracking errors are reduced significantly. The aerage time of fie continuous suturing is about 90s and the insertion and piercing position errors are 1mm and 2mm respectiely. © 2018 IEEE.

关键词： Robotic surgery

来源：评论

学校读者我要写书评

暂无评论

Parameter analysis and design of annular deployable tensegrity antenna

Parameter analysis and design of annular deployable tensegri...

引用

2018 IEEE International Conference on Information and Automation, ICIA 2018

作者： Yang, Haoyu Guo, Hongwei Li, Bingyan Li, Bing Liu, Rongqiang College of Mechanical and Electrical Engineering Harbin Engineering University 150001 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150000 China

ISBN: (纸本)9781538680698

Under the prospective aerospace applications of deployable tensegrity, this work aims to research on the ultralight annular deployable tensegrity antenna to satisfy the space requirements. To begin with, the deployment principle of this antenna is illuminated and the parametric modeling is carried out. After node matrix and connectivity matrix is established, the matrices of both bars and strings are obtained. Configuration parameters are planted into the computing system through node matrix. On this base, the configuration parameters is able to be calculated out through geometric analysis and interior force analysis for the antenna. Then, the algorithm of deploying process is established with MATLAB. With initial set of constant bar length and changing range of structure radius, design parameters are put into the spotlight in order to construct an efficient deployable antenna. The geometric trait of this annular tensegrity confines the solution domain of design parameters to a narrow area. Since then, in the solution domain, the optimization on the synthetical standard of various configuration parameters is performed and a combination of design parameters is selected eventually. With determined design parameters, configuration parameters can be calculated out in any state of the deploying process. Additionally, simulation for deploying process can be executed with concrete numerical values, and the results provide guides for the prototype hardware design. The prototype is manufactured and assembled, and it turns out to deploy effectively. Comparing the theoretical values and practical ones, the analysis and simulation matches the experiment to some degree. © 2018 IEEE.

关键词： Antennas

来源：评论

学校读者我要写书评

暂无评论

Design of a Series Elastic Actuator with Double-layer Parallel Spring for Lower Limb Exoskeletons

Design of a Series Elastic Actuator with Double-layer Parall...

引用

IEEE International Conference on robotics and Biomimetics

作者： Chaofeng Chen Zhijiang Du Long He Linxiang Huang Jiaqi Wang Yongjun Shi Guoqiang Xu Fang Si Tiantian Xiao Dongmei Wu Wei Dong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China Weapon Equipment Research Institute China South Industries Group Corporation Beijing China

This paper presents a novel Series Elastic Actuator (SEA) with double-layer parallel spring for lower limb exoskeletons (LLE). The SEA can improve the human-robot interaction comfort and have the ability to absorb shock and vibration. In order to make the assembly process simple and convenient, the series elastic unit adopt split structure, which includes an inner ring structure, an outer ring structure and rectangular springs as elastic element. At the same time, in order to meet the requirements of the stiffness and dimensions of the SEA, a double-layer parallel spring arrangement is adopted. The stiffness of SEA is 312Nm/rad, which is obtained by the stiffness calibration experiment. In the experiments, the SEA is used in the knee joint of LLE and an impedance controller is designed to achieve knee joint tracking motion. Finally, the experiments results show the position tracking performance of the LLE, which illustrates the effectiveness of the SEA.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Multi-class classification method for strip steel surface defects based on support vector machine with adjustable hyper-sphere

引用

Journal of Iron and Steel Research International 2018年第7期25卷 706-716页

作者： Mao-xiang Chu Xiao-ping Liu Rong-fen Gong Jie Zhao School of Electronic and Information Engineering University of Science and Technology Liaoning Anshan 114051 Liaoning China Department of Electrical Engineering Lakehead University Thunder Bay P7B 5E1 ON Canada State Key Laboratory of Robotics and System (HIT) Harbin 150001 Heilongjiang China

Focusing on strip steel surface defects classification, a novel support vector machine with adjustable hyper-sphere （AHSVM） is formulated. Meanwhile, a new multi-class classification method is proposed. Originated from support vector data description, AHSVM adopts hyper-sphere to solve classification problem. AHSVM can obey two principles： the margin maximization and inner-class dispersion minimization. Moreover, the hyper-sphere of AHSVM is adjustable, which makes the final classification hyper-sphere optimal for training dataset. On the other hand, AHSVM is combined with binary tree to solve multi-class classification for steel surface defects. A scheme of samples pruning in mapped feature space is provided, which can reduce the number of training samples under the premise of classification accuracy, resulting in the improvements of classification speed. Finally, some testing experiments are done for eight types of strip steel surface defects. Experimental results show that multi-class AHSVM classifier exhibits satisfactory results in classification accuracy and efficiency.

