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Correction: Electrocoalescence of paired droplets encapsulated in double-emulsion drops

Lab on a chip 2016年第22期16卷 4466页

作者： Yankai Jia Yukun Ren Weiyu Liu Likai Hou Ye Tao Qingming Hu Hongyuan Jiang School of Mechatronics Engineering Harbin Institute of Technology West Da-zhi Street 92 Harbin Heilongjiang 150001 PR China. rykhit@***. School of Mechatronics Engineering Harbin Institute of Technology West Da-zhi Street 92 Harbin Heilongjiang 150001 PR China. rykhit@*** and State Key Laboratory of Robotics and System Harbin Institute of Technology West Da-zhi Street 92 Harbin Heilongjiang 150001 PR China. jhy_hit@***.

Correction for 'Electrocoalescence of paired droplets encapsulated in double-emulsion drops' by Yankan Jia et al., Lab Chip, 2016, DOI: .

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Numerical simulation of double hypervelocity impacts on the satellite propellant tank with baffle protection

Numerical simulation of double hypervelocity impacts on the ...

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2014 International Conference on Manufacturing Technology and Electronics Applications, ICMTEA 2014

作者： Zhang, Chao Xu, Xiao Hui Zhu, Yan He Yao, Zhi Hui State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China The Eighth Academy of China Aerospace Science and Technology Corporation Shanghai China College of Mechanical Engineering of Harbin Institute of Technology Harbin China

ISBN: (纸本)9783038353287

The space debris of centimeter-size could pierce through the satellite shell and cause a first impact to the shell protection and a second impact to the internal structure. This paper focuses on the double hypervelocity impacts of the satellite propellant tank with baffle protection. The simplified 2D axisymmetric analysis model has been built and the double impact damaging effects were simulated based on the SPH algorithm. Three different speeds of the centimeter-size pill (10km/s, 7km/s and 5km/s) were selected and the simulation results turned out to be consistent with the empirical formula of the ground experiments, which proved the effectiveness of the simulation results. The average velocity changing curve showed that the residual energy of the fragment cloud decreased significantly after the second impact. As a result, the double-layer or multilayer protective structure is of great significance and should be prioritized for the satellite shell design. © (2014) Trans Tech Publications, Switzerland.

关键词： Satellites

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A method to online estimate wheel's slippage for planetary rover

A method to online estimate wheel's slippage for planetary r...

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World Congress on Intelligent Control and Automation (WCICA)

作者： Weihua Li Haibo Gao Huaiguang Yang Nan Li Liang Ding Zongquan Deng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

In the planetary exploration by the wheeled rover, owing to the soft terrain, the longitudinal and lateral slippage always exists while the rover is running which will influence the security of the rover and the success of missions. Therefore, this paper proposes a method to online estimate the longitudinal and lateral slippage based on the rover's state information. To solve the unknown local coordinate system, some simplifications are employed in the Cartesian coordinate system. The simulations in ROSTDyn validate the proposed method, which indicates that the estimation precision is well.

关键词： Wheels Fasteners Sensors Estimation error Kinematics Dynamics

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An elbow biomechanical model and its coefficients adjustment

An elbow biomechanical model and its coefficients adjustment

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IEEE International Conference on Software Engineering and Service Sciences (ICSESS)

作者： Jie Bai Yongsheng Gao Shengxin Wang Jie Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781479932801

Through the establishment of the elbow biomechanical model, it can provide theoretical guide for rehabilitation therapy on the upper limb of the human body. A biomechanical model of the elbow joint can be built by the connection of muscle force model and elbow dynamics. But there are many undetermined coefficients in the model like the optimal joint angle and optimal muscle force which are usually specified as the experimental parameters of other workers. Because of the individual differences, there is a certain deviation of the final result. To this end, the RMS value of the deviation between the actual angle and calculated angle is considered. A set of coefficients which lead to the minimum RMS value will be chosen to be the optimal parameters. The direct search method and the conjugacy search method are used to get the optimal parameters, thus the model can be more accurate and mode adaptability.

关键词： Muscles Biological system modeling Joints Elbow Force Biomechanics Adaptation models

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An improved Canny edge detection algorithm

An improved Canny edge detection algorithm

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IEEE International Conference on Mechatronics and Automation

作者： Weibin Rong Zhanjing Li Wei Zhang Lining Sun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

The traditional Canny edge detection algorithm is sensitive to noise, therefore, it's easy to lose weak edge information when filtering out the noise, and its fixed parameters show poor adaptability. In response to these problems, this paper proposed an improved algorithm based on Canny algorithm. This algorithm introduced the concept of gravitational field intensity to replace image gradient, and obtained the gravitational field intensity operator. Two adaptive threshold selection methods based on the mean of image gradient magnitude and standard deviation were put forward for two kinds of typical images (one has less edge information, and the other has rich edge information) respectively. The improved Canny algorithm is simple and easy to realize. Experimental results show that the algorithm can preserve more useful edge information and more robust to noise.

关键词： Image edge detection Noise Standards Histograms Tires Robustness Algorithm design and analysis

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Inverse kinematic optimizations of 7R humanoid arms based on a joint parameterization

Inverse kinematic optimizations of 7R humanoid arms based on...

