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2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Dai, Yu Zhang, Jianxun Institute of Robotics and Automatic Information System Nankai University Tianjin 300071 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province 150080 China

ISBN: (纸本)9781467312776

This paper improves the method for the estimation of modal parameters from free decay response of a structural system using continuous wavelet transform (CWT). The CWT of free decay response is investigated especially for the case when closely spaced modes need to be analyzed. A robust iteratively reweighted least-squares (IRLS) linear regression method is introduced to fit wavelet amplitude and phase curves. The selection of the appropriate analyzing scale is proposed to improve the modal parameter estimation of the system with poorly separated modes, and scale selection is performed by searching the locations of the local minima of fitting error functions. Both numerical and experimental studies are performed to demonstrate the method and verify its accuracy. The experimental system is a minimally invasive surgery manipulator with force sensing ability. The results show that the estimation accuracy is significantly improved in the presence of close modes. © 2012 IEEE.

关键词： Least squares approximations

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Simulation and experiment on automatic polarization alignment of fine polarization maintaining fibers

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Zhongguo Jiguang/Chinese Journal of Lasers 2013年第12期40卷

作者： Rong, Weibin Zhang, Wei Wang, Lefeng Cao, Yang Zhao, Lei Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang 150080 China AVIC Xi'an Fight Automatic Control Research Institute Xi'an Shaanxi 710065 China

To improve the performance of fine polarization maintaining fiber (PMF) couplers, it is necessary to increase the detection accuracy of polarization axis. The mathematical model of panda PMF index is established, and then the side view method is simulated. From the simulation results, the light is transmitted in the optical fiber and is focused on the other side, and the maximum light intensity of the fiber image is related to the rotation angle and the observation distance. When the observation distance is constant, the maximum value of light intensity changes periodically with the PMF rotation angle. When the observation plane is near the focused one of the transmitted light, the highest light intensity of optical image reaches the maximum value, which is the polarization axis detection parameter of PMF. Based on this, detection method which takes the maximum intensity as the feature is proposed. Combining the micro-vision technology, the polarization axis detection system for fine PMF is designed. The image sharpness function which can confirm the position of the detection plane is proposed. The experimental data are processed using the Fourier filtering method. By fitting the experiment data with the cubic spline method, the panda PMF polarization axis is determined. According to the experimental results, the repetitive detection error is 0.61°, which meets the requirements of PMF coupler manufacturing.

关键词： Polarization-maintaining fiber

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QSMC based on reaching law using saturation sliding surface for 6R industrial robots

QSMC based on reaching law using saturation sliding surface ...

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2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Yu, Dianyong Wang, Xiaojue Ge, Lianzheng Chen, Jian State Key Laboratory of Robotics and System Harbin Institute of Technology No.2 Yikuang Street 150080 Harbin China

ISBN: (纸本)9781467312776

Quasi Sliding Mode Control (QSMC) based on reaching law has the advantages of simplicity and robustness. The chattering is also reduced by using a saturation function. But this control strategy only guarantees an asymptotic convergence. In order to increase the tracking speed for robotic joints when tracking error is small, a sliding surface with saturation function of the error is proposed in this paper. By applying this sliding surface, a fast finite time convergence is achieved. 6R industrial robots have highly coupled inertia coefficients in the inertia matrix. When modeling error exists, system precision and stability would be affected greatly. To improve the system robustness property, separate sliding surface feedback compensation torques mainly for the last three joints are applied in this paper. The compensation torques also help increase the tracking speed. The proposed controller is tested through ADAMS-MATLAB co-simulations on a 6R serial industrial robot prototype to prove its effectiveness. © 2012 IEEE.

关键词： Industrial robots

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An Interest Point Detector Based on Polynomial Local Orientation Tensor

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自动化学报 2012年第7期38卷 1183-1189页

作者： LIN Rui WANG Wei-Dong DU Zhi-Jiang SUN Li-Ning State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150080P.R.China

In this paper, aiming at application of vision-based mobile robot navigation, we present a novel method for detecting scale and rotation invariant interest points, coined polynomial local orientation tensor (PLOT). Our detector is based on the local orientation tensor, which is constructed from the polynomial expansion of the image signal. We first analyze the properties of the local orientation tensor of PLOT, and select a suitable tuning parameter to make the local orientation tensor extract invariant features. Automatic scale selection is also used in the computation of the local orientation tensor and the characteristic scale is selected to attain scale invariant features. Then, the true interest points are detected by the small eigenvalues of the orientation tensor. We evaluate the performance of our detector on the repeatability criteria and compare it with other existing approaches. Experimental results for PLOT show strong performance in different rotations, with varying scale changes and illumination changes in the real-world conditions.

关键词：取向张量检测器多项式兴趣点旋转不变量 PLOT 机器人导航图像信号

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Intelligent bionic leg motion estimation based on interjoint coordination using PCA and RBF neural networks

Intelligent bionic leg motion estimation based on interjoint...

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2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Wang, Fei Qi, Yalu Wen, Shiguang Wu, Chengdong State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang 110819 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 158100 China

ISBN: (纸本)9781467312776

It has been a challenging endeavor for amputee to coordinate harmoniously with his/her artificial limb. In this paper, a novel scheme of real-time motion estimation for Intelligent bionic leg based on interjoint coordination is proposed. To measure the gait during walking, inertial sensors are mounted on the CoGs of bilateral thighs and shanks to acquire angular velocities of lower limbs of subjects. For the existence of linear correlation between bilateral kinematics in healthy symmetrical human gait, principle components analysis is employed to model the interjoint coordination and is used to estimate the knee joint angle of intelligent bionic leg from body motion of amputee. To improve the presicion of motion estimation further, RBF neural networks are used to optimally calculate the knee joint angle. Simulation and experimental results demonstrate the effectiveness and correctness of the proposed scheme. © 2012 IEEE.

