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Kinematics/Fuzzy Logic Combined Controller for Formation Control of Mobile Robots

Journal of Harbin Institute of Technology(New Series) 2013年第4期20卷 121-128页

作者： Zhi-Jiang Du Li-Min Ren Wei-Dong Wang Wei Dong State Key Laboratory of Robotics and System Harbin Institute of Technology College of Mechanical Engineering Beihua University

A kinematics and fuzzy logic combined formation controller was proposed for leader-follower based formation control using backstepping method in order to accommodate the dynamics of the *** kinematics controller generates desired linear and angular velocities for follower robots,which make the configuration of follower robots coverage to the *** fuzzy logic controller takes dynamics of the leader and followers into consideration,which is built upon Mamdani fuzzy *** force and torque acting on robots are described as linguistic variables and also 25 if-then rules are *** addition,the fuzzy logic controller adopts the Centroid of Area method as defuzzification strategy and makes robots’actual velocities converge to the expected which is generated by the kinematics *** innovation of the kinematics and fuzzy logic combined formation controller presented in the paper is that the perfect velocity tracking assumption is removed and realtime performance of the system is *** with traditional torque-computed controller,the velocity error convergence time in case of the proposed method is shorter than traditional torque-computed *** simulation results validate that the proposed controller can drive robot members to form the desired formation and formation tracking errors which can coverage to a neighborhood of the ***,the simulations also show that the proposed method has better velocity convergence performance than traditional torque-computed method.

关键词： kinematics/fuzzy logic combined formation controller mobile robot backstepping

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Numerical study of the hydrodynamics of robotic fish jumping out-of-water in vertical manner

Numerical study of the hydrodynamics of robotic fish jumping...

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IEEE International Conference on Mechatronics and Automation

作者： Dan Xia Yuhua Cao Weishan Chen Junkao Liu School of Mechanical Engineering Southeast University Nanjing Jiangsu Province China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

This paper studies the hydrodynamics of robotic fish jumping out-of-water motion in a vertical manner numerically. By solving the kinetic course of three-dimensional (3D) robotic fish from gradually accelerating from the static state under the water to the final out-of-water state, time history variations of the kinematics and the energetics parameters in the vertical jumping out-of-water motion are discussed. The swimming performance of the robotic fish jumping out-of-water motion is studied by changing its motion frequency. The results show that the pressure contours of fish in different time reflects its stress condition in the vertical jumping out-of-water motion clearly; increasing motion frequency can improve its swimming speed, and then increasing its jumping height. The findings can lay a good foundation for the understood of the actual course of fish jumping out-of-water motion and broaden the motion space of the future robotic fish.

关键词： Marine animals Mathematical model Force Robot kinematics Fluids Time-frequency analysis

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Research on turning motion for biped robot based on consumption

Research on turning motion for biped robot based on consumpt...

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IEEE Workshop on Advanced Research and Technology in Industry Applications (WARTIA)

作者： Yingying Zhong Qiubo Zhong Jie Zhao School of Electronic and Information Engineering Ningbo University of Technology Ningbo Zhejiang CN State Key Laboratory Of Robotics and System Harbin Institute of Technology Harbin Heilongjiang CN

A turning movement model structures for biped robot is present in this paper. An inverted pendulum model is introduced into robot's movement to achieve at the consumption problem when it turns. The relation between robots' Movement pattern and consumption is replied by the derived formula. Finally, simulation and experiment are achieved to prove the validity of the pattern proposed in this paper.

关键词： Legged locomotion Humanoid robots Turning Service robots Conferences

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A novel sound enhancement algorithm based on modeling of Cochlea and its application in condition of low signal noise ratio environments

A novel sound enhancement algorithm based on modeling of Coc...

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IEEE International Conference on Mechatronics and Automation

作者： Wa Gao Fusheng Zha Mantian Li Pengfei Wang Baoyu Song State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China Department of Mechanical Design Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781479939800

This paper develops a sound enhancement algorithm based on modelling of cochlea. By integrating the mechanical tuning and the neuron filtering in cochlea, the derivation process is discussed. For illustration, the developed algorithm is applied to the sound enhancement in the condition of low Signal Noise Ratio (SNR) environments. Compared with the fast wavelet transform method, the performances of proposed algorithm in output SNR, output maximum amplitude and computation time tested in LPC 2148 are remarkably improved and the effectiveness are clearly demonstrated.

关键词： Signal to noise ratio Wavelet transforms 1f noise Gaussian noise Filtering

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Convex polytopic modeling for flexible joints industrial robot using TP-model transformation

Convex polytopic modeling for flexible joints industrial rob...

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International Conference on Information and Automation (ICIA)

作者： Jian Chen Ruifeng Li Chuqing Cao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China HIT Wuhu Robot Technology Research Institute Wuhu Anhui Province China

This paper presents a method for converting nonlinear flexible joint robot system into linear convex polytopic model by using the tensor product (TP) model transformation. The robot link position and velocity information was taken as variable parameters, and the dynamic equation of flexible joint robot was equidistant partitioned and stored in a tensor within the variable parameter range. Then, the tensor's singular values and the corresponding eigenvector were computed by using high order singular value decomposition. The weighting functions of polytopic model were constructed with the resulting eigenvectors, and then finite vertex LTI system was obtained. The simulation results show that the convex polytopic model can accurately represents the nonlinear dynamics model of flexible joint robot in the parameter range. This modeling approach is the foundation of designing multi-model robust controller based on LMIs for flexible joint robot.