关键词： Strip steel surface defect Multi-class classification Supporting vector machine Adjustable hyper-sphere

来源：评论

学校读者我要写书评

暂无评论

Development of Deep-Sea Resonant Sandwich Linear Ultrasonic Motor

引用

Journal of Applied Mathematics and Physics 2018年第1期6卷 296-300页

作者： Shaopeng He Shengjun Shi Weishan Chen State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

A deep-sea resonant sandwich linear ultrasonic motor is proposed and designed. We determine the parameter of its structure by finite-element analysis. The piezoelectric actuator adopts compound vibration mode of fifth order bending vibration and second order longitudinal. The mode degeneracy of that is completed. We manufacture the prototype to measure the performance of it. We measure its vibration mode and resonant frequency. The velocity of prototype can reach 264.5 mm/s while the water pressure is 8 MPa and the voltage signal with frequency of 30.30 kHz and voltage amplitude of 150 V.

关键词： Piezoelectric Actuator Finite-Element Analysis Hybrid Mode Fluid-Solid Coupling

来源：评论

学校读者我要写书评

暂无评论

Neural Network Based Terminal Sliding Mode Control for WMRs Affected by an Augmented Ground Friction With Slippage Effect

引用

IEEE/CAA Journal of Automatica Sinica 2017年第3期4卷 498-506页

作者： Ming Yue Linjiu Wang Teng Ma School of Automotive Engineering Dalian University of Technology State Key Laboratory of Robotics and System Harbin Institute of Technology

Wheeled mobile robots(WMRs) encounter unavoidable slippage especially on the low adhesion terrain such that the robots stability and accuracy are reduced *** overcome this drawback,this article presents a neural network(NN) based terminal sliding mode control(TSMC) for WMRs where an augmented ground friction model is reported by which the uncertain friction can be estimated and compensated according to the required *** contrast to the existing friction models,the developed augmented ground friction model corresponds to actual fact because not only the effects associated with the mobile platform velocity but also the slippage related to the wheel slip rate are concerned ***,the presented control approach can combine the merits of both TSMC and radial basis function(RBF) neural networks techniques,thereby providing numerous excellent performances for the closed-loop system,such as finite time convergence and faster friction estimation *** results validate the proposed friction model and robustness of controller;these research results will improve the autonomy and intelligence of WMRs,particularly when the mobile platform suffers from the sophisticated unstructured environment.

关键词： Ground friction radial basis function(RBF) neural network(NN) slippage effect terminal sliding mode control(TSMC) wheeled mobile robot(WMR)

来源：评论

学校读者我要写书评

暂无评论

Doublet Thermal Metadevice

引用

Physical Review Applied 2019年第4期11卷 044021-044021页

作者： Jiaxin Li Ying Li Tianlong Li Wuyi Wang Longqiu Li Cheng-Wei Qiu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China Department of Electrical and Computer Engineering National University of Singapore Singapore 117583 Singapore Department of Analytical Physical and Colloidal Chemistry Institute of Pharmacy Sechenov University Moscow 119991 Russia

Thermal metamaterials have served as a practical way to manipulate heat flow thanks to their judiciously designed structures, which achieve various functionalities. However, the connection and interplay between various possible structural configurations and their functions’ switchability have long been neglected and this is usually perceived as “one configuration, one function.” Here, we propose a doublet thermal metadevice in which we utilize the local configuration of two unequal conductivity phases to manipulate global temperature distribution. Based on effective medium theory, we apply the phase interchange identity to show that the functionalities of transparency, cloaking, concentrating, and rotating can be unified. The doublet thermal metadevice is capable of realizing tunable multifunctions by simply adjusting the angular displacement of specific sublayers of the assembly. The functional diversity of the device can be further extended in two ways. One way is to use a secondary transformation and the other way is to alter the shape parameter of the unit phase. This work provides a different framework to understand and design thermal metamaterials, which might be extended to other disciplines such as optics, electromagnetics, and acoustics.

关键词： Heat transfer Thermal conductivity Energy applications Metamaterials

来源：评论

学校读者我要写书评

暂无评论

Constraints analysis and motion planning for coordinated manipulation of a dual-arm robot

Constraints analysis and motion planning for coordinated man...

引用

2018 IEEE International Conference on Information and Automation, ICIA 2018

作者： Li, Jian Liu, Yixiang Zang, Xizhe First Research Institute Ministry of Public Security of PRC Beijing100044 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China

ISBN: (纸本)9781538680698

Coordinated manipulation of dual-arm robots has attracted the interest of researchers from industry and academia. This paper presents constraints analysis and motion planning for coordinated manipulation of a dual-arm robot that is developed for remote maintenance for tokamak. The constraints of dual-arm manipulator including position and orientation constraints and velocity constraints are analyzed for loose coordinated operation and tight coordinated operation. On this basis, a motion planning method in Cartesian space is proposed for dual-arm manipulator coordinated movement, using polynomial interpolation to ensure the smoothness of joint position, velocity and acceleration. The correctness of constraints analysis and motion planning algorithm is verified by the simulation results of the dual-arm manipulator performing a coordinated carrying task. © 2018 IEEE.

关键词： Motion planning

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：