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International Conference on Information Sciences,Machinery,Materials and Energy（ICISMME 2015）

作者： Yan Wang Tian Liang Qiang Congi Rongqiang Liu Hui Yang State Key Laboratory of Robotics and System Harbin institute of Technology School of Engine and Energy Northwestern Polytechnic University China Academy of Space Technology

Satellite SAR antennas are widely applied in earth *** support structures(DSS) are key components for supporting and spreading such *** the improvement in observation resolution requirements,designing high-rigidity,large-scale,and simple-motion DSS has increasingly become *** study presents two kinds of DSS with a single-wing design that can support four antenna panels and proposes two kinds of synchronizing *** geometric model is established for solving the design parameters that are related to each *** mechanisms are parametrically optimized to improve the stability of *** simulation is conducted on the DSS,and results indicate that the deploying movement is smooth when two driving sources are *** proposed DSS can be applied to support more large-scale SAR antennas,which is of great importance to improve observation resolution.

关键词： deployable truss structure satellite SAR antenna mechanism design kinematics simulation

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A LESS Robotic Arm Control system Based on Visual Feedback

A LESS Robotic Arm Control System Based on Visual Feedback

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IEEE International Conference on Information and Automation

作者： Tengfei Ma Cong Fu Haibo Feng Yi Lv State Key Laboratory of Robotics ad System Harbin Institute of Technology Department of Hepatobiliary Surgery The First Affiliated Hospital of Xi'an Jiaotong University

ISBN: (纸本)9781467391054

Laparo-endoscopic single-site surgery (LESS) with its unique advantages has become the focus in the minimally invasive surgery. However, the existing LESS robots are mostly given open loop control for its arm, which is difficult for the doctor to handle the surgical instruments. In this paper, A magnetic anchor robot for LESS was designed, which can be inserted into peritoneal cavity through just one incision. We use master-slave control system based on visual feedback to achieve closed-loop control for the robot arm. To extract image feature information, we used a pin-hole camera geometry and made mark points on the robotic arm and proposed a marker point coordinate algorithm to realize the real-time stability control of the robot arm. The equivalent model of robotic platform is established and the master-slave control program based on visual feedback is verified by experiment to be feasible.

关键词： LESS Visual feedback Master-slave control

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RS-CPS: A Distributed Architecture of Robotic Surveillance Cyber-Physical system in the Nature Environment

RS-CPS: A Distributed Architecture of Robotic Surveillance C...

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IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent systems

作者： Hongpeng Wang Jingtai Liu Jianda Han Institute of Robotic and Automatic Information System. Nankai University State Key Laboratory of Robotics (Shenyang Institute of Automation Chinese Academy of Sciences)

ISBN: (纸本)9781479987313

Modern nature surveillance systems are highly automated and require distributed architectures in order to increase understanding of the environment by integrating data from various monitors and sensors, which are mounted not only on fixed stations, but also on robotic actuators. In this paper, we propose a distributed architecture of robotic surveillance cyber-physical system (RS-CPS) in the nature environment, which is designed as integration of computation and physical processes. The RS-CPS system consists of five levels including smart connection, data-to-information conversion, cyber communication, cognition, and configuration. Based on this architecture, the nature risk such as wildfires, the activities of wild animals and the climate changes in plants can be constantly monitored by the cooperation of multiple agents such as autonomous UAVs, robotic pan-tilt-zoom cameras, forest infrared cameras, songbird acoustic recorders, GPS tracking collars and ecological factor sensors located in field. The experiments demonstrate the feasibility and effectiveness of the new architecture.

关键词： ARCHITECTURE Fixed platforms Environments Building construction new buildings MONITOR Distribute Sensors Wild Animals Tracking collars

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Simulation and analysis of ACDR-oriented vertebral endplate cutting process

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International Journal Bioautomation 2015年第3期19卷 335-350页

作者： Tian, Heqiang Yang, Peng Zhao, Jun Su, Chunjian Mechanical and Electronic Engineering College Shandong University of Science and Technology Qingdao266590 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China

In the artificial cervical disc replacement (ACDR), the polishing quality of fitting surface between vertebral endplate and artificial intervertebral disc has a direct relation with operation result. For this reason, an in-depth study is necessary on the vertebral endplate cutting process. This paper is intended to simulate and analyze the cutting process of vertebral endplate using numerical computation method. Firstly, a plane cutting model is established through an analysis on the cutting process to simulate the single-edge cutting process, and the temperature distribution calculation is carried out using the mean heat flux of continuous cutting. Secondly, a vertebral endplate material constitutive model is established on the basis of the endplate anatomy and mechanical property, so that some problems are analyzed about simulation algorithm, frictional contact and chip separation in the vertebral endplate cutting finite element (FE) simulation. Finally, stress distribution, cutting force, endplate deformation and residual stress and cutting temperature, as well as simulation results, are analyzed in vertebral endplate cutting process. The FE simulation may simplify vertebral endplate cutting, improve analytical precision, avoid plenty of repetitive cutting experiments, and reduce research cost greatly. Moreover, it gives full and fine description to the whole continuous, dynamic cutting process. All of this lay solid theoretical basis for an in-depth study of influence of different cutting parameters on endplate cutting as well as improvement of operation effect.