关键词： Mathematical model Service robots Joints Analytical models Tensile stress Nonlinear dynamical systems

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Time-delayed bilateral teleoperation using wave variable with prediction in three channel control architecture

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High Technology Letters 2013年第1期19卷 12-17页

作者：于振中 Yan Jihong Hui Jing Zhao Jie Ma Yonghu Key Laboratory of Advanced Process Control for Light Industry Ministry of Education Jiangnan University State Key Laboratory of Robotics and System Harbin Institute of Technology

This paper proposes a novel method for incorporating wave domain prediction in a three-channel(3CH)architecture,which is the optimal architecture from a transparency point of view,to overcome the poor transparency problem of using the wave variable method in a time-delay teleoperation system.A 3CH teleoperation control architecture is established by selecting parameters of the 4CH architecture sensibly for the system without force sensor in the master *** communication channel is divided into a two-port model by combining force and velocity information reasonably to extend the wave variable method to a 3CH *** the I/O signal of the two-port model is transformed into wave variable.A predictor is added to the wave domain of the master side to further improve the transparency of the system,and a regulator is designed to ensure the passivity of the *** results show that the proposed method can guarantee stability and improve the transparency of the teleoperation system with time-delay.

关键词： bilateral teleoperation three-channel wave variable wave domain prediction time-delay

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Reconfigurable fault-tolerant joint control system for space robot

Reconfigurable fault-tolerant joint control system for space...

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World Congress on Intelligent Control and Automation (WCICA)

作者： Chuangqiang Guo Fenglei Ni Hong Liu Haibo Gao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China Aeronautics & Astronautics Manufacturing Engineering Harbin Institute of Technology Harbin Heilongjiang Province China

To reduce mass and cubage, a joint for space robot is design with a double star windings permanent magnet synchronous machine (DS-PMSM), a double windings permanent magnet break, two resolvers with double windings, a torque sensor with double strains. Two complete sub-control systems have been constructed based on Field Programmable Gate Array (FPGA). An isolatable interface port is designed between the two FPGAs, based on which the reconfiguration of the resource between the two sub-systems can be achieved. So some non-coincidence faults in the two sub-control systems will not affect the joint's function. Power supply and a control method are designed to tolerant the fault of single FPGA and ensure the incessantly work of joint. Experiment results have validated the fault tolerant ability of the designed joint control system.

关键词： Joints Field programmable gate arrays Windings Control systems Robot sensing systems Power supplies

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OLPP-based Gabor feature dimensionality reduction for facial expression recognition

OLPP-based Gabor feature dimensionality reduction for facial...

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International Conference on Information and Automation (ICIA)

作者： Li Wang Ruifeng Li Ke Wang Chuqing Cao Department State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China HIT Wuhu Robot Technology Research Institute Wuhu Anhui Province China

In facial expression recognition, high dimensional feature processing is still a hot topic since the solution to this problem can considerably reduce the time consuming operation and computational memory. Many methods have been developed to reduce feature dimension and extract the fundamental information in the feature space by projecting the original data into some lower dimensional space. In this paper, a method based on orthogonal locality preserving projections (OLPP), keeps the intrinsic structure properties of original data without losing the discriminated capacity simultaneously, is proposed to reduce high dimensional Gabor features for facial expression recognition. To evaluate the operation effectiveness, support vector machines (SVMs) is employed to classify such features, which are constructed by orthogonal bases obtaining from OLPP. Experiments are conducted to evaluate the performance of OLPP-based Gabor feature dimensionality reduction by comparison with locality preserving projections (LPP), linear discriminant analysis (LDA), and principle component analysis (PCA). Results demonstrate that OLPP outperforms the other three methods.

关键词： Face recognition Feature extraction Principal component analysis Gabor filters Training Manifolds Databases

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An Unfixed-elasticity Mass Spring Model based simulation for soft tissue deformation

An Unfixed-elasticity Mass Spring Model based simulation for...

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IEEE International Conference on Mechatronics and Automation

作者： Shuguo Wang Lili Chu Yili Fu Wenpeng Gao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China Department of Life Science & Technology Harbin Institute of Technology Harbin Heilongjiang Province China

Mass Spring Model (MSM) and Finite Element Method(FEM) are the two basic models for soft tissue deformation simulation. MSM has high computation efficiency and low physical accuracy, while the case for FEM is just the reverse. How to simulate the deformation of the tissue in real time and accurately is still a challenging. This paper proposed an improved MSM by determining the parameters of MSM using FEM The improved MSM is called Unfixed-elasticity Mass Spring Model (UMSM), meaning the parameters of each spring is different from those of others, and will change gradually during deformation. The experimental results show a fairly realistic simulation can be generated by UMSM The results indicate that the UMSM has a relatively high reasonability and practicability.

关键词： Biological tissues Deformable models Springs Computational modeling Mathematical model Finite element analysis Force

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The new method of static modeling and simlink simulation for Delta parallel mechanism

The new method of static modeling and simlink simulation for...

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IEEE International Conference on Mechatronics and Automation

作者： Wenjie Wang Lingtao Yu Baoyu Zhang Tao Wang Huajian Song Zhongping Zhuang College of Mechanical and Electrical Engineering Harbin Engineering University Harbin Heilongjiang Province China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

Based on taking the gravity of every link into account and static analysis of every link, the complete and accurate static model of Delta parallel mechanism was set up. This model can precisely deduce the relationship between driving torque and the output force of moving platform at random poses. Then, a simulation model of Delta parallel mechanism was set up by using SimMechanics and Simulink blocks from Matlab. The simulation was carried out under the condition of different poses of moving plat and different output force acted on moving plat. Through the simulation, the validity of this static model was verified adequately.

关键词： Mathematical model Equations Torque Analytical models Vectors Gravity

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