关键词： Motion estimation

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Studies on biomechanics of skeletal muscle based on the working mechanism of myosin motors:An overview

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Chinese Science Bulletin 2012年第30期57卷 4533-4544页

作者： YIN YueHong GUO Zhao CHEN Xing FAN YuanJie State Key Laboratory of Mechanism System and Vibration Institute of RoboticsShanghai Jiao Tong UniversityShanghai 200240China

Skeletal muscle is the source of human body *** scholars have been studying in this field to reveal its contraction mechanism,and relevant achievements have been awarded the Nobel *** paper reviewed the current researches on biomechanics of skeletal muscle,and concluded two strategies(top-down and bottom-up methods) for the biomechanical research of skeletal ***,this paper generalized two major aspects of muscle research:(1) the multi-force coupling mechanism and the collective operation mechanism of molecular motors;(2) the bioelectrochemical driving and control principium of muscle *** discussed the solution for experimental verification and induced a novel idea to study the biomechanics of skeletal muscle based on the microscopic working mechanism of molecular motor,which is the origin of muscle *** we analyzed the disadvantages in existent researches and explored future directions that need further studies.

关键词：工作机制生物力学分子马达骨骼肌肌球蛋白诺贝尔文学奖收缩原理生物电化学

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Design and experiment of electromagnetic force device for optical fiber fusion stretching

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Guangxue Jingmi Gongcheng/Optics and Precision Engineering 2012年第1期20卷 72-79页

作者： Rong, Wei-Bin Guan, Nan-Nan Wang, Le-Feng Sun, Li-Ning State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China

An electromagnetic force device is designed to realize the precise force control in the process of fusion stretching of ultra-thin fibers. First, the electromagnetic force with different coil parameters is calculated based on finite element method, and the relationship between electromagnetic force and coil parameters is derived. With the demand of stretching system performance and the dimension restrictions of the coil frame, constraint equations and objective functions are established to optimize the solution to machine the electromagnetic coil. Then the control circuit for electromagnetic force is designed to regulate the current in the coil and achieve the fine adjustment of electromagnetic force. Finally, experiments of electromagnetic force device are performed. The results indicate that the range of stretching force for the optical fibers can achieve 26.073 mN and the measuring resolution is 7.473 μN. It satisfies the demand of the fusion stretching of ultra-thin fibers.

关键词： Optical fibers

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Errors modeling and sensitivity analysis for a novel parallel manipulator

Errors modeling and sensitivity analysis for a novel paralle...

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2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Li, Yunfeng Li, Changfeng Qu, Dongsheng Duan, Suolin Bai, Xue Shen, Huiping State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China Robotics Institute of Changzhou University Changzhou University Changzhou Jiangsu Province China

ISBN: (纸本)9781467312776

Error model is the basis for accuracy-related computations and analyses for parallel manipulator. In this paper, one novel 6-DOF Parallel manipulator is proposed and its errors model is obtained by setting up the relation of pose errors and structural parameters based on the closed-vectors differential method. Errors sensitivity index are defined by using of singular value of the matrix and are given to physical meanings. Errors synthetically sensitivity, direction sensitivity and maximum sensitivity are quantitatively analysed through simulation, which prove that errors sensitivity of some feature in the working space can be of evaluation scale for optimum structural design. Analysis of the structural parameters and the error sensitivity can describe the relationship of parallel manipulator configuration parameters on the terminal accuracy. The errors model set up can lay a solid foundation for structure design and errors compensation of the manipulators. © 2012 IEEE.

关键词： Sensitivity analysis

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Theoretical study on the dynamic separation of two microplates with an intervening liquid meniscus

Theoretical study on the dynamic separation of two microplat...

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2011 International Conference on Mechanical Engineering, Materials and Energy, ICMEME 2011

作者： Wang, Lefeng Rong, Weibin Guo, Bin Shao, Bing School of Materials Science and Engineering Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9783037853405

The dynamic separation of two parallel microplates with an intervening liquid meniscus is studied theoretically. The dynamic model considering the meniscus force and the viscous force between the plates in the separation process was developed. With typical simulation parameters, the magnitudes of various forces were compared before the separation of two parallel plates occurs. It was found that the meniscus force decreases gradually with the increase of separation distance. However there is a sudden jump of the viscous force before it gradually increases, then it decreases dramatically. The influences of various parameters on the separation time were investigated. It was found that the separation time increases with the mass of the upper plate, surface tension, viscosity and volume of the liquid. The separation time decreases with the initial distance and the contact angles of the liquid. © (2012) Trans Tech Publications, Switzerland.

关键词： Liquids

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Theoretical analysis of meniscus forces between two spherical nanoparticles at various humidities

Theoretical analysis of meniscus forces between two spherica...

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2011 International Conference on Mechanical Engineering, Materials and Energy, ICMEME 2011

作者： Wang, Lefeng Guo, Bin Rong, Weibin Sun, Lining School of Materials Science and Engineering Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9783037853405

The meniscus force between nanoobjects with a mediated liquid bridge plays an important role in many applications due to scale effects. As an typical configuration, the meniscus force between two spherical nanoparticles at various humidities is studied theoretically. The numerical method and the usual approximation method of calculating the meniscus force at various humidities are compared firstly. It is found that the big error may occur at some conditions. The effects of relative humidity on the meniscus force between spherical nanoparticles are investigated. Besides, the influences of spherical radius, the distance between nanoparticles, contact angles of the liquid on the meniscus forces between spherical nanoparticles are studied. The simulation results are helpful to understand and control the adhesion force at nanoscales. © (2012) Trans Tech Publications, Switzerland.

关键词： Atmospheric humidity

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