关键词： Cutting

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Modeling and Identification of Hysteresis in Smart Materials Using Maxwell Model

Modeling and Identification of Hysteresis in Smart Materials...

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2nd International Conference on Simulation and Modeling Methodologies,Technologies and Applications(SMTA 2015)

作者： Y.Liu Y.Meng J.Shan State Key Laboratory of Robotics and System (HIT) Department of Aerospace Engineering Harbin Institute of Technology Aerospace System Engineering Shanghai Department of Earth and Space Science and Engineering York University

Smart materials exhibit unwanted behaviors. The main one is hysteresis that caused by complex mechanisms of energy dissipation taking place in microscopic level. This paper presents an approach of modeling and identification of hysteresis in smart materials using the Maxwell model. The model is reviewed first and then the procedure of identification is presented in details, including 1) the initial parameters generation, 2) preliminary optimization of parameters with global optimization algorithm, and 3) the final optimization of parameters with gradient optimization method. The effect of the number of Maxwell elements is also analyzed.

关键词： spring Modeling and Identification of Hysteresis in Smart Materials Using Maxwell Model

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The Research of Structure Parameter Optimization Process for A Novel Parallel Radiotherapy Bed

The Research of Structure Parameter Optimization Process for...

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IEEE International Conference on Mechatronics and Automation

作者： Qiang Guo Zhijiang Du Fengfeng Zhang Licheng Fan Shaolong Kuang Lining Sun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 150001 China Jiangsu Key Laboratory for advanced robotcics technologies Soochow University Suzhou Jiangsu Province215021 China

ISBN: (纸本)9781479970995

In order to guarantee the preoperative and intraoperative precise positioning demand of the radiotherapy bed in the radiation process, utilizing the advantages of parallel mechanism, in this paper, a parallel structure radiotherapy bed was designed to meet the demands of high positioning precision, high stiffness, high carrying capacity and flexible configuration space which could cover the shortage of the conventional radiotherapy bed. Firstly, this paper analyzed the precise workspace of the radiotherapy bed with kinematics inverse solved by vector algebra method and studied the influence of workspace by changing the rule of all parameters as well as finding the relationships between them in the condition that the size of the moving platform and the fixed platform were limited. Then, in order to meet the requirements of stability and security of the radiotherapy bed, considering the workspace and the forces on it, a new parameter optimization process was proposed with constructing the objective function of the Jacobian matrix condition number, the universe average of condition number and the fluctuation of condition number. The simulation analysis results demonstrated that the overall performance of the radiotherapy bed was considerably improved with the smaller dimensions of the radiotherapy bed, the significantly reduced forces on the structure in the workspace and the smaller condition number of Jacobian matrix with uniform distribution in the whole workspace.

关键词： Radiotherapy bed Workspace analysis Evaluation index Parameter optimization

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A human-robot interaction modeling approach for hand rehabilitation exoskeleton using biomechanical technique

A human-robot interaction modeling approach for hand rehabil...

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IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Fuhai Zhang Xiangyu Wang Yili Fu S. K. Agrawal State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Department of Mechanical Engineering Columbia University New York NY USA

Aiming at the physical coupling feature between the finger and the hand exoskeleton, a human-robot interaction modeling approach is proposed. The muscle motion formulas are established based on the finger physiological structure and Hill model. The equilibrium equations between exoskeleton and finger are connected by static analysis. In order to solve the redundancy problem of the system, a method based on the physiological cross-sectional area (PCSA) is adopted to get the optimized solution of muscle force, and an optimization method based on the total minimum error (TME) is presented to obtain the parameters of Hill model. The experimental setup is established to receive the finger data of motion and force for optimization. The approach proposed can get the quantifiable muscle parameters to study the statistical analysis of muscle motion and rehabilitation state. And it will be possible for the exoskeleton and the finger to be combined as a controlled plant so as to introduce muscle parameters into the controller design.