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IEEE International Conference on Mechatronics and Automation

作者： Xijian Huo Yiwei Liu Li Jiang Hong Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

This paper proposes kinematic optimizations of 7R humanoid arms based on the joint parameterization and the self-optimizing method. Because self-motions of the redundant robots, inverse kinematic optimizations of joint limits avoidance are discussed in this paper. Firstly, the evaluation criterion of kinematic optimizations is defined, and the self-optimizing method is proposed. Then, inverse kinematics of 7R humanoid arms with the SRS configuration is analyzed, and closed-form solutions about each joint are performed based on the joint parameterization. Besides, determinations of initial kinematic solutions for optimizations are expressed, and the kinematic optimizations scheme is further proposed. Finally, kinematic simulations of the 7R humanoid arm are performed, and the results demonstrate that this optimizations scheme is valid for inverse kinematic optimizations of 7R redundant robots.

关键词： Joints Kinematics Optimization Robots Closed-form solutions Wrist Shoulder

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Structural design and dynamic analysis of biologically inspired water-jumping robot

Structural design and dynamic analysis of biologically inspi...

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International Conference on Information and Automation (ICIA)

作者： Jihong Yan Tao Wang Xinbin Zhang Jie Zhao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

Water strider is an amazing insect that can effortlessly float, quickly run and jump on a water surface without drowning. It's of great challenge and interest to design and fabricates a micro robot that can walk on a water surface like water strider to carry out aquatic tasks such as water quality monitoring, aquatic exploration, water search and rescue. In this study, we designed a new type of biologically inspired water-jumping robot on the basis of the locomotion mechanism of water strider. The lifting force of the supporting legs, the driven force obtained by the actuating legs and the resistant force exerted on the robot are analyzed by simplified models. A dynamic analysis and simulation by ADAMS are performed on the jumping movement of the robot. By optimizing the robot structure, and adjusting the driven mode and the center of gravity location, the robot finally possesses a good jumping performance on water surface in a typical simulation. This study not only offers a better understanding of the water-jumping capability of water strider, but may prove helpful in the research of water strider robots.

关键词： Robots Decision support systems Force Automation Fluids Conferences

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Current limit strategy for BLDC motor drive with minimized dc-link capacitor

Current limit strategy for BLDC motor drive with minimized d...

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International Conference on Electrical Machines and systems (ICEMS)

作者： Yanyu Wei Yongxiang Xu Jibin Zou Yong Li Department of Electrical Engineering Harbin Institute of Technology State Key Laboratory of Robotics and System (HIT)

ISBN: (纸本)9781479951635

Brushless dc (BLDC) motor drive system employing minimized dc-link capacitor is becoming popular due to compactness and long life. With low capacitance, the dc bus voltage will be pumped up severely if regenerative current flows back, the occurrence of which is common in conventional current limit operation. To avoid the damage caused by oversize pumping-up voltage, a current limit strategy without regenerative current is necessary. This paper proposes a novel current limit strategy for BLDC motor drive with minimized dc-link capacitor. The realization based on single current sensor and software comparison is presented in detail. At last the proposed strategy is verified by simulation and experiment.

关键词： Capacitors Switches Motor drives Topology Inverters Commutation Capacitance

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Research on obstacle negotiation capability of tracked robot based on terramechanics

Research on obstacle negotiation capability of tracked robot...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Liyun Li Weidong Wang Dongmei Wu Zhijiang Du State Key Laboratory of Robotics and System National Harbin Institute of Technology (HIT) Harbin China

ISBN: (纸本)9781479957378

A great majority of current researches on obstacle negotiation focus on the critical state where CG position get over the obstacle using kinematics model. However, the models assume that the sinkage of the robot can be ignored and do not take into account whether the terrain can provide enough drawbar pull to keep the robot moving. While, when robots running on the soft terrain, the sinkage of the robot is very big that it can be ignore and it is very easy for the robots to slip. In order to solve that problem, this paper focuses on the effects of terrain physical parameters in the process of obstacle negotiation. Based on this point, the interaction models of wheel-terrain and track-terrain are built according to terramechanics. Using these models, two key postures of climbing obstacles are discussed, and the relationship between maximum surmountable obstacle-height and geometry parameters of the robot are obtained. Then maximum draw pull tests of wheel-track model and wheels model are designed to compare experimental results with theoretical results. Finally, experiments on surmounting obstacle performance of tracked robot are carried out, and the results show that our model is more exact than the CG kinematic model.

关键词： Mobile robots Wheels Robot kinematics Stress Soil Mathematical model

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Analytical inverse kinematic computation for anthropomorphic manipulator based on human-like motion optimization and maximum reachable region optimization

Analytical inverse kinematic computation for anthropomorphic...

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IEEE International Conference on robotics and Biomimetics

作者： Jing Xia Zainan Jiang Hong Liu Hegao Cai State Key Laboratory of Robotics and system Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781479973989

This paper describes a redundant resolution method for 7-DOF anthropomorphic manipulator with joint limits, which considers the optimization of human-like motion and the optimization of the maximum reachable region of the manipulator's tip. First, a novel method for computing the set of feasible arm angle under joint limits is presented. Second, a relation describing the movement characteristics of human arm is introduced to determine human-like arm configuration. Last to obtain the maximum movable range of manipulator, how to apply the set of feasible arm angles along the given trajectory is investigated through an example to handle the unfeasible optimal arm angle heuristically. A kinematic simulation demonstrates the validity of the proposed redundant resolution method.

关键词： Joints Manipulators Kinematics Optimized production technology Trajectory Shoulder

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