关键词： Thumb Muscles Force Electronics packaging Tendons Exoskeletons

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Synergistic Effect of Sandwich Polyoxometalate and Copper-Imidazole Complexe for Enhancing Peroxidase-like Activity

Synergistic Effect of Sandwich Polyoxometalate and Copper-Im...

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中国化学会第九届全国无机化学学术会议

作者： Dong-Feng Chai Yun-Feng Qiu Hong Liu Department of Chemistry College of Pharmacy Jiamusi University State Key Laboratory of Robotics and System (HIT) Academy of Fundamental and Interdisciplinary SciencesHarbin Institute of Technology

H2O2 detection has attracted much attention in recent years due to that its production may affect many biochemistry reactions in the body that may be dangerous for human health.[1-3] Herein, an inorganic-organic hybrid based on copper(II)-imidazole complexe modified sandwich-type tungstobismuthate, Na4H2[Cu4(H4im)12(H3im)2][Cu3(H2O)6(Bi W9O33)2]·40H2O(H4im = imidazole, H3 im = deprotonated imidazole)(1) has been synthesized and structurally characterized by single crystal X-ray diffraction. Compound 1 was demonstrated to possess high peroxidase-like activity when using 3, 3', 5, 5'-tetramethylbenzidine(TMB) as a peroxidase substrate in the presence of H2O2. The synergistic effects of sandwich-type polyoxometalate and copper(II)-imidazole complexe is responsible for the enhancement of peroxidase-like activity than polyoxometalate and copper(II)-imidazole complexe. Considering the dependence of TMB coloration on H2O2 concentrations, 1 can be used as an effective biosensor to detect H2O2 through facile colorimetric method in a linear range from 1 μM to 50 μM with a low detection limit of 0.12 μM. Compound 1opens a new approach to the H2O2 sensor by inorganic-organic hybrid compounds.

关键词： Polyoxometalate,peroxidase-like,enzyme,copper-imidazole

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Dynamics forces modelling and simulation for 3-RUU parallel main hand

Dynamics forces modelling and simulation for 3-RUU parallel ...

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IEEE International Conference on Mechatronics and Automation

作者： Lingtao Yu Wenjie Wang Huajian Song Jing Yang Lan Wang College of Mechanical and Electrical Engineering Harbin Engineering University State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781479970995

In the master-slave robot control process, accuracy for force feedback as an important index of the haptic master hands is usually a force model of the main hand to be determined. As the main Acupressure model is usually based on their sense of static model, so the accuracy is relatively low in the process of movement. To further enhance the precision of force feedback, according to the general equation of multi-body dynamics and Lagrange equations, obtained the inverse dynamics model of 3-RUU parallel main hand, thereby establishing a dynamic forces model based on master manipulator dynamics. Through application of Adams to compare the dynamic simulation results with the driving torque of the dynamic forces model, and thus demonstrated the dynamic forces model of the main hand is right; Further, compare the simulation results of the dynamic forces model with the static simulation torque, we can get the curve about percentage error between the force model of main hand and the dynamic forces model, and demonstrated the dynamic forces model has a higher precision in force feedback.

关键词： Mathematical model Dynamics Manipulator dynamics Solid modeling Torque Force Force feedback

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Velocity Control of a Bounding Quadruped via Energy Control and Vestibular Reflexes

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Journal of Bionic Engineering 2014年第4期11卷 556-571页

作者： Xin Wang Mantian Li Wei Guo Pengfei Wang Lining Sun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 P. R. China Department of Advanced Robotics (Fondazione) Istituto Italiano di Tecnologia Genova 16163 Italy

In this paper a bio-inspired approach of velocity control for a quadruped robot running with a bounding gait on compliant legs is set up. The dynamic properties ofa sagittal plane model of the robot are investigated. By analyzing the stable fixed points based on Poincare map, we find that the energy change of the system is the main source for forward velocity adjustment. Based on the analysis of the dynamics model of the robot, a new simple linear running controller is proposed using the energy control idea, which requires minimal task level feedback and only controls both the leg torque and ending impact angle. On the other hand, the functions of mammalian vestibular reflexes are discussed, and a reflex map between forward velocity and the pitch movement is built through statistical regression analysis. Finally, a velocity controller based on energy control and vestibular reflexes is built, which has the same structure as the mammalian nervous mechanism for body posture control. The new con- troller allows the robot to run autonomously without any other auxiliary equipment and exhibits good speed adjustment capa- bility. A series simulations and experiments were set to show the good movement agility, and the feasibility and validity of the robot system.

关键词： legged robots biologically-inspired robots biomimetics energy control vestibular reflexes

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